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serial.cpp
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serial.cpp
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#include "WString.h"
// @开源协议 GPL3.0
// @作者 Bigonion
// @NameSpace bigonion.cn
// @github https://github.com/LiWeny16/ai_based_remote_control_car_arduino_mega2560
#include "Arduino.h"
#include "head.h"
SoftwareSerial Serial_8266(Soft_Serial_1_RX, Soft_Serial_1_TX);
bool SerialLock;
void init_serial(unsigned long baud) {
Serial.begin(baud);
Serial.println("Mega 2560 is ready!");
Serial_8266.begin(9600);
SerialLock = true;
}
void handle_serial_to_8266(SoftwareSerial *Serial_8266, Speed *speed_now) {
if (!SerialLock) {
(*Serial_8266).print((*speed_now).speed_1);
(*Serial_8266).print("|");
(*Serial_8266).print((*speed_now).speed_2);
(*Serial_8266).print("|");
(*Serial_8266).print((*speed_now).speed_3);
(*Serial_8266).print("|");
(*Serial_8266).print((*speed_now).speed_4);
(*Serial_8266).print("?");
}
}
void handle_serial_from_8266(SoftwareSerial *Serial_8266, String *char_sum, Speed *speed_now) {
if ((*Serial_8266).available() > 0) // 串口接收到数据
{
// 锁住
SerialLock = true;
Receive_Arg_Movement *receive_arg_movement = new Receive_Arg_Movement;
Receive_Arg_Movement *receive_arg_movement2 = new Receive_Arg_Movement;
char b = (*Serial_8266).read();
// Serial.println((int)'0');
// Serial.print(b);
// if (b >= 32)
(*char_sum) += b;
// else
// 13,0
// Serial.println((int)b);
if (b == '?') {
SerialLock = false;
// (*Serial_8266).print((*speed_now).speed_1);
// (*Serial_8266).print("|");
// (*Serial_8266).print((*speed_now).speed_2);
// (*Serial_8266).print("|");
// (*Serial_8266).print((*speed_now).speed_3);
// (*Serial_8266).print("|");
// (*Serial_8266).print((*speed_now).speed_4);
// (*Serial_8266).print("?");
/**
* @note 把最后一个"?"去掉
*/
String *split_result = new String;
// Serial.println(*char_sum);
(*split_result) = (*char_sum).substring(0, (*char_sum).length() - 1);
// Serial.println(*split_result);
// String control_type = *(&split_result);
// char* choice = new char;
const char choice = (*split_result)[0];
// String choice = ((*split_result));
// Serial.println(choice);
switch (choice) {
// 全向移动
case '1':
// 获取字符串的长度
const short _length = (*split_result).length();
int *degree = new int;
int *speed_rate = new int;
// // 创建动态大小的字符数组
char *myCharArray = new char[_length + 1]; // 需要额外的空间来存储结尾的空字符 '\0'
// 将字符串复制到字符数组中
(*split_result).toCharArray(myCharArray, _length + 1);
char *p = strtok(myCharArray, ",");
for (int i = 0; p != NULL; i++) {
if (i > 0) {
/**
* @note 角度
* */
i == 1 ? ((receive_arg_movement)->arg_1 = p) : (char *)'1';
/**
* @note 速度
*/
i == 2 ? ((receive_arg_movement)->arg_2 = p) : (char *)'1';
}
p = strtok(NULL, ",");
}
(*degree) = (int)atoi((*receive_arg_movement).arg_1);
if ((*degree) > 360 || (*degree) < 0) {
(*degree) = 0;
}
(*speed_rate) = (int)atoi((*receive_arg_movement).arg_2);
if ((*speed_rate) > 30 || (*speed_rate) < 0) {
(*speed_rate) = 0;
}
// Serial.print("degree:");
// Serial.println((int)*degree);
// Serial.print("rate:");
// Serial.println((int)*speed_rate);
all_direction_movement.any(&speed_set, (*degree), (*speed_rate));
// 释放内存
delete[] myCharArray;
delete degree;
delete speed_rate;
break;
case '2':
// 即2,1 顺时针 2,2逆时针
(receive_arg_movement2)->arg_1 = (*split_result)[2];
if ((receive_arg_movement2)->arg_1 == "1") {
all_direction_movement.rotate_clockwise(&speed_set, 10);
} else if ((receive_arg_movement2)->arg_1 == "2") {
all_direction_movement.rotate_clockwise(&speed_set, 10);
}
break;
default:
break;
}
// if ((*split_result)[2] == '2') {
// Serial.println("aaa");
// }
// if ((*split_result)[2] == '7') {
// Serial.println("bbb");
// }
// Serial.println(&((*split_result)[2]))
// const char* myString = "Hello, World!";
// const char* secondCharPtr = myString + 1;
// Serial.print(*secondCharPtr);
// Serial.print(split_result);
// @format: ip:port = 192.168.173.202/switch?a=1&b=0&c=20
// speed_set.speed_set_4 = split_result.toInt();
// 释放动态分配的内存
// if ((*split_result).toInt() == 25) {
// // all_direction_movement.straight(&speed_set, 10, m_c_a_1);
// all_direction_movement.any(&speed_set, 50, 10);
// } else {
// all_direction_movement.straight(&speed_set, (*split_result).toInt());
// }
*char_sum = "";
delete split_result;
delete receive_arg_movement;
delete receive_arg_movement2;
}
}
}