简易通讯完成

This commit is contained in:
Robofish 2025-02-19 21:49:10 +08:00
parent b09dca6d82
commit d4d226d999
10 changed files with 566 additions and 1 deletions

47
CMakeLists.txt Normal file
View File

@ -0,0 +1,47 @@
cmake_minimum_required(VERSION 3.5)
project(rm_serial_driver)
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(std_msgs REQUIRED)
find_package(serial REQUIRED)
find_package(rm_msgs REQUIRED)
#
add_library(rm_serial_driver SHARED
src/rm_serial_driver.cpp
src/crc.cpp
)
target_include_directories(rm_serial_driver PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
ament_target_dependencies(rm_serial_driver
rclcpp
rclcpp_components
std_msgs
serial
rm_msgs
)
#
rclcpp_components_register_nodes(rm_serial_driver "rm_serial_driver::RMSerialDriver")
install(DIRECTORY launch
DESTINATION share/${PROJECT_NAME}/
)
install(DIRECTORY config
DESTINATION share/${PROJECT_NAME}/
)
install(TARGETS rm_serial_driver
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
ament_package()

View File

@ -1,2 +1,71 @@
```markdown
# rm_serial_driver
ROS2 : The upper computer serial communication program suitable for XR.
ROS2: 适用于RM的简易上位机串口通信程序。
## 使用方式
### 1. 安装依赖
首先,安装所需的依赖包:
```bash
sudo apt install ros-humble-serial-driver
```
### 2. 编译并安装串口库
克隆串口库源码并编译安装:
```bash
git clone https://github.com/ZhaoXiangBox/serial.git
cd serial
mkdir build
cd build
cmake ..
make
sudo make install
```
**注意**:安装完成后可能需要重启系统。
### 3. 下载并编译项目
将项目克隆到你的ROS2工作空间中
```bash
cd ~/ros2_ws/src
git clone https://github.com/goldenfishs/rm_serial_driver.git
git clone https://github.com/goldenfishs/rm_msg.git # 包含所需的自定义话题消息,必须一起使用
```
回到工作空间并编译:
```bash
cd ~/ros2_ws
colcon build
source install/setup.bash
```
### 4. 运行程序
使用以下命令启动串口驱动:
```bash
ros2 launch rm_serial_driver rm_serial_driver.launch.py
```
使用时请将上位机控制命令发送到data_ai话题即可将数据传给下位机下位机发送上来的数据会发布到data_mcu和data_ref话题其他程序可直接哪去
### 5. 自定义通信协议
如果需要自定义通信协议,可以参考 `protocol.h` 文件,修改对应的协议。同时,修改 `rm_msgs` 包中的自定义消息,注意数据顺序和数据类型。修改完成后,重新编译即可。
```bash
colcon build
source install/setup.bash
```
## 注意事项
- 确保在修改协议和消息后重新编译项目。
- 如果遇到问题,请检查串口连接和权限设置。

View File

@ -0,0 +1,4 @@
/rm_serial_driver:
ros__parameters:
device_name: /dev/ttyACM0
baud_rate: 115200

View File

@ -0,0 +1,14 @@
#pragma once
#include <cstddef>
#include <cstdint>
#define CRC16_INIT 0xFFFF
namespace crc16 {
uint16_t CRC16_Calc(const uint8_t *buf, size_t len, uint16_t crc);
bool CRC16_Verify(const uint8_t *buf, size_t len);
} // namespace crc16

View File

@ -0,0 +1,69 @@
#pragma once
#define ID_MCU (0xC4)
#define ID_REF (0xC5)
#include <cstdint>
typedef struct __attribute__((packed))
{
struct __attribute__((packed))
{
float q0;
float q1;
float q2;
float q3;
} quat; /* 四元数 */
struct __attribute__((packed))
{
float yaw;
float pit;
float rol;
} gimbal; /* 欧拉角 */
uint8_t notice; /* 控制命令 */
} DataMCU_t;
typedef struct __attribute__((packed))
{
uint8_t id;
DataMCU_t data;
uint16_t crc16;
} PackageMCU_t;
typedef struct __attribute__((packed))
{
uint16_t team; /* 本身队伍 */
uint16_t time; /* 比赛开始时间 */
uint8_t sentry_hp; /* 哨兵血量 */
uint8_t ballet_remain; /* 剩余弹量 */
} DataReferee_t;
typedef struct __attribute__((packed))
{
uint8_t id;
DataReferee_t data;
uint16_t crc16;
} PackageReferee_t;
typedef struct __attribute__((packed))
{
struct __attribute__((packed))
{
float yaw;
float pit;
float rol;
} delta_eulr;
struct __attribute__((packed))
{
float vx;
float vy;
float wz;
} delta_pos;
uint8_t notice; /* 控制命令 */
} DataAI_t;
typedef struct __attribute__((packed))
{
DataAI_t data;
uint16_t crc16;
} PackageAI_t;

View File

@ -0,0 +1,42 @@
#pragma once
#include <serial/serial.h>
#include <atomic>
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/string.hpp>
#include <string>
#include <thread>
#include "rm_msgs/msg/data_mcu.hpp"
#include "rm_msgs/msg/data_ref.hpp"
#include "rm_msgs/msg/data_ai.hpp"
#include "rm_serial_driver/crc.hpp"
#include "rm_serial_driver/protocol.hpp"
namespace rm_serial_driver
{
class RMSerialDriver : public rclcpp::Node
{
public:
explicit RMSerialDriver(const rclcpp::NodeOptions &options);
~RMSerialDriver() override;
private:
size_t get_expected_length(uint8_t id);
void process_packet(uint8_t id, const char *data, size_t packet_size);
void receive_data();
void reopen_port();
void data_ai_callback(const rm_msgs::msg::DataAI::SharedPtr msg);
std::unique_ptr<serial::Serial> serial_port_;
rclcpp::Publisher<rm_msgs::msg::DataMCU>::SharedPtr data_mcu_pub_;
rclcpp::Publisher<rm_msgs::msg::DataRef>::SharedPtr data_ref_pub_;
rclcpp::Subscription<rm_msgs::msg::DataAI>::SharedPtr data_ai_sub_;
std::thread read_thread_; // 串口数据读取线程
std::atomic<bool> running_; // 原子操作: 保证多线程操作时的数据一致性
std::string serial_buffer_; // 串口数据缓冲区
};
} // namespace rm_serial_driver

View File

@ -0,0 +1,26 @@
from launch import LaunchDescription
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
import os
from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
pkg_share = get_package_share_directory('rm_serial_driver')
param_file = os.path.join(pkg_share, 'config', 'serial_config.yaml')
container = ComposableNodeContainer(
name='rm_serial_container',
namespace='',
package='rclcpp_components',
executable='component_container_mt', # 多线程容器
composable_node_descriptions=[
ComposableNode(
package='rm_serial_driver',
plugin='rm_serial_driver::RMSerialDriver',
name='rm_serial_driver',
parameters=[param_file]
)
],
output='screen'
)
return LaunchDescription([container])

18
package.xml Normal file
View File

@ -0,0 +1,18 @@
<package format="2">
<name>rm_serial_driver</name>
<version>0.0.0</version>
<description>ROS2 Humble Serial Driver</description>
<maintainer email="your_email@example.com">Your Name</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<build_depend>geometry_msgs</build_depend>
<depend>rclcpp</depend>
<depend>std_msgs</depend>
<depend>serial</depend>
<depend>rm_msgs</depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

72
src/crc.cpp Normal file
View File

@ -0,0 +1,72 @@
#include "rm_serial_driver/crc.hpp"
namespace crc16 {
static const uint16_t crc16_tab[256] = {
0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, 0x8c48, 0x9dc1, 0xaf5a, 0xbed3,
0xca6c, 0xdbe5, 0xe97e, 0xf8f7, 0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876, 0x2102, 0x308b, 0x0210, 0x1399,
0x6726, 0x76af, 0x4434, 0x55bd, 0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c, 0xbdcb, 0xac42, 0x9ed9, 0x8f50,
0xfbef, 0xea66, 0xd8fd, 0xc974, 0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3, 0x5285, 0x430c, 0x7197, 0x601e,
0x14a1, 0x0528, 0x37b3, 0x263a, 0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9, 0xef4e, 0xfec7, 0xcc5c, 0xddd5,
0xa96a, 0xb8e3, 0x8a78, 0x9bf1, 0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70, 0x8408, 0x9581, 0xa71a, 0xb693,
0xc22c, 0xd3a5, 0xe13e, 0xf0b7, 0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036, 0x18c1, 0x0948, 0x3bd3, 0x2a5a,
0x5ee5, 0x4f6c, 0x7df7, 0x6c7e, 0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd, 0xb58b, 0xa402, 0x9699, 0x8710,
0xf3af, 0xe226, 0xd0bd, 0xc134, 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3, 0x4a44, 0x5bcd, 0x6956, 0x78df,
0x0c60, 0x1de9, 0x2f72, 0x3efb, 0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a, 0xe70e, 0xf687, 0xc41c, 0xd595,
0xa12a, 0xb0a3, 0x8238, 0x93b1, 0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330, 0x7bc7, 0x6a4e, 0x58d5, 0x495c,
0x3de3, 0x2c6a, 0x1ef1, 0x0f78};
/**
* @brief CRCCRC16-CCITT
* @param crc
* @param data
* @return uint16_t CRC
*/
static inline uint16_t CRC16_Byte(uint16_t crc, const uint8_t data)
{
return (crc >> 8) ^ crc16_tab[(crc ^ data) & 0xff];
}
/**
* @brief CRCCRC16-CCITT
* @param buf
* @param len
* @param crc
* @return
*/
uint16_t CRC16_Calc(const uint8_t *buf, size_t len, uint16_t crc)
{
while (len--)
{
crc = CRC16_Byte(crc, *buf++);
}
return crc;
}
/**
* @brief CRCCRC16-CCITT
* @param buf
* @param len
* @return
*/
bool CRC16_Verify(const uint8_t *buf, size_t len)
{
if (len < sizeof(uint16_t))
return false;
uint16_t expected = CRC16_Calc(buf, len - sizeof(uint16_t), CRC16_INIT);
auto ptr = reinterpret_cast<const uint16_t *>(buf + (len % 2));
return expected == ptr[len / sizeof(uint16_t) - 1];
}
} // namespace crc16

204
src/rm_serial_driver.cpp Normal file
View File

@ -0,0 +1,204 @@
#include "rm_serial_driver/rm_serial_driver.hpp"
#include <chrono>
#include <cstring>
#include <iomanip>
#include <memory>
#include <rclcpp/rclcpp.hpp>
#include <sstream>
#include <std_msgs/msg/string.hpp>
#include <thread>
namespace rm_serial_driver
{
/**
* @brief 线
* @param options
*/
RMSerialDriver::RMSerialDriver(const rclcpp::NodeOptions &options)
: Node("rm_serial_driver", options), running_(true)
{
std::string device = this->declare_parameter("device_name", std::string("/dev/ttyACM0"));
int baud = this->declare_parameter("baud_rate", 115200);
serial_port_ =
std::make_unique<serial::Serial>(device, baud, serial::Timeout::simpleTimeout(1000));
data_mcu_pub_ = this->create_publisher<rm_msgs::msg::DataMCU>("data_mcu", 10);
data_ref_pub_ = this->create_publisher<rm_msgs::msg::DataRef>("data_ref", 10);
data_ai_sub_ = this->create_subscription<rm_msgs::msg::DataAI>(
"data_ai", 10, std::bind(&RMSerialDriver::data_ai_callback, this, std::placeholders::_1)); // 新增订阅者
read_thread_ = std::thread(&RMSerialDriver::receive_data, this);
RCLCPP_INFO(get_logger(), "RM 启动!!!");
}
/**
* @brief 线
*/
RMSerialDriver::~RMSerialDriver()
{
running_.store(false);
if (read_thread_.joinable())
{
read_thread_.join();
}
if (serial_port_->isOpen())
{
serial_port_->close();
}
}
/**
* @brief AI
* @param msg
*/
void RMSerialDriver::data_ai_callback(const rm_msgs::msg::DataAI::SharedPtr msg)
{
PackageAI_t package;
std::memcpy(&package.data, msg.get(), sizeof(DataAI_t));
package.crc16 = crc16::CRC16_Calc(reinterpret_cast<const uint8_t *>(&package.data), sizeof(DataAI_t), CRC16_INIT);
serial_port_->write(reinterpret_cast<const uint8_t *>(&package), sizeof(PackageAI_t));
}
/**
* @brief
* @param id
* @return
*/
size_t RMSerialDriver::get_expected_length(uint8_t id)
{
if (id == ID_MCU)
return sizeof(PackageMCU_t);
else if (id == ID_REF)
return sizeof(PackageReferee_t);
return 0;
}
/**
* @brief
* @param id
* @param data
* @param packet_size
*/
void RMSerialDriver::process_packet(uint8_t id, const char *data, size_t packet_size)
{
if (id == ID_MCU)
{
PackageMCU_t mcu;
std::memcpy(&mcu, data, packet_size); // 将 data 拷贝到 mcu 中
if (crc16::CRC16_Verify(reinterpret_cast<uint8_t *>(&mcu) + 1, packet_size - 1))
{
rm_msgs::msg::DataMCU msg;
std::memcpy(&msg, &mcu.data, sizeof(mcu.data)); // 将数据拷贝到 msg 中
data_mcu_pub_->publish(msg);
}
else
{
RCLCPP_ERROR(get_logger(), "CRC 校验失败(MCU)");
}
}
else if (id == ID_REF)
{
PackageReferee_t ref;
std::memcpy(&ref, data, packet_size);
if (crc16::CRC16_Verify(reinterpret_cast<uint8_t *>(&ref) + 1, packet_size - 1))
{
rm_msgs::msg::DataRef msg;
std::memcpy(&msg, &ref.data, sizeof(ref.data));
data_ref_pub_->publish(msg);
}
else
{
RCLCPP_WARN(get_logger(), "CRC 校验失败(MCU)");
}
}
else
{
// 未知 ID丢弃该字节
}
}
/**
* @brief 线
* @param args 线
*/
void RMSerialDriver::receive_data()
{
while (rclcpp::ok() && running_.load())
{
try
{
if (serial_port_->available())
{
std::string buffer = serial_port_->read(serial_port_->available());
serial_buffer_ += buffer;
while (true)
{
size_t header_pos = serial_buffer_.find_first_of(
std::string() + static_cast<char>(ID_MCU) + static_cast<char>(ID_REF)); // 查找第一个出现的字符
if (header_pos == std::string::npos)
{
serial_buffer_.clear();
break;
}
if (header_pos > 0)
{
serial_buffer_.erase(0, header_pos);
}
if (serial_buffer_.empty())
break;
uint8_t id = static_cast<uint8_t>(serial_buffer_[0]);
size_t expected_length = get_expected_length(id);
if (expected_length == 0)
{
serial_buffer_.erase(0, 1);
continue;
}
if (serial_buffer_.size() < expected_length)
break;
process_packet(id, serial_buffer_.data(), expected_length);
serial_buffer_.erase(0, expected_length);
}
}
}
catch (const std::exception &ex)
{
reopen_port();
}
std::this_thread::sleep_for(std::chrono::milliseconds(10));
}
}
/**
* @brief
* @note
*/
void RMSerialDriver::reopen_port()
{
if (serial_port_->isOpen())
{
serial_port_->close();
}
bool port_opened = false;
while (!port_opened && rclcpp::ok())
{
try
{
RCLCPP_WARN(get_logger(), "串口意外关闭,正在尝试重新打开...");
serial_port_->open();
port_opened = true;
}
catch (const std::exception &ex)
{
std::this_thread::sleep_for(std::chrono::seconds(1));
}
}
}
} // namespace rm_serial_driver
#include "rclcpp_components/register_node_macro.hpp"
RCLCPP_COMPONENTS_REGISTER_NODE(rm_serial_driver::RMSerialDriver)