mirrors/ugv_sdk
1
0
Fork 0
mirror of https://github.com/westonrobot/ugv_sdk synced 2023-04-08 06:32:14 +08:00
Code Issues Packages Projects Releases Wiki Activity

added parser for scout

Browse Source
This commit is contained in:
Ruixiang Du
2021-07-12 16:30:28 +08:00
parent 4ebef2e906
commit 10d9fc734e
12 changed files with 225 additions and 182 deletions
Download Patch File Download Diff File Expand all files Collapse all files

128
src/protocol_v1/agilex_msg_parser_v1.c
View File

@@ -7,12 +7,130 @@
* Copyright (c) 2021 Ruixiang Du (rdu)
*/
#include "agilex_protocol_v1.h"
#include "protocol_v1/agilex_msg_parser_v1.h"
#include "ugv_sdk/details/protocol_v1/agilex_protocol_v1.h"
#include "ugv_sdk/details/protocol_v1//agilex_msg_parser_v1.h"
#include "stdio.h"
#include "string.h"
bool DecodeCanFrameV1(const struct can_frame *rx_frame, AgxMessage *msg) {}
void EncodeCanFrameV1(const AgxMessage *msg, struct can_frame *tx_frame) {}
uint8_t CalcCanFrameChecksumV1(uint16_t id, uint8_t *data, uint8_t dlc) {}
bool DecodeCanFrameV1(const struct can_frame *rx_frame, AgxMessage *msg) {
switch (rx_frame->can_id) {
case CAN_MSG_SYSTEM_STATE_ID: {
msg->type = AgxMsgSystemState;
// msg->system_status_msg.id = CAN_MSG_SYSTEM_STATUS_STATUS_ID;
// memcpy(msg->body.system_state_msg.data.raw, rx_frame->data,
// rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_MOTION_STATE_ID: {
msg->type = AgxMsgMotionState;
// msg->motion_status_msg.id = CAN_MSG_MOTION_CONTROL_STATUS_ID;
// memcpy(msg->body.motion_state_msg.data.raw, rx_frame->data,
// rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_LIGHT_STATE_ID: {
msg->type = AgxMsgLightState;
// msg->light_status_msg.id = CAN_MSG_LIGHT_CONTROL_STATUS_ID;
// memcpy(msg->body.light_state_msg.data.raw, rx_frame->data,
// rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_ACTUATOR1_STATE_ID: {
msg->type = AgxMsgActuatorStateV1;
// msg->motor_driver_status_msg.id = CAN_MSG_MOTOR1_DRIVER_STATUS_ID;
// msg->body.v1_actuator_state_msg.motor_id = SCOUT_MOTOR1_ID;
// memcpy(msg->body.motor_driver_status_msg.data.raw, rx_frame->data,
// rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_ACTUATOR2_STATE_ID: {
msg->type = AgxMsgActuatorStateV1;
// msg->motor_driver_status_msg.id = CAN_MSG_MOTOR2_DRIVER_STATUS_ID;
// msg->body.v1_actuator_state_msg.motor_id = SCOUT_MOTOR2_ID;
// memcpy(msg->body.motor_driver_status_msg.data.raw, rx_frame->data,
// rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_ACTUATOR3_STATE_ID: {
msg->type = AgxMsgActuatorStateV1;
// msg->motor_driver_status_msg.id = CAN_MSG_MOTOR3_DRIVER_STATUS_ID;
// msg->body.v1_actuator_state_msg.motor_id = SCOUT_MOTOR3_ID;
// memcpy(msg->body.motor_driver_status_msg.data.raw, rx_frame->data,
// rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_ACTUATOR4_STATE_ID: {
msg->type = AgxMsgActuatorStateV1;
// msg->motor_driver_status_msg.id = CAN_MSG_MOTOR4_DRIVER_STATUS_ID;
// msg->body.v1_actuator_state_msg.motor_id = SCOUT_MOTOR4_ID;
// memcpy(msg->body.motor_driver_status_msg.data.raw, rx_frame->data,
// rx_frame->can_dlc * sizeof(uint8_t));
break;
}
default:
break;
}
return true;
}
void EncodeCanFrameV1(const AgxMessage *msg, struct can_frame *tx_frame) {
switch (msg->type) {
case AgxMsgMotionCommandV1: {
static uint8_t count = 0;
tx_frame->can_id = CAN_MSG_MOTION_COMMAND_ID;
tx_frame->can_dlc = 8;
tx_frame->data[0] = CTRL_MODE_CMD_CAN;
tx_frame->data[1] = ERROR_CLR_NONE;
tx_frame->data[2] =
(int8_t)(msg->body.motion_command_msg.linear_velocity * 100);
tx_frame->data[3] =
(int8_t)(msg->body.motion_command_msg.angular_velocity * 100);
tx_frame->data[4] = 0;
tx_frame->data[5] = 0;
tx_frame->data[6] = count++;
tx_frame->data[7] = CalcCanFrameChecksumV1(
tx_frame->can_id, tx_frame->data, tx_frame->can_dlc);
break;
}
case AgxMsgValueSetCommandV1: {
static uint8_t count = 0;
tx_frame->can_id = CAN_MSG_LIGHT_COMMAND_ID;
tx_frame->can_dlc = 8;
LightCommandFrame frame;
if (msg->body.light_command_msg.enable_cmd_ctrl) {
frame.enable_cmd_ctrl = LIGHT_ENABLE_CMD_CTRL;
frame.front_mode = msg->body.light_command_msg.front_light.mode;
frame.front_custom =
msg->body.light_command_msg.front_light.custom_value;
frame.rear_mode = msg->body.light_command_msg.rear_light.mode;
frame.rear_custom = msg->body.light_command_msg.rear_light.custom_value;
} else {
frame.enable_cmd_ctrl = LIGHT_DISABLE_CMD_CTRL;
frame.front_mode = 0;
frame.front_custom = 0;
frame.rear_mode = 0;
frame.rear_custom = 0;
}
frame.reserved0 = 0;
frame.count = count++;
memcpy(tx_frame->data, (uint8_t *)(&frame), tx_frame->can_dlc);
tx_frame->data[7] = CalcCanFrameChecksumV1(
tx_frame->can_id, tx_frame->data, tx_frame->can_dlc);
break;
}
case AgxMsgLightCommand: {
break;
}
default:
break;
}
}
uint8_t CalcCanFrameChecksumV1(uint16_t id, uint8_t *data, uint8_t dlc) {
uint8_t checksum = 0x00;
checksum = (uint8_t)(id & 0x00ff) + (uint8_t)(id >> 8) + dlc;
for (int i = 0; i < (dlc - 1); ++i) checksum += data[i];
return checksum;
}

41
src/protocol_v1/agilex_msg_parser_v1.h
View File

@@ -1,41 +0,0 @@
/*
* agilex_msg_parser.h
*
* Created on: Jul 09, 2021 22:04
* Description:
*
* Copyright (c) 2021 Ruixiang Du (rdu)
*/
#ifndef AGILEX_MSG_PARSER_H
#define AGILEX_MSG_PARSER_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stdbool.h>
#include <string.h>
#ifdef __linux__
#include <linux/can.h>
#else
struct can_frame {
uint32_t can_id;
uint8_t can_dlc;
uint8_t data[8] __attribute__((aligned(8)));
};
#endif
#include "ugv_sdk/details/interface/agilex_message.h"
bool DecodeCanFrameV1(const struct can_frame *rx_frame, AgxMessage *msg);
void EncodeCanFrameV1(const AgxMessage *msg, struct can_frame *tx_frame);
uint8_t CalcCanFrameChecksumV1(uint16_t id, uint8_t *data, uint8_t dlc);
#ifdef __cplusplus
}
#endif
#endif /* AGILEX_MSG_PARSER_H */

197
src/protocol_v1/agilex_protocol_v1.h
View File

@@ -1,197 +0,0 @@
/*
* agilex_protocol_v1.h
*
* Created on: Jul 09, 2021 20:34
* Description:
*
* Copyright (c) 2021 Ruixiang Du (rdu)
*/
#ifndef AGILEX_PROTOCOL_V1_H
#define AGILEX_PROTOCOL_V1_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
// define endianess of the platform
#if (!defined(USE_LITTLE_ENDIAN) && !defined(USE_BIG_ENDIAN))
#define USE_LITTLE_ENDIAN
#endif
#ifdef USE_BIG_ENDIAN
#error "BIG ENDIAN IS CURRENTLY NOT SUPPORTED"
#endif
/*---------------------------- Motor IDs -------------------------------*/
#define ACTUATOR1_ID ((uint8_t)0x00)
#define ACTUATOR2_ID ((uint8_t)0x01)
#define ACTUATOR3_ID ((uint8_t)0x02)
#define ACTUATOR4_ID ((uint8_t)0x03)
/*--------------------------- Message IDs ------------------------------*/
// CAN: control group
#define CAN_MSG_MOTION_COMMAND_ID ((uint32_t)0x130)
#define CAN_MSG_LIGHT_COMMAND_ID ((uint32_t)0x140)
#define CAN_MSG_VALUE_SET_COMMAND_ID ((uint32_t)0x211)
// CAN: state feedback group
#define CAN_MSG_MOTION_STATE_ID ((uint32_t)0x131)
#define CAN_MSG_LIGHT_STATE_ID ((uint32_t)0x141)
#define CAN_MSG_SYSTEM_STATE_ID ((uint32_t)0x151)
#define CAN_MSG_ACTUATOR1_STATE_ID ((uint32_t)0x200)
#define CAN_MSG_ACTUATOR2_STATE_ID ((uint32_t)0x201)
#define CAN_MSG_ACTUATOR3_STATE_ID ((uint32_t)0x202)
#define CAN_MSG_ACTUATOR4_STATE_ID ((uint32_t)0x203)
/*------------------------ Frame Memory Layout -------------------------*/
/* No padding in the struct */
// reference: https://stackoverflow.com/questions/3318410/pragma-pack-effect
#pragma pack(push, 1)
#ifdef USE_LITTLE_ENDIAN
typedef struct {
uint8_t high_byte;
uint8_t low_byte;
} struct16_t;
typedef struct {
uint8_t msb;
uint8_t high_byte;
uint8_t low_byte;
uint8_t lsb;
} struct32_t;
#elif defined(USE_BIG_ENDIAN)
typedef struct {
uint8_t low_byte;
uint8_t high_byte;
} struct16_t;
typedef struct {
uint8_t lsb;
uint8_t low_byte;
uint8_t high_byte;
uint8_t msb;
} struct32_t;
#endif
// Control messages
#define CTRL_MODE_REMOTE ((uint8_t)0x00)
#define CTRL_MODE_CMD_CAN ((uint8_t)0x01)
#define CTRL_MODE_CMD_UART ((uint8_t)0x02)
#define CTRL_MODE_COMMANDED ((uint8_t)0x03)
#define ERROR_CLR_NONE ((uint8_t)0x00)
#define ERROR_CLR_BAT_UNDER_VOL ((uint8_t)0x01)
#define ERROR_CLR_BAT_OVER_VOL ((uint8_t)0x02)
#define ERROR_CLR_MOTOR1_COMM ((uint8_t)0x03)
#define ERROR_CLR_MOTOR2_COMM ((uint8_t)0x04)
#define ERROR_CLR_MOTOR3_COMM ((uint8_t)0x05)
#define ERROR_CLR_MOTOR4_COMM ((uint8_t)0x06)
#define ERROR_CLR_MOTOR_DRV_OVERHEAT ((uint8_t)0x07)
#define ERROR_CLR_MOTOR_OVERCURRENT ((uint8_t)0x08)
typedef struct {
uint8_t control_mode;
uint8_t error_clear_byte;
int8_t linear_percentage;
int8_t angular_percentage;
uint8_t reserved0;
uint8_t reserved1;
uint8_t count;
uint8_t checksum;
} MotionCommandFrame;
#define LIGHT_ENABLE_CMD_CTRL ((uint8_t)0x01)
#define LIGHT_DISABLE_CMD_CTRL ((uint8_t)0x00)
#define LIGHT_MODE_CONST_OFF ((uint8_t)0x00)
#define LIGHT_MODE_CONST_ON ((uint8_t)0x01)
#define LIGHT_MODE_BREATH ((uint8_t)0x02)
#define LIGHT_MODE_CUSTOM ((uint8_t)0x03)
typedef struct {
uint8_t enable_cmd_ctrl;
uint8_t front_mode;
uint8_t front_custom;
uint8_t rear_mode;
uint8_t rear_custom;
uint8_t reserved0;
uint8_t count;
uint8_t checksum;
} LightCommandFrame;
typedef struct {
uint8_t set_neutral;
uint8_t reserved0;
uint8_t reserved1;
uint8_t reserved2;
uint8_t reserved3;
uint8_t reserved4;
uint8_t count;
uint8_t checksum;
} ValueSetCommandFrame;
// State feedback messages
#define VEHICLE_STATE_NORMAL ((uint8_t)0x00)
#define VEHICLE_STATE_ESTOP ((uint8_t)0x01)
#define VEHICLE_STATE_EXCEPTION ((uint8_t)0x02)
#define ERROR_CAN_CHECKSUM_ERROR ((uint16_t)0x0100)
#define ERROR_MOTOR_DRV_OVERHEAT_W ((uint16_t)0x0200)
#define ERROR_MOTOR_OVERCURRENT_W ((uint16_t)0x0400)
#define ERROR_BAT_UNDER_VOL_W ((uint16_t)0x0800)
#define ERROR_RC_SIGNAL_LOSS ((uint16_t)0x1000)
#define ERROR_HIGH_BYTE_RESERVED2 ((uint16_t)0x2000)
#define ERROR_HIGH_BYTE_RESERVED3 ((uint16_t)0x4000)
#define ERROR_HIGH_BYTE_RESERVED4 ((uint16_t)0x8000)
#define ERROR_BAT_UNDER_VOL_F ((uint16_t)0x0001)
#define ERROR_BAT_OVER_VOL_F ((uint16_t)0x0002)
#define ERROR_MOTOR1_COMM_F ((uint16_t)0x0004)
#define ERROR_MOTOR2_COMM_F ((uint16_t)0x0008)
#define ERROR_MOTOR3_COMM_F ((uint16_t)0x0010)
#define ERROR_MOTOR4_COMM_F ((uint16_t)0x0020)
#define ERROR_MOTOR_DRV_OVERHEAT_F ((uint16_t)0x0040)
#define ERROR_MOTOR_OVERCURRENT_F ((uint16_t)0x0080)
typedef struct {
uint8_t vehicle_state;
uint8_t control_mode;
struct16_t battery_voltage;
struct16_t error_code;
uint8_t count;
uint8_t checksum;
} SystemStateFrame;
typedef struct {
struct16_t linear;
struct16_t angular;
uint8_t reserved0;
uint8_t reserved1;
uint8_t count;
uint8_t checksum;
} MotionStateFrame;
typedef LightCommandFrame LightStateFrame;
typedef struct {
struct16_t current;
struct16_t rpm;
int8_t temperature;
uint8_t reserved0;
uint8_t count;
uint8_t checksum;
} ActuatorStateFrame;
#pragma pack(pop)
#ifdef __cplusplus
}
#endif
#endif /* AGILEX_PROTOCOL_V1_H */

111
src/protocol_v1/parser_impl/scout_protocol_v1_parser.cpp
View File

@@ -1,111 +0,0 @@
/*
* scout_protocol_v1_parser.cpp
*
* Created on: Jul 08, 2021 22:43
* Description:
*
* Copyright (c) 2021 Ruixiang Du (rdu)
*/
#include "ugv_sdk/details/protocol_v1/scout_protocol_v1_parser.hpp"
namespace westonrobot {
// CAN support
bool ScoutProtocolV1Parser::DecodeMessage(const struct can_frame *rx_frame,
AgxMessage *msg) {
// ScoutMessage scout_msg;
// if ScoutMessage found, convert to AgxMessage
// if (DecodeScoutMsgFromCAN(rx_frame, &scout_msg)) {
// switch (scout_msg.type) {
// case ScoutMotionStatusMsg: {
// break;
// }
// case ScoutLightStatusMsg: {
// break;
// }
// case ScoutSystemStatusMsg: {
// break;
// }
// case ScoutMotorDriverStatusMsg: {
// break;
// }
// }
// }
return false;
}
void ScoutProtocolV1Parser::EncodeMessage(const AgxMessage *msg,
struct can_frame *tx_frame) {
// ScoutMessage scout_msg;
// convert to ScoutMessage, then encode to can frame
// switch (msg->type) {
// case AgxMsgMotionCommand: {
// // scout_msg.type = ScoutMotionControlMsg;
// // scout_msg.body.motion_control_msg.data.cmd.control_mode =
// // CTRL_MODE_COMMANDED;
// // scout_msg.body.motion_control_msg.data.cmd.control_mode =
// // CTRL_MODE_CMD_CAN;
// // scout_msg.body.motion_control_msg.data.cmd.fault_clear_flag =
// 0x00;
// /*
// std::lock_guard<std::mutex> guard(motion_cmd_mutex_);
// current_motion_cmd_.linear_velocity = static_cast<int8_t>(
// linear_vel / ScoutCmdLimits::max_linear_velocity * 100.0);
// current_motion_cmd_.angular_velocity = static_cast<int8_t>(
// angular_vel / ScoutCmdLimits::max_angular_velocity * 100.0);
// */
// // scout_msg.body.motion_control_msg.data.cmd.linear_velocity_cmd =
// // current_motion_cmd_.linear_velocity;
// // scout_msg.body.motion_control_msg.data.cmd.angular_velocity_cmd =
// // current_motion_cmd_.angular_velocity;
// // scout_msg.body.motion_control_msg.data.cmd.reserved0 = 0;
// // scout_msg.body.motion_control_msg.data.cmd.reserved1 = 0;
// // scout_msg.body.motion_control_msg.data.cmd.count = count;
// // scout_msg.body.motion_control_msg.data.cmd.checksum =
// // CalculateChecksum(CAN_MSG_MOTION_CONTROL_CMD_ID,
// // scout_msg.body.motion_control_msg.data.raw,
// 8);
// break;
// }
// case AgxMsgLightCommand: {
// scout_msg.body.light_control_msg.data.cmd.light_ctrl_enable =
// LIGHT_ENABLE_CTRL;
// // scout_msg.body.light_control_msg.data.cmd.front_mode =
// // static_cast<uint8_t>(current_light_cmd_.front_mode);
// // scout_msg.body.light_control_msg.data.cmd.front_custom =
// // current_light_cmd_.front_custom_value;
// // scout_msg.body.light_control_msg.data.cmd.rear_mode =
// // static_cast<uint8_t>(current_light_cmd_.rear_mode);
// // scout_msg.body.light_control_msg.data.cmd.rear_custom =
// // current_light_cmd_.rear_custom_value;
// // scout_msg.body.light_control_msg.data.cmd.reserved0 = 0;
// // scout_msg.body.light_control_msg.data.cmd.count = count;
// scout_msg.body.light_control_msg.data.cmd.checksum =
// CalculateChecksum(CAN_MSG_LIGHT_CONTROL_CMD_ID,
// scout_msg.body.light_control_msg.data.raw, 8);
// break;
// }
// }
}
uint8_t ScoutProtocolV1Parser::CalculateChecksum(uint16_t id, uint8_t *data,
uint8_t dlc) {
uint8_t checksum = 0x00;
checksum = (uint8_t)(id & 0x00ff) + (uint8_t)(id >> 8) + dlc;
for (int i = 0; i < (dlc - 1); ++i) checksum += data[i];
return checksum;
}
// UART support
bool ScoutProtocolV1Parser::DecodeMessage(uint8_t *data, uint8_t dlc,
AgxMessage *msg) {}
void ScoutProtocolV1Parser::EncodeMessage(const AgxMessage *msg, uint8_t *buf,
uint8_t *len) {}
uint8_t ScoutProtocolV1Parser::CalculateChecksum(uint8_t *buf, uint8_t len) {}
} // namespace westonrobot

0
src/protocol_v2/parser_impl/protocol_v2_parser.cpp → src/protocol_v2/protocol_v2_parser.cpp
View File