编写板卡模拟量通信代码

src/canbus/canbus.cpp

@@ -38,7 +38,7 @@ int Canbus::Init() {
   node_handle_.reset(new ros::NodeHandle());
   //20240111 by zhaowei: add tcptocan mode
   if (!ros::param::get("rcu_canbus_mode", canbus_mode))
-    canbus_mode = "pcitcp";
+    canbus_mode = "tcp";
   LOG(INFO)<< Name()<<": read param rcu_canbus_mode = " << canbus_mode;
   if (canbus_mode == "tcp") {
     for(int i=0; i < sizeof(s_g_pBufSet); ++i ) {

src/launch/robot.launch

@@ -17,7 +17,7 @@ ns = "NAME_SPACE" 这个属性可以让你在自定义的命名空间里运行
 <param name = "rcu_canbus_mode" value = "pcitcp" /><!--can总线模式: usb(默认)/tcp/pcitcp-->
 <param name = "rcu_canbus_ip" value = "192.168.200.10" /><!--tcp转can模块IP地址-->
 <param name = "rcu_canbus_port" value = "1234"/><!--tcp转can模块端口-->
-<param name = "car_input_mode" value = "modbus" /><!--速度接入方式: rtk(gpfpd)/modbus(模拟量0~10V)-->
+<param name = "car_input_mode" value = "pci" /><!--速度接入方式: rtk(gpfpd)/modbus(模拟量0~10V)/pci-->
 <param name = "car_input_ip" value = "192.168.200.80" /><!--速度接入IP地址-->
 <param name = "car_input_port" value = "502"/><!--速度接入端口-->
 <param name = "car_input_volspeed_max" value = "180.0"/><!--速度电压最大值-->

src/localization/CMakeLists.txt

@@ -214,10 +214,12 @@ add_executable(localization
     ../common/gloghelper.cpp
     ../common/robotapp.h
     ../common/robotapp.cpp
+    ACTS2110.h
  )
 add_dependencies(localization ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 target_link_libraries(localization
     ${catkin_LIBRARIES}
     glog
-    gflags)
+    gflags
+    acts2110)

src/localization/localization.cpp

@@ -14,6 +14,7 @@
 #include <arpa/inet.h>
 #include <sys/socket.h>
 #include <fstream>
+
 using namespace std;
 
 namespace  robot{
@@ -23,7 +24,7 @@ std::string Localization::Name() const { return "localization"; }
 int Localization::Init() {
   LOG(INFO)<<Name()<<" init start ...";
   if (!ros::param::get("car_input_mode", car_input_mode))
-    car_input_mode = "rtk";
+    car_input_mode = "pci";
   LOG(INFO)<< Name()<<": read param car_input_mode = " << car_input_mode;
 //TODO dakai
   if (car_input_mode == "modbus") {
@@ -65,6 +66,73 @@ int Localization::Init() {
         LOG(ERROR)<<Name()<< " Unable to Init " << e.what();
         return ROBOT_FAILTURE;
     }
+  }
+  else if(car_input_mode == "pci")
+  {
+    // 第一步 创建设备对象
+     hDevice = ACTS2110_DEV_Create(0, 0);
+     if (hDevice == NULL)
+     {
+       LOG(ERROR)<<Name()<< "PCI DEV_Create Error";
+       return ROBOT_FAILTURE;
+     }
+     memset(&AIParam, 0, sizeof(ACTS2110_AI_PARAM));
+     // 通道参数
+     AIParam.nSampChanCount = 1;
+     for (nChannel = 0; nChannel < MainInfo.nAIChannelCount; nChannel++)
+     {
+         AIParam.CHParam[nChannel].nChannel = nChannel;
+         AIParam.CHParam[nChannel].nSampleRange = ACTS2110_AI_SAMPRANGE_N10_P10V;
+         AIParam.CHParam[nChannel].nRefGround = ACTS2110_AI_REFGND_RSE;
+         AIParam.CHParam[nChannel].nReserved0 = 0;
+         AIParam.CHParam[nChannel].nReserved1 = 0;
+         AIParam.CHParam[nChannel].nReserved2 = 0;
+     }
+     AIParam.nSampleSignal = ACTS2110_AI_SAMPSIGNAL_2D5V;	// ACTS2110_AI_SAMPSIGNAL_0V
+
+     // 时钟参数
+     AIParam.fSampleRate = fSampleRate;
+     AIParam.nSampleMode = ACTS2110_AI_SAMPMODE_CONTINUOUS;
+     AIParam.nSampsPerChan = 1024;
+     AIParam.nSampClkSource = ACTS2110_AIO_SAMPCLKSRC_LOCAL;
+     AIParam.nClockOutput = ACTS2110_AIO_CLKOUT_DISABLE;
+     AIParam.StartTrig.nSyncTSOut = ACTS2110_AIO_STSO_DISABLE;
+
+     // 触发参数
+     AIParam.StartTrig.nTriggerType = ACTS2110_AI_START_TRIGTYPE_NONE;
+     AIParam.StartTrig.nTriggerSource = ACTS2110_AI_TRIG_SRC_FIRST;
+     AIParam.StartTrig.nTriggerDir = ACTS2110_AI_TRIGDIR_FALLING;
+     AIParam.StartTrig.fTriggerLevelTop = 1.0;
+     AIParam.StartTrig.fTriggerLevelBtm = 0.0;
+     AIParam.StartTrig.nTriggerSens = 0;
+     AIParam.StartTrig.nDelaySamps = 0;
+     AIParam.StartTrig.nReTrigger = 0;
+
+     AIParam.PauseTrig.nTriggerType = ACTS2110_AI_START_TRIGTYPE_NONE;
+     AIParam.PauseTrig.nTriggerSource = ACTS2110_AI_TRIG_SRC_FIRST;
+     AIParam.PauseTrig.nTriggerDir = ACTS2110_AI_TRIGDIR_FALLING;
+     AIParam.PauseTrig.fTriggerLevelTop = 1.0;
+     AIParam.PauseTrig.fTriggerLevelBtm = 0.0;
+     AIParam.PauseTrig.nTriggerSens = 0;
+
+
+     // 其他参数
+     AIParam.nReserved1 = 0;
+     AIParam.nReserved2 = 0;
+     AIParam.nReserved3 = 0;
+
+     if (!ACTS2110_AI_VerifyParam(hDevice, &AIParam))
+     {
+       LOG(ERROR)<<Name()<< "PCI Wrong parameter, it has been adjusted to legal value，Please check the log file acts2110.log";
+       return ROBOT_FAILTURE;
+     }
+
+     // 第三步 开始AI采集任务
+      if (!ACTS2110_AI_StartTask(hDevice))
+      {
+          LOG(ERROR)<<Name()<< "PCI AI_StartTask Error";
+          return ROBOT_FAILTURE;
+      }
   }
     //TODO
   node_handle_.reset(new ros::NodeHandle());
@@ -173,6 +241,52 @@ if (car_input_mode == "modbus") {
       return ROBOT_FAILTURE;
     }
   }
+else if(car_input_mode == "pci"){
+  ros::Rate loop_rate(rate);
+  while(ros::ok())
+  {
+    if (kbhit()) continue;
+    if (!ACTS2110_AI_ReadAnalog(hDevice, fVoltArray, nReadSampsPerChan, &nSampsPerChanRead, &nReadableSamps, fTimeout))
+    {
+      LOG(ERROR) << Name() <<"PCI Read Data Timeout nSampsPerChanRead=" << nSampsPerChanRead;
+    }
+    else{
+      if (nSampsPerChanRead <= 0)
+      {
+          continue;
+      }
+      LOG(INFO) << Name() << "PCI nSampsPerChanRead= " << nSampsPerChanRead;
+      double voltage = 0;
+      for (U32 nIndex = 0; nIndex < 1; nIndex++)
+      {
+          for (nChannel = 0; nChannel < AIParam.nSampChanCount; nChannel++)
+          {
+            voltage = fVoltArray[nChannel + nIndex * AIParam.nSampChanCount];
+            printf("AI%02d=%.4f\t\n", nChannel, fVoltArray[nChannel + nIndex * AIParam.nSampChanCount]);
+          }
+      }
+      try{
+          localization::localMsg localization;
+          localization.Longitude =  0;
+          localization.Latitude = 0;
+          localization.Height = 0;
+          localization.AngleDeviated = 0;
+          localization.Speed = voltage;
+          if(localization.Speed < 0.4)
+          {
+          localization.Speed = 0;
+          }
+          geometry_pub.publish(localization);
+          LOG(INFO) << Name() << " publish speed:" << std::setprecision(4) << localization.Speed;
+      }
+      catch (ros::Exception ex) {
+          LOG(ERROR)<<Name()<< "PCI publish speed error: " << ex.what();
+      }
+    }
+    ros::spinOnce();
+    loop_rate.sleep();
+  }
+}
   //TODO
   LOG(INFO)<<Name()<<" start end.";
   return ROBOT_SUCCESS;
@@ -245,6 +359,27 @@ void Localization::Stop() {
   else if (car_input_mode == "rtk") {
     serial_gnss.close();
   }
+  else if(car_input_mode == "pci")
+  {
+    // 第六步 停止AI采集任务
+    if (!ACTS2110_AI_StopTask(hDevice))
+    {
+      LOG(ERROR)<<Name()<< "PCI AI_StopTask Error";
+    }
+
+    // 第七步 释放AI采集任务
+    if (!ACTS2110_AI_ReleaseTask(hDevice))
+    {
+      LOG(ERROR)<<Name()<< "PCI AI_ReleaseTask Error";
+    }
+
+    // 第八步 释放设备对象
+    if (!ACTS2110_DEV_Release(hDevice))
+    {
+      LOG(ERROR)<<Name()<< "PCI DEV_Release Error";
+    }
+
+  }
   LOG(INFO)<<Name()<<" Stop end.";
 }
 

src/localization/localization.h

@@ -23,6 +23,14 @@
 #include <math.h>
 #include "localizationdata.h"
 
+#include <stdio.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <string.h>
+#include <math.h>
+#include <sys/ioctl.h>
+#include "ACTS2110.h"
+
 using namespace std;
 
 /**
@@ -139,10 +147,26 @@ private:
 
   unsigned char modbus_recv[11];
   //----------
-
+  //---测试用
   const double duration_rack = 0.1;//5ms//台架测试任务执行时间
-     ros::Timer rack_test_timer_;    //台架测试任务定时器
-      void RackTestOnTimer(const ros::TimerEvent &event);  //台架测试任务定时器回调函数
+  ros::Timer rack_test_timer_;    //台架测试任务定时器
+  void RackTestOnTimer(const ros::TimerEvent &event);  //台架测试任务定时器回调函数
+  //---测试用
+  //_____
+
+  //----------pci
+  #define CH_PERCHAN 102400
+  F64 fVoltArray[ACTS2110_AI_MAX_CHANNELS * CH_PERCHAN];
+  ACTS2110_AI_PARAM AIParam;
+  U32 nReadSampsPerChan = CH_PERCHAN;	// 每通道读取点数
+  U32 nSampsPerChanRead = 0;
+  F64 fTimeout = 1.0; // 1秒钟超时
+  U32 nReadableSamps = 0;
+  HANDLE hDevice = NULL;
+  ACTS2110_MAIN_INFO MainInfo;
+  U32 nChannel = 0;
+  F64 fSampleRate = 100.0;  //100sps = 100Hz
+
 };