rs232.cpp

#ifndef kranfix_rs232_rs232_cc
#define kranfix_rs232_rs232_cc

#include "rs232.h"

static int error;
static struct termios nps;

kfx::RS232::RS232(char *dev_name, int baudrate) : available(false) {
// asigning device name
strcpy(devname, dev_name);

// Chossing baudrate
switch (baudrate) {
case 50 : baudr = B50;
break;
case 75 : baudr = B75;
break;
case 110 : baudr = B110;
break;
case 134 : baudr = B134;
break;
case 150 : baudr = B150;
break;
case 200 : baudr = B200;
break;
case 300 : baudr = B300;
break;
case 600 : baudr = B600;
break;
case 1200 : baudr = B1200;
break;
case 1800 : baudr = B1800;
break;
case 2400 : baudr = B2400;
break;
case 4800 : baudr = B4800;
break;
case 9600 : baudr = B9600;
break;
case 19200 : baudr = B19200;
break;
case 38400 : baudr = B38400;
break;
case 57600 : baudr = B57600;
break;
case 115200 : baudr = B115200;
break;
case 230400 : baudr = B230400;
break;
case 460800 : baudr = B460800;
break;
case 500000 : baudr = B500000;
break;
case 576000 : baudr = B576000;
break;
case 921600 : baudr = B921600;
break;
case 1000000 : baudr = B1000000;
break;
default : printf("invalid baudrate\n");
return;
}

port = open(devname, O_RDWR | O_NOCTTY | O_NDELAY);
if (port == -1) {
perror("unable to open comport ");
return;
}

error = tcgetattr(port, &ops);
if (error == -1) {
close(port);
perror("unable to read portsettings ");
return;
}
memset(&nps, 0, sizeof(nps)); /* clear the new struct */

nps.c_cflag = baudr | CS8 | CLOCAL | CREAD;
nps.c_iflag = IGNPAR;
nps.c_oflag = 0;
nps.c_lflag = 0;
nps.c_cc[VMIN] = 0; /* block untill n bytes are received */
nps.c_cc[VTIME] = 0; /* block untill a timer expires (n * 100 mSec.) */
error = tcsetattr(port, TCSANOW, &nps);
if (error == -1) {
close(port);
perror("unable to adjust portsettings ");
return;
}

available = true;
}

int kfx::RS232::Read(unsigned char byte) {
return read(port, &byte, 1);
}

int kfx::RS232::Read(unsigned char *buf, int size) {
#ifndef __STRICT_ANSI__ /* __STRICT_ANSI__ is defined when the -ansi option is used for gcc */
if (size > SSIZE_MAX) size = (int) SSIZE_MAX; /* SSIZE_MAX is defined in limits.h */
#else
if(size>4096) size = 4096;
#endif

return read(port, buf, size);
}

int kfx::RS232::Write(unsigned char byte) {
return write(port, &byte, 1);
}

int kfx::RS232::Write(unsigned char *buf, int size) {
return write(port, buf, size);
}

void kfx::RS232::Close() {
close(port);
tcsetattr(port, TCSANOW, &ops);
}

/*

Constant Description

TIOCM_LE DSR (data set ready/line enable)
TIOCM_DTR DTR (data terminal ready)
TIOCM_RTS RTS (request to send)
TIOCM_ST Secondary TXD (transmit)
TIOCM_SR Secondary RXD (receive)
TIOCM_CTS CTS (clear to send)
TIOCM_CAR DCD (data carrier detect)
TIOCM_CD Synonym for TIOCM_CAR
TIOCM_RNG RNG (ring)
TIOCM_RI Synonym for TIOCM_RNG
TIOCM_DSR DSR (data set ready)
*/
int kfx::RS232::IsCTSEnabled() {
int status;
status = ioctl(port, TIOCMGET, &status);
return (status & TIOCM_CTS) ? 1 : 0;
}

// Sends a string to serial port till finding a '\0'
void kfx::RS232::Print(const char *text) {
while (*text != 0) Write(*(text++));
}

#endif // kranfix_rs232_rs232_cc

rs232.h

#ifndef github_com_kranfix_rs232_rs232_h
#define github_com_kranfix_rs232_rs232_h

#include
#include

#include
#include
#include
#include
#include
#include
#include

namespace kfx {

const char Comports[22][13] = {"/dev/ttyACM0",
"/dev/ttyS1", "/dev/ttyS2", "/dev/ttyS3",
"/dev/ttyS4", "/dev/ttyS5", "/dev/ttyS6",
"/dev/ttyS7", "/dev/ttyS8", "/dev/ttyS9",
"/dev/ttyS10", "/dev/ttyS11", "/dev/ttyS12",
"/dev/ttyS13", "/dev/ttyS14", "/dev/ttyS15",
"/dev/ttyUSB0", "/dev/ttyUSB1", "/dev/ttyUSB2",
"/dev/ttyUSB3", "/dev/ttyUSB4", "/dev/ttyUSB5"};

class RS232 {
char devname[13]; // Device Name
int baudr, port; // Baudrate and Port Number
bool available;
struct termios ops; // old port settings
public:
RS232(char *, int);
int IsAvailable() { return available; }
char *GetDeviceName() { return devname; }
int Read(unsigned char);
int Read(unsigned char *, int);
int Write(unsigned char);
int Write(unsigned char *, int);
void Print(const char *);
void Close();
int IsCTSEnabled();
};

}

#endif // giihub_com_kranfix_rs232_rs232_h

Gripper.cpp

//
// Created by wt on 2020/6/15.
//

#include "Gripper.h"

Gripper::Gripper(char *port, int bau):rs232(port,bau) {

}

Gripper::~Gripper() {

}

void Gripper::pinch(int speed, int power) {
//数据
unsigned char data[10];
data[0] = '\xEB';
data[1] = '\x90';
data[2] = '\x01';
data[3] = '\x05';
data[4] = '\x10';
data[5] = speed&0x00ff;
data[6] = speed>>8;
data[7] = power&0x00ff;
data[8] = power>>8;
data[9] = (data[2]+data[3]+data[4]+data[5]+data[6]+data[7]+data[8])&0x00ff;
rs232.Write(data,10);
}

void Gripper::release(int speed) {
//数据
unsigned char data[8];
data[0] = '\xEB';
data[1] = '\x90';
data[2] = '\x01';
data[3] = '\x03';
data[4] = '\x11';
data[5] = speed&0x00ff;
data[6] = speed>>8;

data\[7\] = (data\[2\]+data\[3\]+data\[4\]+data\[5\]+data\[6\])&0x00ff;  
rs232.Write(data,8);  

}

Gripper.h

//
// Created by wt on 2020/6/15.
//

#ifndef JAWCPP_GRIPPER_H
#define JAWCPP_GRIPPER_H
#include "rs232.h"

class Gripper {
private:
kfx::RS232 rs232;
public:
Gripper(char *port, int bau = 115200);

~Gripper();  
//夹住  
void pinch(int speed=500,int power = 100);  
//松开  
void release(int speed=500);  

};

#endif //JAWCPP_GRIPPER_H

main.cpp

#include
#include "Gripper.h"
int main() {
Gripper gripper("/dev/ttyUSB1");
gripper.pinch(1000,300);
// gripper.release();
return 0;
}

CMakeLists.txt

cmake_minimum_required(VERSION 3.16)
project(JawCpp)

set(CMAKE_CXX_STANDARD 14)

add_executable(JawCpp main.cpp rs232.cpp Gripper.cpp)