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debug-2

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Alvin-lyq 2026-04-29 10:20:55 +08:00
parent ed22f2575d
commit 97372f1d89
1 changed files with 4 additions and 9 deletions
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13
src/perception/rtk_asensing/src/rtk_asensing_node.cpp
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@ -68,9 +68,9 @@ class RtkAsensingNode : public rclcpp::Node
read_count++; read_count++;
// 打印读取的原始数据（仅前20字节） // 打印读取的原始数据（仅前20字节）
if (read_count % 50 == 1) // 每50次打印一次，避免刷屏 if (read_count % 100 == 1) // 每100次打印一次，避免刷屏
{ {
LOG_DEBUG("[DEBUG] 串口读取 %d 字节:", num); LOG_INFO("[DEBUG] 串口读取 %d 字节:", num);
int print_len = (num < 20) ? num : 20; int print_len = (num < 20) ? num : 20;
std::string hex_str; std::string hex_str;
for (int i = 0; i < print_len; i++) for (int i = 0; i < print_len; i++)
@ -79,7 +79,7 @@ class RtkAsensingNode : public rclcpp::Node
snprintf(hex, sizeof(hex), "%02X ", (uint8_t)serial_buf[i]); snprintf(hex, sizeof(hex), "%02X ", (uint8_t)serial_buf[i]);
hex_str += hex; hex_str += hex;
} }
LOG_DEBUG("[DEBUG] 前%d字节 HEX: %s", print_len, hex_str.c_str()); LOG_INFO("[DEBUG] 前%d字节 HEX: %s", print_len, hex_str.c_str());
} }
// 将数据送入协议解析器 // 将数据送入协议解析器
@ -88,16 +88,11 @@ class RtkAsensingNode : public rclcpp::Node
if (result == 1) if (result == 1)
{ {
parse_count++; parse_count++;
LOG_DEBUG("[DEBUG] 解析成功! 累计解析帧数: %d", parse_count); LOG_INFO("[DEBUG] 解析成功! 累计解析帧数: %d", parse_count);
// 成功解析一帧数据，发布ROS消息 // 成功解析一帧数据，发布ROS消息
publishData(); publishData();
publish_count++; publish_count++;
if (publish_count % 50 == 1)
{
LOG_DEBUG("[DEBUG] 累计发布次数: %d", publish_count);
}
} }
} }
catch (const std::exception& e) catch (const std::exception& e)