本文整理汇总了C++中Serial::read_serial_data方法的典型用法代码示例。如果您正苦于以下问题：C++ Serial::read_serial_data方法的具体用法？C++ Serial::read_serial_data怎么用？C++ Serial::read_serial_data使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类Serial的用法示例。
在下文中一共展示了Serial::read_serial_data方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: main
/**
* The start the Arduino node
*
* This read command line arguments if applicable the opens the serial port.
* Then reads the serial port at 400 Hz.
*
*/
int main(int argc, char **argv) {
std::string usb_port_name = ARDUINO_SERIAL_PORT_DEFAULT;
int baudrate = ARDUINO_BAUDRATE_DEFAULT;
int opt;
//to initialize ros with command line arguments and name of the node
ros::init(argc, argv, "arduino_handler");
ros::NodeHandle n;
//get any params/ set any params
n.param<std::string>("dev", usb_port_name, usb_port_name);
n.param<int>("baud_rate", baudrate, baudrate);
//commandline arguments take precedance to params
while(( opt = getopt(argc, argv, "u:b:")) != -1) {
switch (opt) {
case 'u':
usb_port_name.assign(optarg);
n.setParam("dev",usb_port_name);
break;
case 'b':
baudrate = atoi(optarg);
n.setParam("baud_rate", baudrate);
break;
default:
break;
}
}
bIsConnected = false;
nmeaChecksumFailedCount = 0;
//advertise(topic_name, queue_size, latch)
tIsAduinoConnected = n.advertise<std_msgs::Bool>(IsArduinoConnected_T, 1, true);
std_msgs::Bool msg_isArduinoConnected;
msg_isArduinoConnected.data = bIsConnected;
tIsAduinoConnected.publish(msg_isArduinoConnected);
tIMUData = n.advertise<ghost::imu>(IMU_T, 1, true);
Serial serial;
if (serial.open_serial_port(usb_port_name, baudrate) == false) {
ros::shutdown();
}
ros::Timer watchdogTimer = n.createTimer(ros::Duration(ARDUINO_WATCHDOG_DURATION), arduinoWatchdog);
ros::Timer heartbeatTimer = n.createTimer(ros::Duration(ARDUINO_HEARTBEAT_DURATION), arduinoHeartBeat);
//specify the speed of the loop
ros::Rate loop(ARDUINO_LOOP_RATE);
std::string inBuf;
//loop until program is closed (Ctrl-C or ros::shutdown())
while (ros::ok()) {
//lastConnectedTime.sec
inBuf += serial.read_serial_data();
parse_nmea_message(inBuf);
//to check if subscribed topics have updated
ros::spinOnce();
//sleep until next loop time
loop.sleep();
}
watchdogTimer.stop();
heartbeatTimer.start();
serial.close_serial_port();
return 0;
}