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This commit is contained in:
Alvin-lyq 2026-04-29 13:52:18 +08:00
parent f5a9278298
commit 05633118d8
1 changed files with 20 additions and 7 deletions
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27
src/perception/pbox_node_dirve/src/pbox_node/src/AGPbox.cpp
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@ -142,19 +142,32 @@ void AGPbox::readSerialPort()
{
if (imu_ser.isOpen())
{
if(imu_ser.available())
size_t available = imu_ser.available();
if(available > 0)
{
m_read = imu_ser.read(imu_ser.available());
TinyLog::info("Serial available: %zu bytes", available);
m_read = imu_ser.read(available);
TinyLog::info("Serial read: %zu bytes", m_read.size());
// 打印前16字节用于调试
if(m_read.size() > 0)
{
std::string hex_str = "";
for(size_t i = 0; i < std::min(m_read.size(), (size_t)16); i++)
{
char buf[4];
sprintf(buf, "%02X ", (uint8_t)m_read[i]);
hex_str += buf;
}
TinyLog::info("First 16 bytes: %s", hex_str.c_str());
}
m_input += m_read;
connect_manager.addData(m_input);
m_input.erase(0, m_input.size());
if(m_isPrintLog)
{
// for(int i = 0; i < m_read.size();i++)
{
// fprintf(m_logFd , "%02X" , m_read.c_str()[i]);
fwrite(m_read.c_str() , m_read.size() , 1u , m_logFd);
}
fwrite(m_read.c_str() , m_read.size() , 1u , m_logFd);
}
}
}