test_threadedserial.cpp

Go to the documentation of this file.

/*
 * main.cpp
 *
 *  Created on: Oct 13, 2011
 *      Author: mriedel
 */

#include <telekyb_serial/ThreadedSerialDevice.hpp>

#include <iostream>

#include <ros/ros.h>

using namespace telekyb;

class SerialListener : public SerialDeviceListener
{
        void handleReadSerialData(const std::vector<char>& data) {
                std::string msg(&data[0], data.size());
                ROS_INFO_STREAM("Received CB with: " << msg);
        }
};

int main(int argc, char **argv) {

        ros::init(argc,argv,"test_threadedserial");

        SerialListener listener;

#ifdef __APPLE__
        ThreadedSerialDevice d("/dev/tty.usbserial-A600eG5l");
#else
        ThreadedSerialDevice d("/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_A600eG5l-if00-port0", "\r\n", true, O_RDWR | O_NOCTTY | O_NONBLOCK);
#endif
        //int i = 0000016;
        //std::cout << i;

        //d.printTermiosAttr();

        tcflag_t cflag = CS8 | CLOCAL | CREAD;

        d.setTermiosAttrCFlag(cflag);
        d.setTermiosAttrSpeed(B115200,B115200);

        d.registerSerialDeviceListener(&listener);

        //std::string sl("+++\r");
        //sl << d;
        //sl >> d;

        //result << d;
        //std:: cout << result << std::endl;

//      sleep(1);
//      char test[3] = { '+', '+', '+' };
//      d.writeDevice(test, sizeof(test));
//      usleep(1000);


        ros::waitForShutdown();

        return 0;
}