49 lines
1.2 KiB
C++
49 lines
1.2 KiB
C++
#ifndef RC_RECEIVER_H
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#define RC_RECEIVER_H
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#include <ros/ros.h>
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#include <serial/serial.h>
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#include <rc_receiver/rc.h>
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#include <vector>
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#include "sensor_msgs/BatteryState.h"
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class RCReceiver {
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public:
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RCReceiver();
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void run();
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private:
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ros::Subscriber battery_state_sub_;
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std::string input_battery_state_topic_;
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void readSerialData();
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void parseFrameData();
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bool parseModbusProtocol(const std::vector<uint8_t> &frame);
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void battery_status_callback(const sensor_msgs::BatteryState::ConstPtr &msg);
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void checkTimeout(const ros::TimerEvent& event);
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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 control_pub_;
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ros::Timer timeoutTimer_;
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std::vector<uint8_t> serial_buffer_;
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ros::Time lastReceivedTime_;
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ros::Time lastReconnectAttempt_; // 记录上一次尝试重连的时间
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const uint8_t AUTO_DRIVING;
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const uint8_t REMOTE_CONTROL;
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size_t frames_received_;
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size_t frames_discarded_;
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bool debug_;
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// 新增：串口配置参数（用于重连）
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std::string port_; // 串口设备路径
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int baudrate_; // 波特率
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};
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#endif // RC_RECEIVER_H
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