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修改液位的计算逻辑

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This commit is contained in:
cxh 2025-05-17 15:18:31 +08:00
parent 352e6eef45
commit 8dd991b677
1 changed files with 4 additions and 2 deletions
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6
src/mqtt_report/src/mqtt_report.cpp
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@ -44,7 +44,9 @@ void Msg_Handler(const mc::msg::CanFrame::SharedPtr msg)
case 0x18FF0121: case 0x18FF0121:
{ {
const uint16_t WaterValue = (uint16_t)(((msg->data[3] & 0x3F) << 4) | ((msg->data[2] & 0xF0) >> 4)); uint8_t WaterValue_h = (msg->data[2]);
uint8_t WaterValue_l = (msg->data[1]);
uint16_t WaterValue = (WaterValue_h & 0x3f) * 16 + (WaterValue_l & 0x0f);
float WaterLevel = WaterValue * (-0.235) + 199.75; float WaterLevel = WaterValue * (-0.235) + 199.75;
info_report.waterLevel = static_cast<int>(std::round(WaterLevel / 1.8f)); // 液位百分比 info_report.waterLevel = static_cast<int>(std::round(WaterLevel / 1.8f)); // 液位百分比
break; break;
@ -219,7 +221,7 @@ public:
private: private:
void topic_callback(const mc::msg::CanFrame::SharedPtr msg) void topic_callback(const mc::msg::CanFrame::SharedPtr msg)
{ {
RCLCPP_INFO(this->get_logger(), "Received CAN frame ID: %u, DLC: %u", msg->id, msg->dlc); // RCLCPP_INFO(this->get_logger(), "Received CAN frame ID: %u, DLC: %u", msg->id, msg->dlc);
Msg_Handler(msg); Msg_Handler(msg);
} }