[{"data":1,"prerenderedAt":5291},["ShallowReactive",2],{"wiki-page-\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-0200-ros2-serial-driver":3,"wiki-doc-items-2023-12-30-ros2-tutorial":4870,"wiki:author-members":5279},{"id":4,"title":5,"authors":6,"body":8,"chapterDepth":231,"chapterOrder":4858,"date":4859,"description":190,"docKey":4860,"docRoot":4861,"docTitle":4862,"extension":4863,"isWikiDoc":256,"isWikiIndex":4864,"meta":4865,"navigation":256,"path":4866,"seo":4867,"stem":4868,"wikiDepth":197,"__hash__":4869},"wiki\u002Fwiki\u002F2023-12-30-ros2-tutorial\u002F1300-0100-0200-ros2_serial_driver.md","ROS2 Serial Driver库",[7],"董佳辉",{"type":9,"value":10,"toc":4854},"minimark",[11,16,20,28,32,35,38,41,47,53,56,61,64,76,90,103,127,133,137,140,143,146,149,153,159,177,184,319,325,328,333,343,349,365,370,379,395,400,406,457,460,463,468,485,490,528,535,538,544,584,595,601,606,611,616,623,626,629,636,641,646,668,672,675,678,683,690,693,696,699,702,705,712,717,720,723,728,731,734,745,750,755,758,763,1866,1871,1876,1879,1883,2781,2786,2790,3647,3652,3656,4822,4827,4835,4838,4850],[12,13,15],"h3",{"id":14},"ros1串口库11","ROS1串口库1.1",[17,18,19],"p",{},"这是ROS1的库，但是也可以从第三方源码编译这个库，用于ROS2.",[17,21,22],{},[23,24,25],"a",{"href":25,"rel":26},"http:\u002F\u002Fwjwwood.io\u002Fserial\u002Fdoc\u002F1.1.0\u002Findex.html",[27],"nofollow",[12,29,31],{"id":30},"ros2串口库12","ROS2串口库1.2",[17,33,34],{},"顾名思义，是一个串口包，",[17,36,37],{},"该库适用于ROS Humble和ROS Jazzy版本。",[17,39,40],{},"官方详解:",[17,42,43],{},[23,44,45],{"href":45,"rel":46},"https:\u002F\u002Fdocs.ros.org\u002Fen\u002Fhumble\u002Fp\u002Fserial_driver\u002Fgenerated\u002Findex.html#",[27],[17,48,49],{},[23,50,51],{"href":51,"rel":52},"https:\u002F\u002Findex.ros.org\u002Fp\u002Fserial_driver\u002F",[27],[17,54,55],{},"下面是根据官方文档手搓的教程（截至教程出之前，还没有任何一个像样的教程）",[57,58,60],"h4",{"id":59},"serialdriver库特点","SerialDriver库特点",[17,62,63],{},"该库主要基于Boost.Asio库，所以说原理就是Boost.Asio库的特点：",[17,65,66,70,71,75],{},[67,68,69],"strong",{},"事件驱动"," Boost.Asio 使用操作系统提供的底层 I\u002FO 复用机制（如 Linux 的 ",[72,73,74],"code",{},"epoll","、Windows 的 I\u002FO Completion Ports）来监控文件描述符（如串口、套接字等）是否有可用的数据。当数据到达时，触发相应的事件。",[17,77,78,81,82,85,86,89],{},[67,79,80],{},"回调机制"," 用户调用异步方法（如 ",[72,83,84],{},"async_read"," 或 ",[72,87,88],{},"async_receive","）时，传入一个回调函数。当指定的事件（如数据接收完成）发生后，Boost.Asio 会自动调用用户提供的回调函数。",[17,91,92,95,96,85,99,102],{},[67,93,94],{},"I\u002FO 服务对象"," Boost.Asio 的核心是一个 ",[72,97,98],{},"io_service",[72,100,101],{},"io_context"," 对象，它管理所有的异步操作和回调的调度。异步接收时：",[104,105,106,116,121],"ul",{},[107,108,109,110,112,113,115],"li",{},"用户将操作（如 ",[72,111,88],{},"）注册到 ",[72,114,101],{},"。",[107,117,118,120],{},[72,119,101],{}," 将异步操作挂起，并等待 I\u002FO 事件的触发。",[107,122,123,124,126],{},"当 I\u002FO 事件触发时，",[72,125,101],{}," 调用对应的回调函数。",[17,128,129,132],{},[67,130,131],{},"不阻塞主线程"," 异步操作不会阻塞调用线程。主线程可以继续执行其他任务，而异步操作在后台完成。",[57,134,136],{"id":135},"基于boostasio库的优点","基于Boost.Asio库的优点",[17,138,139],{},"Boost.Asio库是靠系统IO进行事件触发的，并且单独开了一个线程去干这件事，所以这就使boost库拥有单片机的串口中断的特点，又拥有真多线程的特点。",[17,141,142],{},"而单片机的串口中断，虽然也能通过IO进行事件触发，但是由于单片机只有一个真线程，所以在进入中断时，一定会阻塞主线程，造成效率损失。",[17,144,145],{},"如果在主线程里直接接收并加上死循环和延时，这种效率往往是最低的，并且有很大的安全风险，非常不建议使用。",[17,147,148],{},"效率：Boost.Asio接收 >> 单片机串口中断 >> 多线程阻塞式接收 >> 单线程阻塞式接收（在传输速度非常快的情况下，全都是远远大于>>）",[57,150,152],{"id":151},"安装ros2串口包","安装ROS2串口包",[17,154,155,158],{},[67,156,157],{},"serial_driver"," 是一个封装了串口通信功能的库，它分为两个部分：",[104,160,161,171],{},[107,162,163,166,167,170],{},[67,164,165],{},"ROS2 依赖版本"," ：用于 ROS2 环境中，依赖于 ROS2 的通信机制（如 ",[72,168,169],{},"rclcpp","）。",[107,172,173,176],{},[67,174,175],{},"独立库版本"," ：不依赖 ROS2，可以直接在普通的 C++ 项目中使用。(未经测试)",[178,179,181],"h5",{"id":180},"方式一在ros2中安装",[67,182,183],{},"方式一：在ROS2中安装",[185,186,191],"pre",{"className":187,"code":188,"language":189,"meta":190,"style":190},"language-bash shiki shiki-themes github-light github-dark","sudo apt install ros-\u003Cros2-distro>-asio-cmake-module\nsudo apt install ros-\u003Cros2-distro>-serial-driver\n\n#humble\nsudo apt install ros-humble-asio-cmake-module\nsudo apt install ros-humble-serial-driver\n#jazzy\nsudo apt install ros-jazzy-asio-cmake-module\nsudo apt install ros-jazzy-serial-driver\n","bash","",[72,192,193,229,251,258,265,277,289,295,307],{"__ignoreMap":190},[194,195,198,202,206,209,212,216,219,223,226],"span",{"class":196,"line":197},"line",1,[194,199,201],{"class":200},"sScJk","sudo",[194,203,205],{"class":204},"sZZnC"," apt",[194,207,208],{"class":204}," install",[194,210,211],{"class":204}," ros-",[194,213,215],{"class":214},"szBVR","\u003C",[194,217,218],{"class":204},"ros2-distr",[194,220,222],{"class":221},"sVt8B","o",[194,224,225],{"class":214},">",[194,227,228],{"class":204},"-asio-cmake-module\n",[194,230,232,234,236,238,240,242,244,246,248],{"class":196,"line":231},2,[194,233,201],{"class":200},[194,235,205],{"class":204},[194,237,208],{"class":204},[194,239,211],{"class":204},[194,241,215],{"class":214},[194,243,218],{"class":204},[194,245,222],{"class":221},[194,247,225],{"class":214},[194,249,250],{"class":204},"-serial-driver\n",[194,252,254],{"class":196,"line":253},3,[194,255,257],{"emptyLinePlaceholder":256},true,"\n",[194,259,261],{"class":196,"line":260},4,[194,262,264],{"class":263},"sJ8bj","#humble\n",[194,266,268,270,272,274],{"class":196,"line":267},5,[194,269,201],{"class":200},[194,271,205],{"class":204},[194,273,208],{"class":204},[194,275,276],{"class":204}," ros-humble-asio-cmake-module\n",[194,278,280,282,284,286],{"class":196,"line":279},6,[194,281,201],{"class":200},[194,283,205],{"class":204},[194,285,208],{"class":204},[194,287,288],{"class":204}," ros-humble-serial-driver\n",[194,290,292],{"class":196,"line":291},7,[194,293,294],{"class":263},"#jazzy\n",[194,296,298,300,302,304],{"class":196,"line":297},8,[194,299,201],{"class":200},[194,301,205],{"class":204},[194,303,208],{"class":204},[194,305,306],{"class":204}," ros-jazzy-asio-cmake-module\n",[194,308,310,312,314,316],{"class":196,"line":309},9,[194,311,201],{"class":200},[194,313,205],{"class":204},[194,315,208],{"class":204},[194,317,318],{"class":204}," ros-jazzy-serial-driver\n",[178,320,322],{"id":321},"方式二通用该方法未经测试如果你测试了请帮忙删掉本句话",[67,323,324],{},"方式二：通用（该方法未经测试，如果你测试了，请帮忙删掉本句话）",[17,326,327],{},"如果你在ROS1或者说其他地方使用，而且没有安装ROS2，请选择该方法。",[17,329,330],{},[67,331,332],{},"克隆仓库",[17,334,335,336,339,340,342],{},"首先，克隆 ",[67,337,338],{},"transport_drivers"," 仓库（包含 ",[72,341,157],{},"）：",[17,344,345],{},[23,346,347],{"href":347,"rel":348},"https:\u002F\u002Fgithub.com\u002Fros-drivers\u002Ftransport_drivers",[27],[185,350,352],{"className":187,"code":351,"language":189,"meta":190,"style":190},"git clone https:\u002F\u002Fgithub.com\u002Fros-drivers\u002Ftransport_drivers.git\n",[72,353,354],{"__ignoreMap":190},[194,355,356,359,362],{"class":196,"line":197},[194,357,358],{"class":200},"git",[194,360,361],{"class":204}," clone",[194,363,364],{"class":204}," https:\u002F\u002Fgithub.com\u002Fros-drivers\u002Ftransport_drivers.git\n",[17,366,367],{},[67,368,369],{},"安装依赖",[17,371,372,374,375,378],{},[72,373,157],{}," 依赖于 ",[67,376,377],{},"ASIO"," 库（一个跨平台的 C++ 网络编程库）。确保系统中已安装 ASIO：",[185,380,382],{"className":187,"code":381,"language":189,"meta":190,"style":190},"sudo apt install libasio-dev\n",[72,383,384],{"__ignoreMap":190},[194,385,386,388,390,392],{"class":196,"line":197},[194,387,201],{"class":200},[194,389,205],{"class":204},[194,391,208],{"class":204},[194,393,394],{"class":204}," libasio-dev\n",[17,396,397],{},[67,398,399],{},"编译独立库",[17,401,402,403,405],{},"进入 ",[72,404,157],{}," 目录并编译：",[185,407,409],{"className":187,"code":408,"language":189,"meta":190,"style":190},"cd transport_drivers\u002Fserial_driver\nmkdir build\ncd build\ncmake ..\nmake\nsudo make install\n",[72,410,411,420,428,434,442,447],{"__ignoreMap":190},[194,412,413,417],{"class":196,"line":197},[194,414,416],{"class":415},"sj4cs","cd",[194,418,419],{"class":204}," transport_drivers\u002Fserial_driver\n",[194,421,422,425],{"class":196,"line":231},[194,423,424],{"class":200},"mkdir",[194,426,427],{"class":204}," build\n",[194,429,430,432],{"class":196,"line":253},[194,431,416],{"class":415},[194,433,427],{"class":204},[194,435,436,439],{"class":196,"line":260},[194,437,438],{"class":200},"cmake",[194,440,441],{"class":204}," ..\n",[194,443,444],{"class":196,"line":267},[194,445,446],{"class":200},"make\n",[194,448,449,451,454],{"class":196,"line":279},[194,450,201],{"class":200},[194,452,453],{"class":204}," make",[194,455,456],{"class":204}," install\n",[17,458,459],{},"安装完毕后，在CMake里正常添加该包就可以。",[178,461,462],{"id":462},"其他准备工作",[17,464,465],{},[67,466,467],{},"串口调试助手安装(Linux版) (如果需要Windows版，问控制组要去)",[185,469,471],{"className":187,"code":470,"language":189,"meta":190,"style":190},"sudo apt-get install cutecom\n",[72,472,473],{"__ignoreMap":190},[194,474,475,477,480,482],{"class":196,"line":197},[194,476,201],{"class":200},[194,478,479],{"class":204}," apt-get",[194,481,208],{"class":204},[194,483,484],{"class":204}," cutecom\n",[17,486,487],{},[67,488,489],{},"权限",[185,491,493],{"className":187,"code":492,"language":189,"meta":190,"style":190},"\n# 将用户权限提高\nsudo usermod -aG dialout $USER\nnewgrp dialout\n",[72,494,495,499,504,520],{"__ignoreMap":190},[194,496,497],{"class":196,"line":197},[194,498,257],{"emptyLinePlaceholder":256},[194,500,501],{"class":196,"line":231},[194,502,503],{"class":263},"# 将用户权限提高\n",[194,505,506,508,511,514,517],{"class":196,"line":253},[194,507,201],{"class":200},[194,509,510],{"class":204}," usermod",[194,512,513],{"class":415}," -aG",[194,515,516],{"class":204}," dialout",[194,518,519],{"class":221}," $USER\n",[194,521,522,525],{"class":196,"line":260},[194,523,524],{"class":200},"newgrp",[194,526,527],{"class":204}," dialout\n",[17,529,530,531],{},"有关Linux的USB设备的更多操作请看",[23,532,534],{"href":533},"\u002Fwiki\u002F2024-03-30-linux-jiao-cheng\u002F0900-qi-ta-cao-zuo#usb%E7%AB%AF%E5%8F%A3%E8%AE%BE%E7%BD%AE","Vinci机器人队Linux入门教程",[57,536,537],{"id":537},"初始化详解",[539,540,541],"ol",{},[107,542,543],{},"创建功能包",[185,545,547],{"className":187,"code":546,"language":189,"meta":190,"style":190},"ros2 pkg create cpp01_serial --build-type ament_cmake --dependencies rclcpp serial_driver --node-name demo01_uart_send\n",[72,548,549],{"__ignoreMap":190},[194,550,551,554,557,560,563,566,569,572,575,578,581],{"class":196,"line":197},[194,552,553],{"class":200},"ros2",[194,555,556],{"class":204}," pkg",[194,558,559],{"class":204}," create",[194,561,562],{"class":204}," cpp01_serial",[194,564,565],{"class":415}," --build-type",[194,567,568],{"class":204}," ament_cmake",[194,570,571],{"class":415}," --dependencies",[194,573,574],{"class":204}," rclcpp",[194,576,577],{"class":204}," serial_driver",[194,579,580],{"class":415}," --node-name",[194,582,583],{"class":204}," demo01_uart_send\n",[539,585,586,592],{"start":231},[107,587,588,589],{},"引用头文件：",[72,590,591],{},"#include \"serial_driver\u002Fserial_driver.hpp\"",[107,593,594],{},"首先要初始化串口：",[17,596,597],{},[598,599],"img",{"alt":190,"src":600},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1772.webp",[17,602,603],{},[598,604],{"alt":190,"src":605},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1773.webp",[17,607,608],{},[598,609],{"alt":190,"src":610},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1774.webp",[17,612,613],{},[598,614],{"alt":190,"src":615},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1775.webp",[17,617,618,619,622],{},"串口初始化函数",[72,620,621],{},"init_port()","有俩参数，",[17,624,625],{},"第一个参数device_name 是端口名称",[17,627,628],{},"第二个参数config 是串口参数设置",[17,630,631,632,635],{},"device_name是个字符串，是填",[72,633,634],{},"\u002Fdev","下的设备名",[17,637,638],{},[598,639],{"alt":190,"src":640},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1776.webp",[17,642,643],{},[598,644],{"alt":190,"src":645},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1777.webp",[185,647,649],{"className":187,"code":648,"language":189,"meta":190,"style":190},"ls \u002Fdev | grep USB\n",[72,650,651],{"__ignoreMap":190},[194,652,653,656,659,662,665],{"class":196,"line":197},[194,654,655],{"class":200},"ls",[194,657,658],{"class":204}," \u002Fdev",[194,660,661],{"class":214}," |",[194,663,664],{"class":200}," grep",[194,666,667],{"class":204}," USB\n",[17,669,530,670],{},[23,671,534],{"href":533},[17,673,674],{},"config是个类对象，所以要创建一下这个类对象如下：",[17,676,677],{},"这玩意是个轻量化的类，没必要放在堆区，直接在栈区里创建即可。",[17,679,680],{},[598,681],{"alt":190,"src":682},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1778.webp",[17,684,685,686,689],{},"SerialPortConfig(uint32_t baud_rate, ",[67,687,688],{},"drivers::serial_driver::FlowControl flow_control"," , drivers::serial_driver::Parity parity, drivers::serial_driver::StopBits stop_bits)",[17,691,692],{},"从这个重载函数可以看到(参数不懂的问控制组)",[17,694,695],{},"第一个参数baud_rate 波特率",[17,697,698],{},"第二个参数flow_control 流控制",[17,700,701],{},"第三个参数parity 奇偶效验",[17,703,704],{},"第四个参数stop_bits 停止位",[17,706,707,708,711],{},"具体的参数在",[72,709,710],{},"serial_port.hpp","中有",[17,713,714],{},[598,715],{"alt":190,"src":716},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1779.webp",[17,718,719],{},"这样串口就初始化成功了。",[57,721,722],{"id":722},"发送代码详解",[539,724,725],{},[107,726,727],{},"发送主逻辑",[17,729,730],{},"我们接下来写发送主逻辑，首先要创建一个延时，不要使用while(true)这种死循环延迟，ROS2提供了定时器。",[17,732,733],{},"先创建定时器（创建定时器不用详解了，不懂的回顾上面赵老师的视频）",[17,735,736,737,740,741,744],{},"就需要注意一个点，我们用的是 ",[67,738,739],{},"毫秒milliseconds"," ，不是 ",[67,742,743],{},"微秒microseconds"," 。",[17,746,747],{},[598,748],{"alt":190,"src":749},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1780.webp",[17,751,752],{},[598,753],{"alt":190,"src":754},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1781.webp",[17,756,757],{},"发送核心函数是这个send函数，可以看到，入口参数是vector类型的向量，",[17,759,760],{},[598,761],{"alt":190,"src":762},"https:\u002F\u002Fcdn.tungchiahui.cn\u002Ftungwebsite\u002Fassets\u002Fimages\u002F2023\u002F12\u002F30\u002Fimage1782.webp",[185,764,768],{"className":765,"code":766,"language":767,"meta":190,"style":190},"language-cpp shiki shiki-themes github-light github-dark","#include \"rclcpp\u002Frclcpp.hpp\"\n#include \"serial_driver\u002Fserial_driver.hpp\"\n\nclass Serial_Node : public rclcpp::Node\n{\npublic:\n Serial_Node() : Node(\"serial_node_cpp\")\n {\n \u002F\u002F 等设备准备好再初始化\n \u002F\u002F std::this_thread::sleep_for(std::chrono::milliseconds(500));\n\n \u002F\u002F 串口设备名（根据实际设备调整）\n const std::string device_name = \"\u002Fdev\u002FttyUSB0\";\n\n RCLCPP_INFO(this->get_logger(), \"Serial port Node Open!\");\n \u002F\u002F 创建串口配置对象\n \u002F\u002F 波特率115200；不开启流控制；无奇偶效验；停止位1。\n drivers::serial_driver::SerialPortConfig config(\n 9600,\n drivers::serial_driver::FlowControl::NONE,\n drivers::serial_driver::Parity::NONE,\n drivers::serial_driver::StopBits::ONE);\n\n \u002F\u002F 初始化串口\n try\n {\n io_context_ = std::make_shared\u003Cdrivers::common::IoContext>(1);\n \u002F\u002F 初始化 serial_driver_\n serial_driver_ = std::make_shared\u003Cdrivers::serial_driver::SerialDriver>(*io_context_);\n serial_driver_->init_port(device_name, config);\n serial_driver_->port()->open();\n\n RCLCPP_INFO(this->get_logger(), \"Serial port initialized successfully\");\n RCLCPP_INFO(this->get_logger(), \"Using device: %s\", serial_driver_->port().get()->device_name().c_str());\n RCLCPP_INFO(this->get_logger(), \"Baud_rate: %d\", config.get_baud_rate());\n }\n catch (const std::exception &ex)\n {\n RCLCPP_ERROR(this->get_logger(), \"Failed to initialize serial port: %s\", ex.what());\n return;\n }\n\n \u002F\u002F 设置发送定时器\n send_timer_ = this->create_wall_timer(\n std::chrono::milliseconds(500),\n std::bind(&Serial_Node::send_message_timer_callback, this));\n }\n\nprivate:\n void send_message_timer_callback()\n {\n \u002F\u002F 发送一串字符串\n const std::string message = \"Hello from ROS 2!\\n\";\n std::vector\u003Cuint8_t> data(message.begin(), message.end());\n \u002F\u002F std::vector\u003Cuint8_t> hex_data = {0x48, 0x65, 0x6C, 0x6C, 0x6F}; \u002F\u002F \"Hello\" in ASCII\n auto port = serial_driver_->port();\n\n try\n {\n size_t bytes_sent_size = port->send(data);\n RCLCPP_INFO(this->get_logger(), \"Sent: %s (%ld bytes)\", message.c_str(), bytes_sent_size);\n }\n catch(const std::exception &ex)\n {\n RCLCPP_ERROR(this->get_logger(), \"Error Transmiting from serial port:%s\",ex.what());\n }\n }\n\n std::shared_ptr\u003Cdrivers::serial_driver::SerialDriver> serial_driver_;\n std::shared_ptr\u003Cdrivers::common::IoContext> io_context_;\n rclcpp::TimerBase::SharedPtr send_timer_;\n};\n\nint main(int argc, char **argv)\n{\n rclcpp::init(argc, argv);\n\n auto node = std::make_shared\u003CSerial_Node>();\n\n rclcpp::spin(node);\n\n rclcpp::shutdown();\n return 0;\n}\n","cpp",[72,769,770,778,785,789,811,816,821,841,846,851,857,862,868,889,894,920,926,932,951,960,978,994,1011,1016,1022,1028,1034,1072,1078,1113,1125,1142,1147,1168,1216,1247,1253,1276,1281,1312,1320,1325,1330,1336,1354,1378,1403,1409,1414,1420,1432,1437,1443,1465,1494,1503,1521,1526,1531,1536,1556,1592,1597,1614,1619,1648,1653,1658,1663,1688,1711,1725,1731,1736,1767,1772,1785,1790,1814,1819,1832,1837,1849,1860],{"__ignoreMap":190},[194,771,772,775],{"class":196,"line":197},[194,773,774],{"class":214},"#include",[194,776,777],{"class":204}," 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",[194,830,831],{"class":200},"Node",[194,833,834],{"class":221},"(",[194,836,837],{"class":204},"\"serial_node_cpp\"",[194,839,840],{"class":221},")\n",[194,842,843],{"class":196,"line":297},[194,844,845],{"class":221}," {\n",[194,847,848],{"class":196,"line":309},[194,849,850],{"class":263}," \u002F\u002F 等设备准备好再初始化\n",[194,852,854],{"class":196,"line":853},10,[194,855,856],{"class":263}," \u002F\u002F std::this_thread::sleep_for(std::chrono::milliseconds(500));\n",[194,858,860],{"class":196,"line":859},11,[194,861,257],{"emptyLinePlaceholder":256},[194,863,865],{"class":196,"line":864},12,[194,866,867],{"class":263}," \u002F\u002F 串口设备名（根据实际设备调整）\n",[194,869,871,874,877,880,883,886],{"class":196,"line":870},13,[194,872,873],{"class":214}," const",[194,875,876],{"class":200}," std",[194,878,879],{"class":221},"::string device_name ",[194,881,882],{"class":214},"=",[194,884,885],{"class":204}," \"\u002Fdev\u002FttyUSB0\"",[194,887,888],{"class":221},";\n",[194,890,892],{"class":196,"line":891},14,[194,893,257],{"emptyLinePlaceholder":256},[194,895,897,900,902,905,908,911,914,917],{"class":196,"line":896},15,[194,898,899],{"class":200}," RCLCPP_INFO",[194,901,834],{"class":221},[194,903,904],{"class":415},"this",[194,906,907],{"class":221},"->",[194,909,910],{"class":200},"get_logger",[194,912,913],{"class":221},"(), ",[194,915,916],{"class":204},"\"Serial port Node Open!\"",[194,918,919],{"class":221},");\n",[194,921,923],{"class":196,"line":922},16,[194,924,925],{"class":263}," \u002F\u002F 创建串口配置对象\n",[194,927,929],{"class":196,"line":928},17,[194,930,931],{"class":263}," \u002F\u002F 波特率115200；不开启流控制；无奇偶效验；停止位1。\n",[194,933,935,938,940,942,945,948],{"class":196,"line":934},18,[194,936,937],{"class":200}," drivers",[194,939,807],{"class":221},[194,941,157],{"class":200},[194,943,944],{"class":221},"::SerialPortConfig 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drivers",[194,967,807],{"class":221},[194,969,157],{"class":200},[194,971,807],{"class":221},[194,973,974],{"class":200},"FlowControl",[194,976,977],{"class":221},"::NONE,\n",[194,979,981,983,985,987,989,992],{"class":196,"line":980},21,[194,982,965],{"class":200},[194,984,807],{"class":221},[194,986,157],{"class":200},[194,988,807],{"class":221},[194,990,991],{"class":200},"Parity",[194,993,977],{"class":221},[194,995,997,999,1001,1003,1005,1008],{"class":196,"line":996},22,[194,998,965],{"class":200},[194,1000,807],{"class":221},[194,1002,157],{"class":200},[194,1004,807],{"class":221},[194,1006,1007],{"class":200},"StopBits",[194,1009,1010],{"class":221},"::ONE);\n",[194,1012,1014],{"class":196,"line":1013},23,[194,1015,257],{"emptyLinePlaceholder":256},[194,1017,1019],{"class":196,"line":1018},24,[194,1020,1021],{"class":263}," \u002F\u002F 初始化串口\n",[194,1023,1025],{"class":196,"line":1024},25,[194,1026,1027],{"class":214}," try\n",[194,1029,1031],{"class":196,"line":1030},26,[194,1032,1033],{"class":221}," {\n",[194,1035,1037,1040,1042,1044,1046,1049,1051,1054,1056,1059,1061,1064,1067,1070],{"class":196,"line":1036},27,[194,1038,1039],{"class":221}," io_context_ ",[194,1041,882],{"class":214},[194,1043,876],{"class":200},[194,1045,807],{"class":221},[194,1047,1048],{"class":200},"make_shared",[194,1050,215],{"class":221},[194,1052,1053],{"class":200},"drivers",[194,1055,807],{"class":221},[194,1057,1058],{"class":200},"common",[194,1060,807],{"class":221},[194,1062,1063],{"class":200},"IoContext",[194,1065,1066],{"class":221},">(",[194,1068,1069],{"class":415},"1",[194,1071,919],{"class":221},[194,1073,1075],{"class":196,"line":1074},28,[194,1076,1077],{"class":263}," \u002F\u002F 初始化 serial_driver_\n",[194,1079,1081,1084,1086,1088,1090,1092,1094,1096,1098,1100,1102,1105,1107,1110],{"class":196,"line":1080},29,[194,1082,1083],{"class":221}," serial_driver_ 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config);\n",[194,1126,1128,1130,1133,1136,1139],{"class":196,"line":1127},31,[194,1129,1118],{"class":221},[194,1131,1132],{"class":200},"port",[194,1134,1135],{"class":221},"()->",[194,1137,1138],{"class":200},"open",[194,1140,1141],{"class":221},"();\n",[194,1143,1145],{"class":196,"line":1144},32,[194,1146,257],{"emptyLinePlaceholder":256},[194,1148,1150,1153,1155,1157,1159,1161,1163,1166],{"class":196,"line":1149},33,[194,1151,1152],{"class":200}," RCLCPP_INFO",[194,1154,834],{"class":221},[194,1156,904],{"class":415},[194,1158,907],{"class":221},[194,1160,910],{"class":200},[194,1162,913],{"class":221},[194,1164,1165],{"class":204},"\"Serial port initialized successfully\"",[194,1167,919],{"class":221},[194,1169,1171,1173,1175,1177,1179,1181,1183,1186,1189,1192,1195,1197,1200,1203,1205,1208,1210,1213],{"class":196,"line":1170},34,[194,1172,1152],{"class":200},[194,1174,834],{"class":221},[194,1176,904],{"class":415},[194,1178,907],{"class":221},[194,1180,910],{"class":200},[194,1182,913],{"class":221},[194,1184,1185],{"class":204},"\"Using device: ",[194,1187,1188],{"class":415},"%s",[194,1190,1191],{"class":204},"\"",[194,1193,1194],{"class":221},", serial_driver_->",[194,1196,1132],{"class":200},[194,1198,1199],{"class":221},"().",[194,1201,1202],{"class":200},"get",[194,1204,1135],{"class":221},[194,1206,1207],{"class":200},"device_name",[194,1209,1199],{"class":221},[194,1211,1212],{"class":200},"c_str",[194,1214,1215],{"class":221},"());\n",[194,1217,1219,1221,1223,1225,1227,1229,1231,1234,1237,1239,1242,1245],{"class":196,"line":1218},35,[194,1220,1152],{"class":200},[194,1222,834],{"class":221},[194,1224,904],{"class":415},[194,1226,907],{"class":221},[194,1228,910],{"class":200},[194,1230,913],{"class":221},[194,1232,1233],{"class":204},"\"Baud_rate: ",[194,1235,1236],{"class":415},"%d",[194,1238,1191],{"class":204},[194,1240,1241],{"class":221},", config.",[194,1243,1244],{"class":200},"get_baud_rate",[194,1246,1215],{"class":221},[194,1248,1250],{"class":196,"line":1249},36,[194,1251,1252],{"class":221}," }\n",[194,1254,1256,1259,1262,1265,1267,1270,1273],{"class":196,"line":1255},37,[194,1257,1258],{"class":214}," catch",[194,1260,1261],{"class":221}," (",[194,1263,1264],{"class":214},"const",[194,1266,876],{"class":200},[194,1268,1269],{"class":221},"::exception ",[194,1271,1272],{"class":214},"&",[194,1274,1275],{"class":221},"ex)\n",[194,1277,1279],{"class":196,"line":1278},38,[194,1280,1033],{"class":221},[194,1282,1284,1287,1289,1291,1293,1295,1297,1300,1302,1304,1307,1310],{"class":196,"line":1283},39,[194,1285,1286],{"class":200}," RCLCPP_ERROR",[194,1288,834],{"class":221},[194,1290,904],{"class":415},[194,1292,907],{"class":221},[194,1294,910],{"class":200},[194,1296,913],{"class":221},[194,1298,1299],{"class":204},"\"Failed to initialize serial port: ",[194,1301,1188],{"class":415},[194,1303,1191],{"class":204},[194,1305,1306],{"class":221},", ex.",[194,1308,1309],{"class":200},"what",[194,1311,1215],{"class":221},[194,1313,1315,1318],{"class":196,"line":1314},40,[194,1316,1317],{"class":214}," return",[194,1319,888],{"class":221},[194,1321,1323],{"class":196,"line":1322},41,[194,1324,1252],{"class":221},[194,1326,1328],{"class":196,"line":1327},42,[194,1329,257],{"emptyLinePlaceholder":256},[194,1331,1333],{"class":196,"line":1332},43,[194,1334,1335],{"class":263}," \u002F\u002F 设置发送定时器\n",[194,1337,1339,1342,1344,1347,1349,1352],{"class":196,"line":1338},44,[194,1340,1341],{"class":221}," send_timer_ ",[194,1343,882],{"class":214},[194,1345,1346],{"class":415}," this",[194,1348,907],{"class":221},[194,1350,1351],{"class":200},"create_wall_timer",[194,1353,950],{"class":221},[194,1355,1357,1360,1362,1365,1367,1370,1372,1375],{"class":196,"line":1356},45,[194,1358,1359],{"class":200}," 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}\n",[194,1410,1412],{"class":196,"line":1411},48,[194,1413,257],{"emptyLinePlaceholder":256},[194,1415,1417],{"class":196,"line":1416},49,[194,1418,1419],{"class":214},"private:\n",[194,1421,1423,1426,1429],{"class":196,"line":1422},50,[194,1424,1425],{"class":214}," void",[194,1427,1428],{"class":200}," send_message_timer_callback",[194,1430,1431],{"class":221},"()\n",[194,1433,1435],{"class":196,"line":1434},51,[194,1436,845],{"class":221},[194,1438,1440],{"class":196,"line":1439},52,[194,1441,1442],{"class":263}," \u002F\u002F 发送一串字符串\n",[194,1444,1446,1448,1450,1453,1455,1458,1461,1463],{"class":196,"line":1445},53,[194,1447,873],{"class":214},[194,1449,876],{"class":200},[194,1451,1452],{"class":221},"::string message ",[194,1454,882],{"class":214},[194,1456,1457],{"class":204}," \"Hello from ROS 2!",[194,1459,1460],{"class":415},"\\n",[194,1462,1191],{"class":204},[194,1464,888],{"class":221},[194,1466,1468,1471,1474,1477,1480,1483,1486,1489,1492],{"class":196,"line":1467},54,[194,1469,1470],{"class":200}," std",[194,1472,1473],{"class":221},"::vector",[194,1475,1476],{"class":214},"\u003Cuint8_t>",[194,1478,1479],{"class":200}," data",[194,1481,1482],{"class":221},"(message.",[194,1484,1485],{"class":200},"begin",[194,1487,1488],{"class":221},"(), message.",[194,1490,1491],{"class":200},"end",[194,1493,1215],{"class":221},[194,1495,1497,1500],{"class":196,"line":1496},55,[194,1498,1499],{"class":263}," \u002F\u002F std::vector\u003Cuint8_t> hex_data = {0x48, 0x65, 0x6C, 0x6C, 0x6F};",[194,1501,1502],{"class":263}," \u002F\u002F \"Hello\" in ASCII\n",[194,1504,1506,1509,1512,1514,1517,1519],{"class":196,"line":1505},56,[194,1507,1508],{"class":214}," auto",[194,1510,1511],{"class":221}," port ",[194,1513,882],{"class":214},[194,1515,1516],{"class":221}," 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const std::string device_name = \"\u002Fdev\u002FttyUSB0\";\n\n RCLCPP_INFO(this->get_logger(), \"Serial port Node Open!\");\n \u002F\u002F 创建串口配置对象\n \u002F\u002F 波特率115200；不开启流控制；无奇偶效验；停止位1。\n drivers::serial_driver::SerialPortConfig config(\n 9600,\n drivers::serial_driver::FlowControl::NONE,\n drivers::serial_driver::Parity::NONE,\n drivers::serial_driver::StopBits::ONE);\n\n \u002F\u002F 初始化串口\n try\n {\n io_context_ = std::make_shared\u003Cdrivers::common::IoContext>(1);\n \u002F\u002F 初始化 serial_driver_\n serial_driver_ = std::make_shared\u003Cdrivers::serial_driver::SerialDriver>(*io_context_);\n serial_driver_->init_port(device_name, config);\n serial_driver_->port()->open();\n\n RCLCPP_INFO(this->get_logger(), \"Serial port initialized successfully\");\n RCLCPP_INFO(this->get_logger(), \"Using device: %s\", serial_driver_->port().get()->device_name().c_str());\n RCLCPP_INFO(this->get_logger(), \"Baud_rate: %d\", config.get_baud_rate());\n }\n catch (const std::exception &ex)\n {\n RCLCPP_ERROR(this->get_logger(), \"Failed to initialize serial port: %s\", ex.what());\n return;\n }\n\n \u002F\u002F 设置发送定时器\n receive_timer_ = this->create_wall_timer(\n std::chrono::milliseconds(3),\n std::bind(&Serial_Node::receive_message_timer_callback, this));\n }\n\nprivate:\n void receive_message_timer_callback()\n {\n std::vector\u003Cuint8_t> data(100); \u002F\u002F \"Hello\" in ASCII\n auto port = serial_driver_->port();\n\n try\n {\n size_t bytes_receive_size = port->receive(data);\n if(bytes_receive_size > 0)\n {\n std::string message(data.begin(),data.begin() + bytes_receive_size);\n RCLCPP_INFO(this->get_logger(), \"Receive: %s (%ld bytes)\", message.c_str(), bytes_receive_size);\n }\n }\n catch(const std::exception &ex)\n {\n RCLCPP_ERROR(this->get_logger(), \"Error Receiving from serial port:%s\",ex.what());\n }\n }\n\n std::shared_ptr\u003Cdrivers::serial_driver::SerialDriver> serial_driver_;\n std::shared_ptr\u003Cdrivers::common::IoContext> 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\"rclcpp\u002Frclcpp.hpp\"\n#include \"serial_driver\u002Fserial_driver.hpp\"\n#include \u003Cstring>\n\nclass Serial_Node : public rclcpp::Node\n{\npublic:\n Serial_Node() : Node(\"serial_node_cpp\")\n {\n \u002F\u002F 等设备准备好再初始化\n \u002F\u002F std::this_thread::sleep_for(std::chrono::milliseconds(500));\n\n \u002F\u002F 串口设备名（根据实际设备调整）\n const std::string device_name = \"\u002Fdev\u002FttyUSB0\";\n\n RCLCPP_INFO(this->get_logger(), \"Serial port Node Open!\");\n \u002F\u002F 创建串口配置对象\n \u002F\u002F 波特率115200；不开启流控制；无奇偶效验；停止位1。\n drivers::serial_driver::SerialPortConfig config(\n 9600,\n drivers::serial_driver::FlowControl::NONE,\n drivers::serial_driver::Parity::NONE,\n drivers::serial_driver::StopBits::ONE);\n\n \u002F\u002F 初始化串口\n try\n {\n io_context_ = std::make_shared\u003Cdrivers::common::IoContext>(1);\n \u002F\u002F 初始化 serial_driver_\n serial_driver_ = std::make_shared\u003Cdrivers::serial_driver::SerialDriver>(*io_context_);\n serial_driver_->init_port(device_name, config);\n serial_driver_->port()->open();\n\n RCLCPP_INFO(this->get_logger(), \"Serial port initialized successfully\");\n RCLCPP_INFO(this->get_logger(), \"Using device: %s\", serial_driver_->port().get()->device_name().c_str());\n RCLCPP_INFO(this->get_logger(), \"Baud_rate: %d\", config.get_baud_rate());\n }\n catch (const std::exception &ex)\n {\n RCLCPP_ERROR(this->get_logger(), \"Failed to initialize serial port: %s\", ex.what());\n return;\n }\n\n async_receive_message();\n }\n\nprivate:\n void async_receive_message() \u002F\u002F创建一个函数更方便重新调用\n {\n auto port = serial_driver_->port();\n\n \u002F\u002F 设置接收回调函数\n port->async_receive([this](const std::vector\u003Cuint8_t> &data,const size_t &size) \n {\n if (size > 0)\n {\n \u002F\u002F 处理接收到的数据\n std::string received_message(data.begin(), data.begin() + size);\n RCLCPP_INFO(this->get_logger(), \"Received: %s (%ld bytes)\", received_message.c_str(),size);\n }\n \u002F\u002F 继续监听新的数据\n async_receive_message();\n }\n );\n }\n\n std::shared_ptr\u003Cdrivers::serial_driver::SerialDriver> serial_driver_;\n std::shared_ptr\u003Cdrivers::common::IoContext> io_context_;\n std::vector\u003Cuint8_t> receive_data_buffer = std::vector\u003Cuint8_t>(1024); \u002F\u002F 接收缓冲区\n};\n\nint main(int argc, char **argv)\n{\n rclcpp::init(argc, argv);\n\n auto node = std::make_shared\u003CSerial_Node>();\n\n rclcpp::spin(node);\n\n rclcpp::shutdown();\n return 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\"rclcpp\u002Frclcpp.hpp\"\n#include \"serial_driver\u002Fserial_driver.hpp\"\n#include \u003Cstring>\n\nclass Serial_Node : public rclcpp::Node\n{\npublic:\n Serial_Node() : Node(\"serial_node_cpp\")\n {\n \u002F\u002F 等设备准备好再初始化\n \u002F\u002F std::this_thread::sleep_for(std::chrono::milliseconds(500));\n\n \u002F\u002F 串口设备名（根据实际设备调整）\n const std::string device_name = \"\u002Fdev\u002FttyUSB0\";\n\n RCLCPP_INFO(this->get_logger(), \"Serial port Node Open!\");\n \u002F\u002F 创建串口配置对象\n \u002F\u002F 波特率115200；不开启流控制；无奇偶效验；停止位1。\n drivers::serial_driver::SerialPortConfig config(\n 9600,\n drivers::serial_driver::FlowControl::NONE,\n drivers::serial_driver::Parity::NONE,\n drivers::serial_driver::StopBits::ONE);\n\n \u002F\u002F 初始化串口\n try\n {\n io_context_ = std::make_shared\u003Cdrivers::common::IoContext>(1);\n \u002F\u002F 初始化 serial_driver_\n serial_driver_ = std::make_shared\u003Cdrivers::serial_driver::SerialDriver>(*io_context_);\n serial_driver_->init_port(device_name, config);\n serial_driver_->port()->open();\n\n RCLCPP_INFO(this->get_logger(), \"Serial port initialized successfully\");\n RCLCPP_INFO(this->get_logger(), \"Using device: %s\", serial_driver_->port().get()->device_name().c_str());\n RCLCPP_INFO(this->get_logger(), \"Baud_rate: %d\", config.get_baud_rate());\n }\n catch (const std::exception &ex)\n {\n RCLCPP_ERROR(this->get_logger(), \"Failed to initialize serial port: %s\", ex.what());\n return;\n }\n\n \u002F\u002F 设置发送定时器\n transmit_timer_ = this->create_wall_timer(\n std::chrono::milliseconds(5000),\n std::bind(&Serial_Node::send_message_timer_callback, this));\n\n async_receive_message(); \u002F\u002F进入异步接收\n }\n\nprivate:\n\n void send_message_timer_callback()\n {\n \u002F\u002F 发送一串字符串\n const std::string transmitted_message = \"Hello from ROS 2!\\n\";\n transmit_data_buffer = std::vector\u003Cuint8_t>(transmitted_message.begin(), transmitted_message.end());\n \u002F\u002F std::vector\u003Cuint8_t> hex_data = {0x48, 0x65, 0x6C, 0x6C, 0x6F}; \u002F\u002F \"Hello\" in ASCII\n auto port = serial_driver_->port();\n\n try\n {\n size_t bytes_transmit_size = port->send(transmit_data_buffer);\n RCLCPP_INFO(this->get_logger(), \"Transmitted: %s (%ld bytes)\", transmitted_message.c_str(), bytes_transmit_size);\n }\n catch(const std::exception &ex)\n {\n RCLCPP_ERROR(this->get_logger(), \"Error Transmiting from serial port:%s\",ex.what());\n }\n }\n\n void async_receive_message() \u002F\u002F创建一个函数更方便重新调用\n {\n auto port = serial_driver_->port();\n\n \u002F\u002F 设置接收回调函数\n port->async_receive([this](const std::vector\u003Cuint8_t> &data,const size_t &size) \n {\n if (size > 0)\n {\n \u002F\u002F 处理接收到的数据\n std::string received_message(data.begin(), data.begin() + size);\n RCLCPP_INFO(this->get_logger(), \"Received: %s (%ld bytes)\", received_message.c_str(),size);\n }\n \u002F\u002F 继续监听新的数据\n async_receive_message();\n }\n );\n }\n\n std::shared_ptr\u003Cdrivers::serial_driver::SerialDriver> serial_driver_;\n 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