串口数据解析，将自动拆分的数据整合成完整的一帧

#include "uart.h" #include "unistd.h" #include <QtSerialPort/QtSerialPort> #include <QTimer> #include <QByteArray> #include <QThread> #include <QDebug> std::vector<QSerialPortInfo> Uart::serialPorts_; Uart::Uart(const QString& uartName, uint baudRate, int ms_rcv/*=-1*/) : uart_(nullptr) , uartName_(uartName) , baudRate_(baudRate) , serialConnect_(false) , thread_(nullptr) , timer_(nullptr) , enWork_(false) { uart_ = new QSerialPort; Q_CHECK_PTR(uart_); if (ms_rcv > 0) { qDebug("== Use a separate thread to receive serial:%s data. ==", uartName.toLatin1().constData()); thread_ = new QThread; Q_CHECK_PTR(thread_); timer_ = new QTimer(this); Q_CHECK_PTR(timer_); timer_->setInterval(ms_rcv/2); connect(timer_, &QTimer::timeout, this, [=](){ timer_->stop(); if (buf_.length()>0) { recvData(buf_); buf_.clear(); } }); connect(uart_, &QSerialPort::readyRead, this, &Uart::onReadyRead); this->moveToThread(thread_); uart_->moveToThread(thread_); connect(thread_, &QThread::started, this, [=](){ createUartIntance(uartName_, baudRate_); if (!serialConnect_) { QTimer::singleShot(30*1000, this, SLOT(onReconnect())); } }); thread_->start(); } else { qDebug("** Use GUI-thread to receive serial:%s data. **", uartName.toLatin1().constData()); createUartIntance(uartName_, baudRate_); if (!serialConnect_) { QTimer::singleShot(30*1000, this, SLOT(onReconnect())); } } } Uart::~Uart() { if (timer_ != nullptr) { timer_->stop(); delete timer_; timer_ = nullptr; } uart_->close(); delete uart_; if (thread_ != nullptr) { if (thread_->isRunning()) { thread_->quit(); thread_->wait(500); } } } void Uart::onReadyRead() { QByteArray by = uart_->readAll(); if (by.size() <= 0) return; if (!enWork_) { if (!buf_.isEmpty()) { buf_.clear(); } return; } buf_.append(by); if (buf_.size() >= 56) { timer_->start(); } } int Uart::InitAvaliablePorts() { qDebug("Avaliable SerialPorts: "); serialPorts_.clear(); int i = 0; foreach (const QSerialPortInfo & info, QSerialPortInfo::availablePorts()) { qDebug("- [%d] %s, Desc:%s\t", i, info.portName().toLatin1().data(), info.description().toLatin1().data()); serialPorts_.push_back(info); ++i; } return serialPorts_.size(); } bool Uart::GetSerialPortInfo(QSerialPortInfo& serialChosen, const QString& uartName) { int portIndex = -1; for (size_t i=0; i<Uart::serialPorts_.size(); ++i) { if (serialPorts_[i].portName() == uartName) { portIndex = i; break; } } if (portIndex == -1) return false; serialChosen = Uart::serialPorts_[portIndex]; return true; } void Uart::onReconnect() { serialConnect_ = (ConnectUart(serialChosen_, baudRate_)>=0); if (!serialConnect_) { qWarning() << QString("### Err: !! Serial %1 Not Connect !! ###").arg(serialChosen_.portName()).toLatin1().constData(); QTimer::singleShot(30*1000, this, SLOT(onReconnect())); } } void Uart::createUartIntance(const QString& uartName, uint baudRate) { int count = 0; int portIndex = -1; do { for (size_t i=0; i<Uart::serialPorts_.size(); ++i) { if (Uart::serialPorts_[i].portName() == uartName) { portIndex = i; break; } } if (portIndex != -1) break; usleep(500*1000); count++; } while (count<6); if (portIndex == -1) { portIndex = 0; return; } serialChosen_ = Uart::serialPorts_[portIndex]; serialConnect_ = (ConnectUart(serialChosen_, baudRate)>=0); if (!serialConnect_) { qWarning() << "Err: !! Serial Not Connect !!"; qWarning() << "Err: !! Serial Not Connect !!"; qWarning() << "Err: !! Serial Not Connect !!"; } } int Uart::ConnectUart(const QSerialPortInfo& serialChosen, uint baudRate) { uart_->setPort( serialChosen ); if (!uart_->open(QIODevice::ReadWrite)) { int retries = 10; //30 while (retries-- > 0 && uart_->error() == QSerialPort::PermissionError) { qDebug() << QString("Cannot open %1").arg(uart_->portName()).toLatin1().data(); usleep(500*1000); if (uart_->open(QIODevice::ReadWrite)) { uart_->clearError(); break; } } if (uart_->error() != QSerialPort::NoError) { qWarning() << QString("Failed to open Serial Device: %1 (E%2)").arg(uart_->portName()).arg(uart_->error()); return -1; } } uart_->setBaudRate(QSerialPort::BaudRate(38400)); uart_->setParity(QSerialPort::NoParity); uart_->setDataBits(QSerialPort::Data8); uart_->setStopBits(QSerialPort::OneStop); uart_->setFlowControl(QSerialPort::NoFlowControl); uart_->clearError(); uart_->clear(); if (timer_ == nullptr) { connect(uart_, &QSerialPort::readyRead, this, [=](){ QByteArray by = uart_->readAll(); if (by.size() <= 0) return; if (!enWork_) { return; } recvData( by ); }); } qDebug() << QString("%1 is ready.").arg(uart_->portName()).toLatin1().data(); return 0; } void Uart::recvData(QByteArray by) { if (!_yReadHead) { if (!_recvData.isEmpty()) _recvData.clear(); } _recvData.append(by); checkData(_recvData, _yReadHead); //virtual } void Uart::checkData(QByteArray &by, bool &hasReadHead) { static int s_iErr = 0; int firstHeaderIndex = 0; while (1) { firstHeaderIndex = by.indexOf("!AIV"); if (firstHeaderIndex < 0) { // qDebug() << "!! Cannot find Head."; hasReadHead = false; break; } hasReadHead = true; if (firstHeaderIndex > 0) { by.remove(0, firstHeaderIndex); } int index = by.indexOf("\r\n"); if (index == -1) { if (++s_iErr >= 3) { qDebug() << "!! MS Err, no end-char, delete."; hasReadHead = false; } break; } s_iErr = 0; if (index < 20) { qDebug() << "!! MS Err, delete."; hasReadHead = false; break; } int len = index + 2; //20220103 if (len >= 120) { qDebug() << "!! Ms Too long, delete."; hasReadHead = false; break; } QByteArray data = by.mid(0, len); index = data.indexOf("\r\n"); resolverFrame(data.mid(0,index)); by.remove(0, len); if (by.isEmpty()) { hasReadHead = false; break; } } } void Uart::resolverFrame(const QByteArray &by) { //数据解析 qDebug()<<by; } void Uart::onSendData(const unsigned char* ch, int count, int retry/*=3*/) { int ret = justSend(ch, count, retry); if (ret == 0) //<0: not connect { qDebug("Err: Uart Send fail (%d).", ret); } } int Uart::justSend(const uchar* ch, int count, int retry) { if (!serialConnect_) return -1; int i = 0; bool success = true; while (1) { if (uart_->write((const char*)ch, count) != count) { if (++i >= retry) {