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Fix referee serial #11

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Merged
nice-mee merged 1 commit into from
Mar 4, 2025
Merged

Fix referee serial #11

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4 changes: 2 additions & 2 deletions perception/referee_serial/include/referee_serial/referee_serial.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,9 +20,9 @@
using spb = asio::serial_port_base;
using drivers::serial_driver::FlowControl;
using drivers::serial_driver::Parity;
using drivers::serial_driver::SerialPort;
using drivers::serial_driver::StopBits;
using drivers::serial_driver::SerialPortConfig;
using drivers::serial_driver::SerialDriver;

/**
* @class RefereeSerial
Expand Down Expand Up @@ -91,7 +91,7 @@ class RefereeSerial
// Serial port
std::unique_ptr<IoContext> ctx_;
std::unique_ptr<SerialPortConfig> config_;
std::unique_ptr<SerialPort> port_;
std::unique_ptr<SerialDriver> serial_driver_;
static std::string dev_name; ///< The path to the serial port.
static constexpr const char* dev_null = "/dev/null";
static constexpr uint32_t baud = 115200;
Expand Down
21 changes: 11 additions & 10 deletions perception/referee_serial/src/referee_serial.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,8 @@ RefereeSerial::RefereeSerial(const rclcpp::NodeOptions & options)
auto dev_path = "/dev/" + dev_name; // default: /dev/referee_serial
ctx_ = std::make_unique<IoContext>(2);
config_ = std::make_unique<SerialPortConfig>(baud, fc, pt, sb);
port_ = std::make_unique<SerialPort>(*ctx_, dev_name, *config_);
serial_driver_ = std::make_unique<SerialDriver>(*ctx_);
serial_driver_->init_port(dev_path, *config_);
RCLCPP_INFO(node_->get_logger(), "RefereeSerial using serial port: %s", dev_path.c_str());

// create publishers
Expand All @@ -41,9 +42,9 @@ RefereeSerial::RefereeSerial(const rclcpp::NodeOptions & options)
robot_state_pub_ = node_->create_publisher<operation_interface::msg::RobotState>("robot_state", 10);

// open serial port
if (!port_->is_open())
if (!serial_driver_->port()->is_open())
{
port_->open();
serial_driver_->port()->open();
receive_thread = std::thread(&RefereeSerial::receive, this);
}

Expand All @@ -56,9 +57,9 @@ RefereeSerial::~RefereeSerial()
{
receive_thread.join();
}
if (port_->is_open())
if (serial_driver_->port()->is_open())
{
port_->close();
serial_driver_->port()->close();
}
if (ctx_)
{
Expand All @@ -79,7 +80,7 @@ void RefereeSerial::receive()
while (rclcpp::ok())
{
try {
port_->receive(prefix);
serial_driver_->port()->receive(prefix);

if (KeyMouse::is_wanted_pre(prefix)) // key mouse
{
Expand Down Expand Up @@ -129,7 +130,7 @@ void RefereeSerial::handle_frame(const std::vector<uint8_t>& prefix,
{
std::vector<uint8_t> frame;
frame.resize(sizeof(typename PARSE::FrameType) - prefix.size());
port_->receive(frame);
serial_driver_->port()->receive(frame);
frame.insert(frame.begin(), prefix.begin(), prefix.end());

PARSE info(frame); // parse the frame
Expand All @@ -152,11 +153,11 @@ void RefereeSerial::reopen_port()
{
RCLCPP_WARN(node_->get_logger(), "Reopening serial port");
try {
if (port_->is_open())
if (serial_driver_->port()->is_open())
{
port_->close();
serial_driver_->port()->close();
}
port_->open();
serial_driver_->port()->open();
RCLCPP_INFO(node_->get_logger(), "Serial port reopened");
}
catch (const std::exception & e)
Expand Down