From feaf4393291a1160468591d30cdf6eab29b1e94c Mon Sep 17 00:00:00 2001
From: a1012112796 <1012112796@qq.com>
Date: Tue, 14 Sep 2021 11:23:55 +0800
Subject: [PATCH] =?UTF-8?q?MinSubscriber=20=E4=BC=98=E5=8C=96?=
MIME-Version: 1.0
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- 继承自 MinHandler
- 配置参数化
- 尝试使用launnch 文件

Signed-off-by: a1012112796 <1012112796@qq.com>
---
 src/test_topic/CMakeLists.txt                 |  2 +-
 .../include/test_topic/minSubscriber.h        | 12 +++---
 src/test_topic/launch/test1.launch            |  6 +++
 src/test_topic/src/minSubscriber.cpp          | 37 +++++++++++++------
 4 files changed, 39 insertions(+), 18 deletions(-)
 create mode 100644 src/test_topic/launch/test1.launch

diff --git a/src/test_topic/CMakeLists.txt b/src/test_topic/CMakeLists.txt
index 1153c90..fdcb976 100644
--- a/src/test_topic/CMakeLists.txt
+++ b/src/test_topic/CMakeLists.txt
@@ -150,7 +150,7 @@ include_directories( include ${catkin_INCLUDE_DIRS})
 add_executable(talker src/minPublisher.cpp src/WzSerialportPlus.cpp)
 target_link_libraries(talker ${catkin_LIBRARIES})
 
-add_executable(listener src/minSubscriber.cpp src/WzSerialportPlus.cpp)
+add_executable(listener src/minSubscriber.cpp src/WzSerialportPlus.cpp src/minHandler.cpp)
 target_link_libraries(listener ${catkin_LIBRARIES})
 
 add_executable(time_tacker src/timerPublisher.cpp)
diff --git a/src/test_topic/include/test_topic/minSubscriber.h b/src/test_topic/include/test_topic/minSubscriber.h
index 53b8034..4fe43ab 100644
--- a/src/test_topic/include/test_topic/minSubscriber.h
+++ b/src/test_topic/include/test_topic/minSubscriber.h
@@ -3,15 +3,17 @@
 
 #include <ros/ros.h>
 #include <std_msgs/String.h>
-#include <queue>
 #include "test_topic/WzSerialportPlus.h"
+#include "test_topic/minHandler.h"
 
-using MsgType = std_msgs::String;
-class MinSubscriber: ros::NodeHandle {
+using namespace xyfc_std;
+
+class MinSubscriber: public MinHandler {
 public:
-    MinSubscriber();
+    MinSubscriber(int argc, char **argv);
     ~MinSubscriber();
-    void run(const char *device);
+protected:
+    virtual bool node_init(void);
 private:
     ros::Subscriber _sub;
     WzSerialportPlus _serial;
diff --git a/src/test_topic/launch/test1.launch b/src/test_topic/launch/test1.launch
new file mode 100644
index 0000000..ad85f00
--- /dev/null
+++ b/src/test_topic/launch/test1.launch
@@ -0,0 +1,6 @@
+<launch>
+    <arg name="port" default="/dev/ttyUSB0" />
+    <node pkg="test_topic" type="listener" name="serial_listen">
+      <param name="port" value="$(arg port)" />
+    </node>
+  </launch>
diff --git a/src/test_topic/src/minSubscriber.cpp b/src/test_topic/src/minSubscriber.cpp
index d42a079..551714a 100644
--- a/src/test_topic/src/minSubscriber.cpp
+++ b/src/test_topic/src/minSubscriber.cpp
@@ -1,8 +1,28 @@
 #include "test_topic/minSubscriber.h"
 
-MinSubscriber::MinSubscriber()
+MinSubscriber::MinSubscriber(int argc, char **argv):
+    MinHandler(argc, argv, "serial_sender")
 {
-    _sub = this->subscribe<MsgType>("test_topic", 200, boost::bind(&MinSubscriber::callback, this, _1));
+}
+
+bool MinSubscriber::node_init(void)
+{
+    std::string port, topic;
+    int baud = 115200;
+    ros::param::param<std::string>("~port", port, "/dev/ttyACM0");
+    ros::param::param<int>("~baud", baud, 57600);
+    ros::param::param<std::string>("~topic", topic, "test_topic");
+
+    ROS_INFO("will listen '%s' tiopic", topic.c_str());
+    _sub = _node->subscribe<MsgType>(topic, 200, boost::bind(&MinSubscriber::callback, this, _1));
+
+    if (!_serial.open(port, baud, 1, 8, 'N'))
+    {
+        ROS_ERROR("open serial '%s' failed!", port.c_str());
+        return false;
+    }
+
+    return true;
 }
 
 MinSubscriber::~MinSubscriber()
@@ -16,18 +36,11 @@ void MinSubscriber::callback(const boost::shared_ptr<MsgType const> &msg)
     _serial.send(msg->data.c_str(), strlen(msg->data.c_str()));
 }
 
-void MinSubscriber::run(const char *device)
-{
-    _serial.open(device, 115200, 1, 8, 'N');
-    ros::spin();
-}
-
 int main(int argc, char *argv[])
 {
-    ros::init(argc, argv, "test_sub_node");
-    MinSubscriber nh;
-
-    nh.run("/dev/ttyUSB1");
+    MinSubscriber *nh = new MinSubscriber(argc, argv);
+    nh->run(4);
+    free(nh);
 
     return 0;
 }