@@ -279,7 +279,7 @@ else if(car_input_mode == "pci"){
ros::Rate loop_rate(rate);
while(ros::ok())
{
- if (kbhit()) continue;
+// if (kbhit()) continue;
if (!ACTS2110_AI_ReadAnalog(hDevice, fVoltArray, nReadSampsPerChan, &nSampsPerChanRead, &nReadableSamps, fTimeout))
LOG(ERROR) << Name() <<"PCI Read Data Timeout nSampsPerChanRead=" << nSampsPerChanRead;
@@ -155,12 +155,12 @@ private:
//_____
//----------pci
- #define CH_PERCHAN 102400
+ #define CH_PERCHAN 1
F64 fVoltArray[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
+ F64 fTimeout = 1; // 1秒钟超时
U32 nReadableSamps = 0;
HANDLE hDevice = NULL;
ACTS2110_MAIN_INFO MainInfo;