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VID 透传改成200ms持续发布

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This commit is contained in:
lyq 2026-03-19 15:20:13 +08:00
parent a5bd401f9c
commit 15b9046d8b
3 changed files with 8 additions and 15 deletions
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8
src/base/mc/include/mc/vid_transmit.hpp
View File

@ -100,13 +100,13 @@ inline bool send_vid_to_can(CANDriver& can_driver, const std::string& vid)
if (!can_driver.sendFrame(frame))
{
LOG_ERROR("Failed to send VID frame to CAN bus");
LOG_ERROR_THROTTLE(5000, "Failed to send VID frame to CAN bus");
return false;
}
LOG_INFO("VID sent to CAN bus: %s (CAN ID: 0x%03X, Data: %02X %02X %02X %02X %02X %02X %02X %02X)", vid.c_str(),
frame.id, frame.data[0], frame.data[1], frame.data[2], frame.data[3], frame.data[4], frame.data[5],
frame.data[6], frame.data[7]);
LOG_INFO_THROTTLE(5000, "VID sent to CAN bus: %s (CAN ID: 0x%03X, Data: %02X %02X %02X %02X %02X %02X %02X %02X)",
vid.c_str(), frame.id, frame.data[0], frame.data[1], frame.data[2], frame.data[3], frame.data[4],
frame.data[5], frame.data[6], frame.data[7]);
return true;
}

10
src/base/mc/src/mc.cpp
View File

@ -16,7 +16,6 @@ namespace sweeperMsg = sweeper_interfaces::msg;
CANDriver canctl;
std::string current_vid;
bool vid_sent = false;
void vehicleIdentityCallback(const sweeperMsg::VehicleIdentity::SharedPtr msg)
{
@ -24,19 +23,14 @@ void vehicleIdentityCallback(const sweeperMsg::VehicleIdentity::SharedPtr msg)
{
LOG_INFO("Received new VID: %s", msg->vid.c_str());
current_vid = msg->vid;
vid_sent = false; // 新 VID 需要重新发送
}
}
void send_vid_task()
{
if (!vid_sent && !current_vid.empty())
if (!current_vid.empty())
{
if (vid_transmit::send_vid_to_can(canctl, current_vid))
{
vid_sent = true; // 成功发送后标记
}
else
if (!vid_transmit::send_vid_to_can(canctl, current_vid))
{
LOG_WARN("Failed to send VID, will retry");
}

5
src/base/mc/src/timer_tasks.cpp
View File

@ -90,9 +90,8 @@ void bmsTimerTask(CANDriver& canctl)
// 注册 VID 发送定时器任务
void setupVidTimer(rclcpp::Node::SharedPtr node, std::function<void()> callback)
{
// 每秒检查一次 VID 是否需要发送
static auto timer_vid =
node->create_wall_timer(std::chrono::milliseconds(1000), callback);
// 200ms 持续发布 VID
static auto timer_vid = node->create_wall_timer(std::chrono::milliseconds(200), callback);
LOG_INFO("[TIMER] VID transmit timer setup completed");
}