47 lines
1.8 KiB
C++
47 lines
1.8 KiB
C++
#ifndef E_STOP_RELAY_H
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#define E_STOP_RELAY_H
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#include <ros/ros.h>
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#include <serial/serial.h>
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#include "e_stop_relay/EStopService.h"
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class EStopRelay {
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public:
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EStopRelay();
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void e_stop_readSerialData();
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void relay_readSerialData();
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void e_stop_parseModbusFrame(const std::vector<uint8_t> &frame);
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void relay_parseModbusFrame(const std::vector<uint8_t> &frame);
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void run();
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bool handleEStopService(e_stop_relay::EStopService::Request &req, e_stop_relay::EStopService::Response &res);
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bool setLightStatus(bool status);
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private:
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ros::NodeHandle nh_;
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ros::NodeHandle private_nh_;
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serial::Serial ser_;
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ros::Publisher e_stop_pub_;
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ros::ServiceServer e_stop_service_;
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std::string port_name_;
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int baudrate_;
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std::string topic_name_;
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std::vector<uint8_t> serial_buffer_;
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ros::Time lastReceivedTime_;
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std::string output_e_stop_topic_;
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bool relay_status;
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// 新增：重连控制参数（保留原有注释结构）
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ros::Duration reconnect_interval_; // 重连间隔时间（秒）
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ros::Time last_reconnect_attempt_; // 上次重连尝试的时间戳
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// Modbus指令定义（原有注释保留）
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const unsigned char e_stop_pressed_data[7] = {0x01, 0x04, 0x02 ,0x00, 0x01, 0x78, 0xF0};
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const unsigned char e_stop_released_data[7] = {0x01 ,0x04 ,0x02 ,0x00 ,0x00 ,0xB9 ,0x30};
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const unsigned char relay_turnon_cmd[13] = {0x01 ,0x10 ,0x00 ,0x01 ,0x00 ,0x02 ,0x04 ,0x00 ,0x01 ,0x00 ,0x01 ,0xA2 ,0x63};
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const unsigned char relay_turnoff_cmd[13] = {0x01 ,0x10 ,0x00 ,0x01 ,0x00 ,0x02 ,0x04 ,0x00 ,0x00 ,0x00 ,0x00 ,0x32 ,0x63};
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// 串口初始化函数（原有声明保留）
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bool initSerial();
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};
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#endif // E_STOP_RELAY_H
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