diff --git a/src/slam_wrapper.cpp b/src/slam_wrapper.cpp index 4a8bfbd..a751e0c 100644 --- a/src/slam_wrapper.cpp +++ b/src/slam_wrapper.cpp @@ -57,9 +57,6 @@ const std::vector right_command = { 0xFE, 0xFE, 0x0F, 0x3C, 0x0B, 0xB1, 0x08, 0x6B, 0x07, 0x57, 0x08, 0x4D, 0x0B, 0x89, 0x07, 0xE2, 0x1E, 0xFA }; - const std::vector default_command = { - 0xFE, 0xFE, 0x0F, 0x3C, 0x07, 0xF7, 0x08, 0x18, 0x08, 0x0B, 0x08, 0x4B, 0x0A, 0x7D, 0x08, 0x0A, 0x1E, 0xFA - }; std::cout << "move_to_i start" << std::endl; serial_port_->write(left_command); @@ -77,9 +74,6 @@ const std::vector right_command = { 0xFE, 0xFE, 0x0F, 0x3C, 0x05, 0x4D, 0x08, 0xD5, 0x07, 0x5D, 0x08, 0x94, 0x0A, 0xD5, 0x07, 0xFA, 0x05, 0xFA }; - const std::vector default_command = { - 0xFE, 0xFE, 0x0F, 0x3C, 0x07, 0xF7, 0x08, 0x18, 0x08, 0x0B, 0x08, 0x4B, 0x0A, 0x7D, 0x08, 0x0A, 0x1E, 0xFA - }; std::cout << "move_to_o start" << std::endl; serial_port_->write(left_command); @@ -141,7 +135,7 @@ std::this_thread::sleep_for(std::chrono::seconds(10)); recover_navigation(); std::cout << "倒计时结束，恢复机械臂初始位置，恢复巡检"; - serial_port_->write(init_command); + serial_port_->write(default_command); } catch (const std::exception &e) { std::cerr << "线程执行过程中发生异常: " << e.what() << std::endl; } diff --git a/src/slam_wrapper.cpp b/src/slam_wrapper.cpp index 4a8bfbd..a751e0c 100644 --- a/src/slam_wrapper.cpp +++ b/src/slam_wrapper.cpp @@ -57,9 +57,6 @@ const std::vector right_command = { 0xFE, 0xFE, 0x0F, 0x3C, 0x0B, 0xB1, 0x08, 0x6B, 0x07, 0x57, 0x08, 0x4D, 0x0B, 0x89, 0x07, 0xE2, 0x1E, 0xFA }; - const std::vector default_command = { - 0xFE, 0xFE, 0x0F, 0x3C, 0x07, 0xF7, 0x08, 0x18, 0x08, 0x0B, 0x08, 0x4B, 0x0A, 0x7D, 0x08, 0x0A, 0x1E, 0xFA - }; std::cout << "move_to_i start" << std::endl; serial_port_->write(left_command); @@ -77,9 +74,6 @@ const std::vector right_command = { 0xFE, 0xFE, 0x0F, 0x3C, 0x05, 0x4D, 0x08, 0xD5, 0x07, 0x5D, 0x08, 0x94, 0x0A, 0xD5, 0x07, 0xFA, 0x05, 0xFA }; - const std::vector default_command = { - 0xFE, 0xFE, 0x0F, 0x3C, 0x07, 0xF7, 0x08, 0x18, 0x08, 0x0B, 0x08, 0x4B, 0x0A, 0x7D, 0x08, 0x0A, 0x1E, 0xFA - }; std::cout << "move_to_o start" << std::endl; serial_port_->write(left_command); @@ -141,7 +135,7 @@ std::this_thread::sleep_for(std::chrono::seconds(10)); recover_navigation(); std::cout << "倒计时结束，恢复机械臂初始位置，恢复巡检"; - serial_port_->write(init_command); + serial_port_->write(default_command); } catch (const std::exception &e) { std::cerr << "线程执行过程中发生异常: " << e.what() << std::endl; } diff --git a/src/slam_wrapper.hpp b/src/slam_wrapper.hpp index 7e794ce..3dd2e56 100644 --- a/src/slam_wrapper.hpp +++ b/src/slam_wrapper.hpp @@ -97,8 +97,8 @@ int index = 0; const Odometry_ *currentOdom{}; RoboticArmSerialPort *serial_port_; - const std::vector init_command = { - 0xFE, 0xFE, 0x0F, 0x3C, 0x08, 0x00, 0x08, 0x00, 0x08, 0x00, 0x08, 0x00, 0x08, 0x00, 0x08, 0x00, 0x14, 0xFA + const std::vector default_command = { + 0xFE, 0xFE, 0x0F, 0x3C, 0x07, 0xF7, 0x08, 0x18, 0x08, 0x0B, 0x08, 0x4B, 0x0A, 0x7D, 0x08, 0x0A, 0x1E, 0xFA }; // pub diff --git a/src/slam_wrapper.cpp b/src/slam_wrapper.cpp index 4a8bfbd..a751e0c 100644 --- a/src/slam_wrapper.cpp +++ b/src/slam_wrapper.cpp @@ -57,9 +57,6 @@ const std::vector right_command = { 0xFE, 0xFE, 0x0F, 0x3C, 0x0B, 0xB1, 0x08, 0x6B, 0x07, 0x57, 0x08, 0x4D, 0x0B, 0x89, 0x07, 0xE2, 0x1E, 0xFA }; - const std::vector default_command = { - 0xFE, 0xFE, 0x0F, 0x3C, 0x07, 0xF7, 0x08, 0x18, 0x08, 0x0B, 0x08, 0x4B, 0x0A, 0x7D, 0x08, 0x0A, 0x1E, 0xFA - }; std::cout << "move_to_i start" << std::endl; serial_port_->write(left_command); @@ -77,9 +74,6 @@ const std::vector right_command = { 0xFE, 0xFE, 0x0F, 0x3C, 0x05, 0x4D, 0x08, 0xD5, 0x07, 0x5D, 0x08, 0x94, 0x0A, 0xD5, 0x07, 0xFA, 0x05, 0xFA }; - const std::vector default_command = { - 0xFE, 0xFE, 0x0F, 0x3C, 0x07, 0xF7, 0x08, 0x18, 0x08, 0x0B, 0x08, 0x4B, 0x0A, 0x7D, 0x08, 0x0A, 0x1E, 0xFA - }; std::cout << "move_to_o start" << std::endl; serial_port_->write(left_command); @@ -141,7 +135,7 @@ std::this_thread::sleep_for(std::chrono::seconds(10)); recover_navigation(); std::cout << "倒计时结束，恢复机械臂初始位置，恢复巡检"; - serial_port_->write(init_command); + serial_port_->write(default_command); } catch (const std::exception &e) { std::cerr << "线程执行过程中发生异常: " << e.what() << std::endl; } diff --git a/src/slam_wrapper.hpp b/src/slam_wrapper.hpp index 7e794ce..3dd2e56 100644 --- a/src/slam_wrapper.hpp +++ b/src/slam_wrapper.hpp @@ -97,8 +97,8 @@ int index = 0; const Odometry_ *currentOdom{}; RoboticArmSerialPort *serial_port_; - const std::vector init_command = { - 0xFE, 0xFE, 0x0F, 0x3C, 0x08, 0x00, 0x08, 0x00, 0x08, 0x00, 0x08, 0x00, 0x08, 0x00, 0x08, 0x00, 0x14, 0xFA + const std::vector default_command = { + 0xFE, 0xFE, 0x0F, 0x3C, 0x07, 0xF7, 0x08, 0x18, 0x08, 0x0B, 0x08, 0x4B, 0x0A, 0x7D, 0x08, 0x0A, 0x1E, 0xFA }; // pub diff --git a/src/tcp_client.cpp b/src/tcp_client.cpp index 709a7dc..91c6720 100644 --- a/src/tcp_client.cpp +++ b/src/tcp_client.cpp @@ -18,7 +18,7 @@ void TcpClient::handle_data(const std::vector &buffer) { const std::string received_string(buffer.begin(), buffer.end()); - std::cout << "Handle tcp client message >>>> " << received_string << std::endl; + std::cout << "Handle tcp client message >>>> " << received_string << std::endl; if (received_string == "q") { std::cout << "Close all nodes" << std::endl; _slam.close_all_node();