From 05633118d8a53b4bf4bea4653d69df9b3d522e2f Mon Sep 17 00:00:00 2001 From: Alvin-lyq Date: Wed, 29 Apr 2026 13:52:18 +0800 Subject: [PATCH] debug-10 --- .../src/pbox_node/src/AGPbox.cpp | 27 ++++++++++++++----- 1 file changed, 20 insertions(+), 7 deletions(-) diff --git a/src/perception/pbox_node_dirve/src/pbox_node/src/AGPbox.cpp b/src/perception/pbox_node_dirve/src/pbox_node/src/AGPbox.cpp index cdda158..fb81da1 100644 --- a/src/perception/pbox_node_dirve/src/pbox_node/src/AGPbox.cpp +++ b/src/perception/pbox_node_dirve/src/pbox_node/src/AGPbox.cpp @@ -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); } } }