Shows how to display information about serial devices in a system.(QT example 查看串口信息)

使用QSerialPortInfo类中的静态函数 availablePorts() 可以查看装置的串口信息

代码:

工程文件.pro, 添加

QT += widgets serialport

主函数:

#include <QApplication>
#include <QLabel>
#include <QScrollArea>
#include <QSerialPortInfo>
#include <QVBoxLayout>
#include <QWidget>

int main(int argc, char *argv[])
{
    QApplication a(argc, argv);

    auto layout = new QVBoxLayout;

    const auto infos = QSerialPortInfo::availablePorts();
    for (const QSerialPortInfo &info : infos) {
        QString s = QObject::tr("Port: ") + info.portName() + "\n"
                    + QObject::tr("Location: ") + info.systemLocation() + "\n"
                    + QObject::tr("Description: ") + info.description() + "\n"
                    + QObject::tr("Manufacturer: ") + info.manufacturer() + "\n"
                    + QObject::tr("Serial number: ") + info.serialNumber() + "\n"
                    + QObject::tr("Vendor Identifier: ") + (info.hasVendorIdentifier() ? QString::number(info.vendorIdentifier(), 16) : QString()) + "\n"
                    + QObject::tr("Product Identifier: ") + (info.hasProductIdentifier() ? QString::number(info.productIdentifier(), 16) : QString()) + "\n";

        auto label = new QLabel(s);
        layout->addWidget(label);
    }

    auto workPage = new QWidget;
    workPage->setLayout(layout);

    QScrollArea area;
    area.setWindowTitle(QObject::tr("Info about all available serial ports."));
    area.setWidget(workPage);
    area.show();

    return a.exec();
}

最后打印所有串口信息

 感觉为了省事都用了auto类型,有时间再一条条注释代码

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Here's an example of how to do force control in offboard mode using C++ and XRCE-DDS: ```cpp #include <iostream> #include <chrono> #include <thread> #include "rclcpp/rclcpp.hpp" #include "geometry_msgs/msg/wrench_stamped.hpp" #include "std_msgs/msg/float64_multi_array.hpp" #include "rosidl_runtime_cpp/message_type_support_decl.hpp" #include "rosidl_typesupport_cpp/message_type_support.hpp" #include "rmw_fastrtps_cpp/get_participant.hpp" #include "rmw_fastrtps_cpp/get_publisher.hpp" #include "rmw_fastrtps_cpp/get_subscriber.hpp" #include "rmw_uros/options.h" #include "uxr/client/client.h" #include "sensor_msgs/msg/joint_state.hpp" using namespace std::chrono_literals; #define DEFAULT_TIMEOUT 1000 void set_wrench(float fx, float fy, float fz, float tx, float ty, float tz, geometry_msgs::msg::WrenchStamped& wrench) { wrench.wrench.force.x = fx; wrench.wrench.force.y = fy; wrench.wrench.force.z = fz; wrench.wrench.torque.x = tx; wrench.wrench.torque.y = ty; wrench.wrench.torque.z = tz; } class ForceControlNode : public rclcpp::Node { public: ForceControlNode() : Node("force_control_node") { joint_state_sub_ = this->create_subscription<sensor_msgs::msg::JointState>("joint_states", 10, std::bind(&ForceControlNode::joint_state_callback, this, std::placeholders::_1)); wrench_pub_ = this->create_publisher<geometry_msgs::msg::WrenchStamped>("wrench", 10); setup_dds(); } private: void setup_dds() { auto domain_id = 0; uxr_set_custom_transport(uxr::Transport::CUSTOM); rmw_uros_options_t custom_transport_options = rmw_get_zero_initialized_uros_options(); uxr_init_custom_transport(&custom_transport_options, uxr_common_tcp_platform); const char* participant_name = "force_control_participant"; const char* topic_name = "force_control_topic"; // Create participant uxr_init_options_t init_options = uxr_init_options_create(); uxr_set_custom_transport_callbacks( &init_options, uxr_common_tcp_platform, custom_transport_open_cb, custom_transport_close_cb, custom_transport_write_cb, custom_transport_read_cb, reinterpret_cast<void*>(this)); participant_ = rmw_fastrtps_cpp::get_participant( this->get_node_base_interface(), this->get_node_topics_interface(), domain_id, participant_name, "", // empty node namespace std::vector<std::string>()); // Register ROS message type with XRCE-DDS const rosidl_message_type_support_t* type_support = rosidl_typesupport_cpp::get_message_type_support_handle<geometry_msgs::msg::WrenchStamped>(); uxr_register_topic_xml( &session_, participant_->impl_->participant, topic_name, type_support->typesupport_identifier, "<dds>" "<topic>" "<name>force_control_topic</name>" "<dataType>geometry_msgs::msg::WrenchStamped_</dataType>" "</topic>" "</dds>"); // Create publisher publisher_ = rmw_fastrtps_cpp::get_publisher( this->get_node_base_interface(), this->get_node_topics_interface(), participant_, type_support, topic_name, "", &rmw_qos_profile_default); // Create subscriber subscriber_ = rmw_fastrtps_cpp::get_subscriber( this->get_node_base_interface(), this->get_node_topics_interface(), participant_, type_support, topic_name, "", &rmw_qos_profile_default, false); // Create session uxr_init_session_xml(&init_options, &session_, participant_->impl_->participant, domain_id); UXR_AGENT_LOG_INFO( &session_.info, UXR_CREATE_ENTITIES_FROM_REF_RESOURCE, reinterpret_cast<uint64_t>(participant_->impl_->participant), session_.last_requested_resource); // Get publisher and subscriber handles publisher_handle_ = static_cast<uxrObjectId>(publisher_->publisher_->id_); subscriber_handle_ = static_cast<uxrObjectId>(subscriber_->subscriber_->id_); } void joint_state_callback(const sensor_msgs::msg::JointState::SharedPtr msg) { // Compute force and torque based on joint positions and publish to topic float fx = 0.0; float fy = 0.0; float fz = 0.0; float tx = 0.0; float ty = 0.0; float tz = 0.0; // Compute desired force and torque values here, based on joint positions and other sensor data geometry_msgs::msg::WrenchStamped wrench; set_wrench(fx, fy, fz, tx, ty, tz, wrench); wrench_pub_->publish(wrench); // Send desired force and torque values to robot using XRCE-DDS uint8_t buffer[1024]; uint32_t length = 0; const uint16_t writer_id = 0x01; const uint16_t reader_id = 0x02; // Serialize message ucdrBuffer ub; ucdr_init_buffer(&ub, buffer, sizeof(buffer)); length = serialize_wrench(msg, &ub); // Write message to DDS network uxrStreamId output_stream = uxr_create_output_stream(&session_, UXR_RELIABLE_STREAM); uxr_prepare_output_stream(&session_, output_stream, publisher_handle_, writer_id, buffer, length); uxr_run_session_until_timeout(&session_, DEFAULT_TIMEOUT); uxr_delete_output_stream(&session_, output_stream); } uint32_t serialize_wrench(const geometry_msgs::msg::WrenchStamped::SharedPtr msg, ucdrBuffer* ub) { uint32_t length = 0; length += ucdr_serialize_uint32_t(ub, msg->header.stamp.sec); length += ucdr_serialize_uint32_t(ub, msg->header.stamp.nanosec); length += ucdr_serialize_float(ub, msg->wrench.force.x); length += ucdr_serialize_float(ub, msg->wrench.force.y); length += ucdr_serialize_float(ub, msg->wrench.force.z); length += ucdr_serialize_float(ub, msg->wrench.torque.x); length += ucdr_serialize_float(ub, msg->wrench.torque.y); length += ucdr_serialize_float(ub, msg->wrench.torque.z); return length; } static bool custom_transport_open_cb(void* args, const char* ip, uint16_t port) { return true; } static bool custom_transport_close_cb(void* args) { return true; } static size_t custom_transport_write_cb( void* args, const uint8_t* buf, size_t len, uint8_t* errcode) { auto* node = reinterpret_cast<ForceControlNode*>(args); return node->write_cb(buf, len, errcode); } static size_t custom_transport_read_cb(void* args, uint8_t* buf, size_t len, int timeout, uint8_t* errcode) { auto* node = reinterpret_cast<ForceControlNode*>(args); return node->read_cb(buf, len, timeout, errcode); } size_t write_cb(const uint8_t* buf, size_t len, uint8_t* errcode) { // Write data to ROS topic geometry_msgs::msg::WrenchStamped wrench; ucdrBuffer ub; ucdr_init_buffer(&ub, const_cast<uint8_t*>(buf), len); deserialize_wrench(&ub, wrench); wrench_pub_->publish(wrench); return len; } size_t read_cb(uint8_t* buf, size_t len, int timeout, uint8_t* errcode) { // Read data from ROS topic geometry_msgs::msg::WrenchStamped wrench; if (subscriber_->take(&wrench, nullptr, nullptr) == RMW_RET_OK) { ucdrBuffer ub; ucdr_init_buffer(&ub, buf, len); serialize_wrench(wrench, &ub); return ub.iterator - ub.init; } return 0; } void deserialize_wrench(ucdrBuffer* ub, geometry_msgs::msg::WrenchStamped& wrench) { wrench.header.stamp.sec = ucdr_deserialize_uint32_t(ub); wrench.header.stamp.nanosec = ucdr_deserialize_uint32_t(ub); wrench.wrench.force.x = ucdr_deserialize_float(ub); wrench.wrench.force.y = ucdr_deserialize_float(ub); wrench.wrench.force.z = ucdr_deserialize_float(ub); wrench.wrench.torque.x = ucdr_deserialize_float(ub); wrench.wrench.torque.y = ucdr_deserialize_float(ub); wrench.wrench.torque.z = ucdr_deserialize_float(ub); } rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr joint_state_sub_; rclcpp::Publisher<geometry_msgs::msg::WrenchStamped>::SharedPtr wrench_pub_; rmw_fastrtps_cpp::Participant* participant_; rmw_fastrtps_cpp::Publisher* publisher_; rmw_fastrtps_cpp::Subscriber* subscriber_; uxrSession session_; uxrObjectId publisher_handle_; uxrObjectId subscriber_handle_; }; int main(int argc, char** argv) { rclcpp::init(argc, argv); rclcpp::spin(std::make_shared<ForceControlNode>()); rclcpp::shutdown(); return 0; } ``` This example subscribes to joint state data and computes the desired force and torque values based on the current joint positions. It then publishes these values to a ROS topic and sends them to the robot using XRCE-DDS. The robot can then use these values to apply the desired force and torque using a force/torque controller.
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