261 lines
7.6 KiB
C++
261 lines
7.6 KiB
C++
/**
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* @file test_yaw_swing.cpp
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* @brief 测试程序：yaw 轴左右摆动测试
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*
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* 发送序列: yaw=100 保持1秒 -> yaw=-100 保持1秒 -> 循环
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* 用法: ./test_yaw_swing [循环次数]
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* 示例: ./test_yaw_swing 3 (循环3次后停止，默认无限循环)
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*
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* 协议帧格式（15字节）：
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* | 0xBB | 0x77 | x_move(2B) | y_move(2B) | yaw(2B) | pitch(2B) | feed(2B) | switch(1B) | CRC8 | 0xEE |
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*/
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#include <cstring>
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#include <iostream>
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#include <fcntl.h>
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#include <termios.h>
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#include <unistd.h>
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#include <chrono>
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#include <thread>
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#include <cstdlib>
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// 帧定义 - 与示例程序完全一致
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constexpr uint8_t FRAME_HEADER_1 = 0xBB;
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constexpr uint8_t FRAME_HEADER_2 = 0x77;
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constexpr uint8_t FRAME_TAIL = 0xEE;
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constexpr int FRAME_LENGTH = 15;
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// 串口配置
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constexpr const char *SERIAL_PORT = "/dev/ttyCH340";
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constexpr int BAUDRATE = 115200;
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// 测试参数
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constexpr int16_t YAW_RIGHT = 100; // 向右100
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constexpr int16_t YAW_LEFT = -100; // 向左-100
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constexpr int HOLD_TIME_MS = 1000; // 保持1秒
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constexpr int SEND_INTERVAL_MS = 20; // 50Hz
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// CRC8 计算
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uint8_t calculateCRC8(const uint8_t *data, size_t len) {
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uint8_t crc = 0xFF;
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for (size_t i = 0; i < len; i++) {
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crc ^= data[i];
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for (int j = 0; j < 8; j++) {
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if (crc & 0x80) {
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crc = (crc << 1) ^ 0x31;
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} else {
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crc <<= 1;
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}
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}
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}
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return crc;
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}
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speed_t convertBaudrate(int baudrate) {
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switch (baudrate) {
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case 9600: return B9600;
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case 19200: return B19200;
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case 38400: return B38400;
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case 57600: return B57600;
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case 115200: return B115200;
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default: return B115200;
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}
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}
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int initSerial(const char *port, int baudrate) {
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std::cout << "正在打开串口 " << port << "..." << std::endl;
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int fd = open(port, O_RDWR | O_NOCTTY | O_NDELAY);
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if (fd < 0) {
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std::cerr << "无法打开串口 " << port << ": " << strerror(errno) << std::endl;
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return -1;
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}
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struct termios tty;
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memset(&tty, 0, sizeof(tty));
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if (tcgetattr(fd, &tty) != 0) {
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std::cerr << "tcgetattr 错误: " << strerror(errno) << std::endl;
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close(fd);
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return -1;
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}
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speed_t baud = convertBaudrate(baudrate);
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cfsetospeed(&tty, baud);
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cfsetispeed(&tty, baud);
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tty.c_cflag &= ~PARENB;
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tty.c_cflag &= ~CSTOPB;
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tty.c_cflag &= ~CSIZE;
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tty.c_cflag |= CS8;
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tty.c_cflag |= CREAD | CLOCAL;
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tty.c_cflag &= ~CRTSCTS;
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tty.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
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tty.c_iflag &= ~(IXON | IXOFF | IXANY);
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tty.c_oflag &= ~OPOST;
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tty.c_cc[VMIN] = 0;
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tty.c_cc[VTIME] = 1;
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if (tcsetattr(fd, TCSANOW, &tty) != 0) {
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std::cerr << "tcsetattr 错误: " << strerror(errno) << std::endl;
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close(fd);
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return -1;
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}
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tcflush(fd, TCIOFLUSH);
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std::cout << "串口打开成功" << std::endl;
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return fd;
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}
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void sendControlFrame(int fd, int16_t yaw_val) {
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// 控制参数
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int16_t x_move = 0;
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int16_t y_move = 0;
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int16_t pitch_val = 0;
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int16_t feed = 0;
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uint8_t left_switch = 3;
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uint8_t right_switch = 3;
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uint8_t frame[FRAME_LENGTH];
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int idx = 0;
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// 帧头
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frame[idx++] = FRAME_HEADER_1;
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frame[idx++] = FRAME_HEADER_2;
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// 平动左右
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frame[idx++] = x_move & 0xFF;
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frame[idx++] = (x_move >> 8) & 0xFF;
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// 平动前后
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frame[idx++] = y_move & 0xFF;
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frame[idx++] = (y_move >> 8) & 0xFF;
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// 云台偏航 (yaw)
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frame[idx++] = yaw_val & 0xFF;
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frame[idx++] = (yaw_val >> 8) & 0xFF;
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// 云台俯仰
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frame[idx++] = pitch_val & 0xFF;
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frame[idx++] = (pitch_val >> 8) & 0xFF;
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// 拨弹轮
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frame[idx++] = feed & 0xFF;
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frame[idx++] = (feed >> 8) & 0xFF;
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// 拨杆
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frame[idx++] = (left_switch << 4) | right_switch;
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// CRC8
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frame[idx++] = 0xCC;
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// 帧尾
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frame[idx++] = FRAME_TAIL;
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// 调试输出
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std::string frame_hex;
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char buf[4];
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for (int i = 0; i < FRAME_LENGTH; i++) {
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snprintf(buf, sizeof(buf), "%02X ", frame[i]);
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frame_hex += buf;
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}
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std::string direction = (yaw_val > 0) ? "右" : "左";
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std::cout << "[TX](" << FRAME_LENGTH << "B): " << frame_hex
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<< "| yaw=" << yaw_val << " (" << direction << ")" << std::endl;
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ssize_t written = write(fd, frame, FRAME_LENGTH);
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if (written != FRAME_LENGTH) {
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std::cerr << "发送数据不完整: " << written << "/" << FRAME_LENGTH << std::endl;
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}
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}
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// 发送指定yaw值，保持指定时间
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void sendYawForDuration(int fd, int16_t yaw_val, int duration_ms) {
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auto start = std::chrono::steady_clock::now();
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int count = 0;
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while (true) {
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auto now = std::chrono::steady_clock::now();
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auto elapsed = std::chrono::duration_cast<std::chrono::milliseconds>(now - start).count();
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if (elapsed >= duration_ms) {
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break;
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}
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sendControlFrame(fd, yaw_val);
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count++;
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std::this_thread::sleep_for(std::chrono::milliseconds(SEND_INTERVAL_MS));
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}
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std::cout << " 发送了 " << count << " 帧，时长 " << duration_ms << "ms" << std::endl;
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}
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void printUsage(const char* program) {
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std::cout << "用法: " << program << " [循环次数]" << std::endl;
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std::cout << " 循环次数: 测试循环次数，0或不填表示无限循环" << std::endl;
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std::cout << std::endl;
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std::cout << "示例:" << std::endl;
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std::cout << " " << program << " # 无限循环 (按 Ctrl+C 停止)" << std::endl;
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std::cout << " " << program << " 5 # 循环5次后停止" << std::endl;
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}
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int main(int argc, char* argv[]) {
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int loop_count = 0; // 0表示无限循环
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int current_loop = 0;
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if (argc > 1) {
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loop_count = std::atoi(argv[1]);
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}
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if (argc > 2) {
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printUsage(argv[0]);
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return 1;
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}
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std::cout << "========================================" << std::endl;
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std::cout << "Yaw 轴摆动测试程序" << std::endl;
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std::cout << "测试序列: yaw=" << YAW_RIGHT << "(右,1s) -> yaw=" << YAW_LEFT << "(左,1s)" << std::endl;
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if (loop_count > 0) {
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std::cout << "循环次数: " << loop_count << " 次" << std::endl;
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} else {
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std::cout << "循环次数: 无限 (按 Ctrl+C 停止)" << std::endl;
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}
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std::cout << "发送频率: 50 Hz" << std::endl;
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std::cout << "========================================" << std::endl;
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// 初始化串口
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int fd = initSerial(SERIAL_PORT, BAUDRATE);
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if (fd < 0) {
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return -1;
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}
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std::cout << "----------------------------------------" << std::endl;
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// 主循环
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while (true) {
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if (loop_count > 0 && current_loop >= loop_count) {
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std::cout << "完成 " << loop_count << " 次循环，测试结束" << std::endl;
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break;
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}
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current_loop++;
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if (loop_count > 0) {
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std::cout << "\n=== 第 " << current_loop << "/" << loop_count << " 次循环 ===" << std::endl;
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} else {
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std::cout << "\n=== 第 " << current_loop << " 次循环 ===" << std::endl;
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}
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// 步骤1: yaw=100 (向右) 保持1秒
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std::cout << "【步骤1】yaw=" << YAW_RIGHT << " (向右) 保持 " << HOLD_TIME_MS << "ms" << std::endl;
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sendYawForDuration(fd, YAW_RIGHT, HOLD_TIME_MS);
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// 步骤2: yaw=-100 (向左) 保持1秒
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std::cout << "【步骤2】yaw=" << YAW_LEFT << " (向左) 保持 " << HOLD_TIME_MS << "ms" << std::endl;
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sendYawForDuration(fd, YAW_LEFT, HOLD_TIME_MS);
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}
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close(fd);
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std::cout << "串口已关闭" << std::endl;
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return 0;
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} |