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