libuavcan使用记录

 

1 编译安装 libuavcan

git clone https://github.com/UAVCAN/libuavcan.git
cd libuavcan
git submodule update --init

./bootstrap.sh
mkdir build
cd build
cmake .. # Default build type is RelWithDebInfo, which can be overriden if needed.
make -j8
sudo make install

2 给python安装 uavcan 模块

pip install uavcan

3 使用libuavcan

3.1 查看结构定义文件

cat ./picohood_corporation/244.SetValue.uavcan

# channel: 0-11 value: setting value: 0-1
uint4 channel
uint2 value
---
#ret: return value: 1: true; 0: false
bool ret

3.2 使用libuavcan_dsdlc生成c++文件

libuavcan_dsdlc ./picohood_corporation/ -I/usr/local/share/uavcan/dsdl/ -O ./

• 查看生成的文件

ls dsdlc_generated/picohood_corporation/

SetValue.hpp