debug-10

src/perception/pbox_node_dirve/src/pbox_node/src/AGPbox.cpp

@@ -142,22 +142,35 @@ 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);
                 }
             }
         }
-        }
         else
         {
             openSerialPort();