120 lines
3.8 KiB
C++
120 lines
3.8 KiB
C++
//
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// Created by xtkuang on 2025/5/6.
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//
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#ifndef CMVR_ES_SERIAL_INTERFACE_H
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#define CMVR_ES_SERIAL_INTERFACE_H
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#include <iostream>
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#include <sstream>
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#include <string>
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#include <vector>
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#include <boost/asio.hpp>
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#include <iomanip>
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#include <thread>
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using namespace std;
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using namespace boost::asio;
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namespace cmvr {
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// 定义通信模式枚举
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enum class CommunicationMode {
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RS485,
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CAN
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};
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// 寄存器字典
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const struct {
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const char* name;
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int address;
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} regdict[] = {
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{"defaultSpeedSet",1032},
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{"defaultForceSet",1044},
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{"posSet",1474},
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{"angleSet", 1486},
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{"forceSet", 1498},
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{"speedSet", 1522},
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{"angleAct", 1546},
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{"posAct",1534},
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{"forceAct", 1582},
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{"current",1594},
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{"error",1606},
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{"temperature",1618},
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{"finger_one_touch",3000},
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{"finger_two_touch",3370},
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{"finger_the_touch",3740},
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{"finger_or_touch",4110},
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{"finger_fiv_touch",4480},
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{"finger_palm_touch",4900}
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};
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// 串口通信接口类
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class serial_interface {
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public:
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serial_interface(const string& port, unsigned int baudrate, CommunicationMode mode);
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void write(const vector<unsigned char>& data);
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vector<unsigned char> read(size_t length);
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bool isInitialized();
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CommunicationMode getCommunicationMode();
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private:
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void on_timeout(const boost::system::error_code& ec);
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void on_read_complete(const boost::system::error_code& ec
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, size_t bytes_transferred, boost::system::error_code* out_ec, size_t* out_bytes_transferred);
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private:
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bool is_initialized = false;
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io_context io;
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std::shared_ptr<serial_port> serial;
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CommunicationMode comm_mode;
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steady_timer timer;
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bool timeout;
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};
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// 根据寄存器名称获取地址
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int getAddressByName(const string& reg_name);
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// 写寄存器函数
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void write_register(serial_interface& serial, int address_decimal, const string& id_value, const vector<int>& values_to_write);
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/**
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* 从串口读取寄存器数据
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*
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* @param serial 串口通信接口引用
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* @param address_decimal 十进制表示的寄存器起始地址
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* @param id_value 设备ID字符串值
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* @param register_length 寄存器长度（字节数）
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* @param length_to_read 需要读取的数据长度（字节数）
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* @return 包含读取字节数据的向量
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*/
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std::vector<unsigned char> read_register(serial_interface& serial, int address_decimal, const string& id_value
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,size_t register_length, size_t length_to_read);
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std::vector<int> read_register_can(serial_interface& serial, int address_decimal, const std::string& id_value
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, size_t register_length, size_t length_to_read, bool parse_as_short = true);
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std::vector<unsigned char> read_register_can_single(serial_interface& serial, int address_decimal
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, const string& id_value, size_t register_length, size_t length_to_read);
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/**
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* 将字节数据解析为整数数组
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*
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* @param data 待解析的字节数据向量
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* @param start_byte 开始解析的起始字节位置
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* @param register_length 每个寄存器的长度（字节数）
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* @param per_byte 每个数据点占用的字节数
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* @return 解析后的整数值向量
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*/
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std::vector<int> parse_register(const std::vector<unsigned char>& data,int start_byte, size_t register_length,int per_byte);
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/**
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* 将错误码解析为错误描述列表
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*
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* @param errorCode 待解析的错误码
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* @return 包含错误描述信息的字符串向量
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* @note 每个错误码可能对应多个错误描述
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*/
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std::vector<std::string> parse_error(unsigned char errorCode);
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} // cmvr
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#endif //CMVR_ES_SERIAL_INTERFACE_H
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