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updated test config

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This commit is contained in:
Ruixiang Du
2020-08-16 18:07:31 +08:00
parent a99701e54e
commit 7034afa30c
342 changed files with 44 additions and 23 deletions
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60
tests/devel_tests/test_acan.cpp Normal file
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#include <iostream>
#include "wrp_sdk/asyncio/async_can.hpp"
using namespace westonrobot;
void parse_buffer(uint8_t *buf, const size_t bufsize, size_t bytes_received)
{
std::cout << "parser called" << std::endl;
// mavlink::mavlink_status_t status;
// mavlink::mavlink_message_t message;
for (; bytes_received > 0; bytes_received--)
{
auto c = *buf++;
// // based on mavlink_parse_char()
// auto msg_received = static_cast<Framing>(mavlink::mavlink_frame_char_buffer(&m_buffer, &m_status, c, &message, &status));
// if (msg_received == Framing::bad_crc || msg_received == Framing::bad_signature) {
// mavlink::_mav_parse_error(&m_status);
// m_status.msg_received = mavlink::MAVLINK_FRAMING_INCOMPLETE;
// m_status.parse_state = mavlink::MAVLINK_PARSE_STATE_IDLE;
// if (c == MAVLINK_STX) {
// m_status.parse_state = mavlink::MAVLINK_PARSE_STATE_GOT_STX;
// m_buffer.len = 0;
// mavlink::mavlink_start_checksum(&m_buffer);
// }
// }
// if (msg_received != Framing::incomplete) {
// log_recv(pfx, message, msg_received);
// if (message_received_cb)
// message_received_cb(&message, msg_received);
// }
}
}
int main(int argc, char *argv[])
{
std::shared_ptr<ASyncCAN> canbus = std::make_shared<ASyncCAN>("can1");
// canbus->set_receive_callback(parse_buffer);
// if (canbus->is_open())
// std::cout << "can bus connected" << std::endl;
struct can_frame frame;
frame.can_id = 0x123;
frame.can_dlc = 2;
frame.data[0] = 0x11;
frame.data[1] = 0x23;
while (1)
{
// canbus->send_bytes(data, 3);
canbus->send_frame(frame);
sleep(1);
}
}