收发测试

2026-03-23 02:10:54 +08:00
parent 338ca9d2b7
commit f2ebd8e78a
7 changed files with 830 additions and 0 deletions
--- a/launch/transmitter_test.launch.py
+++ b/launch/transmitter_test.launch.py
@@ -0,0 +1,112 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    # 声明启动参数 - 基本设置
+    send_frequency_arg = DeclareLaunchArgument(
+        'send_frequency',
+        default_value='50.0',
+        description='CAN 发送频率 (Hz)'
+    )
+    
+    tx_channel_arg = DeclareLaunchArgument(
+        'tx_channel',
+        default_value='0',
+        description='CAN 发送通道 (0 或 1)'
+    )
+    
+    rx_channel_arg = DeclareLaunchArgument(
+        'rx_channel',
+        default_value='1',
+        description='CAN 接收通道 (0 或 1)'
+    )
+    
+    # 声明启动参数 - CAN ID 设置
+    can_id_motion_arg = DeclareLaunchArgument(
+        'can_id_motion',
+        default_value='329',  # 0x149 = 329
+        description='运动控制 CAN ID (十进制，默认 0x149=329)'
+    )
+    
+    can_id_attack_arg = DeclareLaunchArgument(
+        'can_id_attack',
+        default_value='393',  # 0x189 = 393
+        description='攻击控制 CAN ID (十进制，默认 0x189=393)'
+    )
+    
+    # 声明启动参数 - CAN 帧格式
+    use_extended_frame_arg = DeclareLaunchArgument(
+        'use_extended_frame',
+        default_value='false',
+        description='是否使用扩展帧(29位ID)，false=标准帧(11位)'
+    )
+    
+    use_canfd_arg = DeclareLaunchArgument(
+        'use_canfd',
+        default_value='false',
+        description='是否使用 CANFD，false=CAN2.0'
+    )
+    
+    use_brs_arg = DeclareLaunchArgument(
+        'use_brs',
+        default_value='false',
+        description='CANFD 是否启用波特率切换(BRS)'
+    )
+    
+    # 声明启动参数 - 接收过滤
+    rx_filter_enabled_arg = DeclareLaunchArgument(
+        'rx_filter_enabled',
+        default_value='false',
+        description='是否启用接收 ID 过滤'
+    )
+    
+    rx_filter_id_min_arg = DeclareLaunchArgument(
+        'rx_filter_id_min',
+        default_value='0',
+        description='接收过滤 ID 最小值'
+    )
+    
+    rx_filter_id_max_arg = DeclareLaunchArgument(
+        'rx_filter_id_max',
+        default_value='2047',  # 0x7FF
+        description='接收过滤 ID 最大值'
+    )
+
+    # 创建节点
+    transmitter_test_node = Node(
+        package='amadeus_26',
+        executable='transmitter_test_node',
+        name='transmitter_test_node',
+        output='screen',
+        parameters=[{
+            'send_frequency': LaunchConfiguration('send_frequency'),
+            'tx_channel': LaunchConfiguration('tx_channel'),
+            'rx_channel': LaunchConfiguration('rx_channel'),
+            'can_id_motion': LaunchConfiguration('can_id_motion'),
+            'can_id_attack': LaunchConfiguration('can_id_attack'),
+            'use_extended_frame': LaunchConfiguration('use_extended_frame'),
+            'use_canfd': LaunchConfiguration('use_canfd'),
+            'use_brs': LaunchConfiguration('use_brs'),
+            'rx_filter_enabled': LaunchConfiguration('rx_filter_enabled'),
+            'rx_filter_id_min': LaunchConfiguration('rx_filter_id_min'),
+            'rx_filter_id_max': LaunchConfiguration('rx_filter_id_max'),
+        }],
+    )
+
+    return LaunchDescription([
+        send_frequency_arg,
+        tx_channel_arg,
+        rx_channel_arg,
+        can_id_motion_arg,
+        can_id_attack_arg,
+        use_extended_frame_arg,
+        use_canfd_arg,
+        use_brs_arg,
+        rx_filter_enabled_arg,
+        rx_filter_id_min_arg,
+        rx_filter_id_max_arg,
+        transmitter_test_node,
+    ])