新增树莓派远程调试程序

RPi Debugger/debugTaiChi.cpp

@@ -0,0 +1,112 @@
+#include <iostream>
+#include <string>
+#include <errno.h>
+#include <time.h>
+#include <stdlib.h>
+#include <signal.h>
+#include <wiringPi.h>
+#include <wiringSerial.h>
+
+
+using namespace std;
+
+
+#define DEBUG_GPIO 0
+#define DEBUG_BAUT_RATE 115200
+
+//终端颜色
+#define COLOR_RED   "\x1B[31m"
+#define COLOR_GRN   "\x1B[32m"
+#define COLOR_YEL   "\x1B[33m"
+#define COLOR_BLU   "\x1B[34m"
+#define COLOR_MAG   "\x1B[35m"
+#define COLOR_CYN   "\x1B[36m"
+#define COLOR_WHT   "\x1B[37m"
+#define COLOR_RESET "\x1B[0m"
+
+
+//向 Arduino 发送暂停命令
+static void SendDebugPause(int siginal)
+{
+    digitalWrite(DEBUG_GPIO, LOW);
+}
+
+
+//向 Arduino 发送执行命令
+static void SendDebugContinue(int siginal)
+{
+    digitalWrite(DEBUG_GPIO, HIGH);
+    cout << '\n';
+}
+
+
+//获取当前时间字符串
+string GetStrTime()
+{
+    time_t timep;
+    time(&timep);
+    char tmp[9];
+    strftime(tmp, sizeof(tmp), "%H:%M:%S", localtime(&timep));
+    return tmp;
+}
+
+
+int main(void)
+{
+    //注册 linux 终端信号
+    signal(SIGINT, SendDebugPause); //Ctrl + C
+    signal(SIGTSTP, SendDebugContinue); //Ctrl + Z
+
+    //初始化树莓派 GPIO
+    wiringPiSetup();
+    pinMode(DEBUG_GPIO, OUTPUT);
+
+    //暂停执行，等待发送执行命令
+    digitalWrite(DEBUG_GPIO, LOW);
+
+    //打开串口
+	int fd = serialOpen("/dev/ttyACM0", DEBUG_BAUT_RATE);
+	while (1)
+	{
+        string line_head = GetStrTime() + " -> ";
+        string line_info;
+    
+        while (1)
+        {
+            if (serialDataAvail(fd) > 0) //串口接收到内容
+            {
+                char serial_get_c = serialGetchar(fd);
+                line_info += serial_get_c;
+
+                if (serial_get_c == '\n')
+                {
+                    string line_info_head = line_info.substr(0, 8);
+                    string line_type;
+
+                    //根据调试信息类型选择对应的颜色
+                    if (line_info_head == "#TAICHI:")
+                    {
+                        line_type = COLOR_YEL;
+                    }
+                    else if (line_info_head == "#MOVE:  ")
+                    {
+                        line_type = COLOR_RED;
+                    }
+                    else if (line_info_head == "#SENSOR:")
+                    {
+                        line_type = COLOR_GRN;
+                    }
+                    else if (line_info_head == "#SERVO: ")
+                    {
+                        line_type = COLOR_BLU;
+                    }
+
+                    cout << line_head + line_type + line_info + COLOR_RESET;
+                    break;
+                }
+            }
+        }
+	}
+
+	return 0;
+}