AutoCar  v1.0.0
comm_read.h
1 #ifndef COMMREAD_H
2 #define COMMREAD_H
3 
4 #include <serial_comm/car_speed.h>
5 #include <fstream>
6 #include <iostream>
7 #include <sstream>
8 #include <sys/types.h>
9 #include <sys/stat.h>
10 #include <memory>
11 #include <vector>
12 #include <string>
13 #include <math.h>
14 #include <fcntl.h> /*file control lib*/
15 #include <termios.h> /*PPSIX terminal*/
16 #include <errno.h> /*error information*/
17 #include <stdlib.h> /*standard lib*/
18 #include <unistd.h> /*Unix standard func*/
19 
20 namespace autocar
21 {
22 namespace serial_mul
23 {
24 typedef struct
25 {
26  uint8_t sof;
27  int16_t angle;
28  int16_t v_w;
29  int16_t v_x;
30  int16_t v_y;
31 
32 
33  uint8_t flag;
34  uint32_t x;
35  uint32_t y;
36  uint32_t z;
37  uint32_t compass;
38  uint8_t data_status;
39 
40  float pan_title_yaw;
41  float pan_title_pitch;
42  uint8_t end;
43 }__attribute__((packed)) data_t;
44 
45 class comm_read{
46 public:
47  comm_read();
48  ~comm_read();
53  bool read_setup();
57  void read_init();
61  void read_data();
62 public:
63  serial_comm::car_speed pubData;
64 private:
65  std::string dev;
66  int serial_baudrate;
67  int fd;
68  int data_len;
69  int16_t ForeBack, LeftRight, Y, R;
70  double YawAngle, Rotate;
71  int16_t init_yaw;
72  data_t data;
73 };
74 
75 }
76 }
77 #endif // COMMREAD_H
Definition: vel2odom.h:5
Definition: comm_read.h:24
Definition: comm_read.h:45
void read_data()
reading data from serial
void read_init()
initialization the yaw angle
bool read_setup()
Initialization the serial paramters for reading data.