問題:遇到device can not open

解決：sudo chown young /dev/ttyUSB0

程序如下:

uart.h:

#ifndef UART_H

#define UART_H

#include #include #include class Uart : public QObject

{

Q_OBJECT

public:

explicit Uart(QObject *parent = 0);

~Uart();

void InitUart();

short roll;

short pitch;

short yaw;

short m_throttle;

float m_altitude;

short gl_Angle;

private:

QSerialPort *my_serialport;

QByteArray requestData;

unsigned char *buffer;

signals:

void changeAngle(short,short,short);

void changeThrottle(short);

void changeAltitude(float);

void changeYawGL(short);

void changeAngleToUI(short,short,short);

void isOpenUart(bool);

void IsConnectControl(int);

public slots:

void readUartSlot();

void connectUart();

void disconnectUart();

};

#endif // UART_H

uat.cpp:

#include "uart.h"

#include #include Uart::Uart(QObject *parent) :

QObject(parent)

{

roll = 0;

pitch = 0;

yaw = 0;

m_throttle = 0;

gl_Angle = 0;

my_serialport = new QSerialPort();

QString portName = "ttyUSB0";

my_serialport->setPortName(portName);

if(my_serialport->open(QIODevice::ReadOnly))

{

my_serialport->setBaudRate(115200);

my_serialport->setDataBits(QSerialPort::Data8);

my_serialport->setParity(QSerialPort::NoParity);

my_serialport->setStopBits(QSerialPort::OneStop);

my_serialport->setFlowControl(QSerialPort::NoFlowControl);

buffer = (unsigned char*)malloc(12);

emit isOpenUart(true);

}

else

{

emit isOpenUart(false);

}

}

Uart::~Uart()

{

free(buffer);

my_serialport->close();

delete my_serialport;

}

void Uart::connectUart()

{

connect(this->my_serialport,SIGNAL(readyRead()),this,SLOT(readUartSlot()));

}

void Uart::disconnectUart()

{

disconnect(this->my_serialport,SIGNAL(readyRead()),this,SLOT(readUartSlot()));

}

void Uart::readUartSlot()

{

short temp_roll,temp_pitch,temp_yaw;

if(my_serialport->bytesAvailable() >3)

{

requestData? =? my_serialport->readAll();

if(!requestData.isEmpty())

{

if(requestData.length()==10)

{

if(requestData.at(0)=='e' && requestData.at(1)=='f' && requestData.at(4)=='g' && requestData.at(7) =='h')

{

buffer = (unsigned char*)requestData.data();

temp_roll = (short)((buffer[2]<<8) + buffer[3]);

temp_pitch= (short)((buffer[5]<<8) +buffer[6]);

temp_yaw = (short)((buffer[8]<<8) + buffer[9]);

roll = temp_roll;

pitch = temp_pitch;

yaw = temp_yaw;

emit changeAngle(roll,pitch,yaw);

emit changeAngleToUI(roll,pitch,yaw);

}

}

if(requestData.length() == 4)

{

//qDebug()

{

unsigned char *thro_buff;

thro_buff =(unsigned char*)requestData.data();

m_throttle = (short)(((thro_buff[2]<<8 )+ thro_buff[3])/10-100);

emit changeThrottle(m_throttle);

}

if(requestData.at(0) == 'c' && (requestData.at(1)) == 'd')

{

unsigned char *altitudeBuf;

altitudeBuf = (unsigned char*)requestData.data();

m_altitude = (float)(((altitudeBuf[2]<<8) + altitudeBuf[3]));

if(m_altitude)

emit changeAltitude(m_altitude);

}

if(requestData.at(0)=='i'&& requestData.at(1) == 'j')

{

unsigned char *glBuffer;

glBuffer = (unsigned char*)requestData.data();

short yaw = (short)((glBuffer[2]<<8) + glBuffer[3]);

// qDebug()< ?????????????????? short temp = gl_Angle - yaw;

emit changeYawGL(temp);

gl_Angle =? yaw;

}

}

//if(requestData.length()==4)

//{

//? if(requestData.at(0) == 'b' && requestData.at(1) == 'l' && requestData.at(2) == 'u' && requestData.at(3) == 'e')

// {

//?? emit IsConnectControl(1);

// }

// }

/* if(requestData.size() == 4)

{

if(requestData.at(0) == 'c' && (requestData.at(1)) == 'd')

{

unsigned char H_value = (unsigned char)requestData.at(2);

unsigned char L_value = (unsigned char)requestData.at(3);

m_altitude = (short)((H_value<<8) + L_value);

qDebug()

}*/

}

requestData.clear();

}

// my_serialport->flush();

}

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