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fixed can communication issue in mobile_base.cpp, tested with robot

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This commit is contained in:
Ruixiang Du
2020-09-14 18:33:20 +08:00
parent 4c729c9cac
commit f7a4736644
1 changed files with 4 additions and 2 deletions
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6
src/platforms/mobile_base.cpp
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@@ -34,6 +34,7 @@ void MobileBase::Connect(std::string dev_name, int32_t baud_rate) {
} }
void MobileBase::Disconnect() { void MobileBase::Disconnect() {
if (can_connected_) can_if_->StopService();
if (serial_connected_ && serial_if_->IsOpened()) { if (serial_connected_ && serial_if_->IsOpened()) {
serial_if_->StopService(); serial_if_->StopService();
} }
@@ -43,18 +44,18 @@ void MobileBase::ConfigureCAN(const std::string &can_if_name) {
can_if_ = std::make_shared<AsyncCAN>(can_if_name); can_if_ = std::make_shared<AsyncCAN>(can_if_name);
can_if_->SetReceiveCallback( can_if_->SetReceiveCallback(
std::bind(&MobileBase::ParseCANFrame, this, std::placeholders::_1)); std::bind(&MobileBase::ParseCANFrame, this, std::placeholders::_1));
serial_if_->StartListening(); can_if_->StartListening();
can_connected_ = true; can_connected_ = true;
} }
void MobileBase::ConfigureSerial(const std::string uart_name, void MobileBase::ConfigureSerial(const std::string uart_name,
int32_t baud_rate) { int32_t baud_rate) {
serial_if_ = std::make_shared<AsyncSerial>(uart_name, baud_rate); serial_if_ = std::make_shared<AsyncSerial>(uart_name, baud_rate);
if (serial_if_->IsOpened()) serial_connected_ = true;
serial_if_->SetReceiveCallback( serial_if_->SetReceiveCallback(
std::bind(&MobileBase::ParseUARTBuffer, this, std::placeholders::_1, std::bind(&MobileBase::ParseUARTBuffer, this, std::placeholders::_1,
std::placeholders::_2, std::placeholders::_3)); std::placeholders::_2, std::placeholders::_3));
serial_if_->StartListening(); serial_if_->StartListening();
if (serial_if_->IsOpened()) serial_connected_ = true;
} }
void MobileBase::StartCmdThread() { void MobileBase::StartCmdThread() {
@@ -66,6 +67,7 @@ void MobileBase::StartCmdThread() {
void MobileBase::ControlLoop(int32_t period_ms) { void MobileBase::ControlLoop(int32_t period_ms) {
StopWatch ctrl_sw; StopWatch ctrl_sw;
bool print_loop_freq = false; bool print_loop_freq = false;
static uint32_t iter_cnt = 0;
while (true) { while (true) {
ctrl_sw.tic(); ctrl_sw.tic();
SendRobotCmd(); SendRobotCmd();