updated test config

tests/devel_tests/test_aserial_comm.cpp

@@ -0,0 +1,82 @@
+/*
+ * test_interface.cpp
+ *
+ *  Created on: Dec 25, 2016
+ *      Author: rdu
+ */
+
+#include <iostream>
+
+#include "wrp_sdk/asyncio/async_serial.hpp"
+
+using namespace westonrobot;
+
+void parse_buffer(uint8_t *buf, const size_t bufsize, size_t bytes_received)
+{
+    // std::cout << "parser called" << std::endl;
+
+    // for (int i = 0; i < bytes_received; ++i)
+    // {
+    //     // auto c = *buf++;
+    //     std::cout << std::hex << static_cast<int>(buf[i]) << std::dec << " ";
+    // }
+
+    if (bytes_received > 2)
+    {
+        for (int i = 0; i < bytes_received - 1; ++i)
+        {
+            uint8_t first = buf[i];
+            uint8_t second = buf[i + 1];
+
+            if (first == 0xB5 && second == 0x62)
+                std::cout << "- start bytes found" << std::endl;
+            // std::cout << std::hex << static_cast<int>(buf[i]) << std::dec << " ";
+        }
+    }
+}
+
+int main(int argc, char *argv[])
+{
+    std::string device_name;
+    int baud;
+
+    if (argc == 3)
+    {
+        device_name = {argv[1]};
+        baud = std::stoi(argv[2]);
+        std::cout << "Specified device: " << device_name << ", baud: " << baud << std::endl;
+    }
+    else
+    {
+        std::cout << "Usage: test_aserial_comm <interface> <baud>" << std::endl
+                  << "Example: ./test_aserial_comm /dev/ttyUSB0 115200" << std::endl;
+        return -1;
+    }
+
+    std::shared_ptr<ASyncSerial> serial = std::make_shared<ASyncSerial>(device_name, baud);
+
+    serial->set_receive_callback(parse_buffer);
+
+    if (serial->is_open())
+        std::cout << "serial port opened" << std::endl;
+
+    uint8_t data[8] = {'a', 'b', 'c'};
+
+    int count = 0;
+    uint8_t idx = 0;
+    const unsigned baudrates[] = {9600, 57600, 115200};
+    while (1)
+    {
+        // serial->send_bytes(data, 3);
+        if (++count == 15)
+        {
+            count = 0;
+            std::cout << "----------------------------------------" << std::endl;
+            std::cout << "change baud rate to " << baudrates[idx % 3] << std::endl;
+            std::cout << "----------------------------------------" << std::endl;
+            serial->set_baud(baudrates[idx % 3]);
+            idx++;
+        }
+        sleep(1);
+    }
+}