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xserial/tools/test_plot_serial.c

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/*
* test_plot_serial.c — 持续向串口发送 MixedTextPlot 正弦波 + 文本流
*
* 编译 (Linux):
* gcc -std=c11 -Wall -Wextra -O2 -o test_plot_serial tools/test_plot_serial.c -lm
*
* 用法:
* ./test_plot_serial /dev/ttyUSB0
* ./test_plot_serial /dev/ttyUSB0 --baud 115200 --channels 2 --format xy --rate 1024 --freq 2.0 --amp 150
* ./test_plot_serial --help
*
* 依赖: tools/xs_mixed_plot.h (同目录, 定义 COBS 和 MixedTextPlot 帧格式)
*
* 协议说明:
* Plot 帧: 0x1E 'P' + COBS(packet) + 0x00
* 文本帧: UTF-8 文本行 + '\n' (直接写入, 由 MixedTextPlot framer 按行分割)
*
* 串口参数: 8N1, 无流控, 默认 115200 baud
*/
#define _POSIX_C_SOURCE 200809L
#include "xs_mixed_plot.h"
#include <errno.h>
#include <fcntl.h>
#include <getopt.h>
#include <math.h>
#include <signal.h>
#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <termios.h>
#include <time.h>
#include <unistd.h>
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
/* ── 配置默认值 ───────────────────────────────────────────────────── */
#define DEFAULT_BAUDRATE 115200
#define DEFAULT_RATE 1024.0 /* samples/sec per channel */
#define DEFAULT_FREQ 1.0 /* sine Hz */
#define DEFAULT_AMP 100.0
#define DEFAULT_TEXT_INTERVAL 1.0 /* seconds between text lines */
/* ── 全局状态 (用于信号处理) ──────────────────────────────────────── */
static volatile sig_atomic_t g_running = 1;
static void sigint_handler(int sig) {
(void)sig;
g_running = 0;
}
/* ── 缓冲大小 ─────────────────────────────────────────────────────── */
#define MAX_CHANNELS 8
#define MAX_SPC 4096 /* samples_per_channel */
#define MAX_VALUES (MAX_CHANNELS * MAX_SPC) /* float values per frame */
#define MAX_PAYLOAD (MAX_VALUES * 4)
#define MAX_PACKET (13 + MAX_PAYLOAD)
#define MAX_FRAME (2 + (MAX_PACKET + MAX_PACKET / 254 + 1) + 1)
#define TEXT_BUF_SIZE 512
/* ── 运行时参数 ───────────────────────────────────────────────────── */
typedef struct {
const char *port;
int baudrate;
uint8_t channels;
uint16_t samples_per_channel;
uint8_t plot_format; /* XS_PLOT_FORMAT_INTERLEAVED / XY */
double rate; /* samples/sec */
double freq; /* sine Hz */
double amp;
double text_interval; /* seconds */
} args_t;
/* ── 串口操作 ─────────────────────────────────────────────────────── */
static int serial_open(const char *path, int baudrate) {
int fd = open(path, O_RDWR | O_NOCTTY | O_NONBLOCK);
if (fd < 0) {
perror("open");
return -1;
}
/* 恢复阻塞模式, 但配合超时使用 select */
int flags = fcntl(fd, F_GETFL, 0);
if (flags < 0) { perror("fcntl"); close(fd); return -1; }
flags &= ~O_NONBLOCK;
if (fcntl(fd, F_SETFL, flags) < 0) { perror("fcntl"); close(fd); return -1; }
struct termios tty;
memset(&tty, 0, sizeof(tty));
if (tcgetattr(fd, &tty) < 0) { perror("tcgetattr"); close(fd); return -1; }
/* 输入: 忽略 BREAK, CR→NL 不转换, 奇偶校验不检查 */
tty.c_iflag = IGNBRK;
/* 输出: 原始模式, 不做任何转换 */
tty.c_oflag = 0;
/* 控制: 8 位, 无奇偶校验, 启用接收器 */
tty.c_cflag = CS8 | CREAD | CLOCAL;
/* 本地: 关闭标准行处理/回显/信号字符 */
tty.c_lflag = 0;
/* 特殊字符: 无超时 (VMIN=1, VTIME=0 → 阻塞读直到至少1字节) */
tty.c_cc[VMIN] = 1;
tty.c_cc[VTIME] = 0;
/* 设置波特率 */
speed_t speed = B115200;
switch (baudrate) {
case 9600: speed = B9600; break;
case 19200: speed = B19200; break;
case 38400: speed = B38400; break;
case 57600: speed = B57600; break;
case 115200: speed = B115200; break;
case 230400: speed = B230400; break;
case 460800: speed = B460800; break;
case 921600: speed = B921600; break;
default:
fprintf(stderr, "不支持的波特率: %d (支持: 9600-921600)\n", baudrate);
close(fd);
return -1;
}
cfsetispeed(&tty, speed);
cfsetospeed(&tty, speed);
#ifdef CRTSCTS
tty.c_cflag &= ~CRTSCTS;
#endif
/* 关闭软件流控 */
tty.c_iflag &= ~(IXON | IXOFF | IXANY);
if (tcsetattr(fd, TCSANOW, &tty) < 0) {
perror("tcsetattr");
close(fd);
return -1;
}
/* 排空缓冲区 */
tcflush(fd, TCIOFLUSH);
return fd;
}
/* ── 时间工具 ─────────────────────────────────────────────────────── */
static double now_sec(void) {
struct timespec ts;
clock_gettime(CLOCK_MONOTONIC, &ts);
return (double)ts.tv_sec + (double)ts.tv_nsec * 1e-9;
}
static void sleep_sec(double seconds) {
if (seconds <= 0.0) return;
struct timespec ts;
ts.tv_sec = (time_t)seconds;
ts.tv_nsec = (long)((seconds - (time_t)seconds) * 1e9);
clock_nanosleep(CLOCK_MONOTONIC, 0, &ts, NULL);
}
/* ── 信号生成 ─────────────────────────────────────────────────────── */
static void generate_samples(
float *samples,
uint32_t sample_index,
uint8_t channels,
uint16_t samples_per_channel,
uint8_t plot_format,
double rate,
double freq,
double amp)
{
if (plot_format == XS_PLOT_FORMAT_XY) {
/* XY 模式: 每对 (cos, sin) 画一个圆 */
for (uint16_t i = 0; i < samples_per_channel; ++i) {
double t = (double)(sample_index + i) / rate;
samples[2 * i] = (float)(amp * cos(2.0 * M_PI * freq * t));
samples[2 * i + 1] = (float)(amp * sin(2.0 * M_PI * freq * t));
}
} else {
/* interleaved 模式: 每个通道相位偏移 */
for (uint16_t i = 0; i < samples_per_channel; ++i) {
double t = (double)(sample_index + i) / rate;
for (uint8_t ch = 0; ch < channels; ++ch) {
double phase = 2.0 * M_PI * (double)ch / (double)channels;
samples[i * channels + ch] = (float)(amp * sin(2.0 * M_PI * freq * t + phase));
}
}
}
}
/* ── 用法 ─────────────────────────────────────────────────────────── */
static void print_usage(const char *prog) {
printf("用法: %s <串口> [选项]\n", prog);
printf("\n选项:\n");
printf(" --baud <n> 波特率 (默认 %d)\n", DEFAULT_BAUDRATE);
printf(" --channels <n> 通道数 (默认 1, --format xy 时强制 2)\n");
printf(" --format <fmt> 格式: interleaved | xy (默认 interleaved)\n");
printf(" --rate <f> 采样率, samples/sec (默认 %.0f)\n", DEFAULT_RATE);
printf(" --freq <f> 正弦频率 Hz (默认 %.1f)\n", DEFAULT_FREQ);
printf(" --amp <f> 振幅 (默认 %.0f)\n", DEFAULT_AMP);
printf(" --text-interval <f> 文本输出间隔秒 (默认 %.1f)\n", DEFAULT_TEXT_INTERVAL);
printf(" --spc <n> 每帧每通道采样数 (默认 1)\n");
printf(" -h, --help 显示帮助\n");
printf("\n支持的波特率: 9600, 19200, 38400, 57600, 115200, 230400, 460800, 921600\n");
printf("\n示例:\n");
printf(" %s /dev/ttyUSB0\n", prog);
printf(" %s /dev/ttyUSB0 --baud 921600 --channels 2 --rate 2048 --freq 5\n", prog);
printf(" %s /dev/ttyUSB0 --format xy --amp 200 --text-interval 2.0\n", prog);
printf(" %s /dev/ttyUSB0 --channels 4 --spc 128 --rate 1024\n", prog);
}
/* ── 参数解析 ─────────────────────────────────────────────────────── */
static int parse_args(int argc, char **argv, args_t *args) {
memset(args, 0, sizeof(*args));
args->baudrate = DEFAULT_BAUDRATE;
args->channels = 1;
args->samples_per_channel = 1;
args->plot_format = XS_PLOT_FORMAT_INTERLEAVED;
args->rate = DEFAULT_RATE;
args->freq = DEFAULT_FREQ;
args->amp = DEFAULT_AMP;
args->text_interval = DEFAULT_TEXT_INTERVAL;
enum { OPT_BAUD = 256, OPT_CHANNELS, OPT_FORMAT, OPT_RATE, OPT_FREQ,
OPT_AMP, OPT_TEXT_INTERVAL, OPT_SPC };
static struct option long_opts[] = {
{"baud", required_argument, 0, OPT_BAUD},
{"channels", required_argument, 0, OPT_CHANNELS},
{"format", required_argument, 0, OPT_FORMAT},
{"rate", required_argument, 0, OPT_RATE},
{"freq", required_argument, 0, OPT_FREQ},
{"amp", required_argument, 0, OPT_AMP},
{"text-interval", required_argument, 0, OPT_TEXT_INTERVAL},
{"spc", required_argument, 0, OPT_SPC},
{"help", no_argument, 0, 'h'},
{0, 0, 0, 0}
};
int opt;
while ((opt = getopt_long(argc, argv, "h", long_opts, NULL)) != -1) {
switch (opt) {
case OPT_BAUD:
args->baudrate = atoi(optarg);
break;
case OPT_CHANNELS: {
int v = atoi(optarg);
if (v < 1 || v > MAX_CHANNELS) {
fprintf(stderr, "通道数必须在 1-%d 之间\n", MAX_CHANNELS);
return -1;
}
args->channels = (uint8_t)v;
break;
}
case OPT_FORMAT:
if (strcmp(optarg, "xy") == 0) {
args->plot_format = XS_PLOT_FORMAT_XY;
} else if (strcmp(optarg, "interleaved") == 0) {
args->plot_format = XS_PLOT_FORMAT_INTERLEAVED;
} else {
fprintf(stderr, "未知格式: %s (支持: interleaved, xy)\n", optarg);
return -1;
}
break;
case OPT_RATE:
args->rate = atof(optarg);
break;
case OPT_FREQ:
args->freq = atof(optarg);
break;
case OPT_AMP:
args->amp = atof(optarg);
break;
case OPT_TEXT_INTERVAL:
args->text_interval = atof(optarg);
break;
case OPT_SPC: {
int v = atoi(optarg);
if (v < 1 || v > MAX_SPC) {
fprintf(stderr, "spc 必须在 1-%d 之间\n", MAX_SPC);
return -1;
}
args->samples_per_channel = (uint16_t)v;
break;
}
case 'h':
print_usage(argv[0]);
exit(0);
default:
print_usage(argv[0]);
return -1;
}
}
if (optind >= argc) {
fprintf(stderr, "错误: 缺少串口路径\n");
print_usage(argv[0]);
return -1;
}
args->port = argv[optind];
/* 校验 */
if (args->plot_format == XS_PLOT_FORMAT_XY) {
if (args->channels != 2) {
fprintf(stderr, "错误: --format xy 要求 --channels 2\n");
return -1;
}
}
if (args->channels == 0) {
fprintf(stderr, "错误: --channels 必须 >= 1\n");
return -1;
}
if (args->rate <= 0.0) {
fprintf(stderr, "错误: --rate 必须为正数\n");
return -1;
}
if (args->text_interval <= 0.0) {
fprintf(stderr, "错误: --text-interval 必须为正数\n");
return -1;
}
return 0;
}
/* ── 发送 plot 帧 ─────────────────────────────────────────────────── */
static int send_plot_frame(
int fd,
const float *samples,
uint8_t channels,
uint16_t samples_per_channel,
uint8_t plot_format,
uint8_t *packet_buf,
size_t packet_cap,
uint8_t *frame_buf,
size_t frame_cap)
{
size_t frame_len = 0;
xs_status_t rc = xs_mixed_build_plot_frame_f32(
samples, channels, samples_per_channel, plot_format,
packet_buf, packet_cap,
frame_buf, frame_cap,
&frame_len);
if (rc != XS_OK) {
fprintf(stderr, "构建 plot 帧失败: %d\n", rc);
return -1;
}
size_t written = 0;
while (written < frame_len) {
ssize_t n = write(fd, frame_buf + written, frame_len - written);
if (n < 0) {
perror("write");
return -1;
}
written += (size_t)n;
}
return 0;
}
/* ── 发送文本行 ───────────────────────────────────────────────────── */
static int send_text_line(
int fd,
uint32_t sample_index,
const float *current_samples,
uint8_t channels,
uint16_t samples_per_channel,
const char *format_name)
{
char buf[TEXT_BUF_SIZE];
int pos = 0;
pos += snprintf(buf + pos, sizeof(buf) - pos,
"sample=%-7u", sample_index);
if (channels > 1) {
for (uint8_t ch = 0; ch < channels; ++ch) {
pos += snprintf(buf + pos, sizeof(buf) - pos,
" ch%d=%8.3f", ch + 1, (double)current_samples[ch]);
}
} else {
pos += snprintf(buf + pos, sizeof(buf) - pos,
" value=%8.3f", (double)current_samples[0]);
}
pos += snprintf(buf + pos, sizeof(buf) - pos,
" [fmt=%s, ch=%u, spc=%u]\n",
format_name, channels, samples_per_channel);
/* 确保不超过缓冲 */
if (pos >= (int)sizeof(buf)) pos = (int)sizeof(buf) - 1;
size_t len = (size_t)pos;
size_t written = 0;
while (written < len) {
ssize_t n = write(fd, buf + written, len - written);
if (n < 0) {
perror("write");
return -1;
}
written += (size_t)n;
}
return 0;
}
/* ── 主函数 ───────────────────────────────────────────────────────── */
int main(int argc, char **argv) {
args_t args;
if (parse_args(argc, argv, &args) < 0) {
return 1;
}
/* 打印配置 */
const char *format_name = (args.plot_format == XS_PLOT_FORMAT_XY) ? "xy" : "interleaved";
double frame_interval = (double)args.samples_per_channel / args.rate;
double frame_rate = args.rate / (double)args.samples_per_channel;
printf("═══ pipeview Serial Plot Generator ═══\n");
printf("串口: %s @ %d baud\n", args.port, args.baudrate);
printf("通道: %u 格式: %s\n", args.channels, format_name);
printf("频率: %.1f Hz 振幅: %.1f\n", args.freq, args.amp);
printf("采样率: %.0f samples/sec spc: %u\n", args.rate, args.samples_per_channel);
printf("帧间隔: %.3f ms (%.2f fps)\n", frame_interval * 1000.0, frame_rate);
printf("文本间隔: %.1f s\n", args.text_interval);
printf("═══════════════════════════════════════\n");
/* 分配缓冲 */
uint32_t value_count = (uint32_t)args.channels * (uint32_t)args.samples_per_channel;
uint32_t payload_len = value_count * 4;
size_t packet_cap = (size_t)XS_PLOT_HEADER_SIZE + (size_t)payload_len;
size_t frame_cap = 2u + xs_cobs_max_encoded_size(packet_cap) + 1u;
uint8_t *packet_buf = malloc(packet_cap);
uint8_t *frame_buf = malloc(frame_cap);
float *samples = malloc((size_t)value_count * sizeof(float));
if (!packet_buf || !frame_buf || !samples) {
fprintf(stderr, "内存分配失败\n");
free(packet_buf); free(frame_buf); free(samples);
return 1;
}
/* 打开串口 */
int fd = serial_open(args.port, args.baudrate);
if (fd < 0) {
fprintf(stderr, "无法打开串口 %s\n", args.port);
free(packet_buf); free(frame_buf); free(samples);
return 1;
}
printf("已打开 %s\n\n", args.port);
/* 设置信号处理 */
struct sigaction sa;
memset(&sa, 0, sizeof(sa));
sa.sa_handler = sigint_handler;
sigaction(SIGINT, &sa, NULL);
sigaction(SIGTERM, &sa, NULL);
/* 主循环 */
uint32_t sample_index = 0;
uint64_t frame_count = 0;
uint64_t text_count = 0;
double started_at = now_sec();
double next_text_at = started_at + args.text_interval;
printf("开始发送 (Ctrl+C 停止) ...\n");
while (g_running) {
/* 生成采样数据 */
generate_samples(samples, sample_index,
args.channels, args.samples_per_channel,
args.plot_format, args.rate, args.freq, args.amp);
/* 发送 plot 帧 */
if (send_plot_frame(fd, samples,
args.channels, args.samples_per_channel,
args.plot_format,
packet_buf, packet_cap,
frame_buf, frame_cap) < 0) {
fprintf(stderr, "发送失败, 退出\n");
break;
}
frame_count++;
/* 检查是否需要发送文本行 */
double now = now_sec();
if (now >= next_text_at) {
if (send_text_line(fd, sample_index, samples,
args.channels, args.samples_per_channel,
format_name) < 0) {
fprintf(stderr, "发送文本失败, 退出\n");
break;
}
text_count++;
next_text_at += args.text_interval;
}
sample_index += args.samples_per_channel;
/* 帧间隔时序控制 */
double elapsed = now_sec() - started_at;
double target = (double)frame_count * frame_interval;
double wait = target - elapsed;
if (wait > 0.0) {
sleep_sec(wait);
}
}
double total_time = now_sec() - started_at;
printf("\n");
printf("═══ 已停止 ═══\n");
printf("运行时间: %.1f 秒\n", total_time);
printf("Plot 帧: %lu (%.1f fps)\n",
(unsigned long)frame_count,
total_time > 0.0 ? (double)frame_count / total_time : 0.0);
printf("文本行: %lu\n", (unsigned long)text_count);
/* 清理 */
tcflush(fd, TCIOFLUSH);
close(fd);
free(packet_buf);
free(frame_buf);
free(samples);
return 0;
}
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