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upgrade 新探测器驱动 #2

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upgrade 新探测器驱动 #2

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b866d31
upgrade
Lmh-sys Oct 10, 2024
3b612d5
Merge branch 'yangkang-1:main' into new-WNB-8301
Lmh-sys Oct 10, 2024
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6 changes: 5 additions & 1 deletion include/radiation.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7,14 +7,18 @@
#include <boost/asio.hpp>
#include <geometry_msgs/PointStamped.h>
#include <std_msgs/Float64.h>

union BytesToFloat {
float f;
unsigned char bytes[4];
};
class radiation
{
private:
ros::NodeHandle nh;
ros::Publisher pub_;
//std_msgs::Float64 final_data;
geometry_msgs::PointStamped final_data;
union BytesToFloat btf;
public:
radiation(){}//构造函数
virtual ~radiation(){}//虚析构函数
Expand Down
39 changes: 24 additions & 15 deletions src/radiation.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -9,12 +9,12 @@ boost::system::error_code err;
/********************************************************
串口发送控制命令
********************************************************/
const unsigned char header[7] = {0x03, 0x31, 0x00, 0x30, 0x04, 0x7B, 0x3F};
const unsigned char header[8] = {0x01, 0x03, 0x00, 0x00, 0x00, 0X02, 0xC4, 0x0B};

bool radiation::radiation_init()//初始化函数
{
//串口参数初始化
sp.set_option(serial_port::baud_rate(9600));
sp.set_option(serial_port::baud_rate(19200));
sp.set_option(serial_port::flow_control(serial_port::flow_control::none));
sp.set_option(serial_port::parity(serial_port::parity::none));
sp.set_option(serial_port::stop_bits(serial_port::stop_bits::one));
Expand All @@ -32,7 +32,7 @@ uint16_t radiation::getCrc16(unsigned char *ptr)
{
uint16_t CRCV = 0xFFFF;
unsigned char iB, i, j;
for(i = 0;i < 9; i++)
for(i = 0;i < 7; i++)
{
CRCV ^= *ptr++;
for(j = 0; j < 8 ;j++)
Expand All @@ -54,10 +54,10 @@ uint16_t radiation::getCrc16(unsigned char *ptr)
********************************************************/
void radiation::writeContral()
{
static unsigned char buf[7] = {0}; //
static unsigned char buf[8] = {0}; //

// 控制消息
for (int i = 0; i < 7; i++)
for (int i = 0; i < 8; i++)
{
buf[i] = header[i];
//ROS_INFO("%02x",buf[i]);
Expand Down Expand Up @@ -86,10 +86,10 @@ bool radiation::readradiation()
try
{
boost::asio::streambuf response;
//ROS_INFO("ready to read");
// ROS_INFO("ready to read");
// boost::asio::read_until(sp, response, "\r\n", err);//\r\n
boost::asio::read( sp, boost::asio::buffer( buf , 11 ) );
ROS_INFO("read successful");
boost::asio::read( sp, boost::asio::buffer( buf , 9 ) );
// ROS_INFO("read successful");

// copy(istream_iterator<unsigned char>(istream(&response) >> noskipws),
// istream_iterator<unsigned char>(),
Expand All @@ -110,28 +110,37 @@ bool radiation::readradiation()
ROS_ERROR("Received message header error!");
return false;
}
//ROS_INFO("CRC校验");
// ROS_INFO("CRC校验");
// 检查信息校验值
check = getCrc16(buf); //getCrc16计算得出
//ROS_INFO("%02X",check);
// ROS_INFO("%02X",check);
low_byte = (check >> 0)& 0x00ff ;
//ROS_INFO("%02X",low_byte);
high_byte = (check >> 8)& 0x00ff ;
//ROS_INFO("%02X",high_byte);
if (low_byte != buf[9] || high_byte != buf[10]) //接受的低字节放在高位，高字节放在底位
if (low_byte != buf[7] || high_byte != buf[8]) //接受的低字节放在高位，高字节放在底位
{
ROS_ERROR("Received data check sum error!");
return false;
}
ROS_INFO("CRC校验成功！");
// ROS_INFO("CRC校验成功！");

//ROS_INFO("开始计算辐射值！");
// 读取辐射值 -----------
receive_data = (buf[5] << 24) + (buf[6] << 16) + (buf[7] << 8) + (buf[8]);
btf.bytes[0] = buf[6]; // 这些值只是示例
btf.bytes[1] = buf[5];
btf.bytes[2] = buf[4];
btf.bytes[3] = buf[3];
// btf.bytes[0] = 0xCD; // 0.20uS/v
// btf.bytes[1] = 0xCC;
// btf.bytes[2] = 0x4C;
// btf.bytes[3] = 0x3E;
// receive_data = (buf[5] << 24) + (buf[6] << 16) + (buf[7] << 8) + (buf[8]);
receive_data = btf.f;
//ROS_INFO("%d",receive_data);
final_data.header.stamp = ros::Time::now();
final_data.point.x = double(receive_data / 100.0);
ROS_INFO("辐射值%f",final_data.point.x);
final_data.point.x = btf.f;
ROS_INFO("辐射值%f",btf.f);

// 辐射数据发布
pub_.publish(final_data);
Expand Down