modelec/modelec-marcel-ROS
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This commit is contained in:
acki
2025-05-29 06:45:07 -04:00
parent a842a5c4f0
commit e31a5a70b9
1 changed files with 13 additions and 4 deletions
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17
src/modelec_com/src/multiple_serial_listener.cpp
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@@ -4,6 +4,7 @@
#include <boost/asio.hpp>
#include <chrono>
#include <thread>
#include <modelec_utils/utils.hpp>
namespace Modelec
{
@@ -69,11 +70,19 @@ namespace Modelec
{
if (!ec && bytes_transferred > 0)
{
auto msg = std_msgs::msg::String();
msg.data = std::string(read_buffer_.begin(), read_buffer_.begin() + bytes_transferred);
if (publisher_)
std::string d = std::string(read_buffer_.begin(), read_buffer_.begin() + bytes_transferred);
auto allMess = Modelec::split(d, '\n');
for (const auto& mess : allMess)
{
publisher_->publish(msg);
if (!mess.empty())
{
auto msg = std_msgs::msg::String();
msg.data = mess;
if (publisher_)
{
publisher_->publish(msg);
}
}
}
start_async_read(); // continue reading