test_manual_rs232.cpp

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#include <stdio.h>
#include "sr_communications/serial_port/rs232.h"

#define DEF_SERIAL_PORT_FILE    "/dev/brazo_derecho"
#define DEF_SEMFILE             "semfile.sem"

// If you want to use an specific command to test the communication, this is the default one :)
#define DEFAULT_COMMAND         "POS\n\r"

int main(int argc, char **argv)
{
    Rs232 rs;

    char spFile[SP_MAX_FILENAME_SIZE];
    char command[SP_MSG_SIZE], response[SP_MSG_SIZE];

    semaphore_t sem;        // Semaphore data type

    int baud;               // Baudrate

    sprintf(sem.semFile, DEF_SEMFILE);
    sprintf(spFile, DEF_SERIAL_PORT_FILE);

    printf("Semaphore file: %s\n", sem.semFile);
    printf("Serial port file: %s\n", spFile);

    printf("Initializing the communication with the serial port...\n");
    if (rs.initCommunication(baud, spFile, sem.semFile) < ERR_NOERR) {
        perror("Error in init communication\n");
        exit(-1);
    }

    sprintf(command, DEFAULT_COMMAND);
    printf("Sending command through the serial port...\n");
    if (rs.writeToRS232(command, strlen(command)) < ERR_NOERR) {
        perror("Error writing in the serial port\n");
        exit(-1);
    }

    printf("Comand sent. Now reading the response....\n");
    if (rs.readFromRS232(response) < ERR_NOERR) {
        perror("Error reading from the serial port\n");
        exit(-1);
    }

    printf("Response received.\n");
    printf("The command was: %s\n", command);
    printf("And the received response was: %s\n", response);
    printf("\n");

    printf("Trying again, but this time using askToRS232 function.\n");
    if (rs.askToRS232(command, strlen(command), response) < ERR_NOERR) {
        perror("Error asking to the serial port\n");
        exit(-1);
    }

    printf("Question sent and response received.\n");
    printf("The command was: %s\n", command);
    printf("And the received response was: %s\n", response);
    printf("\n");

    return 0;
}