modelec/modelec-marcel-ROS
1
0
Fork 0
mirror of https://github.com/modelec/modelec-marcel-ROS.git synced 2026-01-18 16:47:43 +01:00
Code Issues Packages Projects Releases Wiki Activity

new serial listener

Browse Source
This commit is contained in:
acki
2025-12-11 17:02:16 +01:00
parent 675a72b506
commit dc6e9a33ea
4 changed files with 8 additions and 25 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
simulated_pcb/action.py
View File

@@ -133,7 +133,7 @@ if __name__ == '__main__':
sim.stop()
print("Simulation stopped")
# socat -d -d pty,raw,echo=0,link=/tmp/MARCEL_ACTION_SIM pty,raw,echo=0,link=/tmp/MARCEL_ACTION
# python3 simulated_pcb/action.py --port /tmp/MARCEL_ACTION_SIM
# socat -d -d pty,raw,echo=0,link=/tmp/ENEMY_ACTION_SIM pty,raw,echo=0,link=/tmp/ENEMY_ACTION
# python3 simulated_pcb/action.py --port /tmp/ENEMY_ACTION_SIM
# socat -d -d pty,raw,echo=0,link=/tmp/ACTION_SIM pty,raw,echo=0,link=/tmp/ACTION_USB
# python3 simulated_pcb/action.py --port /tmp/ACTION_SIM
# socat -d -d pty,raw,echo=0,link=/tmp/ODO_SIM pty,raw,echo=0,link=/tmp/ODO_USB
# python3 simulated_pcb/action.py --port /tmp/ODO_SIM

6
src/modelec_com/include/modelec_com/pcb_odo_interface.new.hpp
View File

@@ -37,9 +37,6 @@ namespace Modelec
public:
PCBOdoInterface();
rclcpp::CallbackGroup::SharedPtr pcb_callback_group_;
std::shared_ptr<rclcpp::executors::SingleThreadedExecutor> pcb_executor_;
std::thread pcb_executor_thread_;
~PCBOdoInterface() override;
struct OdometryData
@@ -57,9 +54,6 @@ namespace Modelec
};
private:
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pcb_publisher_;
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr pcb_subscriber_;
void read(const std::string& msg) override;
rclcpp::Publisher<modelec_interfaces::msg::OdometryPos>::SharedPtr odo_pos_publisher_;

17
src/modelec_com/src/pcb_odo_interface.new.cpp
View File

@@ -153,20 +153,11 @@ namespace Modelec
PCBOdoInterface::~PCBOdoInterface()
{
SetStart(false);
if (pcb_executor_)
{
pcb_executor_->cancel();
}
if (pcb_executor_thread_.joinable())
{
pcb_executor_thread_.join();
}
}
void PCBOdoInterface::read(const std::string& msg)
{
RCLCPP_INFO(this->get_logger(), "Received from PCB: %s", msg.c_str());
RCLCPP_DEBUG(this->get_logger(), "Received from PCB: %s", msg.c_str());
std::vector<std::string> tokens = split(trim(msg), ';');
if (tokens.size() < 2)
{
@@ -300,12 +291,10 @@ namespace Modelec
void PCBOdoInterface::SendToPCB(const std::string& data)
{
if (pcb_publisher_)
if (IsOk())
{
RCLCPP_DEBUG(this->get_logger(), "Sending to PCB: %s", data.c_str());
auto message = std_msgs::msg::String();
message.data = data;
pcb_publisher_->publish(message);
this->write(data);
}
}

2
src/modelec_core/launch/modelec.launch.py
View File

@@ -109,7 +109,7 @@ def generate_launch_description():
executable='pcb_action_interface',
name='pcb_action_interface',
parameters=[{
'serial_port': "/tmp/USB_ACTION",
'serial_port': "/dev/USB_ACTION",
'baudrate': 115200,
'name': "pcb_action",
}]