35 lines
1.0 KiB
C++
35 lines
1.0 KiB
C++
#include "line_laser_modbus/host.hpp"
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#include <iomanip>
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#include <iostream>
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namespace {
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void print_frame(const line_laser_modbus::ByteVector& frame) {
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for (const std::uint8_t byte : frame) {
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std::cout << std::hex << std::uppercase << std::setw(2) << std::setfill('0')
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<< static_cast<int>(byte) << ' ';
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}
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std::cout << std::dec << '\n';
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}
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} // 匿名命名空间
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int main() {
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// 上位机示例：这里只构造协议帧。实际部署时，应通过串口/RS-485 驱动发送
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// 返回的字节，并把收到的响应交给 HostClient 的解析方法。
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const line_laser_modbus::HostClient host;
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const auto status_request = host.make_read_status_request();
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std::cout << "Read mode/state request: ";
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print_frame(status_request);
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const line_laser_modbus::Pose6D correction{
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1000U, 1.0F, 2.0F, 3.0F, 0.0F, 1.0F, 2.0F};
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const auto correction_request = host.make_write_correction_request(correction);
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std::cout << "Write correction request: ";
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print_frame(correction_request);
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return 0;
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}
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