git checkout celestron_work

ioctl(t_fd, TIOCEXCL)

t_fd = open(device, O_RDWR | O_NOCTTY | O_CLOEXEC);

void AuxCommunicator::Connect(int portFD)
{
    serialPort = portFD;
}
 
bool AuxCommunicator::sendPacket(AuxTarget dest, AuxCommand cmd, buffer data)
{
    AuxPacket pkt = AuxPacket(cmd, src, dest, data);
    buffer txbuff;
    pkt.fillBuf(txbuff);
    int br;
    int tty;
    int len = txbuff.size();
    char buf[len];
    fprintf(stderr, "buff len %x:", len);
    for (int i = 0; i < len; i++)
    {
        buf[i] = txbuff[i];
        fprintf(stderr,"%2X ", buf[i]);
    }
    fprintf(stderr, "\n");
 
    tcflush(serialPort, TCIOFLUSH);
    tty = tty_write(serialPort, (const char *)buf, len, &br);
    fprintf(stderr, "sendPacket br %x tty %x\n", br, tty);
    return tty == TTY_OK;
}

#include <iostream>
#include <stdio.h>   /* Standard input/output definitions */
#include <string.h>  /* String function definitions */
#include <unistd.h>  /* UNIX standard function definitions */
#include <fcntl.h>   /* File control definitions */
#include <errno.h>   /* Error number definitions */
#include <termios.h> /* POSIX terminal control definitions */
 
using namespace std;
 
int main()
{
    cout << "Hello World!" << endl;
 
    int fd = open("/dev/ttyACM0", O_RDWR);
    if (fd < 0)
    {
        cout << "open fail " << fd << endl;
        return 0;
    }
    unsigned char outbuf[] = {0x3b, 0x03, 0x22, 0x12, 0xfe, 0xcb};
    int ws = write(fd, outbuf, 6);
    cout << "written " << ws << endl;
 
    unsigned char inbuf[20];
    int rd = read(fd, &inbuf, 10);
    cout << "read " << rd << ":";
    for(int i = 0; i < rd; i++)
    {
        fprintf(stdout, " %02X", inbuf[i]);
    }
    cout << endl;
    int cs = close(fd);
    cout << "close " << cs << endl;
    return 0;
}