这里写自定义目录标题
//serial_port.cpp
#include <ros/ros.h>
#include <serial/serial.h>
#include
//
#include <std_msgs/String.h>
#include <std_msgs/Empty.h>
#include <geometry_msgs/Twist.h>
using namespace std;
//数据类型很重要,对于通讯协议是16进制数据码的,收发数据应放在数组中,例如unsigned char s_buffer[sBUFFERSIZE];
//协议是字符串的用字符串类型,如std_msgs::String serial_data
#define sBUFFERSIZE 8//send buffer size 串口发送缓存长度
unsigned char s_buffer[sBUFFERSIZE];//发送缓存,这是一个数组
int main(int argc, char **argv)
{
ros::init(argc, argv, “baseRun”);
ros::NodeHandle nh;
ros::Rate loop_rate(10);
serial::Serial ser;
try
{
ser.setPort("/dev/ttyUSB0");
ser.setBaudrate(9600);
serial::Timeout to = serial::Timeout::simpleTimeout(1000);
ser.setTimeout(to);
ser.open();
}
catch (serial::IOException &e)
{
ROS_ERROR_STREAM("Unable to open port ");
return -1;
}
if (ser.isOpen())
{
ROS_INFO_STREAM("Serial Port initialized.\n");
}
else
{
return -1;
}
// unsigned char dat[8]={0x01,0x03,0x00,0x00,0x00,0x02,0xC4,0x0B};
//uint8_t dat[8]={0x01,0x03,0x00,0x00,0x00,0x02,0xC4,0x0B};
/*****************************************************************************
-
以下逻辑可以按照你自己的写,主要是为 data 赋值
*****************************************************************************/
// unsigned char dat[8]={0x01,0x03,0x00,0x00,0x00,0x02,0xC4,0x0B};//发送协议可以直接初始化为这个数组
while (ros::ok())
{
s_buffer[0]=0x01;
s_buffer[1]=0x03;s_buffer[2]=0x00;
s_buffer[3]=0x00;s_buffer[4]=0x00;
s_buffer[5]=0x02;s_buffer[6]=0xC4;
s_buffer[7]=0x0B;cout << “开始向串口发送指令” << endl;
cout << “01 03 00 00 00 02 C4 0B” << endl;
//s_buffer[]中放的是通讯协议,根据实际情况修改
//向串口发送指令
ser.write(s_buffer,sBUFFERSIZE);
//ser.write(dat,8);size_t n = ser.available(); //缓冲区的字节数
if(n!=0) { // std_msgs::String serial_data;//数据类型很重要 //获取串口数据 // serial_data.data = ser.read(ser.available()); // ROS_INFO_STREAM("Read: " << serial_data.data);
///
uint8_t buffer[1024];
//读出数据
// n = ser.read(buffer, n);//这一句程序含义没理解透
ser.read(buffer, n);
// ROS_INFO_STREAM("文字\n");
// ROS_INFO("文字\n");
for(int i=0; i<n; i++)
{
//16进制的方式打印到屏幕
std::cout << std::hex << (buffer[i] & 0xff) << " ";
//例如,输入n=10,要求输出 0x0000000A;
// C++: sprintf( buffer, “0x%08X”, n);
}
std::cout << std::endl;
int nn = 10;
//ROS_INFO_STREAM(“0x%08X”, nn);
//ROS_INFO_STREAM(“0x%08X”,nn);
}