将接收和发送的数据记录到日志中

src/canbus/canbus.cpp

@@ -58,25 +58,25 @@ int Canbus::Start() {
 
   //judge whether the call is success.if pcan_handle=null,the call would be failed
   if(pcan_handle){
-      LOG(INFO)<<Name()<<"CAN Bus: "<<szDevNode<<" opened";
+      LOG(INFO)<<Name()<<": "<<szDevNode<<" opened";
       errno = funCAN_VersionInfo(pcan_handle, chVersion);
       if (!errno)
-          LOG(INFO)<<Name()<<"CAN Bus: driver version ="<<chVersion;
+          LOG(INFO)<<Name()<<": driver version ="<<chVersion;
       else {
-          LOG(ERROR)<<Name()<<"CAN Bus: CAN_VersionInfo() error";
+          LOG(ERROR)<<Name()<<": CAN_VersionInfo() error";
       }
       if (unBaudrate) {
               errno = funCAN_Init(pcan_handle, unBaudrate, nExtended);
               if (errno) {
-                  LOG(ERROR)<<Name()<<"CAN Bus: CAN_Init()";
+                  LOG(ERROR)<<Name()<<": CAN_Init()";
               }
               else
-                  LOG(INFO)<<"Device Info: " << szDevNode <<"; CAN_BAUD_1M; CAN_INIT_TYPE_ST";
+                  LOG(INFO)<<" Device Info: " << szDevNode <<"; CAN_BAUD_1M; CAN_INIT_TYPE_ST";
           }
   }
   else
   {
-      LOG(INFO)<<Name()<<"CAN Bus: can't open "<<szDevNode;
+      LOG(INFO)<<Name()<<": can't open ."<<szDevNode;
   }
 
   ros::Rate loop_rate(10);
@@ -94,7 +94,7 @@ int Canbus::Start() {
 
 
 void Canbus::OnTimer(const ros::TimerEvent &) {
-  LOG(INFO)<< Name()<< "timer start ..";
+  LOG(INFO)<< Name()<< " timer start ..";
   //ros::Publisher geometry_pub = node_handle_->advertise<geometry_msgs::Point>("geometry", 200);
 
   MessageCoder::CanMsgPackage((void*)&status1,0x6F1,&canStatus1);
@@ -111,7 +111,7 @@ void Canbus::Stop() {
   if (pcan_handle) {
       funCAN_Close(pcan_handle);
   }
-  LOG(INFO)<<Name()<<"CAN Bus: finished. ";
+  LOG(INFO)<<Name()<<": closed. ";
 }
 
 
@@ -122,7 +122,7 @@ int Canbus::read_loop()
     __u32 status;
 
     if (funLINUX_CAN_Read(pcan_handle, &msg)) {
-        LOG(ERROR)<<Name()<<"receive: LINUX_CAN_Read() error.";
+        LOG(ERROR)<<Name()<<" receive: LINUX_CAN_Read() error.";
         return errno;
     }
      // deal receive data
@@ -131,10 +131,10 @@ int Canbus::read_loop()
         status = funCAN_Status(pcan_handle);
         if ((int)status < 0) {
             errno = funnGetLastError();
-            LOG(ERROR)<<Name()<<"receive: CAN_Status() error";
+            LOG(ERROR)<<Name()<<" receive: CAN_Status() error.";
             return errno;
         }
-        LOG(INFO)<<Name()<<"receive: pending CAN status "<<(__u16)status<<" read.";
+        LOG(INFO)<<Name()<<" receive: pending CAN status "<<(__u16)status<<" read.";
         read_data(&(msg.Msg));
     }
     return ROBOT_SUCCESS;
@@ -142,6 +142,7 @@ int Canbus::read_loop()
 
 int Canbus::read_data(TPCANMsg *pMsgBuff)
 {
+    LOG(INFO)<<Name()<<" Receive CanData : ID: "<<pMsgBuff->ID<<",Data: "<<pMsgBuff->DATA;
     if(pMsgBuff->ID == 0x1A1)
     {
        T_OBD_ACC_PSNG tOBDAccPsng = *((T_OBD_ACC_PSNG*)MessageCoder::CanMsgAnalyse(0x1A1,pMsgBuff->DATA));
@@ -184,10 +185,11 @@ int Canbus::read_data(TPCANMsg *pMsgBuff)
       //canData.set_data(reinterpret_cast<const char*>(pMsgBuff->DATA));
       std_msgs::String ros_msg;
       std::stringstream ss;
-      ss << "Id: " << pMsgBuff->ID << ", Data: " << pMsgBuff->DATA;
+      ss << "Id:" << pMsgBuff->ID << ",Data:" << pMsgBuff->DATA;
       ros_msg.data = ss.str();
       ros::Publisher canData_pub = node_handle_->advertise<std_msgs::String>(robot::common::CanDataAnalysis, 200);
       canData_pub.publish(ros_msg);
+      LOG(INFO)<<Name()<<" Publish CanData :"<<ros_msg;
     }
 
     return ROBOT_SUCCESS;
@@ -195,8 +197,9 @@ int Canbus::read_data(TPCANMsg *pMsgBuff)
 
 int Canbus::write_data(TPCANMsg *pMsgBuff)
 {
+  LOG(INFO)<<Name()<<" send CanData : ID: "<<pMsgBuff->ID<<",Data:"<<pMsgBuff->DATA;
   if (funCAN_Write(pcan_handle, pMsgBuff)){
-     LOG(ERROR)<<Name()<< "write: LINUX_CAN_write_timeout error. ";
+     LOG(ERROR)<<Name()<< " write: LINUX_CAN_write_timeout error. ";
      return errno;
   }
    return ROBOT_SUCCESS;

src/canbus/candatatype.h

@@ -2128,7 +2128,7 @@ typedef struct
     unsigned int obdEngSpd;			//实际发动机转速
 }T_OBD_ENG_SPD;
 
-#define OBD_ENG_SPD_RATIO		16	//实际发动机转速比例
+#define OBD_ENG_SPD_RATIO		4	//实际发动机转速比例
 
 } // namespace canbus