Linux 上的 C++ 串行端口。串行端口上的读写可以同时发生吗？

Question

我正在开发一个项目，需要一台 Linux PC 从 UART 上的微控制器获取数据，为此我使用了一个已经可用的开源代码，用于 Linux 的 C++ 串行端口。（基于Ros（机器人操作系统）的代码）

代码如下：

#define DEFAULT_BAUDRATE 115200
#define DEFAULT_SERIALPORT "/dev/ttyUSB0"

//Global data
FILE *fpSerial = NULL;   //serial port file pointer
ros::Publisher ucResponseMsg;
ros::Subscriber ucCommandMsg;
int ucIndex;          //ucontroller index number

int FileDesc;

unsigned char crc_sum=0;

//Initialize serial port, return file descriptor
FILE *serialInit(char * port, int baud)
{
  int BAUD = 0;
  int fd = -1;
  struct termios newtio, oldtio;
  FILE *fp = NULL;

 //Open the serial port as a file descriptor for low level configuration
 // read/write, not controlling terminal for process,
  fd = open(port, O_RDWR | O_NOCTTY | O_NDELAY);

  ROS_INFO("FileDesc : %d",fd);

 if ( fd<0 )
  {
    ROS_ERROR("serialInit: Could not open serial device %s",port);
   return fp;
  }

  // save current serial port settings
  tcgetattr(fd,&oldtio);

  // clear the struct for new port settings
  bzero(&newtio, sizeof(newtio));

  //Look up appropriate baud rate constant
  switch (baud)
  {
     case 38400:
     default:
        BAUD = B38400;
        break;
     case 19200:
        BAUD  = B19200;
        break;
    case 115200:
        BAUD  = B115200;
        break;
     case 9600:
       BAUD  = B9600;
        break;
     case 4800:
        BAUD  = B4800;
        break;
     case 2400:
        BAUD  = B2400;
        break;
     case 1800:
        BAUD  = B1800;
        break;
     case 1200:
        BAUD  = B1200;
        break;
  }  //end of switch baud_rate

  if (cfsetispeed(&newtio, BAUD) < 0 || cfsetospeed(&newtio, BAUD) < 0)
  {
    ROS_ERROR("serialInit: Failed to set serial baud rate: %d", baud);
    close(fd);
    return NULL;
  }

  // set baud rate, (8bit,noparity, 1 stopbit), local control, enable receiving characters.
  newtio.c_cflag  = BAUD | CRTSCTS | CS8 | CLOCAL | CREAD;

  // ignore bytes with parity errors
  newtio.c_iflag =  IGNPAR;

  // raw output
  newtio.c_oflag = 0;

  // set input mode to non - canonical
  newtio.c_lflag = 0;

  // inter-charcter timer 
  newtio.c_cc[VTIME] = 0;

  // blocking read (blocks the read until the no.of charcters are read
  newtio.c_cc[VMIN] = 0;

  // clean the line and activate the settings for the port
  tcflush(fd, TCIFLUSH);
  tcsetattr (fd, TCSANOW,&newtio);

  //Open file as a standard I/O stream
  fp = fdopen(fd, "r+");

 if (!fp) {
    ROS_ERROR("serialInit: Failed to open serial stream %s", port);
    fp = NULL;
  }

ROS_INFO("FileStandard I/O stream: %d",fp);

  return fp;
} //serialInit


//Process ROS command message, send to uController
void ucCommandCallback(const geometry_msgs::TwistConstPtr& cmd_vel)
{
  unsigned char msg[14];
  float test1,test2;
  unsigned long i;

 // build the message packet to be sent
 msg = packet to be sent;
 msg[13] = crc_sum;

   for (i=0;i<14;i++)
   {
     fprintf(fpSerial, "%c", msg[i]);
   }

tcflush(FileDesc, TCOFLUSH); 

} //ucCommandCallback


//Receive command responses from robot uController
//and publish as a ROS message
void *rcvThread(void *arg)
{
  int rcvBufSize = 200;
  char ucResponse[10];//[rcvBufSize];   //response string from uController
  char *bufPos;
  std_msgs::String msg;
  std::stringstream ss;
  int BufPos,i;
  unsigned char crc_rx_sum =0;

  while (ros::ok()) {

     BufPos = fread((void*)ucResponse,1,10,fpSerial);

for (i=0;i<10;i++)
{
 ROS_INFO("T: %x ",(unsigned char)ucResponse[i]);
 ROS_INFO("NT: %x ",ucResponse[i]);
}

          msg.data = ucResponse;
          ucResponseMsg.publish(msg);
}

  return NULL;
} //rcvThread


int main(int argc, char **argv)
{
  char port[20];    //port name
  int baud;     //baud rate 

  char topicSubscribe[20];
  char topicPublish[20];

  pthread_t rcvThrID;   //receive thread ID
  int err;

  //Initialize ROS
  ros::init(argc, argv, "r2SerialDriver");
  ros::NodeHandle rosNode;
  ROS_INFO("r2Serial starting");

  //Open and initialize the serial port to the uController
  if (argc > 1) {
    if(sscanf(argv[1],"%d", &ucIndex)==1) {
      sprintf(topicSubscribe, "uc%dCommand",ucIndex);
      sprintf(topicPublish, "uc%dResponse",ucIndex);
    }
    else {
      ROS_ERROR("ucontroller index parameter invalid");
      return 1;
    }
  }
  else {
    strcpy(topicSubscribe, "uc0Command");
    strcpy(topicPublish, "uc0Response");
  }

  strcpy(port, DEFAULT_SERIALPORT);
  if (argc > 2)
     strcpy(port, argv[2]);

  baud = DEFAULT_BAUDRATE;
  if (argc > 3) {
    if(sscanf(argv[3],"%d", &baud)!=1) {
      ROS_ERROR("ucontroller baud rate parameter invalid");
      return 1;
    }
  }

  ROS_INFO("connection initializing (%s) at %d baud", port, baud);

   fpSerial = serialInit(port, baud);

 if (!fpSerial )
  {
    ROS_ERROR("unable to create a new serial port");
    return 1;
  }
  ROS_INFO("serial connection successful");

  //Subscribe to ROS messages
  ucCommandMsg = rosNode.subscribe("cmd_vel" /*topicSubscribe*/, 100, ucCommandCallback);

  //Setup to publish ROS messages
  ucResponseMsg = rosNode.advertise<std_msgs::String>(topicPublish, 100);

  //Create receive thread
  err = pthread_create(&rcvThrID, NULL, rcvThread, NULL);

  if (err != 0) {
    ROS_ERROR("unable to create receive thread");
    return 1;
  }

  //Process ROS messages and send serial commands to uController
  ros::spin();

  fclose(fpSerial);
  ROS_INFO("r2Serial stopping");
  return 0;
}

你可以把ROS部分放在一边，但问题出在串口代码上。

当我运行此代码时，我正确地从控制器接收数据，但即使控制器停止发送数据，我也会看到相同的数据printf连续出现在 s 上。这是不刷新输入缓冲区的问题吗？

但是我无法将数据从Linux PC发送到控制器，不知道发生了什么，在linux的串行端口上可以同时进行读写吗？

奇怪的观察，当我在 H-term（类似于超级终端的 uART 可视化工具）中打开端口并在后端运行我的串行端口代码时，H-term 仍然不会给出任何错误，但理想情况下 H- term 应该给出一个错误，说“端口无法打开，它已被锁定”，但这并没有发生，是我的代码没有获取串行端口上的锁定吗？

当我使用运行 mu 串口代码的 H-term 连接端口时，我可以看到 UART 上从 linux-PC 到微控制器的数据？

任何人都可以对我在这里面临的问题有任何见解吗？

提前致谢。

Answer 1

这里有一个问题：

BufPos = fread((void*)ucResponse,1,10,fpSerial);

因为没有检查 BufPos 是否为零或小于 10

使用 feof()（接收到 0 字节后）来检查关闭的连接，而不是使用 ros::ok，并使用 Ferr() 来检查错误。或者当您知道（根据协议）已收到数据包时，停止调用 fread。

可以不完全“同时”而是交替地以全双工模式（即读和写）使用串行端口。合作伙伴必须遵守协议以避免误解。

不要混合使用 fprintf 和 fread/fwrite。对于发送，指示fwrite。