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Initial commit: Livox SDK2 source (excluding build artifacts)

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gardentech
2026-08-26 01:38:14 +09:00
commit 34a9a52cd4
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samples/livox_lidar_rmc_time_sync/CMakeLists.txt
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cmake_minimum_required(VERSION 3.0)
set(DEMO_NAME livox_lidar_rmc_time_sync)
if (WIN32)
add_executable(${DEMO_NAME} main.cpp win/synchro.cpp)
elseif(UNIX)
add_executable(${DEMO_NAME} main.cpp linux/synchro.cpp)
endif()
target_link_libraries(${DEMO_NAME}
PUBLIC
livox_lidar_sdk_static
)
samples/livox_lidar_rmc_time_sync/config.json
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{
"MID360": {
"lidar_net_info" : {
"cmd_data_port": 56100,
"push_msg_port": 56200,
"point_data_port": 56300,
"imu_data_port": 56400,
"log_data_port": 56500
},
"host_net_info" : {
"cmd_data_ip" : "192.168.1.5",
"cmd_data_port": 56101,
"push_msg_ip": "192.168.1.5",
"push_msg_port": 56201,
"point_data_ip": "192.168.1.5",
"point_data_port": 56301,
"imu_data_ip" : "192.168.1.5",
"imu_data_port": 56401,
"log_data_ip" : "192.168.1.5",
"log_data_port": 56501
}
}
}
samples/livox_lidar_rmc_time_sync/hap_config.json
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{
"HAP": {
"lidar_net_info" : {
"cmd_data_port" : 56000,
"push_msg_port" : 0,
"point_data_port": 57000,
"imu_data_port" : 58000,
"log_data_port" : 59000
},
"host_net_info" : [
{
"host_ip" : "192.168.1.5",
"multicast_ip" : "224.1.1.5",
"cmd_data_port" : 56000,
"push_msg_port" : 0,
"point_data_port": 57000,
"imu_data_port" : 58000,
"log_data_port" : 59000
}
]
}
}
samples/livox_lidar_rmc_time_sync/linux/synchro.cpp
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//
// The MIT License (MIT)
//
// Copyright (c) 2022 Livox. All rights reserved.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
//
#include "../synchro.h"
#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include <termios.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/fcntl.h>
#include <fcntl.h>
Synchro::Synchro() {
fd_ = 0;
is_quit_ = false;
rmc_buff_.resize(128,0);
}
Synchro::~Synchro() {
Stop();
}
void Synchro::SetBaudRate(BaudRate baudrate) {
baudrate_ = baudrate;
}
void Synchro::SetParity(Parity parity) {
parity_ = parity;
}
void Synchro::SetPortName(std::string port_name) {
port_name_ = std::move(port_name);
}
bool Synchro::Start() {
if (!Open()) {
return false;
}
is_quit_ = false;
listener_ = std::make_shared<std::thread>(&Synchro::IOLoop, this);
return true;
}
void Synchro::Stop() {
is_quit_ = true;
if (listener_) {
listener_->join();
listener_ = nullptr;
}
Close();
}
void Synchro::IOLoop() {
uint8_t buff[READ_BUF];
size_t size = 0;
while (!is_quit_) {
if (0 < (size = Read(buff, READ_BUF))) {
Decode(buff, size);
}
}
}
bool Synchro::ParseGps(uint8_t in_byte) {
if (cur_len_ < strlen(kGPRMC)) {
rmc_buff_[0] = rmc_buff_[1];
rmc_buff_[1] = rmc_buff_[2];
rmc_buff_[2] = rmc_buff_[3];
rmc_buff_[3] = rmc_buff_[4];
rmc_buff_[4] = rmc_buff_[5];
rmc_buff_[5] = in_byte;
cur_len_++;
if (cur_len_ == strlen(kGPRMC)) {
if (strncmp((const char*)&rmc_buff_[0], kGPRMC, strlen(kGPRMC)) != 0 && \
strncmp((const char*)&rmc_buff_[0], kGNRMC, strlen(kGNRMC)) != 0) {
cur_len_--;
}
}
return false;
}
if (cur_len_ >= rmc_buff_.size()) {
Clear();
return false;
}
rmc_buff_[cur_len_] = in_byte;
/** Checksum $GPRMC/$GNRMC. */
if (rmc_buff_[cur_len_ - 2] == '*') {
uint8_t result = 0;
for (int i = 1; i < cur_len_ - 2; i++) {
result ^= rmc_buff_[i];
}
char crc[3] = {0};
uint32_t crc_num = 0;
strncpy(crc, &rmc_buff_[cur_len_ - 1], 2);
sscanf(crc, "%x", &crc_num);
result ^= (uint8_t)crc_num;
if (result == 0) {
return true;
}
}
cur_len_++;
return false;
}
void Synchro::SetSyncTimerCallback(UtcTimerCallback cb) {
sync_timer_cb_ = cb;
}
void Synchro::Decode(uint8_t * buff, size_t size) {
for (size_t i = 0; i < size; i++) {
if (ParseGps(buff[i])) {
if (sync_timer_cb_) {
sync_timer_cb_(&rmc_buff_.at(0), cur_len_);
Clear();
}
}
}
}
void Synchro::Clear() {
cur_len_ = 0;
std::fill(rmc_buff_.begin(), rmc_buff_.end(), 0);
}
bool Synchro::Open() {
fd_ = open(port_name_.c_str(), O_RDONLY | O_NOCTTY | O_NONBLOCK);
if (fd_ < 0) {
printf("Open %s serials fail!\n", port_name_.c_str());
return false;
}
/* Set baudrate and parity,etc. */
Setup(baudrate_, parity_);
printf("Set baudrate success.\n");
return true;
}
void Synchro::Close() {
if (fd_ > 0) {
/* Flush the port */
tcflush(fd_,TCOFLUSH);
tcflush(fd_,TCIFLUSH);
close(fd_);
}
fd_ = 0;
}
/* Sets up the port parameters */
int Synchro::Setup(enum BaudRate baud, enum Parity parity) {
static uint32_t baud_map[19] = {
B2400, B4800, B9600, B19200, B38400, B57600,B115200, B230400
};
tcflag_t baudrate;
struct termios options;
/* Clear old setting completely,must add here for A3 CDC serial */
tcgetattr(fd_, &options);
memset(&options, 0, sizeof(options));
tcflush(fd_, TCIOFLUSH);
tcsetattr(fd_, TCSANOW, &options);
// usleep(100);
/* Minimum number of characters to read */
options.c_cc[VMIN] = 0;
/* Time to wait for data */
options.c_cc[VTIME] = 100;
/* Enable the receiver and set local mode... */
options.c_cflag |= (CLOCAL | CREAD);
/* Set boadrate */
baudrate = baud_map[baud];
cfsetispeed(&options, baudrate);
cfsetospeed(&options, baudrate);
printf("[Baudrate]: %d %u\r\n", baud, baudrate);
switch (parity) {
case P_8N1:
/* No parity (8N1) */
options.c_cflag &= ~PARENB;
options.c_cflag &= ~CSTOPB;
options.c_cflag &= ~CSIZE;
options.c_cflag |= CS8;
break;
case P_7E1:
/* Even parity (7E1) */
options.c_cflag |= PARENB;
options.c_cflag &= ~PARODD;
options.c_cflag &= ~CSTOPB;
options.c_cflag &= ~CSIZE;
options.c_cflag |= CS7;
break;
case P_7O1:
/* Odd parity (7O1) */
options.c_cflag |= PARENB;
options.c_cflag |= PARODD;
options.c_cflag &= ~CSTOPB;
options.c_cflag &= ~CSIZE;
options.c_cflag |= CS7;
break;
case P_7S1:
/* Space parity is setup the same as no parity (7S1) */
options.c_cflag &= ~PARENB;
options.c_cflag &= ~CSTOPB;
options.c_cflag &= ~CSIZE;
options.c_cflag |= CS8;
break;
default:
return -1;
}
/* flush the port */
tcflush(fd_, TCIOFLUSH);
/* send new config to the port */
tcsetattr(fd_, TCSANOW, &options);
return 0;
}
size_t Synchro::Read(uint8_t *buffer, size_t size) {
if (fd_ > 0) {
auto len = read(fd_, buffer, size);
return len < 0 ? 0 : len;
} else {
return 0;
}
}
samples/livox_lidar_rmc_time_sync/main.cpp
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//
// The MIT License (MIT)
//
// Copyright (c) 2022 Livox. All rights reserved.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
//
#include "livox_lidar_def.h"
#include "livox_lidar_api.h"
#ifdef _WIN32
#include <winsock2.h>
#else
#include <unistd.h>
#include <arpa/inet.h>
#endif
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <thread>
#include <chrono>
#include <iostream>
#include "synchro.h"
static void WorkModeCallback(livox_status status, uint32_t handle,LivoxLidarAsyncControlResponse *response, void *client_data) {
if (response == nullptr) {
return;
}
printf("WorkModeCallack, status:%u, handle:%u, ret_code:%u, error_key:%u",
status, handle, response->ret_code, response->error_key);
}
static void LidarInfoChangeCallback(const uint32_t handle, const LivoxLidarInfo* info, void* client_data) {
if (info == nullptr) {
printf("lidar info change callback failed, the info is nullptr.\n");
return;
}
printf("LidarInfoChangeCallback Lidar handle: %u SN: %s\n", handle, info->sn);
// set the work mode to kLivoxLidarNormal, namely start the lidar
SetLivoxLidarWorkMode(handle, kLivoxLidarNormal, WorkModeCallback, nullptr);
Synchro& synchro = Synchro::GetInstance();
#ifdef WIN32
synchro.SetPortName("COM3");
#else
synchro.SetPortName("/dev/ttyACM0");
#endif
/** Set Synchro's Baudrate: 9600. */
synchro.SetBaudRate(BR9600);
/** Set Synchro's Parity: No parity (8N1). */
synchro.SetParity(P_8N1);
/** SyncTimer Callback will trigger when Synchro's GPRMC/GNRMC signal is ready. */
synchro.SetSyncTimerCallback([handle](const char* rmc, uint16_t rmc_length) {
printf("GPRMC is:%s", rmc);
SetLivoxLidarRmcSyncTime(handle, rmc, rmc_length, [](livox_status status, uint32_t handle, LivoxLidarRmcSyncTimeResponse* data, void* client_data){
std::cout << "Lidar handle:" << handle << " response is: " << +data->ret << std::endl;
}, nullptr);
std::this_thread::sleep_for(std::chrono::milliseconds(800));
});
if (synchro.Start()) {
printf("Synchro start success.");
} else {
printf("Synchro start failed.");
return;
}
}
static void LivoxLidarPushMsgCallback(const uint32_t handle, const uint8_t dev_type, const char* info, void* client_data) {
struct in_addr tmp_addr;
tmp_addr.s_addr = handle;
std::cout << "handle: " << handle << ", ip: " << inet_ntoa(tmp_addr) << ", push msg info: " << std::endl;
std::cout << info << std::endl;
return;
}
int main(int argc, const char *argv[]) {
if (argc != 2) {
printf("Params Invalid, must input config path.\n");
return -1;
}
const std::string path = argv[1];
// REQUIRED, to init Livox SDK2
if (!LivoxLidarSdkInit(path.c_str())) {
printf("Livox Init Failed\n");
LivoxLidarSdkUninit();
return -1;
}
SetLivoxLidarInfoCallback(LivoxLidarPushMsgCallback, nullptr);
// REQUIRED, to get a handle to targeted lidar and set its work mode to NORMAL
SetLivoxLidarInfoChangeCallback(LidarInfoChangeCallback, nullptr);
#ifdef WIN32
Sleep(300000);
#else
sleep(300);
#endif
LivoxLidarSdkUninit();
printf("Livox Quick Start Demo End!\n");
return 0;
}
samples/livox_lidar_rmc_time_sync/mid360_config.json
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{
"MID360": {
"lidar_net_info" : {
"cmd_data_port" : 56100,
"push_msg_port" : 56200,
"point_data_port": 56300,
"imu_data_port" : 56400,
"log_data_port" : 56500
},
"host_net_info" : [
{
"host_ip" : "192.168.1.5",
"multicast_ip" : "224.1.1.5",
"cmd_data_port" : 56101,
"push_msg_port" : 56201,
"point_data_port": 56301,
"imu_data_port" : 56401,
"log_data_port" : 56501
}
]
}
}
samples/livox_lidar_rmc_time_sync/mid360s_config.json
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{
"Mid360s": {
"lidar_net_info" : {
"cmd_data_port" : 56100,
"push_msg_port" : 56200,
"point_data_port": 56300,
"imu_data_port" : 56400,
"log_data_port" : 56500
},
"host_net_info" : [
{
"host_ip" : "192.168.1.50",
"multicast_ip" : "224.1.1.5",
"cmd_data_port" : 56101,
"push_msg_port" : 56201,
"point_data_port": 56301,
"imu_data_port" : 56401,
"log_data_port" : 56501
}
]
}
}
samples/livox_lidar_rmc_time_sync/synchro.h
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//
// The MIT License (MIT)
//
// Copyright (c) 2022 Livox. All rights reserved.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
//
#ifndef SYNCHRO_H_
#define SYNCHRO_H_
#include <stdint.h>
#include <memory>
#include <thread>
#include <vector>
#include <string>
#include <functional>
#ifdef WIN32
#include <Windows.h>
#endif
using UtcTimerCallback = std::function<void(const char* rmc, uint16_t rmc_length)>;
# define READ_BUF (256)
const char * const kGPRMC{"$GPRMC"};
const char * const kGNRMC{"$GNRMC"};
enum Parity {
P_8N1, /* No parity (8N1) */
P_7E1, /* Even parity (7E1)*/
P_7O1, /* Odd parity (7O1) */
P_7S1 /* Space parity is setup the same as no parity (7S1) */
};
enum BaudRate {
BR2400,
BR4800,
BR9600,
BR19200,
BR38400,
BR57600,
BR115200,
BR230400,
BR460800,
BR500000,
BR576000,
BR921600,
BR1152000,
BR1500000,
BR2000000,
BR2500000,
BR3000000,
BR3500000,
BR4000000,
};
class Synchro {
public:
Synchro();
~Synchro();
static Synchro& GetInstance() {
static Synchro synchro;
return synchro;
}
bool Start();
void Stop();
void SetBaudRate(BaudRate baudrate);
void SetPortName(std::string port_name);
void SetParity(Parity parity);
void SetSyncTimerCallback(UtcTimerCallback cb);
private:
int Setup(enum BaudRate baud, enum Parity parity);
void Close();
bool Open();
void IOLoop();
size_t Read(uint8_t *buffer, size_t size);
void Decode(uint8_t* buff, size_t size);
bool ParseGps(uint8_t in_byte);
void Clear();
#ifdef WIN32
HANDLE hfile_;
#else
int fd_;
#endif
enum BaudRate baudrate_;
enum Parity parity_;
std::string port_name_;
std::function<void(const char* rmc, uint16_t rmc_length)> sync_timer_cb_;
bool is_quit_;
std::shared_ptr<std::thread> listener_;
std::vector<char> rmc_buff_;
uint16_t cur_len_;
};
#endif
samples/livox_lidar_rmc_time_sync/win/synchro.cpp
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//
// The MIT License (MIT)
//
// Copyright (c) 2022 Livox. All rights reserved.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
//
#include "../synchro.h"
#include <stdio.h>
#include <string.h>
#include <Windows.h>
Synchro::Synchro() {
hfile_ = INVALID_HANDLE_VALUE;
is_quit_ = false;
rmc_buff_.resize(128,0);
}
Synchro::~Synchro() {
Stop();
}
void Synchro::SetBaudRate(BaudRate baudrate) {
baudrate_ = baudrate;
}
void Synchro::SetParity(Parity parity) {
parity_ = parity;
}
void Synchro::SetPortName(std::string port_name) {
port_name_ = std::move(port_name);
}
bool Synchro::Start() {
if (!Open()) {
return false;
}
is_quit_ = false;
listener_ = std::make_shared<std::thread>(&Synchro::IOLoop, this);
return true;
}
void Synchro::Stop() {
is_quit_ = true;
if (listener_) {
listener_->join();
listener_ = nullptr;
}
Close();
}
void Synchro::IOLoop() {
uint8_t buff[READ_BUF];
size_t size = 0;
while (!is_quit_) {
if (0 < (size = Read(buff, READ_BUF))) {
Decode(buff, size);
}
}
}
bool Synchro::ParseGps(uint8_t in_byte) {
if (cur_len_ < strlen(kGPRMC)) {
rmc_buff_[0] = rmc_buff_[1];
rmc_buff_[1] = rmc_buff_[2];
rmc_buff_[2] = rmc_buff_[3];
rmc_buff_[3] = rmc_buff_[4];
rmc_buff_[4] = rmc_buff_[5];
rmc_buff_[5] = in_byte;
cur_len_++;
if (cur_len_ == strlen(kGPRMC)) {
if (strncmp((const char*)&rmc_buff_[0], kGPRMC, strlen(kGPRMC)) != 0 && \
strncmp((const char*)&rmc_buff_[0], kGNRMC, strlen(kGNRMC)) != 0) {
cur_len_--;
}
}
return false;
}
if (cur_len_ >= rmc_buff_.size()) {
Clear();
return false;
}
rmc_buff_[cur_len_] = in_byte;
/** Checksum $GPRMC/$GNRMC. */
if (rmc_buff_[cur_len_ - 2] == '*') {
uint8_t result = 0;
for (int i = 1; i < cur_len_ - 2; i++) {
result ^= rmc_buff_[i];
}
char crc[3] = {0};
uint32_t crc_num = 0;
strncpy(crc, &rmc_buff_[cur_len_ - 1], 2);
sscanf(crc, "%x", &crc_num);
result ^= (uint8_t)crc_num;
if (result == 0) {
return true;
}
}
cur_len_++;
return false;
}
void Synchro::SetSyncTimerCallback(UtcTimerCallback cb) {
sync_timer_cb_ = cb;
}
void Synchro::Decode(uint8_t * buff, size_t size) {
for (size_t i = 0; i < size; i++) {
if (ParseGps(buff[i])) {
if (sync_timer_cb_) {
sync_timer_cb_(&rmc_buff_.at(0), cur_len_);
Clear();
}
}
}
}
void Synchro::Clear() {
cur_len_ = 0;
std::fill(rmc_buff_.begin(), rmc_buff_.end(), 0);
}
bool Synchro::Open() {
hfile_ = CreateFile(port_name_.c_str(),
GENERIC_READ,
0,
NULL,
OPEN_EXISTING,
FILE_ATTRIBUTE_NORMAL,
NULL);
if (hfile_ == INVALID_HANDLE_VALUE) {
printf("Open %s serials fail!\n", port_name_.c_str());
return false;
}
/* Set baudrate and parity,etc. */
Setup(baudrate_, parity_);
printf("Set baudrate success.\n");
return true;
}
void Synchro::Close() {
if (hfile_ != INVALID_HANDLE_VALUE) {
PurgeComm(hfile_, PURGE_RXCLEAR | PURGE_TXCLEAR | PURGE_RXABORT | PURGE_TXABORT);
CloseHandle(hfile_);
}
hfile_ = INVALID_HANDLE_VALUE;
}
/* Sets up the port parameters */
int Synchro::Setup(enum BaudRate baud, enum Parity parity) {
static uint32_t baud_map[19] = {\
2400, 4800, 9600, 19200, 38400, 57600,115200, 230400,\
460800, 500000, 576000,921600,1152000, 1500000, 2000000,\
2500000, 3000000, 3500000, 4000000\
};
DCB dcb;
GetCommState(hfile_, &dcb);
dcb.BaudRate = DWORD(baud_map[baud]);
switch (parity) {
case P_8N1:
/* No parity (8N1) */
dcb.ByteSize = 8;
dcb.Parity = NOPARITY;
dcb.StopBits = ONESTOPBIT;
break;
case P_7E1:
/* Even parity (7E1) */
dcb.ByteSize = 7;
dcb.Parity = EVENPARITY;
dcb.StopBits = ONESTOPBIT;
break;
case P_7O1:
/* Odd parity (7O1) */
dcb.ByteSize = 7;
dcb.Parity = ODDPARITY;
dcb.StopBits = ONESTOPBIT;
break;
case P_7S1:
/* Space parity is setup the same as no parity (7S1) */
dcb.ByteSize = 7;
dcb.Parity = SPACEPARITY;
dcb.StopBits = ONESTOPBIT;
break;
default:
return -1;
}
SetCommState(hfile_, &dcb);
PurgeComm(hfile_, PURGE_RXCLEAR|PURGE_TXCLEAR|PURGE_RXABORT|PURGE_TXABORT);
return 0;
}
size_t Synchro::Read(uint8_t *buffer, size_t size) {
DWORD len = 0;
if (hfile_ != INVALID_HANDLE_VALUE) {
ReadFile(hfile_, buffer, size, &len, NULL);
return len;
} else {
return 0;
}
}