git commit -m "first commit for v2"

Devices/Libraries/Ros/libserial/include/libserial/define.h

@@ -0,0 +1,43 @@
+#pragma once
+
+#define OFF 0
+#define ON 1
+#define MAX_MSG_LENGTH 2048
+
+typedef enum parity {
+	PARITY_NONE,
+	PARITY_EVEN,
+	PARITY_ODD
+} parity_t;
+
+typedef enum stop_bits {
+	STOPBIT_1,
+	STOPBIT_2
+} stop_bits_t;
+
+typedef enum data_bits {
+    DATABIT_5,
+    DATABIT_6,
+	DATABIT_7,
+    DATABIT_8
+} data_bits_t;
+
+struct _rs485 {
+    /* Socket or file descriptor */
+    int s;
+    /* Device: "/dev/ttyS0", "/dev/ttyUSB0" or "/dev/tty.USA19*" on Mac OS X. */
+    const char* _port;
+    /* Bauds: 9600, 19200, 57600, 115200, etc */
+    unsigned int _baud;
+    /* Data bit */
+    data_bits_t _data_bit;
+    /* Stop bit */
+    stop_bits_t _stop_bit;
+    /* Parity:*/
+    parity_t _parity;
+    /* Save old termios settings */
+    struct termios _old_tios;
+};
+
+
+

Devices/Libraries/Ros/libserial/include/libserial/rs485.h

@@ -0,0 +1,88 @@
+//
+// Created by Hiep  on 5/12/2020.
+//
+#pragma once
+#include <ros/ros.h>
+#include "serial.h"
+
+typedef struct _rs485 rs485_t;
+
+class rs485: public Serial
+{
+private:  
+    /**
+     * Configure
+     * @param devfile   Path name of dev  
+     * @param baud      Baudrate 
+     * @param parity    Parity
+     * @param data_bit
+     * @param stop_bit 
+     */
+    virtual int _rs485_connect(rs485_t &ctx); 
+
+    /**
+     * create new port
+     * @param devfile   Path name of dev  
+     * @param baud      Baudrate 
+     * @param parity    Parity
+     * @param data_bit
+     * @param stop_bit 
+     */
+    virtual void new_port(const char* devfile, unsigned int baud, parity_t parity, 
+                                        data_bits_t data_bit,stop_bits_t stop_bit);
+    
+public:
+    /**
+     * Data Sender
+     * @param to_send Request to Be Sent to Server
+     * @param length  Length of the Request
+     * @return        Size of the request
+     */
+    virtual ssize_t sendMsgs(uint8_t *to_send, uint16_t length);
+
+    /**
+     * Data Receiver
+     * @param buffer Buffer to Store the Data` Retrieved
+     * @return       Size of Incoming Data
+     */
+    virtual ssize_t receiveMsgs(uint8_t *buffer) const;
+
+    /*
+     *  Reconnect to device if rs485 modules was disconected.
+     */
+    virtual void reconnect(void);
+
+    /*
+     * Set read character miximum
+     * @param[in] num The character minximum to receive.
+     */
+    virtual int setCharacterNumToRead(int num);
+
+    /**
+     * Close serial port
+     */
+    virtual void close_port();
+
+    /**
+     * @brief Constructor 
+     * @param[in] devfile   Example /dev/tty* 
+     * @param[in] baud      Number of transmitted bits  per a second
+     * @param[in] parity    The parity check bit {Even, None , Old }
+     * @param[in] data_bit  Number of bits in a transmission frame 
+     * @param[in] stop_bit  End bit
+     */
+    rs485(const char* devfile, unsigned int baud, parity_t parity, 
+                                        data_bits_t data_bit,stop_bits_t stop_bit);
+    /**
+     * Destructor.
+     */
+    virtual ~rs485();
+/* Properties */
+protected:
+    rs485_t ctx;
+    uint8_t size_pkg;
+    float param_safety;
+public:
+    bool _connected{};      /* Write status connection of devices */
+    std::string error_msg;  /* To saved error message */
+};

Devices/Libraries/Ros/libserial/include/libserial/serial.h

@@ -0,0 +1,44 @@
+//
+// Created by Hiep  on 4/12/2020.
+//
+#pragma once 
+// #include <bits/stdc++.h>
+#include <iostream>  /* std::cout */
+#include <stdio.h>   /* Standard input/output definitions */
+#include <string.h>  /* String function definitions */
+#include <unistd.h>  /* UNIX standard function definitions */
+#include <fcntl.h>   /* File control definitions */
+#include <errno.h>   /* Error number definitions */
+#include <termios.h> /* POSIX terminal control definitions */
+#include <cstdint>	/* uin8_t */
+#include <stdlib.h>  
+#include <sys/stat.h>
+#include "define.h"
+
+class Serial
+{
+public:
+   /*
+    * @brief Setting baudrate
+    * @param[in] b baud speed input
+    */
+   virtual speed_t setBaudRate(unsigned int b);
+
+   /*
+    * @brief Setting parity bits type
+    * @param[in] b baud speed input
+    */
+   virtual void setParity(termios &tios, parity p);
+
+   /*
+    * @brief Setting stop bits type
+    * @param[in] b baud speed input
+    */
+   virtual void setStopBits(termios &tios, stop_bits s);
+
+   /*
+    * @brief Setting data bits type
+    * @param[in] b baud speed input
+    */
+   virtual void setDataBits(termios &tios, data_bits d);
+};

Devices/Libraries/Ros/libserial/include/libserial/udevadm_info.h

@@ -0,0 +1,119 @@
+#ifndef    __UDEVADM_INFO_H_INCLUDE__
+#define    __UDEVADM_INFO_H_INCLUDE__
+
+#include <ros/ros.h>
+#include <unistd.h>
+#include <poll.h>
+#include <cstdio>
+#include <cstdlib>
+#include <cerrno>
+#include <cstring>
+#include <sys/signalfd.h>
+#include <csignal>
+#include <libudev.h>
+#include <string>
+
+class udevadmInfo {
+public:
+    udevadmInfo(const char *product_name);
+    virtual ~udevadmInfo(void);
+    virtual int init();
+    virtual bool scanDevices(void);
+    const char *port;
+protected:
+    struct udev *udev;
+    char *product_name_;
+};
+
+udevadmInfo::udevadmInfo(const char *product_name)
+ : product_name_((char *)product_name)
+{
+    
+}
+
+udevadmInfo::~udevadmInfo(void){
+    udev_unref(udev);
+}
+
+int udevadmInfo::init() {
+    udev = udev_new();
+    if (!udev) {
+        printf("Error while initialization!\n");
+        return EXIT_FAILURE;
+    }
+    sigset_t mask;
+
+    // Set signals we want to catch
+    sigemptyset(&mask);
+    sigaddset(&mask, SIGTERM);
+    sigaddset(&mask, SIGINT);
+
+    // Change the signal mask and check
+    if (sigprocmask(SIG_BLOCK, &mask, nullptr) < 0) {
+        ROS_ERROR("UDEV-Error while sigprocmask(): %s\n", std::strerror(errno));
+        return EXIT_FAILURE;
+    }
+    // Get a signal file descriptor
+    int signal_fd = signalfd(-1, &mask, 0);
+    // Check the signal file descriptor
+    if (signal_fd < 0) {
+        ROS_ERROR("UDEV-Error while signalfd(): %s\n", std::strerror(errno));
+        return EXIT_FAILURE;
+    }
+    return EXIT_SUCCESS;
+}
+
+bool udevadmInfo::scanDevices(void) {
+    struct udev_device *device;
+    struct udev_enumerate *enumerate;
+    struct udev_list_entry *devices, *dev_list_entry;
+
+    // Create enumerate object
+    enumerate = udev_enumerate_new(udev);
+    if (!enumerate) {
+        ROS_ERROR("Error while creating udev enumerate\n");
+        return false;
+    }
+
+    // Scan devices
+    udev_enumerate_scan_devices(enumerate);
+
+    // Fill up device list
+    devices = udev_enumerate_get_list_entry(enumerate);
+    if (!devices) {
+        ROS_ERROR("Error while getting device list\n");
+        return false;
+    }
+
+    udev_list_entry_foreach(dev_list_entry, devices) {
+        const char* path = udev_list_entry_get_name(dev_list_entry);
+        // Get the device
+        device = udev_device_new_from_syspath(udev, udev_list_entry_get_name(dev_list_entry));
+        // Print device information
+        if(udev_device_get_devnode(device) != NULL && strstr(udev_device_get_sysname(device),"ttyUSB") != NULL) {
+            // ROS_INFO("DEVNODE=%s", udev_device_get_devnode(device));
+            struct udev_device* usb = udev_device_get_parent_with_subsystem_devtype(device,"usb","usb_device");
+                // ROS_INFO("usb = %s:%s, manufacturer = %s, product = %s, serial = %s, speed = %s, bMaxPower = %s",
+                //         udev_device_get_sysattr_value(usb, "idVendor"),
+                //         udev_device_get_sysattr_value(usb, "idProduct"),
+                //         udev_device_get_sysattr_value(usb, "manufacturer"),
+                //         udev_device_get_sysattr_value(usb, "product"),
+                //         udev_device_get_sysattr_value(usb, "serial"),
+                //         udev_device_get_sysattr_value(usb, "speed"),
+                //         udev_device_get_sysattr_value(usb, "bMaxPower"));
+                if(strstr(udev_device_get_sysattr_value(usb, "product"), (const char *)product_name_) != NULL) {
+                    port = udev_device_get_devnode(device);
+                    return true;
+                }
+        }
+        else {
+            continue;
+        }
+        // Free the device
+        udev_device_unref(device);
+    }
+    // Free enumerate
+    udev_enumerate_unref(enumerate);
+    return false;
+}
+#endif