forked from StopPointTeam/TaiChi
157 lines
3.7 KiB
C++
157 lines
3.7 KiB
C++
#include <iostream>
|
|
#include <fstream>
|
|
#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"
|
|
|
|
|
|
int fd; //串口
|
|
ofstream fileout; //文件
|
|
|
|
|
|
static void SendDebugPause(int siginal) ;
|
|
static void SendDebugContinue(int siginal);
|
|
static void SendDebugReset(int siginal);
|
|
string GetStrTime(void);
|
|
string GetStrFullTime(void);
|
|
|
|
|
|
//向 Arduino 发送暂停命令
|
|
static void SendDebugPause(int siginal)
|
|
{
|
|
digitalWrite(DEBUG_GPIO, LOW);
|
|
fileout << "Pause in: " << GetStrFullTime() << endl;
|
|
}
|
|
|
|
|
|
//向 Arduino 发送执行命令
|
|
static void SendDebugContinue(int siginal)
|
|
{
|
|
digitalWrite(DEBUG_GPIO, HIGH);
|
|
cout << '\n';
|
|
fileout << "Start in: " << GetStrFullTime() << endl;
|
|
}
|
|
|
|
|
|
//向 Arduino 发送重置命令，并结束程序
|
|
static void SendDebugReset(int siginal)
|
|
{
|
|
serialClose(fd);
|
|
fd = serialOpen("/dev/ttyACM0", DEBUG_BAUT_RATE);
|
|
digitalWrite(DEBUG_GPIO, LOW);
|
|
cout << '\n';
|
|
fileout << "Reset in: " << GetStrFullTime() << endl;
|
|
fileout.close();
|
|
|
|
exit(0);
|
|
}
|
|
|
|
|
|
//获取当前时间字符串
|
|
string GetStrTime(void)
|
|
{
|
|
time_t timep;
|
|
time(&timep);
|
|
char tmp[9];
|
|
strftime(tmp, sizeof(tmp), "%H:%M:%S", localtime(&timep));
|
|
return tmp;
|
|
}
|
|
|
|
|
|
//获取当前完整时间字符串
|
|
string GetStrFullTime(void)
|
|
{
|
|
time_t timep;
|
|
time(&timep);
|
|
char tmp[64];
|
|
strftime(tmp, sizeof(tmp), "%Y-%m-%d-%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
|
|
signal(SIGQUIT, SendDebugReset); //Ctrl + \
|
|
|
|
//新建 log 文件
|
|
string filename = GetStrFullTime() + ".log";
|
|
fileout.open(filename.c_str(), ios::out);
|
|
|
|
//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
|
|
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;
|
|
fileout << line_head + line_info;
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
return 0;
|
|
} |