From 80b972bf74f21ec321a0fcff0cec09a141d702f7 Mon Sep 17 00:00:00 2001
From: cxh <zxwl@56.com>
Date: Thu, 12 Jun 2025 16:13:00 +0800
Subject: [PATCH] Auto commit at 2025-06-12 16:13:00

---
 src/mc/src/mc.cpp | 116 +++++++++++++++++++++++-----------------------
 1 file changed, 58 insertions(+), 58 deletions(-)

diff --git a/src/mc/src/mc.cpp b/src/mc/src/mc.cpp
index 9019119..4cacc57 100644
--- a/src/mc/src/mc.cpp
+++ b/src/mc/src/mc.cpp
@@ -164,76 +164,76 @@ void VCUWakeUp()
 void setupTimers(rclcpp::Node::SharedPtr node)
 {
   // VCU 唤醒帧发送定时器，1Hz
-  static rclcpp::TimerBase::SharedPtr timer_wakeup = node->create_wall_timer(
-      std::chrono::seconds(1), [node]()
-      {
-        if (!vcu_awake.load())
-        {
-          RCLCPP_INFO(node->get_logger(), "[TIMER][VCU] Not awake, sending wake-up frame...");
-          VCUWakeUp();
-        } });
+  // static rclcpp::TimerBase::SharedPtr timer_wakeup = node->create_wall_timer(
+  //     std::chrono::seconds(1), [node]()
+  //     {
+  //       if (!vcu_awake.load())
+  //       {
+  //         RCLCPP_INFO(node->get_logger(), "[TIMER][VCU] Not awake, sending wake-up frame...");
+  //         VCUWakeUp();
+  //       } });
 
-  // vcu报文 watchdog 检查，200ms
-  static rclcpp::TimerBase::SharedPtr timer_estop_watchdog = node->create_wall_timer(
-      std::chrono::milliseconds(200), [node]()
-      {
-        auto now = node->now();
-        auto elapsed = now - last_vcu_msg_time;
+  // // vcu报文 watchdog 检查，200ms
+  // static rclcpp::TimerBase::SharedPtr timer_estop_watchdog = node->create_wall_timer(
+  //     std::chrono::milliseconds(200), [node]()
+  //     {
+  //       auto now = node->now();
+  //       auto elapsed = now - last_vcu_msg_time;
 
-        if (vcu_msg_received.load() && elapsed > rclcpp::Duration::from_seconds(0.5))
-        {
-          RCLCPP_WARN(node->get_logger(), "[TIMER][VCU] message timeout, resetting wake-up state.");
-          vcu_msg_received.store(false);
-          vcu_awake.store(false);
-        } });
+  //       if (vcu_msg_received.load() && elapsed > rclcpp::Duration::from_seconds(0.5))
+  //       {
+  //         RCLCPP_WARN(node->get_logger(), "[TIMER][VCU] message timeout, resetting wake-up state.");
+  //         vcu_msg_received.store(false);
+  //         vcu_awake.store(false);
+  //       } });
 
-  // MCU控制，50Hz
-  static rclcpp::TimerBase::SharedPtr timer_mcu = node->create_wall_timer(
-      std::chrono::milliseconds(20), []()
-      {
-        sweeperMsg::McCtrl msg = get_safe_control();
+  // // MCU控制，50Hz
+  // static rclcpp::TimerBase::SharedPtr timer_mcu = node->create_wall_timer(
+  //     std::chrono::milliseconds(20), []()
+  //     {
+  //       sweeperMsg::McCtrl msg = get_safe_control();
 
-        mcu_cmd.setEnabled(true);
-        mcu_cmd.setGear(msg.gear);
-        mcu_cmd.setRPM(msg.rpm);
-        mcu_cmd.setBrake(msg.brake);
+  //       mcu_cmd.setEnabled(true);
+  //       mcu_cmd.setGear(msg.gear);
+  //       mcu_cmd.setRPM(msg.rpm);
+  //       mcu_cmd.setBrake(msg.brake);
 
-        canctl.sendFrame(mcu_cmd.toFrame()); });
+  //       canctl.sendFrame(mcu_cmd.toFrame()); });
 
-  // EPS 控制，20Hz
-  static rclcpp::TimerBase::SharedPtr timer_eps = node->create_wall_timer(
-      std::chrono::milliseconds(50), []()
-      {
-        sweeperMsg::McCtrl msg = get_safe_control();
+  // // EPS 控制，20Hz
+  // static rclcpp::TimerBase::SharedPtr timer_eps = node->create_wall_timer(
+  //     std::chrono::milliseconds(50), []()
+  //     {
+  //       sweeperMsg::McCtrl msg = get_safe_control();
 
-        eps_cmd.setCenterCmd(0);
-        eps_cmd.setAngle(msg.angle);
-        eps_cmd.setAngularSpeed(msg.angle_speed);
-        eps_cmd.pack();
+  //       eps_cmd.setCenterCmd(0);
+  //       eps_cmd.setAngle(msg.angle);
+  //       eps_cmd.setAngularSpeed(msg.angle_speed);
+  //       eps_cmd.pack();
 
-        canctl.sendFrame(eps_cmd.toFrame()); });
+  //       canctl.sendFrame(eps_cmd.toFrame()); });
 
-  // VCU 控制，10Hz
-  static rclcpp::TimerBase::SharedPtr timer_vcu = node->create_wall_timer(
-      std::chrono::milliseconds(100), []()
-      {
-        sweeperMsg::McCtrl msg = get_safe_control();
+  // // VCU 控制，10Hz
+  // static rclcpp::TimerBase::SharedPtr timer_vcu = node->create_wall_timer(
+  //     std::chrono::milliseconds(100), []()
+  //     {
+  //       sweeperMsg::McCtrl msg = get_safe_control();
 
-        vcu1_cmd.setLeftLight(msg.left_light);
-        vcu1_cmd.setDustShake(msg.dust_shake);
-        vcu1_cmd.setHeadLight(msg.headlight);
+  //       vcu1_cmd.setLeftLight(msg.left_light);
+  //       vcu1_cmd.setDustShake(msg.dust_shake);
+  //       vcu1_cmd.setHeadLight(msg.headlight);
 
-        vcu2_cmd.setBrakeLight(msg.brake_light);
-        vcu2_cmd.setEdgeBrushLift(msg.edge_brush_lift);
-        vcu2_cmd.setHeadlight(msg.headlight);
-        vcu2_cmd.setMudFlap(msg.mud_flap);
-        vcu2_cmd.setRightLight(msg.right_light);
-        vcu2_cmd.setSpray(msg.spray);
-        vcu2_cmd.setSweeepCtrl(msg.sweep_ctrl);
+  //       vcu2_cmd.setBrakeLight(msg.brake_light);
+  //       vcu2_cmd.setEdgeBrushLift(msg.edge_brush_lift);
+  //       vcu2_cmd.setHeadlight(msg.headlight);
+  //       vcu2_cmd.setMudFlap(msg.mud_flap);
+  //       vcu2_cmd.setRightLight(msg.right_light);
+  //       vcu2_cmd.setSpray(msg.spray);
+  //       vcu2_cmd.setSweeepCtrl(msg.sweep_ctrl);
 
-        // canctl.sendFrame(vcu1_cmd.toFrame());
-        // canctl.sendFrame(vcu2_cmd.toFrame());
-      });
+  //       // canctl.sendFrame(vcu1_cmd.toFrame());
+  //       // canctl.sendFrame(vcu2_cmd.toFrame());
+  //     });
 }
 
 int main(int argc, char **argv)