暂时放弃 CRC 实现

docs/Transmit/ctrl_frame.md

@@ -20,8 +20,6 @@
 SOF(2) + x_move(2) + y_move(2) + yaw(2) + pitch(2) + feed(2) + key(1) + crc8(1) + EOF(1) = 15 bytes
 ```
 
-**FRAME_LENGTH = 15**
-
 ## 字节序
 
 - 所有 int16_t 类型字段（x_move, y_move, yaw, pitch, feed）使用 **小端序**

launch/uart_transmitter.launch.py

@@ -57,14 +57,14 @@ def generate_launch_description():
     
     left_switch_arg = DeclareLaunchArgument(
         'left_switch',
-        default_value='0',
+        default_value='3',
-        description='左拨杆 [0, 15]'
+        description='左拨杆 [1, 3]'
     )
     
     right_switch_arg = DeclareLaunchArgument(
         'right_switch',
-        default_value='0',
+        default_value='3',
-        description='右拨杆 [0, 15]'
+        description='右拨杆 [1, 3]'
     )
 
     # 创建节点

src/uart_transmitter_node.cpp

@@ -239,11 +239,22 @@ private:
 
     // CRC8 (除帧头和帧尾外的所有数据，不包括CRC本身)
     // 当前idx=13, 数据长度=11 (从frame[2]到frame[12])
-    frame[idx++] = calculateCRC8(frame + 2, 11);
+    // uint8_t crc_value = calculateCRC8(frame + 2, 11);
+    frame[idx++] = 0xCC; // crc_value
 
     // 帧尾
     frame[idx++] = FRAME_TAIL;
 
+    // 调试输出：打印完整帧内容
+    std::string frame_hex;
+    char buf[4];
+    for (int i = 0; i < FRAME_LENGTH; i++) {
+      snprintf(buf, sizeof(buf), "%02X ", frame[i]);
+      frame_hex += buf;
+    }
+    RCLCPP_INFO(this->get_logger(), "[发包](%d字节): %s", FRAME_LENGTH,
+                frame_hex.c_str());
+
     // 发送数据
     ssize_t written = write(serial_fd_, frame, FRAME_LENGTH);
     if (written != FRAME_LENGTH) {
@@ -298,12 +309,34 @@ private:
                     calculateCRC8(frame_buffer.data() + 2, FRAME_LENGTH - 4);
 
                 if (rx_crc == calc_crc) {
-                  RCLCPP_INFO(this->get_logger(), "收到有效帧，CRC 验证通过");
+                  // 解析数据（小端序）
+                  int16_t x_move = frame_buffer[2] | (frame_buffer[3] << 8);
+                  int16_t y_move = frame_buffer[4] | (frame_buffer[5] << 8);
+                  int16_t yaw = frame_buffer[6] | (frame_buffer[7] << 8);
+                  int16_t pitch = frame_buffer[8] | (frame_buffer[9] << 8);
+                  int16_t feed = frame_buffer[10] | (frame_buffer[11] << 8);
+                  uint8_t key = frame_buffer[12];
+                  uint8_t left_switch = (key >> 4) & 0x0F;
+                  uint8_t right_switch = key & 0x0F;
+
+                  // 输出详细日志
+                  RCLCPP_INFO(this->get_logger(),
+                              "[收包]: %02X %02X | x:%d y:%d yaw:%d "
+                              "pitch:%d feed:%d | L:%d R:%d | CRC:%02X | %02X",
+                              frame_buffer[0], frame_buffer[1], x_move, y_move,
+                              yaw, pitch, feed, left_switch, right_switch,
+                              rx_crc, frame_buffer[FRAME_LENGTH - 1]);
                 } else {
-                  RCLCPP_WARN(this->get_logger(),
+                  RCLCPP_WARN(
-                              "CRC 错误: 接收=%02X, 计算=%02X", rx_crc,
+                      this->get_logger(),
-                              calc_crc);
+                      "[CRC错误] 接收=%02X, 计算=%02X, 帧内容: %s", rx_crc,
+                      calc_crc,
+                      bytesToHex(frame_buffer.data(), FRAME_LENGTH).c_str());
                 }
+              } else {
+                RCLCPP_WARN(this->get_logger(),
+                            "[帧尾错误] 期望=%02X, 实际=%02X", FRAME_TAIL,
+                            frame_buffer[FRAME_LENGTH - 1]);
               }
 
               // 清空缓冲区，准备下一帧
@@ -318,10 +351,20 @@ private:
         RCLCPP_ERROR(this->get_logger(), "读取错误: %s", strerror(errno));
       }
 
-      std::this_thread::sleep_for(std::chrono::milliseconds(10));
+      std::this_thread::sleep_for(std::chrono::milliseconds(1));
     }
   }
 
+  std::string bytesToHex(const uint8_t *data, size_t len) {
+    std::string result;
+    char buf[4];
+    for (size_t i = 0; i < len; i++) {
+      snprintf(buf, sizeof(buf), "%02X ", data[i]);
+      result += buf;
+    }
+    return result;
+  }
+
   void publishStatus() {
     auto msg = std_msgs::msg::Bool();
     msg.data = is_connected_ && (serial_fd_ >= 0);