Android uart_sendevent_键盘（dev_kb，0，0，0）； uart_sendevent_键盘（dev_kb，1105，0）； uart_sendevent_键盘（dev_kb，0，0，0）； } else if（输出_buf[i+2]==6）{ printf（“==>Detect RIGHT\n”）； uart_sendevent_键盘（dev_kb，1106，1）； uart_sendevent_键盘（dev_kb，0，0，0）； uart_sendevent_键盘（dev_kb，1106，0）； uart_sendevent_键盘（dev_kb，0，0，0）； } } } //记录时间 gettimeofday（&last_receive_time，NULL）； //如果我们从uart获取命令，则将其发送到套接字 pthread_create（&send_thread，NULL，socket_send_handler，（void*）output_buf）； } FD_CLR（ut.FD和readFds）； 关闭_端口（）； 返回0； } void*socket\u receive\u处理程序（）{ 内特莱尼特，i； adr clnt中的结构sockaddr\u； 未签名字符socket_buf[bufsize]，socket_buf_show[bufsize]； 我的地址中的结构sockaddr\u； pthread_t write_线程； 我的地址sin家庭=AFINET； 我的地址sin港口=htons（10000）； my_addr.sin_addr.s_addr=htonl（INADDR_ANY）； bzero（&（我的地址sin_zero），8）； if（（sockfd=socket（AF_INET，SOCK_DGRAM，0））=-1）{ 佩罗（“插座”）； 出口（1）； } if（bind（sockfd，（struct sockaddr*）和my_addr，sizeof（struct sockaddr））=-1）{ perror（“绑定错误”）； 出口（1）； } 而(1){ len_inet=日均房价的大小； memset（插座尺寸，0，尺寸）； udp_receive=recvfrom（sockfd，//Socket socket\u buf，//接收缓冲区 插槽大小\u buf，//最大recv buf大小 0，//标志：无选项 （结构sockaddr*）&adr\u clnt，//Addr &len_inet）；//添加len，输入和输出 如果（udp_接收
Android uart_sendevent_键盘（dev_kb，0，0，0）； uart_sendevent_键盘（dev_kb，1105，0）； uart_sendevent_键盘（dev_kb，0，0，0）； } else if（输出_buf[i+2]==6）{ printf（“==>Detect RIGHT\n”）； uart_sendevent_键盘（dev_kb，1106，1）； uart_sendevent_键盘（dev_kb，0，0，0）； uart_sendevent_键盘（dev_kb，1106，0）； uart_sendevent_键盘（dev_kb，0，0，0）； } } } //记录时间 gettimeofday（&last_receive_time，NULL）； //如果我们从uart获取命令，则将其发送到套接字 pthread_create（&send_thread，NULL，socket_send_handler，（void*）output_buf）； } FD_CLR（ut.FD和readFds）； 关闭_端口（）； 返回0； } void*socket\u receive\u处理程序（）{ 内特莱尼特，i； adr clnt中的结构sockaddr\u； 未签名字符socket_buf[bufsize]，socket_buf_show[bufsize]； 我的地址中的结构sockaddr\u； pthread_t write_线程； 我的地址sin家庭=AFINET； 我的地址sin港口=htons（10000）； my_addr.sin_addr.s_addr=htonl（INADDR_ANY）； bzero（&（我的地址sin_zero），8）； if（（sockfd=socket（AF_INET，SOCK_DGRAM，0））=-1）{ 佩罗（“插座”）； 出口（1）； } if（bind（sockfd，（struct sockaddr*）和my_addr，sizeof（struct sockaddr））=-1）{ perror（“绑定错误”）； 出口（1）； } 而(1){ len_inet=日均房价的大小； memset（插座尺寸，0，尺寸）； udp_receive=recvfrom（sockfd，//Socket socket\u buf，//接收缓冲区 插槽大小\u buf，//最大recv buf大小 0，//标志：无选项 （结构sockaddr*）&adr\u clnt，//Addr &len_inet）；//添加len，输入和输出 如果（udp_接收,android,c,select,Android,C,Select,#include "ts_uart_common.h" int writeport(int *fd, unsigned char *chars,int len) { int lock_result = -1; /* Lock. */ do{ lock_result = pthread_mutex_lock(¶ms.mutex); }while(lock_result != 0); /* Work. */ i
#include "ts_uart_common.h"
int writeport(int *fd, unsigned char *chars,int len) {
int lock_result = -1;
/* Lock. */
do{
lock_result = pthread_mutex_lock(¶ms.mutex);
}while(lock_result != 0);
/* Work. */
int n = write(*fd, chars,len);
/* Unlock and signal completion. */
pthread_mutex_unlock(¶ms.mutex);
pthread_cond_signal (¶ms.done);
if (n < 0) {
fputs("write failed!\n", stderr);
return 0;
}
return n;
}
int readport(int *fd, unsigned char *result) {
int iIn=0;
iIn = read(*fd, result, bufsize);
tcflush(*fd, TCIFLUSH);
if (iIn < 0) {
if (errno == EAGAIN) {
//printf("SERIAL EAGAIN ERROR\n");
return 0;
} else {
//printf("SERIAL read error %d %s\n", errno, strerror(errno));
return 0;
}
}
return iIn;
}
int getbaud(int fd) {
struct termios termAttr;
int Speed = -1;
speed_t baudRate;
tcgetattr(fd, &termAttr);
/* Get the input speed. */
baudRate = cfgetispeed(&termAttr);
switch (baudRate) {
case B300: Speed = 300; break;
case B600: Speed = 600; break;
case B1200: Speed = 1200; break;
case B1800: Speed = 1800; break;
case B2400: Speed = 2400; break;
case B4800: Speed = 4800; break;
case B9600: Speed = 9600; break;
case B19200: Speed = 19200; break;
case B38400: Speed = 38400; break;
case B115200: Speed = 115200; break;
case B230400: Speed = 230400; break;
case B460800: Speed = 460800; break;
case B500000: Speed = 500000; break;
case B576000: Speed = 576000; break;
case B921600: Speed = 921600; break;
case B1000000:Speed = 1000000; break;
case B1152000:Speed = 1152000; break;
case B1500000:Speed = 1500000; break;
case B2000000:Speed = 2000000; break;
case B2500000:Speed = 2500000; break;
case B3000000:Speed = 3000000; break;
case B3500000:Speed = 3500000; break;
}
return Speed;
}
int initport(int fd,long baudrate,int flow_ctrl)
{
struct termios options;
memset(&options, 0 , sizeof(options));
if(ERROR == tcgetattr(fd, &options)) {
perror("tcgetattr: ");
return ERROR;
}
switch (baudrate) {
case 300: cfsetispeed(&options,B300);
cfsetospeed(&options,B300);
options.c_cflag |= B300 | CBAUD;
break;
case 600: cfsetispeed(&options,B600);
cfsetospeed(&options,B600);
options.c_cflag |= B600 | CBAUD;
break;
case 1200: cfsetispeed(&options,B1200);
cfsetospeed(&options,B1200);
options.c_cflag |= B1200 | CBAUD;
break;
case 1800: cfsetispeed(&options,B1800);
cfsetospeed(&options,B1800);
options.c_cflag |= B1800 | CBAUD;
break;
case 2400: cfsetispeed(&options,B2400);
cfsetospeed(&options,B2400);
options.c_cflag |= B2400 | CBAUD;
break;
case 4800: cfsetispeed(&options,B4800);
cfsetospeed(&options,B4800);
options.c_cflag |= B4800 | CBAUD;
break;
case 9600:
default: cfsetispeed(&options,B9600);
cfsetospeed(&options,B9600);
options.c_cflag |= B9600 | CBAUD;
break;
case 19200: cfsetispeed(&options,B19200);
cfsetospeed(&options,B19200);
options.c_cflag |= B19200 | CBAUD;
break;
case 38400: cfsetispeed(&options,B38400);
cfsetospeed(&options,B38400);
options.c_cflag |= B38400 | CBAUD;
break;
case 115200: cfsetispeed(&options,B115200);
cfsetospeed(&options,B115200);
options.c_cflag |= B115200 | CBAUDEX;
break;
case 230400: cfsetispeed(&options,B230400);
cfsetospeed(&options,B230400);
options.c_cflag |= B230400 | CBAUDEX;
break;
case 460800: cfsetispeed(&options,B460800);
cfsetospeed(&options,B460800);
options.c_cflag |= B460800 | CBAUDEX;
break;
case 500000: cfsetispeed(&options,B500000);
cfsetospeed(&options,B500000);
options.c_cflag |= B500000 | CBAUDEX;
break;
case 576000: cfsetispeed(&options,B576000);
cfsetospeed(&options,B576000);
options.c_cflag |= B576000 | CBAUDEX;
break;
case 921600: cfsetispeed(&options,B921600);
cfsetospeed(&options,B921600);
options.c_cflag |= B921600 | CBAUDEX;
break;
case 1000000: cfsetispeed(&options,B1000000);
cfsetospeed(&options,B1000000);
options.c_cflag |= B1000000 | CBAUDEX;
break;
case 1152000: cfsetispeed(&options,B1152000);
cfsetospeed(&options,B1152000);
options.c_cflag |= B1152000 | CBAUDEX;
break;
case 1500000: cfsetispeed(&options,B1500000);
cfsetospeed(&options,B1500000);
options.c_cflag |= B1500000 | CBAUDEX;
break;
case 2000000: cfsetispeed(&options,B2000000);
cfsetospeed(&options,B2000000);
options.c_cflag |= B2000000 | CBAUDEX;
break;
case 2500000: cfsetispeed(&options,B2500000);
cfsetospeed(&options,B2500000);
options.c_cflag |= B2500000 | CBAUDEX;
break;
case 3000000: cfsetispeed(&options,B3000000);
cfsetospeed(&options,B3000000);
options.c_cflag |= B3000000 | CBAUDEX;
break;
case 3500000: cfsetispeed(&options,B3500000);
cfsetospeed(&options,B3500000);
options.c_cflag |= B3500000 | CBAUDEX;
break;
}
/* Enable or Disable Hardware flow control. */
if(!flow_ctrl) {
options.c_cflag &= ~CRTSCTS;
//printf("Flow control disabled \n");
}
else {
options.c_cflag |= CRTSCTS;
//printf("Flow control enabled \n");
}
/* No Parity, 8N1. */
options.c_cflag &= ~PARENB; // No parity bit
options.c_cflag &= ~CSTOPB; // 1 stop bit
options.c_cflag &= ~CSIZE; // character size 8
options.c_cflag |= CS8 ;
/* Hardware Control Options - Set local mode and Enable receiver to receive characters */
options.c_cflag |= (CLOCAL | CREAD );
/* Terminal Control options */
/* - Disable signals. Disable canonical input processing. Disable echo. */
options.c_lflag &= ~(ICANON | IEXTEN | ECHO | ISIG); /* Line options - Raw input */
options.c_iflag &= ~(ICRNL | INPCK | ISTRIP | BRKINT | IXON | IXOFF | IXANY);
/* Output processing - Disable post processing of output. */
options.c_oflag &= ~OPOST; /* Output options - Raw output */
/* Control Characters - Min. no. of characters */
options.c_cc[VMIN] = 0;
/* Character/Packet timeouts. */
options.c_cc[VTIME] = 3;
if(ERROR == tcflush(fd,TCOFLUSH) ) {
//printf("tcflush failed");
return ERROR;
}
if(ERROR == tcsetattr(fd, TCSANOW, &options)) {
//printf("Error: Couldn't configure Serial port " );
return ERROR;
}
/*
//printf("\n\n");
system("stty -F /dev/ttyS0 -a");
//printf("\n\n");
*/
return SUCCESS;
}
void signalHandler()
{
//printf("\n Closing device %s\n",UART_DEV_NAME);
close_port();
}
void close_port()
{
/* Destroy all synchronization primitives. */
pthread_mutex_destroy (¶ms.mutex);
pthread_cond_destroy (¶ms.done);
tcsetattr(ut.fd, TCSANOW, &oldtio);
if(tx_rx == 'r')
close(fd2);
else
close(fd1);
close(ut.fd);
exit(1);
}
int uart_sendevent_keyboard(int dev_kb, int type, int code, int value) {
int i;
int fd;
int ret;
int version;
struct input_event event;
if (ioctl(dev_kb, EVIOCGVERSION, &version)) {
return 1;
}
memset(&event, 0, sizeof(event));
event.type = type;
event.code = code;
event.value = value;
ret = write(dev_kb, &event, sizeof(event));
if(ret < sizeof(event)) {
return -1;
}
return 0;
}
int timeval_subtract (struct timeval * result, struct timeval * x, struct timeval * y) {
/* Perform the carry for the later subtraction by updating y. */
if (x->tv_usec < y->tv_usec) {
int nsec = (y->tv_usec - x->tv_usec) / 1000000 + 1;
y->tv_usec -= 1000000 * nsec;
y->tv_sec += nsec;
}
if (x->tv_usec - y->tv_usec > 1000000) {
int nsec = (x->tv_usec - y->tv_usec) / 1000000;
y->tv_usec += 1000000 * nsec;
y->tv_sec -= nsec;
}
/* Compute the time remaining to wait.
tv_usec is certainly positive. */
result->tv_sec = x->tv_sec - y->tv_sec;
result->tv_usec = x->tv_usec - y->tv_usec;
/* Return 1 if result is negative. */
return x->tv_sec < y->tv_sec;
}
int read_ints (const char* file_name) {
int i = 50;
if( access( file_name, F_OK ) == 0 ) {
FILE* file = fopen (file_name, "r");
fscanf (file, "%d", &i);
while (!feof (file)) {
fscanf (file, "%d", &i);
}
fclose (file);
}
return i * 1000;
}
void write_ints (const char* file_name, int value) {
FILE* file = fopen (file_name, "w+");
fprintf(file, "%d", value);
fclose (file);
}
#include "ts_uart_common.h"
int writeport(int *fd, unsigned char *chars,int len) {
int lock_result = -1;
/* Lock. */
do{
lock_result = pthread_mutex_lock(¶ms.mutex);
}while(lock_result != 0);
/* Work. */
int n = write(*fd, chars,len);
/* Unlock and signal completion. */
pthread_mutex_unlock(¶ms.mutex);
pthread_cond_signal (¶ms.done);
if (n < 0) {
fputs("write failed!\n", stderr);
return 0;
}
return n;
}
int readport(int *fd, unsigned char *result) {
int iIn=0;
iIn = read(*fd, result, bufsize);
tcflush(*fd, TCIFLUSH);
if (iIn < 0) {
if (errno == EAGAIN) {
//printf("SERIAL EAGAIN ERROR\n");
return 0;
} else {
//printf("SERIAL read error %d %s\n", errno, strerror(errno));
return 0;
}
}
return iIn;
}
int getbaud(int fd) {
struct termios termAttr;
int Speed = -1;
speed_t baudRate;
tcgetattr(fd, &termAttr);
/* Get the input speed. */
baudRate = cfgetispeed(&termAttr);
switch (baudRate) {
case B300: Speed = 300; break;
case B600: Speed = 600; break;
case B1200: Speed = 1200; break;
case B1800: Speed = 1800; break;
case B2400: Speed = 2400; break;
case B4800: Speed = 4800; break;
case B9600: Speed = 9600; break;
case B19200: Speed = 19200; break;
case B38400: Speed = 38400; break;
case B115200: Speed = 115200; break;
case B230400: Speed = 230400; break;
case B460800: Speed = 460800; break;
case B500000: Speed = 500000; break;
case B576000: Speed = 576000; break;
case B921600: Speed = 921600; break;
case B1000000:Speed = 1000000; break;
case B1152000:Speed = 1152000; break;
case B1500000:Speed = 1500000; break;
case B2000000:Speed = 2000000; break;
case B2500000:Speed = 2500000; break;
case B3000000:Speed = 3000000; break;
case B3500000:Speed = 3500000; break;
}
return Speed;
}
int initport(int fd,long baudrate,int flow_ctrl)
{
struct termios options;
memset(&options, 0 , sizeof(options));
if(ERROR == tcgetattr(fd, &options)) {
perror("tcgetattr: ");
return ERROR;
}
switch (baudrate) {
case 300: cfsetispeed(&options,B300);
cfsetospeed(&options,B300);
options.c_cflag |= B300 | CBAUD;
break;
case 600: cfsetispeed(&options,B600);
cfsetospeed(&options,B600);
options.c_cflag |= B600 | CBAUD;
break;
case 1200: cfsetispeed(&options,B1200);
cfsetospeed(&options,B1200);
options.c_cflag |= B1200 | CBAUD;
break;
case 1800: cfsetispeed(&options,B1800);
cfsetospeed(&options,B1800);
options.c_cflag |= B1800 | CBAUD;
break;
case 2400: cfsetispeed(&options,B2400);
cfsetospeed(&options,B2400);
options.c_cflag |= B2400 | CBAUD;
break;
case 4800: cfsetispeed(&options,B4800);
cfsetospeed(&options,B4800);
options.c_cflag |= B4800 | CBAUD;
break;
case 9600:
default: cfsetispeed(&options,B9600);
cfsetospeed(&options,B9600);
options.c_cflag |= B9600 | CBAUD;
break;
case 19200: cfsetispeed(&options,B19200);
cfsetospeed(&options,B19200);
options.c_cflag |= B19200 | CBAUD;
break;
case 38400: cfsetispeed(&options,B38400);
cfsetospeed(&options,B38400);
options.c_cflag |= B38400 | CBAUD;
break;
case 115200: cfsetispeed(&options,B115200);
cfsetospeed(&options,B115200);
options.c_cflag |= B115200 | CBAUDEX;
break;
case 230400: cfsetispeed(&options,B230400);
cfsetospeed(&options,B230400);
options.c_cflag |= B230400 | CBAUDEX;
break;
case 460800: cfsetispeed(&options,B460800);
cfsetospeed(&options,B460800);
options.c_cflag |= B460800 | CBAUDEX;
break;
case 500000: cfsetispeed(&options,B500000);
cfsetospeed(&options,B500000);
options.c_cflag |= B500000 | CBAUDEX;
break;
case 576000: cfsetispeed(&options,B576000);
cfsetospeed(&options,B576000);
options.c_cflag |= B576000 | CBAUDEX;
break;
case 921600: cfsetispeed(&options,B921600);
cfsetospeed(&options,B921600);
options.c_cflag |= B921600 | CBAUDEX;
break;
case 1000000: cfsetispeed(&options,B1000000);
cfsetospeed(&options,B1000000);
options.c_cflag |= B1000000 | CBAUDEX;
break;
case 1152000: cfsetispeed(&options,B1152000);
cfsetospeed(&options,B1152000);
options.c_cflag |= B1152000 | CBAUDEX;
break;
case 1500000: cfsetispeed(&options,B1500000);
cfsetospeed(&options,B1500000);
options.c_cflag |= B1500000 | CBAUDEX;
break;
case 2000000: cfsetispeed(&options,B2000000);
cfsetospeed(&options,B2000000);
options.c_cflag |= B2000000 | CBAUDEX;
break;
case 2500000: cfsetispeed(&options,B2500000);
cfsetospeed(&options,B2500000);
options.c_cflag |= B2500000 | CBAUDEX;
break;
case 3000000: cfsetispeed(&options,B3000000);
cfsetospeed(&options,B3000000);
options.c_cflag |= B3000000 | CBAUDEX;
break;
case 3500000: cfsetispeed(&options,B3500000);
cfsetospeed(&options,B3500000);
options.c_cflag |= B3500000 | CBAUDEX;
break;
}
/* Enable or Disable Hardware flow control. */
if(!flow_ctrl) {
options.c_cflag &= ~CRTSCTS;
//printf("Flow control disabled \n");
}
else {
options.c_cflag |= CRTSCTS;
//printf("Flow control enabled \n");
}
/* No Parity, 8N1. */
options.c_cflag &= ~PARENB; // No parity bit
options.c_cflag &= ~CSTOPB; // 1 stop bit
options.c_cflag &= ~CSIZE; // character size 8
options.c_cflag |= CS8 ;
/* Hardware Control Options - Set local mode and Enable receiver to receive characters */
options.c_cflag |= (CLOCAL | CREAD );
/* Terminal Control options */
/* - Disable signals. Disable canonical input processing. Disable echo. */
options.c_lflag &= ~(ICANON | IEXTEN | ECHO | ISIG); /* Line options - Raw input */
options.c_iflag &= ~(ICRNL | INPCK | ISTRIP | BRKINT | IXON | IXOFF | IXANY);
/* Output processing - Disable post processing of output. */
options.c_oflag &= ~OPOST; /* Output options - Raw output */
/* Control Characters - Min. no. of characters */
options.c_cc[VMIN] = 0;
/* Character/Packet timeouts. */
options.c_cc[VTIME] = 3;
if(ERROR == tcflush(fd,TCOFLUSH) ) {
//printf("tcflush failed");
return ERROR;
}
if(ERROR == tcsetattr(fd, TCSANOW, &options)) {
//printf("Error: Couldn't configure Serial port " );
return ERROR;
}
/*
//printf("\n\n");
system("stty -F /dev/ttyS0 -a");
//printf("\n\n");
*/
return SUCCESS;
}
void signalHandler()
{
//printf("\n Closing device %s\n",UART_DEV_NAME);
close_port();
}
void close_port()
{
/* Destroy all synchronization primitives. */
pthread_mutex_destroy (¶ms.mutex);
pthread_cond_destroy (¶ms.done);
tcsetattr(ut.fd, TCSANOW, &oldtio);
if(tx_rx == 'r')
close(fd2);
else
close(fd1);
close(ut.fd);
exit(1);
}
int uart_sendevent_keyboard(int dev_kb, int type, int code, int value) {
int i;
int fd;
int ret;
int version;
struct input_event event;
if (ioctl(dev_kb, EVIOCGVERSION, &version)) {
return 1;
}
memset(&event, 0, sizeof(event));
event.type = type;
event.code = code;
event.value = value;
ret = write(dev_kb, &event, sizeof(event));
if(ret < sizeof(event)) {
return -1;
}
return 0;
}
int timeval_subtract (struct timeval * result, struct timeval * x, struct timeval * y) {
/* Perform the carry for the later subtraction by updating y. */
if (x->tv_usec < y->tv_usec) {
int nsec = (y->tv_usec - x->tv_usec) / 1000000 + 1;
y->tv_usec -= 1000000 * nsec;
y->tv_sec += nsec;
}
if (x->tv_usec - y->tv_usec > 1000000) {
int nsec = (x->tv_usec - y->tv_usec) / 1000000;
y->tv_usec += 1000000 * nsec;
y->tv_sec -= nsec;
}
/* Compute the time remaining to wait.
tv_usec is certainly positive. */
result->tv_sec = x->tv_sec - y->tv_sec;
result->tv_usec = x->tv_usec - y->tv_usec;
/* Return 1 if result is negative. */
return x->tv_sec < y->tv_sec;
}
int read_ints (const char* file_name) {
int i = 50;
if( access( file_name, F_OK ) == 0 ) {
FILE* file = fopen (file_name, "r");
fscanf (file, "%d", &i);
while (!feof (file)) {
fscanf (file, "%d", &i);
}
fclose (file);
}
return i * 1000;
}
void write_ints (const char* file_name, int value) {
FILE* file = fopen (file_name, "w+");
fprintf(file, "%d", value);
fclose (file);
}
#包括“ts_uart_common.h”
int writeport（int*fd，无符号字符*chars，int len）{
int lock_result=-1；
/*锁*/
做{
lock_result=pthread_mutex_lock（¶ms.mutex）；
}while（lock_result！=0）；
/*工作*/
int n=写入（*fd，chars，len）；
/*解锁和信号完成*/
pthread_mutex_unlock（¶ms.mutex）；
pthread_cond_信号（¶ms.done）；
if（n<0）{
fputs（“写入失败！\n”，stderr）；
返回0；
}
返回n；
}
int readport（int*fd，无符号字符*结果）{
int-iIn=0；
iIn=读取（*fd，结果，bufsize）；
tcflush（*fd，TCIFLUSH）；
如果（iIn<0）{
if（errno==EAGAIN）{
//printf（“串行EAGAIN错误\n”）；
返回0；
}否则{
//printf（“串行读取错误%d%s\n”，errno，strerror（errno））；
返回0；
}
}
返回iIn；
}
int getbaud（int fd）{
结构termios termAttr；
整数速度=-1；
速率；
tcgetattr（fd和termAttr）；
/*获取输入速度*/
波特率=cfgetispeed（&termAttr）；
交换机（波特率）{
案例B300：速度=300；中断；
案例B600：速度=600；中断；
案例B1200：速度=1200；中断；
案例B1800：速度=1800；中断；
案例B2400：速度=2400；中断；
案例B4800：速度=4800；中断；
案例B9600：速度=9600；中断；
案例B19200：速度=19200；中断；
案例B38400：速度=38400；中断；
案例B115200：速度=115200；中断；
案例B230400：速度=230400；中断；
案例B460800：速度=460800；中断；
案例B500000：速度=500000；中断；
案例B576000：速度=576000；断裂；
案例B921600：速度=921600；中断；
案例B1000000：速度=1000000；中断；
案例B1152000：速度=1152000；中断；
案例B1500000：速度=1500000；中断；
案例B2000000：速度=2000000；中断；
案例B2500000：速度=2500000；中断；
案例B3000000：速度=3000000；中断；
案例B3500000：速度=3500000；中断；
}
返回速度；
}
int initport（int fd、长波特率、int flow\u ctrl）
{
结构termios选项；
memset（&options，0，sizeof（options））；
如果（错误==tcgetattr（fd和选项））{
佩罗尔（“tcgetattr:”）；
返回错误
while (1) {
FD_ZERO(&readFds);
FD_SET(ut.fd, &readFds);
respTime.tv_sec = 0;
respTime.tv_usec = timeout;
retval = select(FD_SETSIZE, &readFds, NULL, NULL, &respTime);
if (retval == 0) {
//determine send heartbeat signal or not
struct timeval now_time, result;
gettimeofday(&now_time, NULL);
timeval_subtract(&result, &now_time, &last_send_time);
if(result.tv_sec > 5) {
int r = pthread_create( &watchdog_thread , NULL , send_watchdog , (void*) NULL);
gettimeofday(&last_send_time, NULL);
}
continue;
}
else if (retval == ERROR) {
printf("select: error :: %d\n", retval);
}
usleep(10 * 10000);
...
...
...
}