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lyq 2026-02-28 17:19:29 +08:00
parent 11a7ee57aa
commit 86d2d7d514
3 changed files with 8 additions and 6 deletions
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5
src/control/can_radio_ctrl/include/can_radio_ctrl/candev.h
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@ -24,6 +24,7 @@ struct RadioData
int16_t throttle; // 油门数据 int16_t throttle; // 油门数据
uint8_t gear; // 挡位数据 uint8_t gear; // 挡位数据
uint8_t sweep; // 清扫开关数据 uint8_t sweep; // 清扫开关数据
uint8_t enabled; // 使能
bool data_valid; // 数据有效性标志 bool data_valid; // 数据有效性标志
}; };
@ -34,7 +35,7 @@ extern std::mutex radio_data_mutex; // 保护radio_data的互斥锁
// 函数声明 // 函数声明
int can_Init(void); int can_Init(void);
void can_Recv_CAN1(void); void can_Recv_CAN1(void);
RadioData get_radio_data(void); // RadioData get_radio_data(void); //
void can_Stop_Recv(void); // void can_Stop_Recv(void); //
#endif // !_CANDEV_H #endif // !_CANDEV_H

6
src/control/can_radio_ctrl/src/can_radio_ctrl.cpp
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@ -68,11 +68,11 @@ class CanRadioCtrlNode : public rclcpp::Node
// 检查数据有效性 // 检查数据有效性
bool has_received = radio_data.data_valid; bool has_received = radio_data.data_valid;
bool data_safe = radio_data.data_valid; bool enabled = (radio_data.enabled == 0);
auto msg = sweeperMsg::McCtrl(); auto msg = sweeperMsg::McCtrl();
if (has_received && data_safe) if (has_received && enabled)
{ {
// 解析挡位 // 解析挡位
switch (radio_data.gear) // 通道E switch (radio_data.gear) // 通道E
@ -172,7 +172,7 @@ class CanRadioCtrlNode : public rclcpp::Node
} }
else else
{ {
LOG_WARN("CAN radio control data lost or failsafe!"); LOG_WARN("CAN radio control unabled!");
} }
print_counter = 0; print_counter = 0;
} }

3
src/control/can_radio_ctrl/src/candev.cpp
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@ -8,7 +8,7 @@
#include <thread> // 异步接收线程 #include <thread> // 异步接收线程
// 全局变量定义 // 全局变量定义
RadioData radio_data = {0, 0, 0, 0, false}; RadioData radio_data = {0, 0, 0, 0, true, false};
std::mutex radio_data_mutex; // 保护radio_data的互斥锁 std::mutex radio_data_mutex; // 保护radio_data的互斥锁
// CAN 文件描述符 // CAN 文件描述符
@ -125,6 +125,7 @@ void can_recv_loop()
uint8_t ch7 = frame.data[6]; uint8_t ch7 = frame.data[6];
uint8_t ch8 = frame.data[7]; uint8_t ch8 = frame.data[7];
radio_data.gear = ch1; radio_data.gear = ch1;
radio_data.enabled = ch3;
radio_data.sweep = ch4; radio_data.sweep = ch4;
// printf("ch1 : %d ,ch2 : %d ,ch3 : %d ,ch4 : %d\n", ch1, ch2, ch3, ch4); // printf("ch1 : %d ,ch2 : %d ,ch3 : %d ,ch4 : %d\n", ch1, ch2, ch3, ch4);
// printf("ch5 : %d ,ch6 : %d ,ch7 : %d ,ch8 : %d\n", ch5, ch6, ch7, ch8); // printf("ch5 : %d ,ch6 : %d ,ch7 : %d ,ch8 : %d\n", ch5, ch6, ch7, ch8);