debug 18

src/perception/pbox_node_dirve/src/pbox_node/include/AGPbox.hpp

@@ -1,71 +1,71 @@
 #ifndef _AG_Pbox_HPP_
 #define _AG_Pbox_HPP_
 
-#include <iostream>
-#include <fstream>
-#include <cstdlib>
-#include <vector>
-#include <memory>
-#include <cstring>
-#include <cmath>
-
-#include <sys/socket.h>
-#include <netinet/in.h>
 #include <arpa/inet.h>
 #include <fcntl.h>
-#include <unistd.h>
-#include <sys/time.h>
+#include <netinet/in.h>
 #include <serial/serial.h>
+#include <sys/socket.h>
+#include <sys/time.h>
+#include <unistd.h>
 
-#include "rclcpp/rclcpp.hpp"
+#include <cmath>
+#include <cstdlib>
+#include <cstring>
+#include <fstream>
+#include <iostream>
+#include <memory>
+#include <vector>
 
-#include "protocol_asensing.h"
 #include "TinyLog.h"
+#include "protocol_asensing.h"
+#include "rclcpp/rclcpp.hpp"
 using namespace std;
 using namespace std::chrono_literals;
 using namespace serial;
 
-
-#define UART_PORT       "/dev/ttyUSB0"
-#define UART_BAUDRATE   (115200)
+#define UART_PORT "/dev/ttyTHS1"
+#define UART_BAUDRATE (115200)
 
 class AGPbox : public rclcpp::Node
 {
-    public:
-        AGPbox();
-        void init_pbox_node();
-    private:
-        void timer_callback();
-        void openSerialPort();
-        void readSerialPort();
+   public:
+    AGPbox();
+    void init_pbox_node();
 
-        void bindUdp();
-        void readUdp();
-    private:
-        /* serial port info */
-        serial::Serial imu_ser;
-        std::string m_port;
-        int m_baud;
-        int m_UsbLatencyTime;
+   private:
+    void timer_callback();
+    void openSerialPort();
+    void readSerialPort();
 
-        /* UDP info */
-        int m_serverSocket;
-        std::string m_udpAddr;
-        int m_udpPort;
-        struct sockaddr_in m_server;
-        socklen_t m_sockaddrLen;
-        bool m_isBind;
-        char readBuffer[1024];
+    void bindUdp();
+    void readUdp();
 
-        /* read cache */
-        std::string m_input;
-        std::string m_read;
+   private:
+    /* serial port info */
+    serial::Serial imu_ser;
+    std::string m_port;
+    int m_baud;
+    int m_UsbLatencyTime;
 
-        int m_connectionType;
-        rclcpp::TimerBase::SharedPtr timer_;
-        ProtocolAsensing connect_manager;
-        /* imu log */
-        bool m_isPrintLog = false;
-        FILE* m_logFd = nullptr;
+    /* UDP info */
+    int m_serverSocket;
+    std::string m_udpAddr;
+    int m_udpPort;
+    struct sockaddr_in m_server;
+    socklen_t m_sockaddrLen;
+    bool m_isBind;
+    char readBuffer[1024];
+
+    /* read cache */
+    std::string m_input;
+    std::string m_read;
+
+    int m_connectionType;
+    rclcpp::TimerBase::SharedPtr timer_;
+    ProtocolAsensing connect_manager;
+    /* imu log */
+    bool m_isPrintLog = false;
+    FILE* m_logFd = nullptr;
 };
 #endif

src/perception/pbox_node_dirve/src/pbox_node/launch/pbox_node.launch.py

@@ -21,7 +21,7 @@ def generate_launch_description():
             # 连接类型：serial port：0 , UDP：1
             # default: 0 serial port
             {"ConnectionType": 0},
-            # 串口设备串  defaule: /dev/ttyUSB0
+            # 串口设备串  defaule: /dev/ttyTHS1
             {"UART_Port": "/dev/ttyTHS1"},
             # 串口波特率  default: 115200
             {"UART_Baudrate": 115200},

src/perception/pbox_node_dirve/src/pbox_node/src/AGPbox.cpp

@@ -59,7 +59,6 @@ void AGPbox::init_pbox_node()
 
     this->get_parameter("LogInfo",logInfo);
     this->get_parameter("LogLevel",logLevel);
-    timer_ = this->create_wall_timer(1ms, std::bind(&AGPbox::timer_callback, this));
     std::string path = "./ImuDebug.log";
 
     TinyLog::info("LogPathInfo: %s",logInfo.c_str());
@@ -84,6 +83,9 @@ void AGPbox::init_pbox_node()
     {
         bindUdp();
     }
+
+    // 创建定时器（在串口/UDP打开之后）
+    timer_ = this->create_wall_timer(1ms, std::bind(&AGPbox::timer_callback, this));
 }
 
 void AGPbox::timer_callback()

src/perception/pbox_node_dirve/编译配置说明.md

@@ -1,4 +1,3 @@
-
 ## pbox_node_dirve ROS2 使用方法
 
 ### 编译
@@ -35,7 +34,7 @@ ros2 topic echo /Imu04
 | 参数               | 说明                   | 默认值        |
 | ------------------ | ---------------------- | ------------- |
 | `ConnectionType` | 0=串口, 1=UDP          | 1             |
-| `UART_Port`      | 串口设备               | /dev/ttyUSB0  |
+| `UART_Port`      | 串口设备               | /dev/ttyTHS1  |
 | `UART_Baudrate`  | 波特率                 | 230400        |
 | `UDP_Addr`       | UDP地址                | 192.168.225.2 |
 | `UDP_Port`       | UDP端口                | 12300         |