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serial port test if it can be opened

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Sem van der Hoeven
2023-03-03 12:58:55 +01:00
parent eaeb2dba5a
commit f0f63b1817
1 changed files with 23 additions and 1 deletions
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24
drone_sensors/src/height_sensor.cpp
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@@ -1,5 +1,5 @@
#include <chrono> //time measurement
#include <iostream> // reading from serial port
#include <fstream> // reading from serial port
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
@@ -16,6 +16,8 @@ class HeightSensorPublisher : public rclcpp::Node
500ms, std::bind(&HeightSensorPublisher::timer_callback, this));
RCLCPP_INFO(this->get_logger(), "Constructor of height sensor publisher");
setup_serial_port();
}
private:
void timer_callback()
@@ -25,8 +27,28 @@ class HeightSensorPublisher : public rclcpp::Node
RCLCPP_INFO(this->get_logger(), "Publishing: %s", message.data.c_str());
publisher_->publish(message);
}
/**
* @brief Set the up serial port object to read from the sensor (/dev/ttyACM0)
*
*/
void setup_serial_port()
{
serial_port.open("/dev/ttyACM0", std::ios::in);
if (!serial_port.is_open())
{
RCLCPP_ERROR(this->get_logger(), "Could not open serial port");
}
else
{
RCLCPP_INFO(this->get_logger(), "Serial port opened");
}
serial_port.close();
}
rclcpp::TimerBase::SharedPtr timer_;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
std::fstream serial_port; // serial port for reading from device
};
int main(int argc, char *argv[])