modelec/modelec-marcel-ROS
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new serial listener

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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
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8
simulated_pcb/action.py
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@@ -133,7 +133,7 @@ if __name__ == '__main__':
sim.stop() sim.stop()
print("Simulation stopped") print("Simulation stopped")
# socat -d -d pty,raw,echo=0,link=/tmp/MARCEL_ACTION_SIM pty,raw,echo=0,link=/tmp/MARCEL_ACTION # 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/MARCEL_ACTION_SIM # python3 simulated_pcb/action.py --port /tmp/ACTION_SIM
# socat -d -d pty,raw,echo=0,link=/tmp/ENEMY_ACTION_SIM pty,raw,echo=0,link=/tmp/ENEMY_ACTION # 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/ENEMY_ACTION_SIM # python3 simulated_pcb/action.py --port /tmp/ODO_SIM

6
src/modelec_com/include/modelec_com/pcb_odo_interface.new.hpp
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@@ -37,9 +37,6 @@ namespace Modelec
public: public:
PCBOdoInterface(); PCBOdoInterface();
rclcpp::CallbackGroup::SharedPtr pcb_callback_group_;
std::shared_ptr<rclcpp::executors::SingleThreadedExecutor> pcb_executor_;
std::thread pcb_executor_thread_;
~PCBOdoInterface() override; ~PCBOdoInterface() override;
struct OdometryData struct OdometryData
@@ -57,9 +54,6 @@ namespace Modelec
}; };
private: 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; void read(const std::string& msg) override;
rclcpp::Publisher<modelec_interfaces::msg::OdometryPos>::SharedPtr odo_pos_publisher_; rclcpp::Publisher<modelec_interfaces::msg::OdometryPos>::SharedPtr odo_pos_publisher_;

17
src/modelec_com/src/pcb_odo_interface.new.cpp
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@@ -153,20 +153,11 @@ namespace Modelec
PCBOdoInterface::~PCBOdoInterface() PCBOdoInterface::~PCBOdoInterface()
{ {
SetStart(false); SetStart(false);
if (pcb_executor_)
{
pcb_executor_->cancel();
}
if (pcb_executor_thread_.joinable())
{
pcb_executor_thread_.join();
}
} }
void PCBOdoInterface::read(const std::string& msg) 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), ';'); std::vector<std::string> tokens = split(trim(msg), ';');
if (tokens.size() < 2) if (tokens.size() < 2)
{ {
@@ -300,12 +291,10 @@ namespace Modelec
void PCBOdoInterface::SendToPCB(const std::string& data) void PCBOdoInterface::SendToPCB(const std::string& data)
{ {
if (pcb_publisher_) if (IsOk())
{ {
RCLCPP_DEBUG(this->get_logger(), "Sending to PCB: %s", data.c_str()); RCLCPP_DEBUG(this->get_logger(), "Sending to PCB: %s", data.c_str());
auto message = std_msgs::msg::String(); this->write(data);
message.data = data;
pcb_publisher_->publish(message);
} }
} }

2
src/modelec_core/launch/modelec.launch.py
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@@ -109,7 +109,7 @@ def generate_launch_description():
executable='pcb_action_interface', executable='pcb_action_interface',
name='pcb_action_interface', name='pcb_action_interface',
parameters=[{ parameters=[{
'serial_port': "/tmp/USB_ACTION", 'serial_port': "/dev/USB_ACTION",
'baudrate': 115200, 'baudrate': 115200,
'name': "pcb_action", 'name': "pcb_action",
}] }]