✨ 串口库支持直接的字符串 IO，并增加 Python 支持

cv-rmvl · Nov 24, 2024 · 37f905c · 37f905c
1 parent 446a55f
commit 37f905c
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Showing 5 changed files with 87 additions and 25 deletions.
diff --git a/doc/tools/pyrmvl_fns.cfg b/doc/tools/pyrmvl_fns.cfg
@@ -6,6 +6,9 @@ rm::Timer              reset           ""                      None
 rm::Timer              now             ""                      [[Current_Time]]
 rm::ImuData            write           output_file,datas       None
 rm::ImuData            read            input_file,datas        None
+rm::SerialPort         SerialPort      device[,mode]           [[con]]
+rm::SerialPort         read            ""                      res,data
+rm::SerialPort         write           data                    res
 rm::PipeServer         PipeServer      name                    [[con]]
 rm::PipeServer         read            ""                      res,data
 rm::PipeServer         write           data                    res

diff --git a/modules/core/include/rmvl/core/io.hpp b/modules/core/include/rmvl/core/io.hpp
@@ -144,29 +144,31 @@ void readCorners(std::istream &in, std::vector<std::vector<std::array<float, 2>>
 enum class BaudRate : uint8_t
 {
     BR_1200,   //!< 波特率 1200
+    BR_2400,   //!< 波特率 2400
     BR_4800,   //!< 波特率 4800
     BR_9600,   //!< 波特率 9600
     BR_19200,  //!< 波特率 19200
+    BR_38400,  //!< 波特率 38400
     BR_57600,  //!< 波特率 57600
     BR_115200, //!< 波特率 115200
 };
 
 //! 串口数据读取模式
-enum class SPReadMode : uint8_t
+enum class SerialReadMode : uint8_t
 {
     BLOCK,   //!< 阻塞模式，即读取数据时会一直等待直到有数据到来
     NONBLOCK //!< 非阻塞模式，即读取数据时不会等待，如果没有数据到来则立即返回 `-1`
 };
 
 //! 串口通信模式
-struct RMVL_EXPORTS SerialPortMode
+struct RMVL_EXPORTS_W_AG SerialPortMode
 {
-    BaudRate baud_rate{BaudRate::BR_115200}; //!< 波特率
-    SPReadMode read_mode{SPReadMode::BLOCK}; //!< 读取模式
+    RMVL_W_RW BaudRate baud_rate{BaudRate::BR_115200};         //!< 波特率
+    RMVL_W_RW SerialReadMode read_mode{SerialReadMode::BLOCK}; //!< 读取模式
 };
 
 //! 串行接口通信库
-class RMVL_EXPORTS SerialPort
+class RMVL_EXPORTS_W SerialPort
 {
     RMVL_IMPL;
 
@@ -177,7 +179,7 @@ class RMVL_EXPORTS SerialPort
      * @param[in] device 设备名
      * @param[in] mode 串口通信模式
      */
-    SerialPort(std::string_view device, SerialPortMode mode = {});
+    RMVL_W SerialPort(std::string_view device, SerialPortMode mode = {});
 
     SerialPort(const SerialPort &) = delete;
     SerialPort(SerialPort &&) = default;
@@ -199,7 +201,7 @@ class RMVL_EXPORTS SerialPort
     {
         bool retval{};
         constexpr int LENGTH = 512, SIZE = sizeof(Tp);
-        unsigned char buffer[LENGTH] = {0};
+        unsigned char buffer[LENGTH]{};
         auto len_result = fdread(buffer, LENGTH);
         for (long int i = 0; (i + SIZE + 1) < len_result; i++)
             if (buffer[i] == head_flag && buffer[i + SIZE + 1] == tail_flag)
@@ -222,19 +224,27 @@ class RMVL_EXPORTS SerialPort
     inline bool read(Tp &data)
     {
         bool retval{};
-        constexpr int LENGTH = 512, SIZE = sizeof(Tp);
-        unsigned char buffer[LENGTH] = {0};
-        auto len_result = fdread(buffer, LENGTH);
-        if (len_result >= SIZE)
+        constexpr int MAX_LENGTH = 512, MAX_READ_DST = sizeof(Tp);
+        char buffer[MAX_LENGTH]{};
+        auto len_result = fdread(buffer, MAX_LENGTH);
+        if (len_result > 0 && len_result <= MAX_READ_DST)
         {
-            auto p = std::memcpy(&data, buffer, SIZE);
+            auto p = std::memcpy(&data, buffer, len_result);
             if (p == &data)
                 retval = true;
         }
         return retval;
     }
 
-    template <typename Tp, typename Enable = std::enable_if_t<std::is_aggregate_v<Tp>>>
+    /**
+     * @brief 不带头尾标志的数据读取，从串口读取字符串
+     *
+     * @param[out] data 读取的字符串
+     * @return 是否读取成功
+     */
+    bool read(std::string &data);
+
+    template <typename Tp, typename Enable = std::enable_if_t<std::is_aggregate_v<Tp> || std::is_same_v<Tp, std::string>>>
     inline SerialPort &operator>>(Tp &data) { return (this->read(data), *this); }
 
     /**
@@ -248,12 +258,22 @@ class RMVL_EXPORTS SerialPort
     template <typename Tp, typename Enable = std::enable_if_t<std::is_aggregate_v<Tp>>>
     inline bool write(const Tp &data) { return (sizeof(data) == fdwrite(&data, sizeof(data))); }
 
-    template <typename Tp, typename Enable = std::enable_if_t<std::is_aggregate_v<Tp>>>
+    /**
+     * @brief 写入字符串到串口
+     *
+     * @param[in] data 待写入的字符串
+     * @return 是否写入成功
+     */
+    inline bool write(std::string_view data) { return fdwrite(data.data(), data.length()) > 0; }
+
+    template <typename Tp, typename Enable = std::enable_if_t<std::is_aggregate_v<Tp> || std::is_same_v<Tp, std::string_view>>>
     inline SerialPort &operator<<(const Tp &data) { return (this->write(data), *this); }
 
     //! 串口是否打开
     bool isOpened() const;
 
+    RMVL_W_SUBST("Serial")
+
 private:
     //! 写入数据（基于文件描述符）
     long int fdwrite(const void *data, size_t len);

diff --git a/modules/core/include/rmvl/core/version.hpp b/modules/core/include/rmvl/core/version.hpp
@@ -13,9 +13,9 @@
 #include "rmvldef.hpp"
 
 #define RMVL_VERSION_MAJOR 2
-#define RMVL_VERSION_MINOR 1
+#define RMVL_VERSION_MINOR 2
 #define RMVL_VERSION_PATCH 0
-#define RMVL_VERSION_STATUS ""
+#define RMVL_VERSION_STATUS "-dev"
 
 #define RMVLAUX_STR_EXP(__A) #__A
 #define RMVLAUX_STR(__A) RMVLAUX_STR_EXP(__A)

diff --git a/modules/core/misc/python.json b/modules/core/misc/python.json
@@ -0,0 +1,12 @@
+{
+    "Serial": {
+        "bind": [
+            ".def(\"read\", [](SerialPort &s) { std::string data; return std::make_tuple(s.read(data), data); })",
+            ".def(\"write\", [](SerialPort &s, std::string_view data) { return s.write(data); })"
+        ],
+        "pyi": [
+            "def read(self) -> Tuple[bool, str]: ...",
+            "def write(self, data: str) -> bool: ..."
+        ]
+    }
+}
diff --git a/modules/core/src/serial.cpp b/modules/core/src/serial.cpp
@@ -31,27 +31,39 @@ static unsigned int getBaudRate(BaudRate baud_rate)
     switch (baud_rate)
     {
     case BaudRate::BR_1200:
-        return 1200;
+        return CBR_1200;
+    case BaudRate::BR_2400:
+        return CBR_2400;
     case BaudRate::BR_4800:
-        return 4800;
+        return CBR_4800;
     case BaudRate::BR_9600:
-        return 9600;
+        return CBR_9600;
+    case BaudRate::BR_19200:
+        return CBR_19200;
+    case BaudRate::BR_38400:
+        return CBR_38400;
     case BaudRate::BR_57600:
-        return 57600;
+        return CBR_57600;
     case BaudRate::BR_115200:
-        return 115200;
+        return CBR_115200;
     default:
-        return 115200;
+        return CBR_115200;
     }
 #else
     switch (baud_rate)
     {
     case BaudRate::BR_1200:
         return B1200;
+    case BaudRate::BR_2400:
+        return B2400;
     case BaudRate::BR_4800:
         return B4800;
     case BaudRate::BR_9600:
         return B9600;
+    case BaudRate::BR_19200:
+        return B19200;
+    case BaudRate::BR_38400:
+        return B38400;
     case BaudRate::BR_57600:
         return B57600;
     case BaudRate::BR_115200:
@@ -64,6 +76,21 @@ static unsigned int getBaudRate(BaudRate baud_rate)
 
 SerialPort::SerialPort(std::string_view device, SerialPortMode mode) : _impl(new Impl(device, mode)) {}
 bool SerialPort::isOpened() const { return _impl->isOpened(); }
+
+bool SerialPort::read(std::string &data)
+{
+    bool retval{};
+    constexpr int MAX_LENGTH{256};
+    char buffer[MAX_LENGTH]{};
+    auto len_result = fdread(buffer, MAX_LENGTH);
+    if (len_result > 0)
+    {
+        data.assign(buffer, len_result);
+        retval = true;
+    }
+    return retval;
+}
+
 long int SerialPort::fdwrite(const void *data, size_t length) { return _impl->fdwrite(data, length); }
 long int SerialPort::fdread(void *data, size_t len) { return _impl->fdread(data, len); }
 
@@ -87,7 +114,7 @@ void SerialPort::Impl::open()
     }
 
     COMMTIMEOUTS timeouts{};
-    if (_mode.read_mode == SPReadMode::BLOCK)
+    if (_mode.read_mode == SerialReadMode::BLOCK)
     {
         timeouts.ReadIntervalTimeout = 0;
         timeouts.ReadTotalTimeoutConstant = 0;
@@ -179,7 +206,7 @@ void SerialPort::Impl::open()
         _is_open = false;
         return;
     }
-    if (_mode.read_mode == SPReadMode::BLOCK)
+    if (_mode.read_mode == SerialReadMode::BLOCK)
     {
         // 清除 O_NDELAY 标志，设置为阻塞模式
         int flags = fcntl(_fd, F_GETFL, 0);
@@ -200,7 +227,7 @@ void SerialPort::Impl::open()
     option.c_cflag |= CS8;              // 8 位数据长度
     option.c_cflag &= ~CSTOPB;          // 1 位停止位
     option.c_cc[VTIME] = 0;
-    option.c_cc[VMIN] = _mode.read_mode == SPReadMode::BLOCK ? 1 : 0;
+    option.c_cc[VMIN] = _mode.read_mode == SerialReadMode::BLOCK ? 1 : 0;
     cfsetspeed(&option, getBaudRate(_mode.baud_rate)); // 设置输入波特率
 
     // 设置新属性，TCSANOW：所有改变立即生效