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fix narrowing conversion
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xiaoqiang committed Sep 29, 2017
1 parent b31f993 commit f139cb2
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Showing 2 changed files with 25 additions and 25 deletions.
46 changes: 23 additions & 23 deletions src/DiffDriverController.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,7 @@ void DiffDriverController::imuCalibration(const std_msgs::Bool& calFlag)
if(calFlag.data)
{
//下发底层ｉｍｕ标定命令
char cmd_str[5]={0xcd,0xeb,0xd7,0x01,0x43};
char cmd_str[5]={(char)0xcd,(char)0xeb,(char)0xd7,(char)0x01,(char)0x43};
if(NULL!=cmd_serial)
{
cmd_serial->write(cmd_str,5);
Expand All @@ -55,7 +55,7 @@ void DiffDriverController::updateBarDetectFlag(const std_msgs::Bool& DetectFlag)
if(DetectFlag.data)
{
//下发底层红外开启命令
char cmd_str[6]={0xcd,0xeb,0xd7,0x02,0x44,0x01};
char cmd_str[6]={(char)0xcd,(char)0xeb,(char)0xd7,(char)0x02,(char)0x44,(char)0x01};
if(NULL!=cmd_serial)
{
cmd_serial->write(cmd_str,6);
Expand All @@ -64,7 +64,7 @@ void DiffDriverController::updateBarDetectFlag(const std_msgs::Bool& DetectFlag)
else
{
//下发底层红外禁用命令
char cmd_str[6]={0xcd,0xeb,0xd7,0x02,0x44,0x00};
char cmd_str[6]={(char)0xcd,(char)0xeb,(char)0xd7,(char)0x02,(char)0x44,(char)0x00};
if(NULL!=cmd_serial)
{
cmd_serial->write(cmd_str,6);
Expand All @@ -77,7 +77,7 @@ void DiffDriverController::sendcmd(const geometry_msgs::Twist &command)
int i=0,wheel_ppr=1;
double separation=0,radius=0,speed_lin=0,speed_ang=0,speed_temp[2];
char speed[2]={0,0};//右一左二
char cmd_str[13]={0xcd,0xeb,0xd7,0x09,0x74,0x53,0x53,0x53,0x53,0x00,0x00,0x00,0x00};
char cmd_str[13]={(char)0xcd,(char)0xeb,(char)0xd7,(char)0x09,(char)0x74,(char)0x53,(char)0x53,(char)0x53,(char)0x53,(char)0x00,(char)0x00,(char)0x00,(char)0x00};

if(xq_status->get_status()==0) return;//底层还在初始化
separation=xq_status->get_wheel_separation();
Expand Down Expand Up @@ -114,18 +114,18 @@ void DiffDriverController::sendcmd(const geometry_msgs::Twist &command)
speed[i]=speed_temp[i];
if(speed[i]<0)
{
cmd_str[5+i]=0x42;//B
cmd_str[5+i]=(char)0x42;//B
cmd_str[9+i]=-speed[i];
}
else if(speed[i]>0)
{
cmd_str[5+i]=0x46;//F
cmd_str[5+i]=(char)0x46;//F
cmd_str[9+i]=speed[i];
}
else
{
cmd_str[5+i]=0x53;//S
cmd_str[9+i]=0x00;
cmd_str[5+i]=(char)0x53;//S
cmd_str[9+i]=(char)0x00;
}
}

Expand All @@ -135,36 +135,36 @@ void DiffDriverController::sendcmd(const geometry_msgs::Twist &command)
// if(xq_status->get_status()==2)
// {
// //有障碍物
// if(xq_status->car_status.distance1<30&&xq_status->car_status.distance1>0&&cmd_str[6]==0x46)
// if(xq_status->car_status.distance1<30&&xq_status->car_status.distance1>0&&cmd_str[6]==(char)0x46)
// {
// cmd_str[6]=0x53;
// cmd_str[6]=(char)0x53;
// }
// if(xq_status->car_status.distance2<30&&xq_status->car_status.distance2>0&&cmd_str[5]==0x46)
// if(xq_status->car_status.distance2<30&&xq_status->car_status.distance2>0&&cmd_str[5]==(char)0x46)
// {
// cmd_str[5]=0x53;
// cmd_str[5]=(char)0x53;
// }
// if(xq_status->car_status.distance3<20&&xq_status->car_status.distance3>0&&(cmd_str[5]==0x42||cmd_str[6]==0x42))
// if(xq_status->car_status.distance3<20&&xq_status->car_status.distance3>0&&(cmd_str[5]==(char)0x42||cmd_str[6]==(char)0x42))
// {
// cmd_str[5]=0x53;
// cmd_str[6]=0x53;
// cmd_str[5]=(char)0x53;
// cmd_str[6]=(char)0x53;
// }
// if(xq_status->car_status.distance1<15&&xq_status->car_status.distance1>0&&(cmd_str[5]==0x46||cmd_str[6]==0x46))
// if(xq_status->car_status.distance1<15&&xq_status->car_status.distance1>0&&(cmd_str[5]==(char)0x46||cmd_str[6]==(char)0x46))
// {
// cmd_str[5]=0x53;
// cmd_str[6]=0x53;
// cmd_str[5]=(char)0x53;
// cmd_str[6]=(char)0x53;
// }
// if(xq_status->car_status.distance2<15&&xq_status->car_status.distance2>0&&(cmd_str[5]==0x46||cmd_str[6]==0x46))
// if(xq_status->car_status.distance2<15&&xq_status->car_status.distance2>0&&(cmd_str[5]==(char)0x46||cmd_str[6]==(char)0x46))
// {
// cmd_str[5]=0x53;
// cmd_str[6]=0x53;
// cmd_str[5]=(char)0x53;
// cmd_str[6]=(char)0x53;
// }
// }

boost::mutex::scoped_lock lock(mMutex);
if(!MoveFlag)
{
cmd_str[5]=0x53;
cmd_str[6]=0x53;
cmd_str[5]=(char)0x53;
cmd_str[6]=(char)0x53;
}
if(NULL!=cmd_serial)
{
Expand Down
4 changes: 2 additions & 2 deletions src/main.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -44,13 +44,13 @@ int main(int argc, char **argv)
xqserial_server::DiffDriverController xq_diffdriver(max_speed,cmd_topic,&xq_status,&serial);
boost::thread cmd2serialThread(& xqserial_server::DiffDriverController::run,&xq_diffdriver);
// send test flag
char debugFlagCmd[] = {0xcd,0xeb,0xd7,0x01, 'T'};
char debugFlagCmd[] = {(char)0xcd, (char)0xeb, (char)0xd7, (char)0x01, 'T'};
if(DebugFlag){
std::cout << "Debug mode Enabled" << std::endl;
serial.write(debugFlagCmd, 5);
}
// send reset cmd
char resetCmd[] = {0xcd,0xeb,0xd7,0x01, 'I'};
char resetCmd[] = {(char)0xcd, (char)0xeb, (char)0xd7, (char)0x01, 'I'};
serial.write(resetCmd, 5);

ros::Rate r(50);//发布周期为50hz
Expand Down

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