AutoCar
v1.0.0
Main Page
Classes
Files
File List
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
autocar
Definition:
vel2odom.h:5
autocar::serial_mul::__attribute__
Definition:
comm_read.h:24
autocar::serial_mul::comm_read
Definition:
comm_read.h:45
autocar::serial_mul::comm_read::read_data
void read_data()
reading data from serial
autocar::serial_mul::comm_read::read_init
void read_init()
initialization the yaw angle
autocar::serial_mul::comm_read::read_setup
bool read_setup()
Initialization the serial paramters for reading data.
serial_comm::car_speed_< std::allocator< void > >
src
serial_comm
include
comm_read.h
Generated by
1.8.11