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Repository Summary
| Description | FishProtocol是一个方便的C++多协议(串口/UDP/TCP)通信库 |
| Checkout URI | https://github.com/fishros/fish_protocol.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-12-13 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| example_fish_protocol | 0.0.0 |
README
FishProtocol
FishProtocol是一个方便的C++多协议(串口/UDP/TCP)通信库。
FishProtocol是从FishBot的Driver中抽离出的，采用boost库作为核心进行了二次封装，可以简单快速的通过几行代码建立串口/UDP等通信。随着FishBot的不断完善，该库也将不断的更新完善，后续将同时支持对多端进行同时连接，实现多机控制等功能。
同时该库也可以在ROS2中使用，工程中提供有相关例程，见examples文件夹。
快速安装
sudo apt install libboost-dev
git clone https://gh.api.99988866.xyz/https://github.com/fishros/fish_protocol.git
cd fish_protocol && mkdir build && cd build
cmake .. && sudo make install # 将安装到系统库
快速使用/串口通信
fish_protocol::ProtocolConfig proto_config;
proto_config.protocol_type_ = PROTOCOL_TYPE::SERIAL;
proto_config.serial_baut_ = 115200;
proto_config.serial_address_ = "/dev/ttyS12";
// 初始化
auto protocol = GetProtocolByConfig(proto_config);
// 发送数据
protocol->ProtocolSendRawData("Hello FishBot!");
// 接收数据
protocol->SetDataRecvCallback([](const std::string& data) -> void {
std::cout<<"recv"<<data<<std:endl;
});
// 销毁
protocol->ProtocolDestory();
快速上手/UDPServer通信
fish_protocol::ProtocolConfig proto_config;
proto_config.protocol_type_ = PROTOCOL_TYPE::UDP_SERVER;
proto_config.udp_server_ip_ = "0.0.0.0";
proto_config.udp_server_port_ = 3474;
// 初始化
auto protocol = GetProtocolByConfig(proto_config);
// 发送数据
protocol->ProtocolSendRawData("Hello FishBot!");
// 接收数据
protocol->SetDataRecvCallback([](const std::string& data) -> void {
std::cout<<"recv"<<data<<std:endl;
});
// 销毁
protocol->ProtocolDestory();
在ROS2中使用-串口通信
#include "fish_protocol/fish_protocol.h"
#include "rclcpp/rclcpp.hpp"
int main(int argc, char** argv) {
/* 初始化rclcpp */
rclcpp::init(argc, argv);
/*产生一个node_01的节点*/
auto node = std::make_shared<rclcpp::Node>("example_fish_protocol");
// 打印一句自我介绍
RCLCPP_INFO(node->get_logger(), "example_fish_protocol节点已经启动.");
fish_protocol::ProtocolConfig proto_config;
proto_config.protocol_type_ = fish_protocol::PROTOCOL_TYPE::SERIAL;
proto_config.serial_baut_ = 115200;
proto_config.serial_address_ = "/dev/ttyS12";
// 初始化
auto protocol = GetProtocolByConfig(proto_config);
// 发送数据
protocol->ProtocolSendRawData("Hello FishBot!");
// 接收数据
protocol->SetDataRecvCallback([](const std::string& data) -> void {
std::cout << "recv" << data << std::endl;
});
// 销毁
protocol->ProtocolDestory();
/* 运行节点，并检测退出信号 Ctrl+C*/
rclcpp::spin(node);
/* 停止运行 */
rclcpp::shutdown();
return 0;
}
常见错误与解决方法
- can’t open shared object file: No such file or direction
sudo sh -c "echo '/usr/local/lib' >> /etc/ld.so.conf"
sudo ldconfig
更新日志
- 20220807 添加UDPCLIENT协议支持
CONTRIBUTING
No CONTRIBUTING.md found.
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