Javaとのインターフェースのチュートリアルに従いましたが、テストでいくつかの問題が発生しました。現在、手動入力を試してみると、Arduinoプログラムは正常に動作します。
ArduinoのCコードのセグメント:
char line[20];
int line_pos = 0;
char action[10];
unsigned long duration;
boolean data_ready = false;
void setup()
{
Serial.begin(9600);
delay(1500);
Serial.println("Ready!");
}
void loop()
{
char state;
if(Serial.available()>0)
{
delay(20);
state = Serial.read();
if(state == '!')
{
data_ready = true;
line[line_pos] = state;
line_pos = 0;
}
else
{
line[line_pos] = state;
line_pos = line_pos + 1;
}
if(data_ready == true)
{
split(line);
Serial.print(action);
delay(20);
Serial.print("!");
delay(20);
Serial.print(duration);
delay(20);
Serial.print("!");
Serial.println("Data has been split");
if(strcmp(action, "left") == 0)
{
Serial.println("Received left");
}
else if(strcmp(action, "right") == 0)
{
Serial.println("Received rightt");
}
else if(strcmp(action, "straight") == 0)
{
Serial.println("Received straight");
}
memset(line, 0, 20);
data_ready = false;
}
}
}
void split(char input[20])
{
char *param, *ptr;
param = strtok_r(input, "#", &ptr);
strncpy(action, param, sizeof(action));
action[sizeof(action)-1] = '\0';
param = strtok_r(NULL, "!", &ptr);
duration = strtoul(param, ¶m, 10);
}
「left#123!」と入力すると 期待通りに出てくるCOMで次の出力が得られます。ここでは問題ありません:
準備!left!123!データが分割されました受信左
これが私のJavaコードです。
import java.io.InputStream;
import java.io.OutputStream;
import gnu.io.CommPortIdentifier;
import gnu.io.SerialPort;
import gnu.io.SerialPortEvent;
import gnu.io.SerialPortEventListener;
import java.util.Enumeration;
public class SerialTest implements SerialPortEventListener {
SerialPort serialPort;
/** The port we're normally going to use. */
private static final String PORT_NAMES[] = {
"/dev/tty.usbserial-A9007UX1", // Mac OS X
"/dev/ttyUSB0", // Linux
"COM3", // Windows
};
/** Buffered input stream from the port */
private InputStream input;
/** The output stream to the port */
private OutputStream output;
/** Milliseconds to block while waiting for port open */
private static final int TIME_OUT = 2000;
/** Default bits per second for COM port. */
private static final int DATA_RATE = 9600;
private String display = "";
public void initialize() {
CommPortIdentifier portId = null;
Enumeration portEnum = CommPortIdentifier.getPortIdentifiers();
// iterate through, looking for the port
while (portEnum.hasMoreElements()) {
CommPortIdentifier currPortId = (CommPortIdentifier) portEnum.nextElement();
for (String portName : PORT_NAMES) {
if (currPortId.getName().equals(portName)) {
portId = currPortId;
break;
}
}
}
if (portId == null) {
System.out.println("Could not find COM port.");
return;
}
try {
// open serial port, and use class name for the appName.
serialPort = (SerialPort) portId.open(this.getClass().getName(),
TIME_OUT);
// set port parameters
serialPort.setSerialPortParams(DATA_RATE,
SerialPort.DATABITS_8,
SerialPort.STOPBITS_1,
SerialPort.PARITY_NONE);
// open the streams
input = serialPort.getInputStream();
output = serialPort.getOutputStream();
// add event listeners
serialPort.addEventListener(this);
serialPort.notifyOnDataAvailable(true);
} catch (Exception e) {
System.err.println(e.toString());
}
}
/**
* This should be called when you stop using the port.
* This will prevent port locking on platforms like Linux.
*/
public synchronized void close() {
if (serialPort != null) {
serialPort.removeEventListener();
serialPort.close();
}
}
/**
* Handle an event on the serial port. Read the data and print it.
*/
public synchronized void serialEvent(SerialPortEvent oEvent) {
if (oEvent.getEventType() == SerialPortEvent.DATA_AVAILABLE) {
try {
int available = input.available();
byte chunk[] = new byte[available];
input.read(chunk, 0, available);
System.out.println(display);
display += (new String(chunk)).trim();
if(display.contains("!"))
{
display = display.substring(0, display.indexOf("!"));
if(display.equals("Ready"))
{
String reply = "left#123!";
byte reply_byte[] = new byte[reply.length()];
reply_byte = reply.getBytes("UTF-16LE");
output.write(reply_byte);
}
display = "";
}
} catch (Exception e) {
System.err.println(e.toString());
}
}
// Ignore all the other eventTypes, but you should consider the other ones.
}
public static void main(String[] args) throws Exception {
SerialTest main = new SerialTest();
main.initialize();
System.out.println("Started");
}
}
コンソールでJavaコードが出力する内容は次のとおりです。
Rea l 0 Data Datahas Datahasbee Datahasbeen sp Datahasbeen split
シリアル入力は流動的に読み取られているようには見えませんが、繰り返し部分で読み取られています。誰かが私が問題を診断して解決策を教えてくれるのを手伝ってもらえますか?