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Alvin-lyq 2026-04-29 14:09:12 +08:00
parent 684c1dac84
commit 608f794be7
2 changed files with 3 additions and 20 deletions
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2
src/perception/pbox_node_dirve/src/pbox_node/launch/pbox_node.launch.py
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@ -27,7 +27,7 @@ def generate_launch_description():
#串口设备串 defaule: /dev/ttyUSB0 #串口设备串 defaule: /dev/ttyUSB0
{"UART_Port": "/dev/ttyTHS1"}, {"UART_Port": "/dev/ttyTHS1"},
#串口波特率 default: 115200 #串口波特率 default: 115200
{"UART_Baudrate": 460800}, {"UART_Baudrate": 115200},
#latency_timer :1 ~ 16, default:16 #latency_timer :1 ~ 16, default:16
{"USB_LatencyTime": 16}, {"USB_LatencyTime": 16},

21
src/perception/pbox_node_dirve/src/pbox_node/src/AGPbox.cpp
View File

@ -142,26 +142,9 @@ void AGPbox::readSerialPort()
{ {
if (imu_ser.isOpen()) if (imu_ser.isOpen())
{ {
size_t available = imu_ser.available(); if(imu_ser.available())
if(available > 0)
{ {
TinyLog::info("Serial available: %zu bytes", available); m_read = imu_ser.read(imu_ser.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; m_input += m_read;
connect_manager.addData(m_input); connect_manager.addData(m_input);
m_input.erase(0, m_input.size()); m_input.erase(0, m_input.size());