Initial commit

2026-07-27 13:51:19 +08:00
commit 7bec56ca51
5408 changed files with 1126933 additions and 0 deletions
@@ -0,0 +1,48 @@
+#ifndef RC_RECEIVER_H
+#define RC_RECEIVER_H
+
+#include <ros/ros.h>
+#include <serial/serial.h>
+#include <rc_receiver/rc.h>
+#include <vector>
+#include "sensor_msgs/BatteryState.h"
+
+class RCReceiver {
+public:
+    RCReceiver();
+    void run();
+
+    
+private:
+    ros::Subscriber battery_state_sub_;
+    std::string input_battery_state_topic_;
+    void readSerialData();
+    void parseFrameData();
+    bool parseModbusProtocol(const std::vector<uint8_t> &frame);
+    void battery_status_callback(const sensor_msgs::BatteryState::ConstPtr &msg);
+    void checkTimeout(const ros::TimerEvent& event);
+
+    ros::NodeHandle nh_;
+    ros::NodeHandle private_nh_;
+    serial::Serial ser_;
+    ros::Publisher control_pub_;
+    ros::Timer timeoutTimer_;
+
+    std::vector<uint8_t> serial_buffer_;
+    ros::Time lastReceivedTime_;
+
+    ros::Time lastReconnectAttempt_;  // 记录上一次尝试重连的时间
+
+    const uint8_t AUTO_DRIVING;
+    const uint8_t REMOTE_CONTROL;
+    
+    size_t frames_received_;
+    size_t frames_discarded_;
+    bool debug_;
+
+    // 新增：串口配置参数（用于重连）
+    std::string port_;          // 串口设备路径
+    int baudrate_;              // 波特率
+};
+
+#endif // RC_RECEIVER_H