激光雷达串口控制台

激光雷达串口控制台，Visual studio，用于扫地机器人的简单避障程序

    #include   
    #include   
    #include   
	#include 
      
    HANDLE hComm;  
    OVERLAPPED OverLapped;  
    COMSTAT Comstat;  
    DWORD dwCommEvents;  
      
    bool OpenPort（）;  //打开串口  
    bool SetupDCB（int rate_arg）;  //设置DCB  
    bool SetupTimeout（DWORD ReadInterval DWORD ReadTotalMultiplier DWORD  
        ReadTotalConstant DWORD WriteTotalMultiplier DWORD WriteTotalConstant）;   //设置超时  
    void ReciveChar（）;   //接收字符  
    bool WriteChar（char* szWriteBuffer DWORD dwSend）;  //发送字符  
      
    bool OpenPort（）  
    {  
        hComm = CreateFile（L“COM4“  
            GENERIC_READ | GENERIC_WRITE  
            0  
            0  
            OPEN_EXISTING  
            FILE_FLAG_OVERLAPPED  
            0）;  
        if （hComm == INVALID_HANDLE_VALUE）  
            return FALSE;  
        else  
            return true;  
    }  
      
    bool SetupDCB（int rate_arg）  
    {  
        DCB dcb;  
        memset（&dcb 0 sizeof（dcb））;  
        if （!GetCommState（hComm &dcb））//获取当前DCB配置  
        {  
            return FALSE;  
        }  
        dcb.DCBlength = sizeof（dcb）;  
        /* ---------- Serial Port Config ------- */  
        dcb.BaudRate = 9600;  
        dcb.Parity = NOPARITY;  
        dcb.fParity = 0;  
        dcb.StopBits = ONESTOPBIT;  
        dcb.ByteSize = 8;  
        dcb.fOutxCtsFlow = 0;  
        dcb.fOutxDsrFlow = 0;  
        dcb.fDtrControl = DTR_CONTROL_DISABLE;  
        dcb.fDsrSensitivity = 0;  
        dcb.fRtsControl = RTS_CONTROL_DISABLE;  
        dcb.fOutX = 0;  
        dcb.fInX = 0;  
        dcb.fErrorChar = 0;  
        dcb.fBinary = 1;  
        dcb.fNull = 0;  
        dcb.fAbortonerror = 0;  
        dcb.wReserved = 0;  
        dcb.XonLim = 2;  
        dcb.XoffLim = 4;  
        dcb.XonChar = 0x13;  
        dcb.XoffChar = 0x19;  
        dcb.EvtChar = 0;  
        if （!SetCommState（hComm &dcb））  
        {  
            return false;  
        }  
        else  
            return true;  
    }  
      
    bool SetupTimeout（DWORD ReadInterval DWORD ReadTotalMultiplier DWORD  
        ReadTotalConstant DWORD WriteTotalMultiplier DWORD WriteTotalConstant）  
    {  
        COMMTIMEOUTS timeouts;  
        timeouts.ReadIntervalTimeout = ReadInterval;  
        timeouts.ReadTotalTimeoutConstant = ReadTotalConstant;  
        timeouts.ReadTotalTimeoutMultiplier = ReadTotalMultiplier;  
        timeouts.WriteTotalTimeoutConstant = WriteTotalConstant;  
        timeouts.WriteTotalTimeoutMultiplier = WriteTotalMultiplier;  
        if （!SetCommTimeouts（hComm &timeouts））  
        {  
            return false;  
        }  
        else  
            return true;  
    }  
      
    void ReciveChar（）  
    {  
        bool bRead = TRUE;  
        bool bResult = TRUE;  
        DWORD dwError = 0;  
        DWORD BytesRead = 0;  
        u

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2018-03-18 23:36  激光雷达串口控制台\
     目录           0  2018-04-28 16:34  激光雷达串口控制台\ConsoleApplication1\
     文件          14  2018-04-28 16:35  激光雷达串口控制台\ConsoleApplication1\ConsoleApplication1.opensdf
     文件    33095680  2018-03-27 23:50  激光雷达串口控制台\ConsoleApplication1\ConsoleApplication1.sdf
     文件         904  2018-03-18 23:36  激光雷达串口控制台\ConsoleApplication1\ConsoleApplication1.sln
     文件       27648  2018-03-27 23:50  激光雷达串口控制台\ConsoleApplication1\ConsoleApplication1.v11.suo
     文件        4018  2018-03-18 23:37  激光雷达串口控制台\ConsoleApplication1\ConsoleApplication1.vcxproj
     文件         941  2018-03-18 23:37  激光雷达串口控制台\ConsoleApplication1\ConsoleApplication1.vcxproj.filters
     目录           0  2018-03-21 13:44  激光雷达串口控制台\ConsoleApplication1\Debug\
     文件         566  2018-04-28 16:35  激光雷达串口控制台\ConsoleApplication1\Debug\cl.command.1.tlog
     文件       23614  2018-04-28 16:35  激光雷达串口控制台\ConsoleApplication1\Debug\CL.read.1.tlog
     文件         184  2018-04-28 16:35  激光雷达串口控制台\ConsoleApplication1\Debug\CL.write.1.tlog
     文件       70144  2018-03-21 13:44  激光雷达串口控制台\ConsoleApplication1\Debug\ConsoleApplication1.exe
     文件      456472  2018-03-21 13:44  激光雷达串口控制台\ConsoleApplication1\Debug\ConsoleApplication1.ilk
     文件          84  2018-04-28 16:35  激光雷达串口控制台\ConsoleApplication1\Debug\ConsoleApplication1.lastbuildstate
     文件        1936  2018-04-28 16:35  激光雷达串口控制台\ConsoleApplication1\Debug\ConsoleApplication1.log
     文件      945152  2018-03-21 13:44  激光雷达串口控制台\ConsoleApplication1\Debug\ConsoleApplication1.pdb
     文件           0  2018-04-28 16:35  激光雷达串口控制台\ConsoleApplication1\Debug\ConsoleApplication1.unsuccessfulbuild
     文件           2  2018-03-21 13:44  激光雷达串口控制台\ConsoleApplication1\Debug\link-cvtres.read.1.tlog
     文件           2  2018-03-21 13:44  激光雷达串口控制台\ConsoleApplication1\Debug\link-cvtres.write.1.tlog
     文件           2  2018-03-21 13:44  激光雷达串口控制台\ConsoleApplication1\Debug\link-rc.read.1.tlog
     文件           2  2018-03-21 13:44  激光雷达串口控制台\ConsoleApplication1\Debug\link-rc.write.1.tlog
     文件           2  2018-03-21 13:44  激光雷达串口控制台\ConsoleApplication1\Debug\link.8532-cvtres.read.1.tlog
     文件           2  2018-03-21 13:44  激光雷达串口控制台\ConsoleApplication1\Debug\link.8532-cvtres.write.1.tlog
     文件           2  2018-03-21 13:44  激光雷达串口控制台\ConsoleApplication1\Debug\link.8532-rc.read.1.tlog
     文件           2  2018-03-21 13:44  激光雷达串口控制台\ConsoleApplication1\Debug\link.8532-rc.write.1.tlog
     文件           2  2018-03-21 13:44  激光雷达串口控制台\ConsoleApplication1\Debug\link.8532.read.1.tlog
     文件           2  2018-03-21 13:44  激光雷达串口控制台\ConsoleApplication1\Debug\link.8532.write.1.tlog
     文件        1170  2018-03-21 13:44  激光雷达串口控制台\ConsoleApplication1\Debug\link.command.1.tlog
     文件        2226  2018-03-21 13:44  激光雷达串口控制台\ConsoleApplication1\Debug\link.read.1.tlog
     文件         480  2018-03-21 13:44  激光雷达串口控制台\ConsoleApplication1\Debug\link.write.1.tlog
............此处省略4个文件信息