ROS主控讀取stm32發(fā)送的數(shù)據(jù)

之后便可以通過

Stm32_Serial.read(Receive_Data_Pr,sizeof(Receive_Data_Pr));

read函數(shù)讀取串口接收到的字節(jié)，之后通過定義的通信協(xié)議再進行和校驗與數(shù)據(jù)解析即可stm32向ROS主控發(fā)送數(shù)據(jù)。

ROS主控向stm32發(fā)送數(shù)據(jù)

ROS主控向stm32發(fā)送數(shù)據(jù)的代碼如下：

將之前定義的發(fā)送數(shù)據(jù)的結(jié)構(gòu)體 Send_Data的tx 中填入要發(fā)送的字節(jié)

Send_Data.tx[0]=FRAME_HEADER; //frame head 0x7B //幀頭0X7B
 Send_Data.tx[1] = 0; //set aside //預(yù)留位
 Send_Data.tx[2] = 0; //set aside //預(yù)留位

填好字節(jié)后，直接通過下面代碼發(fā)送即可

try
  {
    Stm32_Serial.write(Send_Data.tx,sizeof (Send_Data.tx)); //Sends data to the downloader via serial port //通過串口向下位機發(fā)送數(shù)據(jù) 
  }
  catch (serial::IOException& e)   
  {
    ROS_ERROR_STREAM("Unable to send data through serial port"); //If sending data fails, an error message is printed //如果發(fā)送數(shù)據(jù)失敗，打印錯誤信息
  }