本文整理汇总了C++中SerialPort::Initialise方法的典型用法代码示例。如果您正苦于以下问题：C++ SerialPort::Initialise方法的具体用法？C++ SerialPort::Initialise怎么用？C++ SerialPort::Initialise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SerialPort的用法示例。
在下文中一共展示了SerialPort::Initialise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
int main(int argc, char* argv[])
{
sleep(1);
ros::init(argc, argv, "sonar");
ros::NodeHandle n;
ros::NodeHandle nh("~");
// get the number of sonar sensors
nh.getParam("sensors", no_of_sensors);
if (no_of_sensors <= 0) {
ROS_ERROR("The number of sensors must be specified");
}
else {
// get the device to read from
std::string device_name = "";
nh.getParam("device", device_name);
if (device_name == "") device_name = "/dev/ttyUSB0";
// do we need to set the address?
std::string sensor_address_str = "";
nh.getParam("address", sensor_address_str);
nh.setParam("address", ""); // clear the address parameter after it has been read
if (sensor_address_str != "") {
char* endstr;
sensor_address = strtol(sensor_address_str.c_str(), &endstr, 16);
if ((sensor_address > 0xfe) || (sensor_address < 0xe0)) {
ROS_ERROR("The sensor address must be between 0xe0 and 0xfe");
sensor_address_str = "";
}
else {
if (no_of_sensors != 1) {
ROS_ERROR("When setting the address %s only one sensor should be attached to the module", sensor_address_str.c_str());
sensor_address_str = "";
}
else {
ROS_INFO("Setting sensor address to %s", sensor_address_str.c_str());
}
}
}
// sonar ranges are stored in this array
int range_mm[no_of_sensors];
// create the publisher
sonar_pub = n.advertise<usbi2c::sonar_params>("sonar", 10);
sonar_filtered_pub = n.advertise<sensor_msgs::Range> ("/sonar_height", 2, true);
// create filters
cAFilter = new ContingencyAnalysisWindowMeanFilter(3, 1.0);
outlierFilter = new OutlierRejectionFilter(-0.25, 0.5);
SerialPort serial;
if (serial.Open(device_name) == 0) {
// 19200 baud, 8 data bits, no parity, 2 stop bits
serial.Initialise(19200, 8, 2, PARITY_NONE);
ROS_INFO("Connected to %s", device_name.c_str());
if (sensor_address_str != "") {
// set the address of the sonar sensor
SetSensorAddress(serial, (unsigned char)sensor_address, 2000);
}
//ros::Rate loop_rate(20);
while ((n.ok()) && (!transmission_complete)) {
Update(serial,10,range_mm);
ros::spinOnce();
//loop_rate.sleep();
}
ROS_INFO("Closing %s", device_name.c_str());
}
else {
ROS_WARN("Can't open %s", device_name.c_str());
}
}
return 0;
}