Merge pull request #1 from Wessel/feat-ultrasonic

add c++ code for conversion
2026-07-16 04:53:58 +02:00 · 2024-03-26 14:33:40 +01:00
parent 3fcb6ef054 df8afa9c7c
commit aa11ff74c3
6 changed files with 405 additions and 0 deletions
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -0,0 +1,57 @@
+{
+    "files.associations": {
+        "array": "cpp",
+        "string": "cpp",
+        "string_view": "cpp",
+        "ranges": "cpp",
+        "iostream": "cpp",
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "atomic": "cpp",
+        "bit": "cpp",
+        "*.tcc": "cpp",
+        "compare": "cpp",
+        "concepts": "cpp",
+        "cstdint": "cpp",
+        "deque": "cpp",
+        "map": "cpp",
+        "set": "cpp",
+        "unordered_map": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "new": "cpp",
+        "ostream": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "cinttypes": "cpp",
+        "typeinfo": "cpp"
+    }
+}
--- a/src/Client/Ultrasonic/Makefile
+++ b/src/Client/Ultrasonic/Makefile
@@ -0,0 +1,91 @@
+#
+# 'make'        build executable file 'main'
+# 'make clean'  removes all .o and executable files
+#
+
+# define the Cpp compiler to use
+CXX = g++
+
+# define any compile-time flags
+CXXFLAGS	:= -std=c++17 -Wall -Wextra -g -pthread -MD
+
+# define library paths in addition to /usr/lib
+#   if I wanted to include libraries not in /usr/lib I'd specify
+#   their path using -Lpath, something like:
+LFLAGS =
+
+# define output directory
+OUTPUT	:= output
+
+# define source directory
+SRC		:= src
+
+# define include directory
+INCLUDE	:= include
+
+# define lib directory
+LIB		:= lib
+
+ifeq ($(OS),Windows_NT)
+MAIN	:= main.exe
+SOURCEDIRS	:= $(SRC)
+INCLUDEDIRS	:= $(INCLUDE)
+LIBDIRS		:= $(LIB)
+FIXPATH = $(subst /,\,$1)
+RM			:= del /q /f
+MD	:= mkdir
+else
+MAIN	:= main
+SOURCEDIRS	:= $(shell find $(SRC) -type d)
+INCLUDEDIRS	:= $(shell find $(INCLUDE) -type d)
+LIBDIRS		:= $(shell find $(LIB) -type d)
+FIXPATH = $1
+RM = rm -f
+MD	:= mkdir -p
+endif
+
+# define any directories containing header files other than /usr/include
+INCLUDES	:= $(patsubst %,-I%, $(INCLUDEDIRS:%/=%))
+
+# define the C libs
+LIBS		:= $(patsubst %,-L%, $(LIBDIRS:%/=%))
+
+# define the C source files
+SOURCES		:= $(wildcard $(patsubst %,%/*.cpp, $(SOURCEDIRS)))
+
+# define the C object files 
+OBJECTS		:= $(SOURCES:.cpp=.o)
+
+#
+# The following part of the makefile is generic; it can be used to 
+# build any executable just by changing the definitions above and by
+# deleting dependencies appended to the file from 'make depend'
+#
+
+OUTPUTMAIN	:= $(call FIXPATH,$(OUTPUT)/$(MAIN))
+
+all: $(OUTPUT) $(MAIN)
+	@echo Executing 'all' complete!
+
+$(OUTPUT):
+	$(MD) $(OUTPUT)
+
+$(MAIN): $(OBJECTS) 
+	$(CXX) $(CXXFLAGS) $(INCLUDES) -o $(OUTPUTMAIN) $(OBJECTS) $(LFLAGS) $(LIBS)
+
+# this is a suffix replacement rule for building .o's from .c's
+# it uses automatic variables $<: the name of the prerequisite of
+# the rule(a .c file) and $@: the name of the target of the rule (a .o file) 
+# (see the gnu make manual section about automatic variables)
+.cpp.o:
+	$(CXX) $(CXXFLAGS) $(INCLUDES) -c $<  -o $@
+
+.PHONY: clean
+clean:
+	$(RM) $(OUTPUTMAIN)
+	$(RM) $(call FIXPATH,$(OBJECTS))
+	@echo Cleanup complete!
+
+run: all
+	./$(OUTPUTMAIN)
+	@echo Executing 'run: all' complete!
--- a/src/Client/Ultrasonic/Ultrasonic
+++ b/src/Client/Ultrasonic/Ultrasonic
--- a/src/Client/Ultrasonic/Ultrasonic.cpp
+++ b/src/Client/Ultrasonic/Ultrasonic.cpp
@@ -0,0 +1,80 @@
+#include "Ultrasonic.h"
+
+int main() {
+  // Open the serial port. Change device path as needed (currently set to an standard FTDI USB-UART cable type device)
+  int serial_port = open("/dev/ttyUSB0", O_RDWR);
+
+  // Create new termios struct, we call it 'tty' for convention
+  struct termios tty;
+
+  // Read in existing settings, and handle any error
+  if(tcgetattr(serial_port, &tty) != 0) {
+      printf("Error %i from tcgetattr: %s\n", errno, strerror(errno));
+      return 1;
+  }
+
+  tty.c_cflag &= ~PARENB; // Clear parity bit, disabling parity (most common)
+  tty.c_cflag &= ~CSTOPB; // Clear stop field, only one stop bit used in communication (most common)
+  tty.c_cflag &= ~CSIZE; // Clear all bits that set the data size 
+  tty.c_cflag |= CS8; // 8 bits per byte (most common)
+  tty.c_cflag &= ~CRTSCTS; // Disable RTS/CTS hardware flow control (most common)
+  tty.c_cflag |= CREAD | CLOCAL; // Turn on READ & ignore ctrl lines (CLOCAL = 1)
+
+  tty.c_lflag &= ~ICANON;
+  tty.c_lflag &= ~ECHO; // Disable echo
+  tty.c_lflag &= ~ECHOE; // Disable erasure
+  tty.c_lflag &= ~ECHONL; // Disable new-line echo
+  tty.c_lflag &= ~ISIG; // Disable interpretation of INTR, QUIT and SUSP
+  tty.c_iflag &= ~(IXON | IXOFF | IXANY); // Turn off s/w flow ctrl
+  tty.c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL); // Disable any special handling of received bytes
+
+  tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars)
+  tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed
+  // tty.c_oflag &= ~OXTABS; // Prevent conversion of tabs to spaces (NOT PRESENT ON LINUX)
+  // tty.c_oflag &= ~ONOEOT; // Prevent removal of C-d chars (0x004) in output (NOT PRESENT ON LINUX)
+
+  tty.c_cc[VTIME] = 10;    // Wait for up to 1s (10 deciseconds), returning as soon as any data is received.
+  tty.c_cc[VMIN] = 0;
+
+  // Set in/out baud rate to be 9600
+  cfsetispeed(&tty, B9600);
+  cfsetospeed(&tty, B9600);
+
+  // Save tty settings, also checking for error
+  if (tcsetattr(serial_port, TCSANOW, &tty) != 0) {
+      printf("Error %i from tcsetattr: %s\n", errno, strerror(errno));
+      return 1;
+  }
+
+  // Write to serial port
+  unsigned char msg[] = { 0x22, 0x00, 0x00, 0x22  };
+  write(serial_port, msg, sizeof(msg));
+
+  // Allocate memory for read buffer, set size according to your needs
+  char read_buf [256];
+
+  // Normally you wouldn't do this memset() call, but since we will just receive
+  // ASCII data for this example, we'll set everything to 0 so we can
+  // call printf() easily.
+  memset(&read_buf, '\0', sizeof(read_buf));
+
+  // Read bytes. The behaviour of read() (e.g. does it block?,
+  // how long does it block for?) depends on the configuration
+  // settings above, specifically VMIN and VTIME
+  int num_bytes = read(serial_port, &read_buf, sizeof(read_buf));
+
+  // n is the number of bytes read. n may be 0 if no bytes were received, and can also be -1 to signal an error.
+  if (num_bytes < 0) {
+      printf("Error reading: %s", strerror(errno));
+      return 1;
+  }
+
+
+  for (int i = 0; i < num_bytes; ++i)
+     std::cout << read_buf[i];
+  std::cout << std::endl;
+  // printf("Read %i bytes. Received message: %s", num_bytes, read_buf);
+
+  close(serial_port);
+  return 0; // success
+};
--- a/src/Client/Ultrasonic/Ultrasonic.d
+++ b/src/Client/Ultrasonic/Ultrasonic.d
@@ -0,0 +1,166 @@
+Ultrasonic: Ultrasonic.cpp /usr/include/stdc-predef.h Ultrasonic.h \
+ /usr/include/stdio.h \
+ /usr/include/x86_64-linux-gnu/bits/libc-header-start.h \
+ /usr/include/features.h /usr/include/x86_64-linux-gnu/sys/cdefs.h \
+ /usr/include/x86_64-linux-gnu/bits/wordsize.h \
+ /usr/include/x86_64-linux-gnu/bits/long-double.h \
+ /usr/include/x86_64-linux-gnu/gnu/stubs.h \
+ /usr/include/x86_64-linux-gnu/gnu/stubs-64.h \
+ /usr/lib/gcc/x86_64-linux-gnu/10/include/stddef.h \
+ /usr/lib/gcc/x86_64-linux-gnu/10/include/stdarg.h \
+ /usr/include/x86_64-linux-gnu/bits/types.h \
+ /usr/include/x86_64-linux-gnu/bits/timesize.h \
+ /usr/include/x86_64-linux-gnu/bits/typesizes.h \
+ /usr/include/x86_64-linux-gnu/bits/time64.h \
+ /usr/include/x86_64-linux-gnu/bits/types/__fpos_t.h \
+ /usr/include/x86_64-linux-gnu/bits/types/__mbstate_t.h \
+ /usr/include/x86_64-linux-gnu/bits/types/__fpos64_t.h \
+ /usr/include/x86_64-linux-gnu/bits/types/__FILE.h \
+ /usr/include/x86_64-linux-gnu/bits/types/FILE.h \
+ /usr/include/x86_64-linux-gnu/bits/types/struct_FILE.h \
+ /usr/include/x86_64-linux-gnu/bits/types/cookie_io_functions_t.h \
+ /usr/include/x86_64-linux-gnu/bits/stdio_lim.h \
+ /usr/include/x86_64-linux-gnu/bits/sys_errlist.h /usr/include/string.h \
+ /usr/include/x86_64-linux-gnu/bits/types/locale_t.h \
+ /usr/include/x86_64-linux-gnu/bits/types/__locale_t.h \
+ /usr/include/strings.h /usr/include/c++/10/iostream \
+ /usr/include/x86_64-linux-gnu/c++/10/bits/c++config.h \
+ /usr/include/x86_64-linux-gnu/c++/10/bits/os_defines.h \
+ /usr/include/x86_64-linux-gnu/c++/10/bits/cpu_defines.h \
+ /usr/include/c++/10/pstl/pstl_config.h /usr/include/c++/10/ostream \
+ /usr/include/c++/10/ios /usr/include/c++/10/iosfwd \
+ /usr/include/c++/10/bits/stringfwd.h \
+ /usr/include/c++/10/bits/memoryfwd.h /usr/include/c++/10/bits/postypes.h \
+ /usr/include/c++/10/cwchar /usr/include/wchar.h \
+ /usr/include/x86_64-linux-gnu/bits/floatn.h \
+ /usr/include/x86_64-linux-gnu/bits/floatn-common.h \
+ /usr/include/x86_64-linux-gnu/bits/wchar.h \
+ /usr/include/x86_64-linux-gnu/bits/types/wint_t.h \
+ /usr/include/x86_64-linux-gnu/bits/types/mbstate_t.h \
+ /usr/include/c++/10/exception /usr/include/c++/10/bits/exception.h \
+ /usr/include/c++/10/bits/exception_ptr.h \
+ /usr/include/c++/10/bits/exception_defines.h \
+ /usr/include/c++/10/bits/cxxabi_init_exception.h \
+ /usr/include/c++/10/typeinfo /usr/include/c++/10/bits/hash_bytes.h \
+ /usr/include/c++/10/new /usr/include/c++/10/bits/nested_exception.h \
+ /usr/include/c++/10/bits/move.h /usr/include/c++/10/type_traits \
+ /usr/include/c++/10/bits/char_traits.h \
+ /usr/include/c++/10/bits/stl_algobase.h \
+ /usr/include/c++/10/bits/functexcept.h \
+ /usr/include/c++/10/bits/cpp_type_traits.h \
+ /usr/include/c++/10/ext/type_traits.h \
+ /usr/include/c++/10/ext/numeric_traits.h \
+ /usr/include/c++/10/bits/stl_pair.h \
+ /usr/include/c++/10/bits/stl_iterator_base_types.h \
+ /usr/include/c++/10/bits/stl_iterator_base_funcs.h \
+ /usr/include/c++/10/bits/concept_check.h \
+ /usr/include/c++/10/debug/assertions.h \
+ /usr/include/c++/10/bits/stl_iterator.h \
+ /usr/include/c++/10/bits/ptr_traits.h /usr/include/c++/10/debug/debug.h \
+ /usr/include/c++/10/bits/predefined_ops.h /usr/include/c++/10/cstdint \
+ /usr/lib/gcc/x86_64-linux-gnu/10/include/stdint.h /usr/include/stdint.h \
+ /usr/include/x86_64-linux-gnu/bits/stdint-intn.h \
+ /usr/include/x86_64-linux-gnu/bits/stdint-uintn.h \
+ /usr/include/c++/10/bits/localefwd.h \
+ /usr/include/x86_64-linux-gnu/c++/10/bits/c++locale.h \
+ /usr/include/c++/10/clocale /usr/include/locale.h \
+ /usr/include/x86_64-linux-gnu/bits/locale.h /usr/include/c++/10/cctype \
+ /usr/include/ctype.h /usr/include/x86_64-linux-gnu/bits/endian.h \
+ /usr/include/x86_64-linux-gnu/bits/endianness.h \
+ /usr/include/c++/10/bits/ios_base.h /usr/include/c++/10/ext/atomicity.h \
+ /usr/include/x86_64-linux-gnu/c++/10/bits/gthr.h \
+ /usr/include/x86_64-linux-gnu/c++/10/bits/gthr-default.h \
+ /usr/include/pthread.h /usr/include/sched.h \
+ /usr/include/x86_64-linux-gnu/bits/types/time_t.h \
+ /usr/include/x86_64-linux-gnu/bits/types/struct_timespec.h \
+ /usr/include/x86_64-linux-gnu/bits/sched.h \
+ /usr/include/x86_64-linux-gnu/bits/types/struct_sched_param.h \
+ /usr/include/x86_64-linux-gnu/bits/cpu-set.h /usr/include/time.h \
+ /usr/include/x86_64-linux-gnu/bits/time.h \
+ /usr/include/x86_64-linux-gnu/bits/timex.h \
+ /usr/include/x86_64-linux-gnu/bits/types/struct_timeval.h \
+ /usr/include/x86_64-linux-gnu/bits/types/clock_t.h \
+ /usr/include/x86_64-linux-gnu/bits/types/struct_tm.h \
+ /usr/include/x86_64-linux-gnu/bits/types/clockid_t.h \
+ /usr/include/x86_64-linux-gnu/bits/types/timer_t.h \
+ /usr/include/x86_64-linux-gnu/bits/types/struct_itimerspec.h \
+ /usr/include/x86_64-linux-gnu/bits/pthreadtypes.h \
+ /usr/include/x86_64-linux-gnu/bits/thread-shared-types.h \
+ /usr/include/x86_64-linux-gnu/bits/pthreadtypes-arch.h \
+ /usr/include/x86_64-linux-gnu/bits/struct_mutex.h \
+ /usr/include/x86_64-linux-gnu/bits/struct_rwlock.h \
+ /usr/include/x86_64-linux-gnu/bits/setjmp.h \
+ /usr/include/x86_64-linux-gnu/c++/10/bits/atomic_word.h \
+ /usr/include/c++/10/bits/locale_classes.h /usr/include/c++/10/string \
+ /usr/include/c++/10/bits/allocator.h \
+ /usr/include/x86_64-linux-gnu/c++/10/bits/c++allocator.h \
+ /usr/include/c++/10/ext/new_allocator.h \
+ /usr/include/c++/10/bits/ostream_insert.h \
+ /usr/include/c++/10/bits/cxxabi_forced.h \
+ /usr/include/c++/10/bits/stl_function.h \
+ /usr/include/c++/10/backward/binders.h \
+ /usr/include/c++/10/bits/range_access.h \
+ /usr/include/c++/10/initializer_list \
+ /usr/include/c++/10/bits/iterator_concepts.h \
+ /usr/include/c++/10/concepts /usr/include/c++/10/bits/range_cmp.h \
+ /usr/include/c++/10/bits/basic_string.h \
+ /usr/include/c++/10/ext/alloc_traits.h \
+ /usr/include/c++/10/bits/alloc_traits.h \
+ /usr/include/c++/10/bits/stl_construct.h /usr/include/c++/10/string_view \
+ /usr/include/c++/10/bits/functional_hash.h \
+ /usr/include/c++/10/bits/string_view.tcc \
+ /usr/include/c++/10/ext/string_conversions.h /usr/include/c++/10/cstdlib \
+ /usr/include/stdlib.h /usr/include/x86_64-linux-gnu/bits/waitflags.h \
+ /usr/include/x86_64-linux-gnu/bits/waitstatus.h \
+ /usr/include/x86_64-linux-gnu/sys/types.h /usr/include/endian.h \
+ /usr/include/x86_64-linux-gnu/bits/byteswap.h \
+ /usr/include/x86_64-linux-gnu/bits/uintn-identity.h \
+ /usr/include/x86_64-linux-gnu/sys/select.h \
+ /usr/include/x86_64-linux-gnu/bits/select.h \
+ /usr/include/x86_64-linux-gnu/bits/types/sigset_t.h \
+ /usr/include/x86_64-linux-gnu/bits/types/__sigset_t.h \
+ /usr/include/alloca.h /usr/include/x86_64-linux-gnu/bits/stdlib-float.h \
+ /usr/include/c++/10/bits/std_abs.h /usr/include/c++/10/cstdio \
+ /usr/include/c++/10/cerrno /usr/include/errno.h \
+ /usr/include/x86_64-linux-gnu/bits/errno.h /usr/include/linux/errno.h \
+ /usr/include/x86_64-linux-gnu/asm/errno.h \
+ /usr/include/asm-generic/errno.h /usr/include/asm-generic/errno-base.h \
+ /usr/include/x86_64-linux-gnu/bits/types/error_t.h \
+ /usr/include/c++/10/bits/charconv.h \
+ /usr/include/c++/10/bits/basic_string.tcc \
+ /usr/include/c++/10/bits/locale_classes.tcc \
+ /usr/include/c++/10/system_error \
+ /usr/include/x86_64-linux-gnu/c++/10/bits/error_constants.h \
+ /usr/include/c++/10/stdexcept /usr/include/c++/10/streambuf \
+ /usr/include/c++/10/bits/streambuf.tcc \
+ /usr/include/c++/10/bits/basic_ios.h \
+ /usr/include/c++/10/bits/locale_facets.h /usr/include/c++/10/cwctype \
+ /usr/include/wctype.h /usr/include/x86_64-linux-gnu/bits/wctype-wchar.h \
+ /usr/include/x86_64-linux-gnu/c++/10/bits/ctype_base.h \
+ /usr/include/c++/10/bits/streambuf_iterator.h \
+ /usr/include/x86_64-linux-gnu/c++/10/bits/ctype_inline.h \
+ /usr/include/c++/10/bits/locale_facets.tcc \
+ /usr/include/c++/10/bits/basic_ios.tcc \
+ /usr/include/c++/10/bits/ostream.tcc /usr/include/c++/10/istream \
+ /usr/include/c++/10/bits/istream.tcc /usr/include/fcntl.h \
+ /usr/include/x86_64-linux-gnu/bits/fcntl.h \
+ /usr/include/x86_64-linux-gnu/bits/fcntl-linux.h \
+ /usr/include/x86_64-linux-gnu/bits/types/struct_iovec.h \
+ /usr/include/linux/falloc.h /usr/include/x86_64-linux-gnu/bits/stat.h \
+ /usr/include/termios.h /usr/include/x86_64-linux-gnu/bits/termios.h \
+ /usr/include/x86_64-linux-gnu/bits/termios-struct.h \
+ /usr/include/x86_64-linux-gnu/bits/termios-c_cc.h \
+ /usr/include/x86_64-linux-gnu/bits/termios-c_iflag.h \
+ /usr/include/x86_64-linux-gnu/bits/termios-c_oflag.h \
+ /usr/include/x86_64-linux-gnu/bits/termios-baud.h \
+ /usr/include/x86_64-linux-gnu/bits/termios-c_cflag.h \
+ /usr/include/x86_64-linux-gnu/bits/termios-c_lflag.h \
+ /usr/include/x86_64-linux-gnu/bits/termios-tcflow.h \
+ /usr/include/x86_64-linux-gnu/bits/termios-misc.h \
+ /usr/include/x86_64-linux-gnu/sys/ttydefaults.h /usr/include/unistd.h \
+ /usr/include/x86_64-linux-gnu/bits/posix_opt.h \
+ /usr/include/x86_64-linux-gnu/bits/environments.h \
+ /usr/include/x86_64-linux-gnu/bits/confname.h \
+ /usr/include/x86_64-linux-gnu/bits/getopt_posix.h \
+ /usr/include/x86_64-linux-gnu/bits/getopt_core.h \
+ /usr/include/x86_64-linux-gnu/bits/unistd_ext.h
--- a/src/Client/Ultrasonic/Ultrasonic.h
+++ b/src/Client/Ultrasonic/Ultrasonic.h
@@ -0,0 +1,11 @@
+// C library headers
+#include <stdio.h>
+#include <string.h>
+#include <iostream>
+
+// Linux headers
+#include <fcntl.h> // Contains file controls like O_RDWR
+#include <errno.h> // Error integer and strerror() function
+#include <termios.h> // Contains POSIX terminal control definitions
+#include <unistd.h> // write(), read(), close()
+