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update reconnect imu

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This commit is contained in:
QUYVN
2026-07-16 09:55:38 +07:00
parent 921bb91084
commit 0017128218
3 changed files with 21 additions and 21 deletions
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12
srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Drivers/HfiA9IMU/HfiA9IMU.cs
View File

@@ -190,12 +190,12 @@ namespace RobotNet10.RobotApp.Drivers.HfiA9IMU
var ori = CachedOrientation.Vector; var ori = CachedOrientation.Vector;
var t = ((IInertialMeasurementUnit)this).LastUpdateTime; var t = ((IInertialMeasurementUnit)this).LastUpdateTime;
Console.WriteLine( // Console.WriteLine(
$"{DateTime.Now:HH:mm:ss.ffffff} [IMU_DATA] " + // $"{DateTime.Now:HH:mm:ss.ffffff} [IMU_DATA] " +
$"t={t:HH:mm:ss.fff} " + // $"t={t:HH:mm:ss.fff} " +
$"acc=({acc.X:F3},{acc.Y:F3},{acc.Z:F3}) " + // $"acc=({acc.X:F3},{acc.Y:F3},{acc.Z:F3}) " +
$"gyro=({gyro.X:F5},{gyro.Y:F5},{gyro.Z:F5}) " + // $"gyro=({gyro.X:F5},{gyro.Y:F5},{gyro.Z:F5}) " +
$"rpy=({ori.X:F5},{ori.Y:F5},{ori.Z:F5})"); // $"rpy=({ori.X:F5},{ori.Y:F5},{ori.Z:F5})");
} }
catch { } catch { }
}, null, dueTime: TimeSpan.Zero, period: _printDataInterval); }, null, dueTime: TimeSpan.Zero, period: _printDataInterval);

14
srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/Drivers/WheeltecIMU/WheeltecN100IMU.cs
View File

@@ -202,13 +202,13 @@ namespace RobotNet10.RobotApp.Drivers.WheeltecIMU
var t = ((IInertialMeasurementUnit)this).LastUpdateTime; var t = ((IInertialMeasurementUnit)this).LastUpdateTime;
var tempStr = temp.HasValue ? temp.Value.ToString("F2") : "NA"; var tempStr = temp.HasValue ? temp.Value.ToString("F2") : "NA";
Console.WriteLine( // Console.WriteLine(
$"{DateTime.Now:HH:mm:ss.ffffff} [IMU_DATA] " + // $"{DateTime.Now:HH:mm:ss.ffffff} [IMU_DATA] " +
$"t={t:HH:mm:ss.fff} " + // $"t={t:HH:mm:ss.fff} " +
$"acc=({acc.X:F3},{acc.Y:F3},{acc.Z:F3}) " + // $"acc=({acc.X:F3},{acc.Y:F3},{acc.Z:F3}) " +
$"gyro=({gyro.X:F5},{gyro.Y:F5},{gyro.Z:F5}) " + // $"gyro=({gyro.X:F5},{gyro.Y:F5},{gyro.Z:F5}) " +
$"rpy=({ori.X:F5},{ori.Y:F5},{ori.Z:F5}) " + // $"rpy=({ori.X:F5},{ori.Y:F5},{ori.Z:F5}) " +
$"temp={tempStr}"); // $"temp={tempStr}");
} }
catch { } catch { }
}, null, dueTime: TimeSpan.Zero, period: _printDataInterval); }, null, dueTime: TimeSpan.Zero, period: _printDataInterval);

16
srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/appsettings.json
View File

@@ -464,7 +464,7 @@
"HinsonLidar": "HinsonLidar":
{ {
"Enabled": true, "Enabled": true,
"DeviceId": "lidar-hinson-front", "DeviceId": "scan",
"DeviceName": "Hinson FE-35FB-01000", "DeviceName": "Hinson FE-35FB-01000",
"DeviceType": "Lidar", "DeviceType": "Lidar",
"DriverName": "HinsonFE35LidarDriver", "DriverName": "HinsonFE35LidarDriver",
@@ -472,7 +472,7 @@
"Connection": { "Connection": {
"IpAddress": "192.168.100.88", "IpAddress": "192.168.100.88",
"Port": 8080, "Port": 8080,
"FrameId": "hinson-front", "FrameId": "scan_1",
"MaxRangeM": 35.0 "MaxRangeM": 35.0
} }
}, },
@@ -961,10 +961,10 @@
"ImuSensorId": "imu", "ImuSensorId": "imu",
"ImuFrameId": "imu", "ImuFrameId": "imu",
"EnableLidar1": true, "EnableLidar1": true,
"EnableLidar2": true, "EnableLidar2": false,
"EnableLidar3": false, "EnableLidar3": false,
"Lidar1DeviceId": "scan_1", "Lidar1DeviceId": "scan",
"Lidar1SensorId": "scan_1", "Lidar1SensorId": "scan",
"Lidar2DeviceId": "scan_2", "Lidar2DeviceId": "scan_2",
"Lidar2SensorId": "scan_2", "Lidar2SensorId": "scan_2",
"Lidar3DeviceId": "scan_3", "Lidar3DeviceId": "scan_3",
@@ -977,7 +977,7 @@
}, },
"Navigation": { "Navigation": {
"Integration": { "Integration": {
"Enabled": true, "Enabled": false,
"UpdateIntervalMs": 100, "UpdateIntervalMs": 100,
"EnableNavigationIntegration": true, "EnableNavigationIntegration": true,
"EnableOdometryDispatch": true, "EnableOdometryDispatch": true,
@@ -1024,7 +1024,7 @@
"Integration": { "Integration": {
"Enabled": false, "Enabled": false,
"MarkerType": "Segment", "MarkerType": "Segment",
"LidarDeviceId": "scan_1", "LidarDeviceId": "scan",
"LaserScanSensorId": "scan", "LaserScanSensorId": "scan",
"LaserScanDispatchIntervalMs": 50, "LaserScanDispatchIntervalMs": 50,
"RectangleMarkerOptions": { "RectangleMarkerOptions": {
@@ -1074,7 +1074,7 @@
}, },
{ {
"FrameId": "base_link", "FrameId": "base_link",
"ChildFrameId": "scan_1", "ChildFrameId": "scan",
"Pose": { "Pose": {
"Position": { "X": 0.095, "Y": 0.01, "Z": 0.0 }, "Position": { "X": 0.095, "Y": 0.01, "Z": 0.0 },
"Orientation": { "X": 0.0, "Y": 0.0, "Z": 0.0261769, "W": 0.9996573 } "Orientation": { "X": 0.0, "Y": 0.0, "Z": 0.0261769, "W": 0.9996573 }