AutoCar  v1.0.0
comm_write.h
1 #ifndef COMM_WRITE_H
2 #define COMM_WRITE_H
3 
4 #include <fstream>
5 #include <iostream>
6 #include <string>
7 #include <math.h>
8 #include <std_msgs/String.h>
9 #include <fcntl.h> /*file control lib*/
10 #include <termios.h> /*PPSIX terminal*/
11 #include <errno.h> /*error information*/
12 #include <stdlib.h> /*standard lib*/
13 #include <unistd.h> /*Unix standard func*/
14 
15 namespace autocar
16 {
17 namespace serial_mul
18 {
19 typedef struct
20 {
21  uint8_t sof;
22  int16_t auto_vx;
23  int16_t auto_vy;
24  int16_t auto_vw;
25  uint8_t vision_data_status;
26  int16_t vision_data_x;
27  int16_t vision_data_y;
28  int16_t vision_data_d;
29  uint8_t end;
30 
31 }__attribute__((packed)) data_t;
32 
33 class comm_write{
34 public:
35  comm_write();
36  ~comm_write();
41  bool write_setup();
45  void write_data(data_t data_to_write);
46 private:
47  data_t data;
48  std::string dev;
49  int serial_baudrate;
50  std_msgs::String pubData;
51  int fd;
52  int data_len;
53 };
54 
55 }
56 }
57 #endif // COMM_WRITE_H
Definition: vel2odom.h:5
Definition: comm_write.h:33