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debug-2

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Alvin-lyq 2026-04-29 10:21:14 +08:00
parent 97372f1d89
commit 2057adf843
1 changed files with 6 additions and 6 deletions
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12
src/perception/rtk_asensing/include/rtk_asensing/asensing_protocol.hpp
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@ -82,7 +82,7 @@ class AsensingProtocol
{
frame_buf_[frame_index_++] = data[i];
total_sync_attempts++;
LOG_DEBUG("[DEBUG-PROTO] 找到帧头 BD DB, 累计尝试: %d", total_sync_attempts);
LOG_INFO("[DEBUG-PROTO] 找到帧头 BD DB, 累计尝试: %d", total_sync_attempts);
}
else if (frame_index_ == 1 && data[i] != 0xDB)
{
@ -110,7 +110,7 @@ class AsensingProtocol
if (frame_index_ == 3)
{
LOG_DEBUG("[DEBUG-PROTO] 帧类型: 0x%02X", frame_buf_[2]);
LOG_INFO("[DEBUG-PROTO] 帧类型: 0x%02X", frame_buf_[2]);
}
// 检查是否接收完整帧 (帧头2字节 + 类型1字节 + 数据58字节 + GPS周4字节 + 校验1字节 = 66字节)
@ -122,7 +122,7 @@ class AsensingProtocol
if (frame_buf_[2] != 0x0B)
{
total_frame_type_fail++;
LOG_DEBUG("[DEBUG-PROTO] 帧类型不匹配: 0x%02X (期望 0x0B), 累计失败: %d", frame_buf_[2], total_frame_type_fail);
LOG_INFO("[DEBUG-PROTO] 帧类型不匹配: 0x%02X (期望 0x0B), 累计失败: %d", frame_buf_[2], total_frame_type_fail);
// 帧类型不匹配，重新同步
is_synced_ = false;
frame_index_ = 0;
@ -139,7 +139,7 @@ class AsensingProtocol
if (xor_check1 != frame_buf_[57])
{
total_checksum1_fail++;
LOG_DEBUG("[DEBUG-PROTO] 校验位1失败: 计算=0x%02X, 接收=0x%02X, 累计失败: %d",
LOG_INFO("[DEBUG-PROTO] 校验位1失败: 计算=0x%02X, 接收=0x%02X, 累计失败: %d",
xor_check1, frame_buf_[57], total_checksum1_fail);
// 校验失败，重新同步
is_synced_ = false;
@ -157,7 +157,7 @@ class AsensingProtocol
if (xor_check2 != frame_buf_[62])
{
total_checksum2_fail++;
LOG_DEBUG("[DEBUG-PROTO] 校验位2失败: 计算=0x%02X, 接收=0x%02X, 累计失败: %d",
LOG_INFO("[DEBUG-PROTO] 校验位2失败: 计算=0x%02X, 接收=0x%02X, 累计失败: %d",
xor_check2, frame_buf_[62], total_checksum2_fail);
// 校验失败，重新同步
is_synced_ = false;
@ -165,7 +165,7 @@ class AsensingProtocol
continue;
}
LOG_DEBUG("[DEBUG-PROTO] 解析成功! 帧头: %02X %02X, 类型: %02X",
LOG_INFO("[DEBUG-PROTO] 解析成功! 帧头: %02X %02X, 类型: %02X",
frame_buf_[0], frame_buf_[1], frame_buf_[2]);
// 校验通过，复制数据到结构体