i want to send data over particular COM port, that is selected by track-bar, once its selected, data have to transmit over that COM port only. while doing this i am not getting proper output, please help me... thanks in advance!!!
find below code!!! /----------------------------main.cpp---------------------/
include "opencv2/opencv.hpp"
include "opencv2/imgproc/imgproc.hpp"
include "opencv2/highgui/highgui.hpp"
using namespace std; using namespace cv;
include <iostream>
include <stdio.h>
include <tchar.h>
include <string>
include "SerialClass.h"
char COM[4]; unsigned char dataLength=1; //Serial* SP = new Serial (COM);
void CallBackFunc (int event, int x,int y, int flags,void* userdata) { Serial* SP = new Serial (COM); //Serial* SP = new Serial ("COM7"); //bool WriteData(char buffer, unsigned int nbChar);
if (event == EVENT_LBUTTONDOWN)
{
if ( x > 230 and x < 365 and y < 132 and y > 40)
{
cout << "FORWARD" << endl;
//char send[2] = "F";
SP->WriteData("F",dataLength);
//SP->WriteData('F',dataLength);
}
else if ( x > 230 and x < 365 and y < 380 and y > 290)
{
cout << "BACKWARD" << endl;
//char send[2] = "B";
SP->WriteData("B",dataLength);
//SP->WriteData('B',dataLength);
}
else if ( x > 40 and x < 175 and y < 260 and y > 165)
{
cout << "LEFT" << endl;
//char send[2] = "L";
SP->WriteData("L",dataLength);
//SP->WriteData('L',dataLength);
}
else if ( x > 425 and x < 560 and y < 260 and y > 165)
{
cout << "RIGHT" << endl;
//char send[2] = "R";
SP->WriteData("R",dataLength);
//SP->WriteData('R',dataLength);
}
else if ( x > 230 and x < 365 and y < 260 and y > 165)
{
cout << "STOP" << endl;
//char send[2] = "S";
SP->WriteData("S",dataLength);
//SP->WriteData('S',dataLength);
}
else
{
cout << "STOP" << endl;
//char send[2] = "S";
SP->WriteData("S",dataLength);
//SP->WriteData('S',dataLength);
}
}
}
int main(int argc, char** argv) { int i=0; int Selected_COM; char COM[5];
namedWindow("COM Selection",1);
resizeWindow("COM Selection",400,45);
createTrackbar("COM","COM Selection",&i,20);
if (waitKey(0))
{
Selected_COM = getTrackbarPos("COM","COM Selection");
//printf("%d",Selected_COM);
if (Selected_COM == 1)
{
COM[0]='C';
COM[1]='O';
COM[2]='M';
COM[3]='1';
COM[4]='\0';
}
else if (Selected_COM == 2)
{
COM[0]='C';
COM[1]='O';
COM[2]='M';
COM[3]='2';
COM[4]='\0';
}
else if (Selected_COM == 3)
{
COM[0]='C';
COM[1]='O';
COM[2]='M';
COM[3]='3';
COM[4]='\0';
}
else if (Selected_COM == 4)
{
COM[0]='C';
COM[1]='O';
COM[2]='M';
COM[3]='4';
COM[4]='\0';
}
else if (Selected_COM == 5)
{
COM[0]='C';
COM[1]='O';
COM[2]='M';
COM[3]='5';
COM[4]='\0';
}
else if (Selected_COM == 6)
{
COM[0]='C';
COM[1]='O';
COM[2]='M';
COM[3]='6';
COM[4]='\0';
}
else if (Selected_COM == 7)
{
COM[0]='C';
COM[1]='O';
COM[2]='M';
COM[3]='7';
COM[4]='\0';
}
else if (Selected_COM == 8)
{
COM[0]='C';
COM[1]='O';
COM[2]='M';
COM[3]='8';
COM[4]='\0';
}
else if (Selected_COM == 9)
{
COM[0]='C';
COM[1]='O';
COM[2]='M';
COM[3]='9';
COM[4]='\0';
}
Serial* SP = new Serial (COM);
/*if (SP->IsConnected())
{
printf("We'r connected");
}*/
if (SP->IsConnected())
{
Mat img = imread("bot.jpg");
namedWindow("My Window",1);
setMouseCallback("My Window", CallBackFunc, NULL);
//setMouseCallback("My Window", NULL);
imshow("My Window", img);
waitKey(0);
}
else
{
//printf("false");
//namedWindow("ERROR",1);
Mat output = Mat::zeros(50, 210, CV_8UC3);
putText(output,"ERROR!!!", cvPoint(8,40), FONT_HERSHEY_PLAIN, 3, cvScalar(64,128,255,128),2);
imshow("ERROR", output);
waitKey(0);
}
//printf("%s",COM);
/*Mat img = imread("bot.jpg");
namedWindow("My Window",1);
//setMouseCallback("My Window", CallBackFunc, NULL);
setMouseCallback("My Window", NULL);
imshow("My Window", img);
waitKey(0);*/
}
}
/---------------------serial.cpp----------------------------------/
include "SerialClass.h"
Serial::Serial(char *portName) { //We're not yet connected this->connected = false;
//Try to connect to the given port throuh CreateFile
this->hSerial = CreateFile(portName,
GENERIC_READ | GENERIC_WRITE,
0,
NULL,
OPEN_EXISTING,
FILE_ATTRIBUTE_NORMAL,
NULL);
//Check if the connection was successfull
if(this->hSerial==INVALID_HANDLE_VALUE)
{
//If not success full display an Error
if(GetLastError()==ERROR_FILE_NOT_FOUND){
//Print Error if neccessary
printf("ERROR: Handle was not attached. Reason: %s not available.\n", portName);
}
else
{
printf("ERROR!!!");
}
}
else
{
//If connected we try to set the comm parameters
DCB dcbSerialParams = {0};
//Try to get the current
if (!GetCommState(this->hSerial, &dcbSerialParams))
{
//If impossible, show an error
printf("failed to get current serial parameters!");
}
else
{
//Define serial connection parameters for the arduino board
dcbSerialParams.BaudRate=CBR_9600;
dcbSerialParams.ByteSize=8;
dcbSerialParams.StopBits=ONESTOPBIT;
dcbSerialParams.Parity=NOPARITY;
//Set the parameters and check for their proper application
if(!SetCommState(hSerial, &dcbSerialParams))
{
printf("ALERT: Could not set Serial Port parameters");
}
else
{
//If everything went fine we're connected
this->connected = true;
//We wait 2s as the arduino board will be reseting
Sleep(ARDUINO_WAIT_TIME);
}
}
}
}
Serial::~Serial() { //Check if we are connected before trying to disconnect if(this->connected) { //We're no longer connected this->connected = false; //Close the serial handler CloseHandle(this->hSerial); } }
int Serial::ReadData(char *buffer, unsigned int nbChar) { //Number of bytes we'll have read DWORD bytesRead; //Number of bytes we'll really ask to read unsigned int toRead;
//Use the ClearCommError function to get status info on the Serial port
ClearCommError(this->hSerial, &this->errors, &this->status);
//Check if there is something to read
if(this->status.cbInQue>0)
{
//If there is we check if there is enough data to read the required number
//of characters, if not we'll read only the available characters to prevent
//locking of the application.
if(this->status.cbInQue>nbChar)
{
toRead = nbChar;
}
else
{
toRead = this->status.cbInQue;
}
//Try to read the require number of chars, and return the number of read bytes on success
if(ReadFile(this->hSerial, buffer, toRead, &bytesRead, NULL) && bytesRead != 0)
{
return bytesRead;
}
}
//If nothing has been read, or that an error was detected return -1
return -1;
}
bool Serial::WriteData(char *buffer, unsigned int nbChar) { DWORD bytesSend;
//Try to write the buffer on the Serial port
if(!WriteFile(this->hSerial, (void *)buffer, nbChar, &bytesSend, 0))
{
//In case it don't work get comm error and return false
ClearCommError(this->hSerial, &this->errors, &this->status);
return false;
}
else
return true;
}
bool Serial::IsConnected() { //Simply return the connection status return this->connected; }
/------------------------SerialClass.h--------------------------/
ifndef SERIALCLASS_H_
define SERIALCLASS_H_
define ARDUINO_WAIT_TIME 2000
include <windows.h>
include <stdio.h>
include <stdlib.h>
class Serial { private: //Serial comm handler HANDLE hSerial; //Connection status bool connected; //Get various information about the connection COMSTAT status; //Keep track of last error DWORD errors;
public:
//Initialize Serial communication with the given COM port
Serial(char *portName);
//Close the connection
//NOTA: for some reason you can't connect again before exiting
//the program and running it again
~Serial();
//Read data in a buffer, if nbChar is greater than the
//maximum number of bytes available, it will return only the
//bytes available. The function return -1 when nothing could
//be read, the number of bytes actually read.
int ReadData(char *buffer, unsigned int nbChar);
//Writes data from a buffer through the Serial connection
//return true on success.
bool WriteData(char *buffer, unsigned int nbChar);
//Check if we are actually connected
bool IsConnected();
};
