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serialcon.comp
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serialcon.comp
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/********************************************************************************
serialcon.comp
Serial communications with a userspace component
*********************************************************************************/
component serialcon "This component services the arduino pendant";
pin in float xposition "Receives current position from Xpos";
pin in float yposition "Receives current position from Ypos";
pin in float zposition "Receives current position from Zpos";
pin out float volts_five.# [1] """5v Bus""";
pin out float volts_twelve.# [1] """12v Bus""";
pin out float volts_twentyfour.# [1] """24v Bus""";
pin out float volts_stepper.# [1] """Stepper Bus""";
pin out bit fault.# [1] "Fault condition detected.";
pin out unsigned fault_flags.# [1] "Fault flags: 0x1 = power failure, 0x2 unknown, 0x3 unknown.";
option singleton yes; // makes no sense to have more than one of these components running
option userspace yes;
author "ArcEye";
license "GPL";
;;
#include <stdio.h> /* Standard input/output definitions */
#include <stdlib.h>
#include <stdint.h> /* Standard types */
#include <string.h> /* String function definitions */
#include <unistd.h> /* UNIX standard function definitions */
#include <fcntl.h> /* File control definitions */
#include <errno.h> /* Error number definitions */
#include <termios.h> /* POSIX terminal control definitions */
#include <sys/ioctl.h>
#define BAUDRATE B9600
#define DEVICE "/dev/ttyUSB0"
#define _POSIX_SOURCE 1 /* POSIX compliant source */
// predefs of later functions
void sendCommand(char);
int serialport_init();
struct termios toptions;; // port setup
void user_mainloop(void)
{
char buffer[50];
char oldbuffer[50];
char ch;
int fd = serialport_init();
// bzero(oldbuffer, 50);
while(fd != -1)
{
// approx 1/4 sec appears to be optimum period for a steady display with min lag
// may differ on another system with different thread speeds
usleep(3000000);
// ************************************************************************************
// IT DOESN'T MATTER IF THERE ARE NO OTHER INSTANCES ie SINGLETON, MUST USE THIS MACRO
// In this case, if you don't, no data gets written
// ************************************************************************************
FOR_ALL_INSTS()
{
// %08.03f = 8 digit including decimal point and sign, leading zeros & 3 digit precision with trailing zeros
bzero(buffer, 50);
sprintf(buffer, "X%08.03f\nY%08.03f\nZ%08.03f\n", xposition, yposition, zposition );
// if(strcmp(oldbuffer, buffer) != 0)
write(fd, buffer, sizeof(buffer));
// strcpy(oldbuffer, buffer);
if(read(fd,&ch,1) > 0) // if command byte read from arduino
sendCommand(ch);
}
}
close(fd);
exit(0);
}
//######################################################################
int serialport_init()
{
int fd;
fd = open(DEVICE, O_RDWR | O_NOCTTY | O_NDELAY);
if (fd == -1)
{
perror("init_serialport: Unable to open port ");
return -1;
}
if (tcgetattr(fd, &toptions) < 0)
{
perror("init_serialport: Couldn't get term attributes");
return -1;
}
speed_t brate = BAUDRATE;
cfsetispeed(&toptions, brate);
cfsetospeed(&toptions, brate);
// 8N1
toptions.c_cflag &= ~PARENB;
toptions.c_cflag &= ~CSTOPB;
toptions.c_cflag &= ~CSIZE;
toptions.c_cflag |= CS8;
// no flow control
toptions.c_cflag &= ~CRTSCTS;
toptions.c_cflag |= CREAD | CLOCAL; // turn on READ & ignore ctrl lines
toptions.c_iflag &= ~(IXON | IXOFF | IXANY); // turn off s/w flow ctrl
toptions.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG); // make raw
toptions.c_oflag &= ~OPOST; // make raw
// see: http://unixwiz.net/techtips/termios-vmin-vtime.html
toptions.c_cc[VMIN] = 1;
toptions.c_cc[VTIME] = 0;
if( tcsetattr(fd, TCSANOW, &toptions) < 0)
{
perror("init_serialport: Couldn't set term attributes");
return -1;
}
return fd;
}
//###################################################################################
// want these 2 to persist between calls
char selected_axis = '0';
int bJogging = false;
char Addr = 0x00;
double Data = 0.00;
char inData[15];
int CmdPos = 0;
void sendCommand(char ch)
{
char cmdbuff[50];
if (ch == '\n') {
CmdPos = 0;
Data = atof(inData);
/*switch(Addr) {
case 'x':
if (Data == 1.00) {
fault(0) = 1;
} else {
fault(0) = 0;
}
break;
case 'a':
volts_five(0) = Data;
break;
case 'b':
volts_twelve(0) = Data;
break;
case 'c':
volts_twentyfour(0) = Data;
break;
case 'd':
volts_stepper(0) = Data;
break;
}*/
}
else if (CmdPos = 0) {Addr = ch; CmdPos++;}
else if (CmdPos > 0) {inData[CmdPos-1] = ch;CmdPos++;}
}