From 608f794be7fbf8d7f9c1ee1f3141a9048bd19b36 Mon Sep 17 00:00:00 2001 From: Alvin-lyq Date: Wed, 29 Apr 2026 14:09:12 +0800 Subject: [PATCH] debug-12 --- .../src/pbox_node/launch/pbox_node.launch.py | 2 +- .../src/pbox_node/src/AGPbox.cpp | 21 ++----------------- 2 files changed, 3 insertions(+), 20 deletions(-) diff --git a/src/perception/pbox_node_dirve/src/pbox_node/launch/pbox_node.launch.py b/src/perception/pbox_node_dirve/src/pbox_node/launch/pbox_node.launch.py index f7aaff5..d941f38 100644 --- a/src/perception/pbox_node_dirve/src/pbox_node/launch/pbox_node.launch.py +++ b/src/perception/pbox_node_dirve/src/pbox_node/launch/pbox_node.launch.py @@ -27,7 +27,7 @@ def generate_launch_description(): #串口设备串 defaule: /dev/ttyUSB0 {"UART_Port": "/dev/ttyTHS1"}, #串口波特率 default: 115200 - {"UART_Baudrate": 460800}, + {"UART_Baudrate": 115200}, #latency_timer :1 ~ 16, default:16 {"USB_LatencyTime": 16}, 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 2d4ab48..eef6ad1 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 @@ -142,26 +142,9 @@ void AGPbox::readSerialPort() { if (imu_ser.isOpen()) { - size_t available = imu_ser.available(); - if(available > 0) + if(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_read = imu_ser.read(imu_ser.available()); m_input += m_read; connect_manager.addData(m_input); m_input.erase(0, m_input.size());