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commit tracer_ros and bunker_ros (#4)

Browse Source 
* added support for tracer and bunker with protocol v1.0
This commit is contained in:
agilexrobotics
2020-11-03 15:39:18 +08:00
committed by GitHub
parent 784b3a242e
commit 3815021b6f
15 changed files with 2182 additions and 236 deletions
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5
ugv_sdk/CMakeLists.txt
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@@ -88,6 +88,11 @@ add_library(${PROJECT_NAME}
src/scout_base.cpp
src/scout_can_parser.c
src/scout_uart_parser.c
src/tracer_base.cpp
src/tracer_can_parser.c
src/tracer_uart_parser.c
src/bunker_base.cpp
src/bunker_can_parser.c
)
if(BUILD_WITHOUT_ROS)
target_link_libraries(${PROJECT_NAME} wrp_io Threads::Threads)

67
ugv_sdk/include/ugv_sdk/bunker/bunker_base.hpp Normal file
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@@ -0,0 +1,67 @@
/*
* bunker_base.hpp
*
* Created on: Jun 04, 2019 01:22
* Description:
*
* Copyright (c) 2019 Ruixiang Du (rdu)
*/
#ifndef BUNKER_BASE_HPP
#define BUNKER_BASE_HPP
#include <string>
#include <cstdint>
#include <thread>
#include <mutex>
#include <functional>
#include "ugv_sdk/common/mobile_base.hpp"
#include "ugv_sdk/bunker/bunker_protocol.h"
#include "ugv_sdk/bunker/bunker_can_parser.h"
#include "ugv_sdk/bunker/bunker_types.hpp"
namespace westonrobot {
class BunkerBase : public MobileBase {
public:
BunkerBase() : MobileBase(){};
~BunkerBase() = default;
public:
// motion control
void SetMotionCommand(double linear_vel, double angular_vel,
BunkerMotionCmd::FaultClearFlag fault_clr_flag =
BunkerMotionCmd::FaultClearFlag::NO_FAULT);
// get robot state
BunkerState GetBunkerState();
private:
// cmd/status update related variables
std::mutex bunker_state_mutex_;
std::mutex motion_cmd_mutex_;
BunkerState bunker_state_;
BunkerMotionCmd current_motion_cmd_;
// internal functions
void SendRobotCmd() override;
void ParseCANFrame(can_frame *rx_frame) override;
void ParseUARTBuffer(uint8_t *buf, const size_t bufsize,
size_t bytes_received) override{};
void SendMotionCmd(uint8_t count);
void NewStatusMsgReceivedCallback(const BunkerMessage &msg);
public:
static void UpdateBunkerState(const BunkerMessage &status_msg,
BunkerState &state);
};
} // namespace westonrobot
#endif /* BUNKER_BASE_HPP */

42
ugv_sdk/include/ugv_sdk/bunker/bunker_can_parser.h Normal file
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@@ -0,0 +1,42 @@
/*
* bunker_can_parser.h
*
* Created on: Aug 31, 2019 04:23
* Description:
*
* Copyright (c) 2019 Ruixiang Du (rdu)
*/
#ifndef BUNKER_CAN_PARSER_H
#define BUNKER_CAN_PARSER_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stdbool.h>
#include "ugv_sdk/bunker/bunker_protocol.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
bool DecodeBunkerMsgFromCAN(const struct can_frame *rx_frame, BunkerMessage *msg);
void EncodeBunkerMsgToCAN(const BunkerMessage *msg, struct can_frame *tx_frame);
uint8_t CalcBunkerCANChecksum(uint16_t id, uint8_t *data, uint8_t dlc);
#ifdef __cplusplus
}
#endif
#endif /* BUNKER_CAN_PARSER_H */

274
ugv_sdk/include/ugv_sdk/bunker/bunker_protocol.h Normal file
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@@ -0,0 +1,274 @@
/*
* bunker_protocol.h
*
* Created on: Aug 07, 2019 21:49
* Description:
*
* Copyright (c) 2019 Ruixiang Du (rdu)
*/
#ifndef BUNKER_PROTOCOL_H
#define BUNKER_PROTOCOL_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#define BUNKER_CMD_BUF_LEN 32
#define BUNKER_STATUS_BUF_LEN 32
#define BUNKER_FRAME_SIZE 13
#define BUNKER_MOTOR1_ID ((uint8_t)0x00)
#define BUNKER_MOTOR2_ID ((uint8_t)0x01)
//#define BUNKER_MOTOR3_ID ((uint8_t)0x02)
//#define BUNKER_MOTOR4_ID ((uint8_t)0x03)
// UART Definitions
#define UART_FRAME_SYSTEM_STATUS_ID ((uint8_t)0x01)
#define UART_FRAME_MOTION_STATUS_ID ((uint8_t)0x02)
#define UART_FRAME_MOTOR1_DRIVER_STATUS_ID ((uint8_t)0x03)
#define UART_FRAME_MOTOR2_DRIVER_STATUS_ID ((uint8_t)0x04)
#define UART_FRAME_MOTOR3_DRIVER_STATUS_ID ((uint8_t)0x05)
#define UART_FRAME_MOTOR4_DRIVER_STATUS_ID ((uint8_t)0x06)
#define UART_FRAME_LIGHT_STATUS_ID ((uint8_t)0x07)
#define UART_FRAME_MOTION_CONTROL_ID ((uint8_t)0x01)
#define UART_FRAME_LIGHT_CONTROL_ID ((uint8_t)0x02)
// CAN Definitions
#define CAN_MSG_MOTION_CONTROL_CMD_ID ((uint32_t)0x130)
#define CAN_MSG_MOTION_CONTROL_STATUS_ID ((uint32_t)0x131)
#define CAN_MSG_LIGHT_CONTROL_CMD_ID ((uint32_t)0x140)
#define CAN_MSG_LIGHT_CONTROL_STATUS_ID ((uint32_t)0x141)
#define CAN_MSG_SYSTEM_STATUS_STATUS_ID ((uint32_t)0x151)
#define CAN_MSG_MOTOR1_DRIVER_STATUS_ID ((uint32_t)0x200)
#define CAN_MSG_MOTOR2_DRIVER_STATUS_ID ((uint32_t)0x201)
//#define CAN_MSG_MOTOR3_DRIVER_STATUS_ID ((uint32_t)0x202)
//#define CAN_MSG_MOTOR4_DRIVER_STATUS_ID ((uint32_t)0x203)
/*--------------------- Control/State Constants ------------------------*/
// Motion Control
#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 FAULT_CLR_NONE ((uint8_t)0x00)
#define FAULT_CLR_BAT_UNDER_VOL ((uint8_t)0x01)
#define FAULT_CLR_BAT_OVER_VOL ((uint8_t)0x02)
#define FAULT_CLR_MOTOR1_COMM ((uint8_t)0x03)
#define FAULT_CLR_MOTOR2_COMM ((uint8_t)0x04)
#define FAULT_CLR_MOTOR3_COMM ((uint8_t)0x05)
#define FAULT_CLR_MOTOR4_COMM ((uint8_t)0x06)
#define FAULT_CLR_MOTOR_DRV_OVERHEAT ((uint8_t)0x07)
#define FAULT_CLR_MOTOR_OVERCURRENT ((uint8_t)0x08)
// Light Control
#define LIGHT_DISABLE_CTRL ((uint8_t)0x00)
#define LIGHT_ENABLE_CTRL ((uint8_t)0x01)
#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)
// System Status Feedback
#define BASE_STATE_NORMAL ((uint8_t)0x00)
#define BASE_STATE_ESTOP ((uint8_t)0x01)
#define BASE_STATE_EXCEPTION ((uint8_t)0x02)
#define FAULT_CAN_CHECKSUM_ERROR ((uint16_t)0x0100)
#define FAULT_MOTOR_DRV_OVERHEAT_W ((uint16_t)0x0200)
#define FAULT_MOTOR_OVERCURRENT_W ((uint16_t)0x0400)
#define FAULT_BAT_UNDER_VOL_W ((uint16_t)0x0800)
#define FAULT_RC_SIGNAL_LOSS ((uint16_t)0x1000)
#define FAULT_HIGH_BYTE_RESERVED2 ((uint16_t)0x2000)
#define FAULT_HIGH_BYTE_RESERVED3 ((uint16_t)0x4000)
#define FAULT_HIGH_BYTE_RESERVED4 ((uint16_t)0x8000)
#define FAULT_BAT_UNDER_VOL_F ((uint16_t)0x0001)
#define FAULT_BAT_OVER_VOL_F ((uint16_t)0x0002)
#define FAULT_MOTOR1_COMM_F ((uint16_t)0x0004)
#define FAULT_MOTOR2_COMM_F ((uint16_t)0x0008)
#define FAULT_MOTOR3_COMM_F ((uint16_t)0x0010)
#define FAULT_MOTOR4_COMM_F ((uint16_t)0x0020)
#define FAULT_MOTOR_DRV_OVERHEAT_F ((uint16_t)0x0040)
#define FAULT_MOTOR_OVERCURRENT_F ((uint16_t)0x0080)
/*-------------------- Control/Feedback Messages -----------------------*/
/* No padding in the struct */
// reference: https://stackoverflow.com/questions/3318410/pragma-pack-effect
#pragma pack(push, 1)
// Note: id could be different for UART and CAN protocol
// Motion Control
typedef struct {
union
{
struct
{
uint8_t control_mode;
uint8_t fault_clear_flag;
int8_t linear_velocity_cmd;
int8_t angular_velocity_cmd;
uint8_t reserved0;
uint8_t reserved1;
uint8_t count;
uint8_t checksum;
} cmd;
uint8_t raw[8];
} data;
} MotionControlMessage;
typedef struct {
union
{
struct
{
struct
{
uint8_t high_byte;
uint8_t low_byte;
} linear_velocity;
struct
{
uint8_t high_byte;
uint8_t low_byte;
} angular_velocity;
uint8_t reserved0;
uint8_t reserved1;
uint8_t count;
uint8_t checksum;
} status;
uint8_t raw[8];
} data;
} MotionStatusMessage;
// System Status Feedback
typedef struct {
union
{
struct
{
uint8_t base_state;
uint8_t control_mode;
struct
{
uint8_t high_byte;
uint8_t low_byte;
} battery_voltage;
struct
{
uint8_t high_byte;
uint8_t low_byte;
} fault_code;
uint8_t count;
uint8_t checksum;
} status;
uint8_t raw[8];
} data;
} SystemStatusMessage;
// Light Control
typedef struct {
union
{
struct
{
uint8_t light_ctrl_enable;
uint8_t front_light_mode;
uint8_t front_light_custom;
uint8_t rear_light_mode;
uint8_t rear_light_custom;
uint8_t reserved0;
uint8_t count;
uint8_t checksum;
} cmd;
uint8_t raw[8];
} data;
} LightControlMessage;
typedef struct {
union
{
struct
{
uint8_t light_ctrl_enable;
uint8_t front_light_mode;
uint8_t front_light_custom;
uint8_t rear_light_mode;
uint8_t rear_light_custom;
uint8_t reserved0;
uint8_t count;
uint8_t checksum;
} status;
uint8_t raw[8];
} data;
} LightStatusMessage;
// Motor Driver Feedback
typedef struct
{
uint8_t motor_id;
union {
struct
{
struct
{
uint8_t high_byte;
uint8_t low_byte;
} current;
struct
{
uint8_t high_byte;
uint8_t low_byte;
} rpm;
int8_t temperature;
uint8_t reserved0;
uint8_t count;
uint8_t checksum;
} status;
uint8_t raw[8];
} data;
} MotorDriverStatusMessage;
// For convenience to access status/control message
typedef enum
{
BunkerMsgNone = 0x00,
// status messages
BunkerMotionStatusMsg = 0x01,
BunkerLightStatusMsg = 0x02,
BunkerSystemStatusMsg = 0x03,
BunkerMotorDriverStatusMsg = 0x04,
// control messages
BunkerMotionControlMsg = 0x21,
BunkerLightControlMsg = 0x22
} BunkerMsgType;
typedef struct
{
BunkerMsgType type;
union {
// status messages
MotionStatusMessage motion_status_msg;
LightStatusMessage light_status_msg;
SystemStatusMessage system_status_msg;
MotorDriverStatusMessage motor_driver_status_msg;
// control messages
MotionControlMessage motion_control_msg;
LightControlMessage light_control_msg;
} body;
} BunkerMessage;
#pragma pack(pop)
#ifdef __cplusplus
}
#endif
#endif /* BUNKER_PROTOCOL_H */

112
ugv_sdk/include/ugv_sdk/bunker/bunker_types.hpp Normal file
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@@ -0,0 +1,112 @@
/*
* bunker_state.hpp
*
* Created on: Jun 11, 2019 08:48
* Description:
*
* Copyright (c) 2019 Ruixiang Du (rdu)
*/
#ifndef BUNKER_STATE_HPP
#define BUNKER_STATE_HPP
#include <cstdint>
#include <iostream>
namespace westonrobot
{
struct BunkerState
{
enum MotorID
{
FRONT_RIGHT = 0,
FRONT_LEFT = 1,
REAR_LEFT = 2,
REAR_RIGHT = 3
};
struct MotorState
{
double current = 0; // in A
double rpm = 0;
double temperature = 0;
};
struct LightState
{
uint8_t mode = 0;
uint8_t custom_value = 0;
};
// base state
uint8_t base_state = 0;
uint8_t control_mode = 0;
uint16_t fault_code = 0;
double battery_voltage = 0.0;
// motor state
static constexpr uint8_t motor_num = 4;
MotorState motor_states[motor_num];
// light state
bool light_control_enabled = false;
LightState front_light_state;
LightState rear_light_state;
// motion state
double linear_velocity = 0;
double angular_velocity = 0;
};
struct BunkerMotionCmd
{
enum class FaultClearFlag
{
NO_FAULT = 0x00,
BAT_UNDER_VOL = 0x01,
BAT_OVER_VOL = 0x02,
MOTOR1_COMM = 0x03,
MOTOR2_COMM = 0x04,
MOTOR3_COMM = 0x05,
MOTOR4_COMM = 0x06,
MOTOR_DRV_OVERHEAT = 0x07,
MOTOR_OVERCURRENT = 0x08
};
BunkerMotionCmd(int8_t linear = 0, int8_t angular = 0,
FaultClearFlag fault_clr_flag = FaultClearFlag::NO_FAULT)
: linear_velocity(linear), angular_velocity(angular),
fault_clear_flag(fault_clr_flag) {}
int8_t linear_velocity;
int8_t angular_velocity;
FaultClearFlag fault_clear_flag;
static constexpr double max_linear_velocity = 1.5; // 1.5 m/s
static constexpr double min_linear_velocity = -1.5; // -1.5 m/s
static constexpr double max_angular_velocity = 1.0; // 3.1415 rad/s
static constexpr double min_angular_velocity = -1.0; // -3.1415 rad/s
};
struct BunkerLightCmd
{
enum class LightMode
{
CONST_OFF = 0x00,
CONST_ON = 0x01,
BREATH = 0x02,
CUSTOM = 0x03
};
BunkerLightCmd() = default;
BunkerLightCmd(LightMode f_mode, uint8_t f_value, LightMode r_mode, uint8_t r_value) : front_mode(f_mode), front_custom_value(f_value),
rear_mode(r_mode), rear_custom_value(r_value) {}
LightMode front_mode;
uint8_t front_custom_value;
LightMode rear_mode;
uint8_t rear_custom_value;
};
} // namespace westonrobot
#endif /* BUNKER_STATE_HPP */

72
ugv_sdk/include/ugv_sdk/tracer/tracer_base.hpp
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@@ -14,38 +14,28 @@
#include <cstdint>
#include <thread>
#include <mutex>
#include <functional>
#include "async_io/async_can.hpp"
#include "async_io/async_serial.hpp"
//#include "wrp_sdk/asyncio/async_can.hpp"
//#include "wrp_sdk/asyncio/async_serial.hpp"
#include "ugv_sdk/common/mobile_base.hpp"
#include "tracer_protocol/tracer_protocol.h"
#include "tracer_protocol/tracer_can_parser.h"
#include "ugv_sdk/tracer/tracer_protocol.h"
#include "ugv_sdk/tracer/tracer_can_parser.h"
#include "ugv_sdk/tracer/tracer_uart_parser.h"
#include "ugv_sdk/tracer/tracer_types.hpp"
#include "tracer_base/tracer_types.hpp"
namespace westonrobot
{
class TracerBase
class TracerBase :public MobileBase
{
public:
TracerBase() = default;
~TracerBase();
// do not allow copy
TracerBase(const TracerBase &tracer) = delete;
TracerBase &operator=(const TracerBase &tracer) = delete;
public:
// connect to roboot from CAN
void Connect(std::string dev_name);
// disconnect from roboot, only valid for serial port
void Disconnect();
// cmd thread runs at 100Hz (10ms) by default
void SetCmdThreadPeriodMs(int32_t period_ms) { cmd_thread_period_ms_ = period_ms; };
TracerBase() : MobileBase(){};
~TracerBase()= default;
// get robot state
TracerState GetTracerState();
UartTracerState GetUartTracerState();
// motion control
void SetMotionCommand(double linear_vel, double angular_vel,
TracerMotionCmd::FaultClearFlag fault_clr_flag = TracerMotionCmd::FaultClearFlag::NO_FAULT);
@@ -54,55 +44,53 @@ public:
void SetLightCommand(TracerLightCmd cmd);
void DisableLightCmdControl();
// get robot state
TracerState GetTracerState();
private:
// hardware communication interface
std::shared_ptr<AsyncCAN> can_if_;
std::shared_ptr<AsyncSerial> serial_if_;
// CAN priority higher than serial if both connected
bool can_connected_ = false;
bool serial_connected_ = false;
// bool can_connected_ = false;
// bool serial_connected_ = false;
// serial port related variables
uint8_t tx_cmd_len_;
uint8_t tx_buffer_[TRACER_CMD_BUF_LEN];
// cmd/status update related variables
std::thread cmd_thread_;
//std::thread cmd_thread_;
std::mutex tracer_state_mutex_;
std::mutex uart_tracer_state_mutex_;
std::mutex motion_cmd_mutex_;
std::mutex light_cmd_mutex_;
std::mutex mode_cmd_mutex_;
TracerState tracer_state_;
UartTracerState uart_tracer_state_;
TracerMotionCmd current_motion_cmd_;
UartTracerMotionCmd uart_current_motion_cmd_;
TracerLightCmd current_light_cmd_;
int32_t cmd_thread_period_ms_ = 10;
bool cmd_thread_started_ = false;
// int32_t cmd_thread_period_ms_ = 10;
// bool cmd_thread_started_ = false;
bool light_ctrl_enabled_ = false;
bool light_ctrl_requested_ = false;
// internal functions
void ConfigureCANBus(const std::string &can_if_name = "can1");
void ConfigureSerial(const std::string uart_name = "/dev/ttyUSB0", int32_t baud_rate = 115200);
void StartCmdThread();
void ControlLoop(int32_t period_ms);
void SendMotionCmd(uint8_t count);
void SendRobotCmd() override;
void SendLightCmd(uint8_t count);
void ParseCANFrame(can_frame *rx_frame);
void SendControlCmd();
void ParseCANFrame(can_frame *rx_frame) override;
void ParseUARTBuffer(uint8_t *buf, const size_t bufsize, size_t bytes_received);
// override{};
void NewStatusMsgReceivedCallback(const TracerMessage &msg);
void UartNewStatusMsgReceivedCallback(const UartTracerMessage &msg);
public:
static void UpdateTracerState(const TracerMessage &status_msg, TracerState &state);
static void UartUpdateTracerState(const UartTracerMessage &status_msg, UartTracerState &state);
};
} // namespace westonrobot

2
ugv_sdk/include/ugv_sdk/tracer/tracer_can_parser.h
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@@ -17,7 +17,7 @@ extern "C" {
#include <stdint.h>
#include <stdbool.h>
#include "tracer_protocol/tracer_protocol.h"
#include "ugv_sdk/tracer/tracer_protocol.h"
#ifdef __linux__
#include <linux/can.h>

298
ugv_sdk/include/ugv_sdk/tracer/tracer_protocol.h
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@@ -23,14 +23,26 @@ extern "C" {
#define TRACER_MOTOR1_ID ((uint8_t)0x00)
#define TRACER_MOTOR2_ID ((uint8_t)0x01)
// UART Definitions
#define UART_FRAME_SYSTEM_STATUS_ID ((uint8_t)0x01)
#define UART_FRAME_MOTION_STATUS_ID ((uint8_t)0x02)
#define UART_FRAME_MOTOR1_DRIVER_STATUS_ID ((uint8_t)0x03)
#define UART_FRAME_MOTOR2_DRIVER_STATUS_ID ((uint8_t)0x04)
#define UART_FRAME_LIGHT_STATUS_ID ((uint8_t)0x07)
#define UART_FRAME_MOTION_CONTROL_ID ((uint8_t)0x01)
#define UART_FRAME_LIGHT_CONTROL_ID ((uint8_t)0x02)
// CAN Definitions
#define CAN_MSG_MOTION_CMD_ID ((uint32_t)0x130)
#define CAN_MSG_MOTION_STATUS_ID ((uint32_t)0x131)
#define CAN_MSG_LIGHT_CONTROL_CMD_ID ((uint32_t)0x140)
#define CAN_MSG_LIGHT_CONTROL_STATUS_ID ((uint32_t)0x141)
#define CAN_MSG_SYSTEM_STATUS_STATUS_ID ((uint32_t)0x151)
#define CAN_MSG_MOTOR1_DRIVER_STATUS_ID ((uint32_t)0x201)
#define CAN_MSG_MOTOR2_DRIVER_STATUS_ID ((uint32_t)0x202)
#define CAN_MSG_MOTION_CMD_ID ((uint32_t)0x111)
#define CAN_MSG_MOTION_STATUS_ID ((uint32_t)0x221)
#define CAN_MSG_LIGHT_CONTROL_CMD_ID ((uint32_t)0x121)
#define CAN_MSG_LIGHT_CONTROL_STATUS_ID ((uint32_t)0x231)
#define CAN_MSG_SYSTEM_STATUS_STATUS_ID ((uint32_t)0x211)
#define CAN_MSG_MOTOR1_DRIVER_STATUS_ID ((uint32_t)0x251)
#define CAN_MSG_MOTOR2_DRIVER_STATUS_ID ((uint32_t)0x252)
#define CAN_MSG_COMTROL_MODE_ID ((uint32_t)0x421)
#define CAN_MSG_ODOMETER_ID ((uint32_t)0x311)
/*--------------------- Control/State Constants ------------------------*/
@@ -90,7 +102,32 @@ extern "C" {
// Note: id could be different for UART and CAN protocol
// Motion Control
// Motion Control(can)
typedef struct {
union
{
struct
{
struct
{
int8_t H_byte;
int8_t L_byte;
}linear_velocity;
struct
{
int8_t H_byte;
int8_t L_byte;
}angular_velocity;
uint8_t reserved0;
uint8_t reserved1;
uint8_t reserved2;
uint8_t reserved3;
} cmd;
uint8_t raw[8];
} data;
} MotionCmdMessage;
// Motion Control(uart)
typedef struct {
union
{
@@ -107,7 +144,49 @@ typedef struct {
} cmd;
uint8_t raw[8];
} data;
} MotionCmdMessage;
} UartMotionControlMessage;
typedef struct {
union
{
struct
{
uint8_t control_mode;
uint8_t reserved0;
uint8_t reserved1;
uint8_t reserved2;
uint8_t reserved3;
uint8_t reserved4;
uint8_t reserved5;
uint8_t reserved6;
} cmd;
uint8_t raw[8];
} data;
} ModSelectMessage;
typedef struct {
union
{
struct
{
struct
{
uint8_t high_byte;
uint8_t low_byte;
} linear_velocity;
struct
{
uint8_t high_byte;
uint8_t low_byte;
} angular_velocity;
uint8_t reserved0;
uint8_t reserved1;
uint8_t reserved2;
uint8_t reserved3;
} status;
uint8_t raw[8];
} data;
} MotionStatusMessage;
typedef struct {
union
@@ -131,9 +210,31 @@ typedef struct {
} status;
uint8_t raw[8];
} data;
} MotionStatusMessage;
} UartMotionStatusMessage;
// System Status Feedback
typedef struct {
union
{
struct
{
uint8_t base_state;
uint8_t control_mode;
struct
{
uint8_t high_byte;
uint8_t low_byte;
} battery_voltage;
uint8_t fault_code;
uint8_t reserved0;
uint8_t reserved1;
uint8_t count;
//uint8_t checksum;
} status;
uint8_t raw[8];
} data;
} SystemStatusMessage;
typedef struct {
union
{
@@ -156,7 +257,7 @@ typedef struct {
} status;
uint8_t raw[8];
} data;
} SystemStatusMessage;
} UartSystemStatusMessage;
// Light Control
typedef struct {
@@ -167,11 +268,12 @@ typedef struct {
uint8_t light_ctrl_enable;
uint8_t front_light_mode;
uint8_t front_light_custom;
uint8_t rear_light_mode;
uint8_t rear_light_custom;
uint8_t reserved0;
uint8_t reserved1;
uint8_t reserved2;
uint8_t reserved3;
uint8_t count;
uint8_t checksum;
} cmd;
uint8_t raw[8];
} data;
@@ -190,11 +292,47 @@ typedef struct {
uint8_t reserved0;
uint8_t count;
uint8_t checksum;
} cmd;
uint8_t raw[8];
} data;
} UartLightControlMessage;
typedef struct {
union
{
struct
{
uint8_t light_ctrl_enable;
uint8_t front_light_mode;
uint8_t front_light_custom;
uint8_t reserved0;
uint8_t reserved1;
uint8_t reserved2;
uint8_t reserved3;
uint8_t count;
} status;
uint8_t raw[8];
} data;
} LightStatusMessage;
typedef struct {
union
{
struct
{
uint8_t light_ctrl_enable;
uint8_t front_light_mode;
uint8_t front_light_custom;
uint8_t rear_light_mode;
uint8_t rear_light_custom;
uint8_t reserved0;
uint8_t count;
uint8_t checksum;
} status;
uint8_t raw[8];
} data;
} UartLightStatusMessage;
// Motor Driver Feedback
typedef struct
{
@@ -221,6 +359,97 @@ typedef struct
} data;
} MotorDriverStatusMessage;
typedef struct
{
uint8_t motor_id;
union {
struct
{
struct
{
uint8_t high_byte;
uint8_t low_byte;
} current;
struct
{
uint8_t high_byte;
uint8_t low_byte;
} rpm;
int8_t temperature;
uint8_t reserved0;
uint8_t count;
uint8_t checksum;
} status;
uint8_t raw[8];
} data;
} UartMotorDriverStatusMessage;
typedef struct
{
uint8_t motor_id;
union {
struct
{
struct
{
uint8_t high_byte;
uint8_t low_byte;
} rpm;
int8_t reserved0;
int8_t reserved1;
int8_t reserved2;
int8_t reserved3;
int8_t reserved4;
int8_t reserved5;
} status;
uint8_t raw[8];
} data;
} MotorHeightSpeedStatusMessage;
typedef struct
{
uint8_t motor_id;
union {
struct
{
int8_t reserved0;
int8_t reserved1;
int8_t reserved2;
int8_t reserved3;
int8_t reserved4;
int8_t driver_state;
int8_t reserved5;
int8_t reserved6;
} status;
uint8_t raw[8];
} data;
} MotorLowSpeedStatusMessage;
typedef struct
{
uint8_t motor_id;
union {
struct
{
struct
{
uint8_t highest;
uint8_t sec_highest;
uint8_t sec_lowest;
uint8_t lowest;
}leftodometer;
struct
{
uint8_t highest;
uint8_t sec_highest;
uint8_t sec_lowest;
uint8_t lowest;
}rightodometer;
} status;
uint8_t raw[8];
} data;
} OdometerMessage;
// For convenience to access status/control message
typedef enum
{
@@ -230,11 +459,29 @@ typedef enum
TracerLightStatusMsg = 0x02,
TracerSystemStatusMsg = 0x03,
TracerMotorDriverStatusMsg = 0x04,
TracerOdometerMsg = 0x05,
TracerHeighSpeedMsg = 0x06,
TracerLowSpeedMsg = 0x07,
// control messages
TracerMotionCmdMsg = 0x21,
TracerLightControlMsg = 0x22
TracerLightControlMsg = 0x22,
TracerModeControlMsg = 0x23
} TracerMsgType;
typedef enum
{
UartTracerMsgNone = 0x00,
// status messages
UartTracerMotionStatusMsg = 0x01,
UartTracerLightStatusMsg = 0x02,
UartTracerSystemStatusMsg = 0x03,
UartTracerMotorDriverStatusMsg = 0x04,
// control messages
UartTracerMotionControlMsg = 0x21,
UartTracerLightControlMsg = 0x22
} UartTracerMsgType;
typedef struct
{
TracerMsgType type;
@@ -244,12 +491,33 @@ typedef struct
LightStatusMessage light_status_msg;
SystemStatusMessage system_status_msg;
MotorDriverStatusMessage motor_driver_status_msg;
OdometerMessage odom_msg;
MotorHeightSpeedStatusMessage motor_heigh_speed_msg;
MotorLowSpeedStatusMessage motor_low_speed_msg;
// control messages
MotionCmdMessage motion_cmd_msg;
LightControlMessage light_control_msg;
ModSelectMessage mode_cmd_msg;
} body;
} TracerMessage;
typedef struct
{
UartTracerMsgType type;
union {
// status messages
UartMotionStatusMessage motion_status_msg;
UartLightStatusMessage light_status_msg;
UartSystemStatusMessage system_status_msg;
UartMotorDriverStatusMessage motor_driver_status_msg;
// control messages
UartMotionControlMessage motion_control_msg;
UartLightControlMessage light_control_msg;
} body;
} UartTracerMessage;
#pragma pack(pop)
#ifdef __cplusplus

79
ugv_sdk/include/ugv_sdk/tracer/tracer_types.hpp
View File

@@ -16,6 +16,42 @@
namespace westonrobot
{
struct TracerState
{
struct MotorState
{
//double current = 0; // in A
double rpm = 0;
//double temperature = 0;
};
struct LightState
{
uint8_t mode = 0;
uint8_t custom_value = 0;
};
// base state
uint8_t base_state = 0;
uint8_t control_mode = 0;
uint8_t fault_code = 0;
double battery_voltage = 0.0;
// motor state
MotorState motor_states[2];
// light state
bool light_control_enabled = false;
LightState front_light_state;
// motion state
double linear_velocity = 0;
double angular_velocity = 0;
//odometer state
double left_odomter = 0;
double right_odomter = 0;
};
struct UartTracerState
{
enum MotorID
{
@@ -27,9 +63,9 @@ struct TracerState
struct MotorState
{
double current = 0; // in A
double current = 9; // in A
double rpm = 0;
double temperature = 0;
double temperature = 9;
};
struct LightState
@@ -45,7 +81,8 @@ struct TracerState
double battery_voltage = 0.0;
// motor state
MotorState motor_states[4];
static constexpr uint8_t motor_num = 2;
MotorState motor_states[motor_num];
// light state
bool light_control_enabled = false;
@@ -72,14 +109,46 @@ struct TracerMotionCmd
MOTOR_OVERCURRENT = 0x08
};
TracerMotionCmd(int8_t linear = 0, int8_t angular = 0,
TracerMotionCmd(int8_t linear_H = 0, int8_t angular_H = 0,int8_t linear_L = 0, int8_t angular_L = 0,
FaultClearFlag fault_clr_flag = FaultClearFlag::NO_FAULT)
: linear_velocity_H(linear_H), angular_velocity_H(angular_H),linear_velocity_L(linear_L), angular_velocity_L(angular_L),
fault_clear_flag(fault_clr_flag) {}
int8_t linear_velocity_H;
int8_t linear_velocity_L;
int8_t angular_velocity_H;
int8_t angular_velocity_L;
FaultClearFlag fault_clear_flag;
static constexpr double max_linear_velocity = 1.5; // 1.5 m/s
static constexpr double min_linear_velocity = -1.5; // -1.5 m/s
static constexpr double max_angular_velocity = 0.7853; // 0.5235 rad/s
static constexpr double min_angular_velocity = -0.7853; // -0.5235 rad/s
};
struct UartTracerMotionCmd
{
enum class FaultClearFlag
{
NO_FAULT = 0x00,
BAT_UNDER_VOL = 0x01,
BAT_OVER_VOL = 0x02,
MOTOR1_COMM = 0x03,
MOTOR2_COMM = 0x04,
MOTOR3_COMM = 0x05,
MOTOR4_COMM = 0x06,
MOTOR_DRV_OVERHEAT = 0x07,
MOTOR_OVERCURRENT = 0x08
};
UartTracerMotionCmd(int8_t linear = 0, int8_t angular = 0,
FaultClearFlag fault_clr_flag = FaultClearFlag::NO_FAULT)
: linear_velocity(linear), angular_velocity(angular),
fault_clear_flag(fault_clr_flag) {}
int8_t linear_velocity;
int8_t angular_velocity;
FaultClearFlag fault_clear_flag;
FaultClearFlag fault_clear_flag = FaultClearFlag::NO_FAULT;
static constexpr double max_linear_velocity = 1.5; // 1.5 m/s
static constexpr double min_linear_velocity = -1.5; // -1.5 m/s

24
ugv_sdk/include/ugv_sdk/tracer/tracer_uart_parser.h Normal file
View File

@@ -0,0 +1,24 @@
#ifndef TRACE_UART_PARSER_H
#define TRACE_UART_PARSER_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <string.h>
#include <stdbool.h>
#include "ugv_sdk/tracer/tracer_protocol.h"
bool DecodeTracerMsgFromUART(uint8_t c, UartTracerMessage *msg);
void EncodeTracerMsgToUART(const UartTracerMessage *msg, uint8_t *buf, uint8_t *len);
uint8_t CalcTracerUARTChecksum(uint8_t *buf, uint8_t len);
#ifdef __cplusplus
}
#endif
#endif /* TRACE_UART_PARSER_H */

200
ugv_sdk/src/bunker_base.cpp Normal file
View File

@@ -0,0 +1,200 @@
#include "ugv_sdk/bunker/bunker_base.hpp"
#include <string>
#include <cstring>
#include <iostream>
#include <algorithm>
#include <array>
#include <chrono>
#include <cstdint>
#include <ratio>
#include <thread>
#include "stopwatch.h"
namespace westonrobot {
void BunkerBase::SendRobotCmd() {
static uint8_t cmd_count = 0;
static uint8_t light_cmd_count = 0;
SendMotionCmd(cmd_count++);
}
void BunkerBase::SendMotionCmd(uint8_t count) {
// motion control message
BunkerMessage m_msg;
m_msg.type = BunkerMotionControlMsg;
if (can_connected_)
m_msg.body.motion_control_msg.data.cmd.control_mode = CTRL_MODE_CMD_CAN;
else if (serial_connected_)
m_msg.body.motion_control_msg.data.cmd.control_mode = CTRL_MODE_CMD_UART;
motion_cmd_mutex_.lock();
m_msg.body.motion_control_msg.data.cmd.fault_clear_flag =
static_cast<uint8_t>(current_motion_cmd_.fault_clear_flag);
m_msg.body.motion_control_msg.data.cmd.linear_velocity_cmd =
current_motion_cmd_.linear_velocity;
m_msg.body.motion_control_msg.data.cmd.angular_velocity_cmd =
current_motion_cmd_.angular_velocity;
motion_cmd_mutex_.unlock();
m_msg.body.motion_control_msg.data.cmd.reserved0 = 0;
m_msg.body.motion_control_msg.data.cmd.reserved1 = 0;
m_msg.body.motion_control_msg.data.cmd.count = count;
if (can_connected_)
m_msg.body.motion_control_msg.data.cmd.checksum =
CalcBunkerCANChecksum(CAN_MSG_MOTION_CONTROL_CMD_ID,
m_msg.body.motion_control_msg.data.raw, 8);
// serial_connected_: checksum will be calculated later when packed into a
// complete serial frame
if (can_connected_) {
// send to can bus
can_frame m_frame;
EncodeBunkerMsgToCAN(&m_msg, &m_frame);
can_if_->SendFrame(m_frame);
} else {
// send to serial port
// EncodeBunkerMsgToUART(&m_msg, tx_buffer_, &tx_cmd_len_);
// serial_if_->SendBytes(tx_buffer_, tx_cmd_len_);
}
}
BunkerState BunkerBase::GetBunkerState() {
std::lock_guard<std::mutex> guard(bunker_state_mutex_);
return bunker_state_;
}
void BunkerBase::SetMotionCommand(
double linear_vel, double angular_vel,
BunkerMotionCmd::FaultClearFlag fault_clr_flag) {
// make sure cmd thread is started before attempting to send commands
if (!cmd_thread_started_) StartCmdThread();
if (linear_vel < BunkerMotionCmd::min_linear_velocity)
linear_vel = BunkerMotionCmd::min_linear_velocity;
if (linear_vel > BunkerMotionCmd::max_linear_velocity)
linear_vel = BunkerMotionCmd::max_linear_velocity;
if (angular_vel < BunkerMotionCmd::min_angular_velocity)
angular_vel = BunkerMotionCmd::min_angular_velocity;
if (angular_vel > BunkerMotionCmd::max_angular_velocity)
angular_vel = BunkerMotionCmd::max_angular_velocity;
//std::cout<<angular_vel<<std::endl;
std::lock_guard<std::mutex> guard(motion_cmd_mutex_);
current_motion_cmd_.linear_velocity = static_cast<int8_t>(
linear_vel / BunkerMotionCmd::max_linear_velocity * 100.0);
current_motion_cmd_.angular_velocity = static_cast<int8_t>(
angular_vel / BunkerMotionCmd::max_angular_velocity * 100.0);
current_motion_cmd_.fault_clear_flag = fault_clr_flag;
FeedCmdTimeoutWatchdog();
}
void BunkerBase::ParseCANFrame(can_frame *rx_frame) {
// validate checksum, discard frame if fails
if (!rx_frame->data[7] == CalcBunkerCANChecksum(rx_frame->can_id,
rx_frame->data,
rx_frame->can_dlc)) {
std::cerr << "ERROR: checksum mismatch, discard frame with id "
<< rx_frame->can_id << std::endl;
return;
}
// otherwise, update robot state with new frame
BunkerMessage status_msg;
DecodeBunkerMsgFromCAN(rx_frame, &status_msg);
NewStatusMsgReceivedCallback(status_msg);
}
//void BunkerBase::ParseUARTBuffer(uint8_t *buf, const size_t bufsize,
// size_t bytes_received) {
// // std::cout << "bytes received from serial: " << bytes_received << std::endl;
// // serial_parser_.PrintStatistics();
// // serial_parser_.ParseBuffer(buf, bytes_received);
// BunkerMessage status_msg;
// for (int i = 0; i < bytes_received; ++i) {
// if (DecodeBunkerMsgFromUART(buf[i], &status_msg))
// NewStatusMsgReceivedCallback(status_msg);
// }
//}
void BunkerBase::NewStatusMsgReceivedCallback(const BunkerMessage &msg) {
// std::cout << "new status msg received" << std::endl;
std::lock_guard<std::mutex> guard(bunker_state_mutex_);
UpdateBunkerState(msg, bunker_state_);
}
void BunkerBase::UpdateBunkerState(const BunkerMessage &status_msg,
BunkerState &state) {
switch (status_msg.type) {
case BunkerMotionStatusMsg: {
// std::cout << "motion control feedback received" << std::endl;
const MotionStatusMessage &msg = status_msg.body.motion_status_msg;
state.linear_velocity =
static_cast<int16_t>(
static_cast<uint16_t>(msg.data.status.linear_velocity.low_byte) |
static_cast<uint16_t>(msg.data.status.linear_velocity.high_byte)
<< 8) /
1000.0;
state.angular_velocity =
static_cast<int16_t>(
static_cast<uint16_t>(msg.data.status.angular_velocity.low_byte) |
static_cast<uint16_t>(msg.data.status.angular_velocity.high_byte)
<< 8) /
1000.0;
break;
}
case BunkerLightStatusMsg: {
// std::cout << "light control feedback received" << std::endl;
const LightStatusMessage &msg = status_msg.body.light_status_msg;
if (msg.data.status.light_ctrl_enable == LIGHT_DISABLE_CTRL)
state.light_control_enabled = false;
else
state.light_control_enabled = true;
state.front_light_state.mode = msg.data.status.front_light_mode;
state.front_light_state.custom_value = msg.data.status.front_light_custom;
state.rear_light_state.mode = msg.data.status.rear_light_mode;
state.rear_light_state.custom_value = msg.data.status.rear_light_custom;
break;
}
case BunkerSystemStatusMsg: {
// std::cout << "system status feedback received" << std::endl;
const SystemStatusMessage &msg = status_msg.body.system_status_msg;
state.control_mode = msg.data.status.control_mode;
state.base_state = msg.data.status.base_state;
state.battery_voltage =
(static_cast<uint16_t>(msg.data.status.battery_voltage.low_byte) |
static_cast<uint16_t>(msg.data.status.battery_voltage.high_byte)
<< 8) /
10.0;
state.fault_code =
(static_cast<uint16_t>(msg.data.status.fault_code.low_byte) |
static_cast<uint16_t>(msg.data.status.fault_code.high_byte) << 8);
break;
}
case BunkerMotorDriverStatusMsg: {
// std::cout << "motor 1 driver feedback received" << std::endl;
const MotorDriverStatusMessage &msg =
status_msg.body.motor_driver_status_msg;
for (int i = 0; i < BunkerState::motor_num; ++i) {
state.motor_states[status_msg.body.motor_driver_status_msg.motor_id]
.current =
(static_cast<uint16_t>(msg.data.status.current.low_byte) |
static_cast<uint16_t>(msg.data.status.current.high_byte) << 8) /
10.0;
state.motor_states[status_msg.body.motor_driver_status_msg.motor_id]
.rpm = static_cast<int16_t>(
static_cast<uint16_t>(msg.data.status.rpm.low_byte) |
static_cast<uint16_t>(msg.data.status.rpm.high_byte) << 8);
state.motor_states[status_msg.body.motor_driver_status_msg.motor_id]
.temperature = msg.data.status.temperature;
}
break;
}
}
}
} // namespace westonrobot

161
ugv_sdk/src/bunker_can_parser.c Normal file
View File

@@ -0,0 +1,161 @@
/*
* bunker_can_parser.c
*
* Created on: Aug 31, 2019 04:25
* Description:
*
* Copyright (c) 2019 Ruixiang Du (rdu)
*/
#include "ugv_sdk/bunker/bunker_can_parser.h"
#include "string.h"
static void EncodeBunkerMotionControlMsgToCAN(const MotionControlMessage *msg, struct can_frame *tx_frame);
static void EncodeBunkerLightControlMsgToCAN(const LightControlMessage *msg, struct can_frame *tx_frame);
bool DecodeBunkerMsgFromCAN(const struct can_frame *rx_frame, BunkerMessage *msg)
{
msg->type = BunkerMsgNone;
switch (rx_frame->can_id)
{
// in the current implementation, both MsgType and can_frame include 8 * uint8_t
case CAN_MSG_MOTION_CONTROL_STATUS_ID:
{
msg->type = BunkerMotionStatusMsg;
// msg->motion_status_msg.id = CAN_MSG_MOTION_CONTROL_STATUS_ID;
memcpy(msg->body.motion_status_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_LIGHT_CONTROL_STATUS_ID:
{
msg->type = BunkerLightStatusMsg;
// msg->light_status_msg.id = CAN_MSG_LIGHT_CONTROL_STATUS_ID;
memcpy(msg->body.light_status_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_SYSTEM_STATUS_STATUS_ID:
{
msg->type = BunkerSystemStatusMsg;
// msg->system_status_msg.id = CAN_MSG_SYSTEM_STATUS_STATUS_ID;
memcpy(msg->body.system_status_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_MOTOR1_DRIVER_STATUS_ID:
{
msg->type = BunkerMotorDriverStatusMsg;
// msg->motor_driver_status_msg.id = CAN_MSG_MOTOR1_DRIVER_STATUS_ID;
msg->body.motor_driver_status_msg.motor_id = BUNKER_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_MOTOR2_DRIVER_STATUS_ID:
{
msg->type = BunkerMotorDriverStatusMsg;
// msg->motor_driver_status_msg.id = CAN_MSG_MOTOR2_DRIVER_STATUS_ID;
msg->body.motor_driver_status_msg.motor_id = BUNKER_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_MOTION_CONTROL_CMD_ID:
{
msg->type = BunkerMotionControlMsg;
// msg->motion_control_msg.id = CAN_MSG_MOTION_CONTROL_CMD_ID;
memcpy(msg->body.motion_control_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_LIGHT_CONTROL_CMD_ID:
{
msg->type = BunkerLightControlMsg;
// msg->light_control_msg.id = CAN_MSG_LIGHT_CONTROL_STATUS_ID;
memcpy(msg->body.light_control_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
default:
break;
}
return true;
}
void EncodeBunkerMsgToCAN(const BunkerMessage *msg, struct can_frame *tx_frame)
{
switch (msg->type)
{
// in the current implementation, both MsgType and can_frame include 8 * uint8_t
case BunkerMotionStatusMsg:
{
tx_frame->can_id = CAN_MSG_MOTION_CONTROL_STATUS_ID;
tx_frame->can_dlc = 8;
memcpy(tx_frame->data, msg->body.motion_status_msg.data.raw, tx_frame->can_dlc);
break;
}
case BunkerLightStatusMsg:
{
tx_frame->can_id = CAN_MSG_LIGHT_CONTROL_STATUS_ID;
tx_frame->can_dlc = 8;
memcpy(tx_frame->data, msg->body.light_status_msg.data.raw, tx_frame->can_dlc);
break;
}
case BunkerSystemStatusMsg:
{
tx_frame->can_id = CAN_MSG_SYSTEM_STATUS_STATUS_ID;
tx_frame->can_dlc = 8;
memcpy(tx_frame->data, msg->body.system_status_msg.data.raw, tx_frame->can_dlc);
break;
}
case BunkerMotorDriverStatusMsg:
{
if (msg->body.motor_driver_status_msg.motor_id == BUNKER_MOTOR1_ID)
tx_frame->can_id = CAN_MSG_MOTOR1_DRIVER_STATUS_ID;
else if (msg->body.motor_driver_status_msg.motor_id == BUNKER_MOTOR2_ID)
tx_frame->can_id = CAN_MSG_MOTOR2_DRIVER_STATUS_ID;
// else if (msg->body.motor_driver_status_msg.motor_id == BUNKER_MOTOR3_ID)
// tx_frame->can_id = CAN_MSG_MOTOR3_DRIVER_STATUS_ID;
// else if (msg->body.motor_driver_status_msg.motor_id == BUNKER_MOTOR4_ID)
// tx_frame->can_id = CAN_MSG_MOTOR4_DRIVER_STATUS_ID;
tx_frame->can_dlc = 8;
memcpy(tx_frame->data, msg->body.motor_driver_status_msg.data.raw, tx_frame->can_dlc);
break;
}
case BunkerMotionControlMsg:
{
EncodeBunkerMotionControlMsgToCAN(&(msg->body.motion_control_msg), tx_frame);
break;
}
case BunkerLightControlMsg:
{
EncodeBunkerLightControlMsgToCAN(&(msg->body.light_control_msg), tx_frame);
break;
}
default:
break;
}
tx_frame->data[7] = CalcBunkerCANChecksum(tx_frame->can_id, tx_frame->data, tx_frame->can_dlc);
}
void EncodeBunkerMotionControlMsgToCAN(const MotionControlMessage *msg, struct can_frame *tx_frame)
{
tx_frame->can_id = CAN_MSG_MOTION_CONTROL_CMD_ID;
tx_frame->can_dlc = 8;
memcpy(tx_frame->data, msg->data.raw, tx_frame->can_dlc);
tx_frame->data[7] = CalcBunkerCANChecksum(tx_frame->can_id, tx_frame->data, tx_frame->can_dlc);
}
void EncodeBunkerLightControlMsgToCAN(const LightControlMessage *msg, struct can_frame *tx_frame)
{
tx_frame->can_id = CAN_MSG_LIGHT_CONTROL_CMD_ID;
tx_frame->can_dlc = 8;
memcpy(tx_frame->data, msg->data.raw, tx_frame->can_dlc);
tx_frame->data[7] = CalcBunkerCANChecksum(tx_frame->can_id, tx_frame->data, tx_frame->can_dlc);
}
uint8_t CalcBunkerCANChecksum(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;
}

397
ugv_sdk/src/tracer_base.cpp
View File

@@ -1,4 +1,4 @@
#include "tracer_base/tracer_base.hpp"
#include "ugv_sdk/tracer/tracer_base.hpp"
#include <string>
#include <cstring>
@@ -10,117 +10,124 @@
#include <ratio>
#include <thread>
#include "stopwatch/stopwatch.h"
#include "stopwatch.h"
namespace westonrobot
{
TracerBase::~TracerBase()
{
if (serial_connected_)
serial_if_->close();
if (cmd_thread_.joinable())
cmd_thread_.join();
void TracerBase::SendRobotCmd() {
static uint8_t cmd_count = 0;
static uint8_t light_cmd_count = 0;
if(can_connected_) SendControlCmd();
SendMotionCmd(cmd_count++);
if (light_ctrl_requested_) SendLightCmd(light_cmd_count++);
}
void TracerBase::Connect(std::string dev_name)
{
// if (baud_rate == 0) {
ConfigureCANBus(dev_name);
// } else {
// ConfigureSerial(dev_name, baud_rate);
// if (!serial_connected_)
// std::cerr << "ERROR: Failed to connect to serial port" << std::endl;
// }
}
void TracerBase::Disconnect()
{
if (serial_connected_)
{
if (serial_if_->is_open())
serial_if_->close();
}
}
void TracerBase::ConfigureCANBus(const std::string &can_if_name)
{
can_if_ = std::make_shared<AsyncCAN>(can_if_name);
can_if_->set_receive_callback(std::bind(&TracerBase::ParseCANFrame, this, std::placeholders::_1));
can_connected_ = true;
}
void TracerBase::ConfigureSerial(const std::string uart_name, int32_t baud_rate)
{
serial_if_ = std::make_shared<AsyncSerial>(uart_name, baud_rate);
serial_if_->open();
if (serial_if_->is_open())
serial_connected_ = true;
serial_if_->set_receive_callback(std::bind(&TracerBase::ParseUARTBuffer, this,
std::placeholders::_1,
std::placeholders::_2,
std::placeholders::_3));
}
void TracerBase::StartCmdThread()
{
current_motion_cmd_.linear_velocity = 0;
current_motion_cmd_.angular_velocity = 0;
current_motion_cmd_.fault_clear_flag = TracerMotionCmd::FaultClearFlag::NO_FAULT;
cmd_thread_ = std::thread(std::bind(&TracerBase::ControlLoop, this, cmd_thread_period_ms_));
cmd_thread_started_ = true;
}
void TracerBase::SendMotionCmd(uint8_t count)
{
if(can_connected_)
{
// motion control message
TracerMessage m_msg;
m_msg.type = TracerMotionCmdMsg;
if (can_connected_)
m_msg.body.motion_cmd_msg.data.cmd.control_mode = CTRL_MODE_CMD_CAN;
else if (serial_connected_)
m_msg.body.motion_cmd_msg.data.cmd.control_mode = CTRL_MODE_CMD_UART;
//SendControlCmd();
motion_cmd_mutex_.lock();
m_msg.body.motion_cmd_msg.data.cmd.fault_clear_flag = static_cast<uint8_t>(current_motion_cmd_.fault_clear_flag);
m_msg.body.motion_cmd_msg.data.cmd.linear_velocity_cmd = current_motion_cmd_.linear_velocity;
m_msg.body.motion_cmd_msg.data.cmd.angular_velocity_cmd = current_motion_cmd_.angular_velocity;
m_msg.body.motion_cmd_msg.data.cmd.linear_velocity.H_byte = current_motion_cmd_.linear_velocity_H;
m_msg.body.motion_cmd_msg.data.cmd.linear_velocity.L_byte = current_motion_cmd_.linear_velocity_L;
m_msg.body.motion_cmd_msg.data.cmd.angular_velocity.H_byte = current_motion_cmd_.angular_velocity_H;
m_msg.body.motion_cmd_msg.data.cmd.angular_velocity.L_byte = current_motion_cmd_.angular_velocity_L;
motion_cmd_mutex_.unlock();
m_msg.body.motion_cmd_msg.data.cmd.reserved0 = 0;
m_msg.body.motion_cmd_msg.data.cmd.reserved1 = 0;
m_msg.body.motion_cmd_msg.data.cmd.count = count;
if (can_connected_)
m_msg.body.motion_cmd_msg.data.cmd.checksum = CalcTracerCANChecksum(CAN_MSG_MOTION_CMD_ID, m_msg.body.motion_cmd_msg.data.raw, 8);
// serial_connected_: checksum will be calculated later when packed into a complete serial frame
m_msg.body.motion_cmd_msg.data.cmd.reserved2 = 0;
m_msg.body.motion_cmd_msg.data.cmd.reserved3 = 0;
if (can_connected_)
{
// send to can bus
can_frame m_frame;
EncodeTracerMsgToCAN(&m_msg, &m_frame);
can_if_->send_frame(m_frame);
can_if_->SendFrame(m_frame);
}
else
{
// TODO
// send to serial port
// EncodeTracerMsgToUART(&m_msg, tx_buffer_, &tx_cmd_len_);
// serial_if_->send_bytes(tx_buffer_, tx_cmd_len_);
// else
// {
// // TODO
// // send to serial port
// // EncodeTracerMsgToUART(&m_msg, tx_buffer_, &tx_cmd_len_);
// // serial_if_->send_bytes(tx_buffer_, tx_cmd_len_);
// }
// if (can_connected_)
// m_msg.body.motion_cmd_msg.data.cmd.checksum = CalcTracerCANChecksum(CAN_MSG_MOTION_CMD_ID, m_msg.body.motion_cmd_msg.data.raw, 8);
// serial_connected_: checksum will be calculated later when packed into a complete serial frame
}
else if (serial_connected_){
UartTracerMessage m_msg;
m_msg.type = UartTracerMotionControlMsg;
m_msg.body.motion_control_msg.data.cmd.control_mode = CTRL_MODE_CMD_UART;
//SendControlCmd();
motion_cmd_mutex_.lock();
m_msg.body.motion_control_msg.data.cmd.fault_clear_flag =
static_cast<uint8_t>(uart_current_motion_cmd_.fault_clear_flag);
m_msg.body.motion_control_msg.data.cmd.linear_velocity_cmd =
uart_current_motion_cmd_.linear_velocity;
m_msg.body.motion_control_msg.data.cmd.angular_velocity_cmd =
uart_current_motion_cmd_.angular_velocity;
motion_cmd_mutex_.unlock();
m_msg.body.motion_control_msg.data.cmd.reserved0 = 0;
m_msg.body.motion_control_msg.data.cmd.reserved1 = 0;
m_msg.body.motion_control_msg.data.cmd.count = count;
// serial_connected_: checksum will be calculated later when packed into a
// complete serial frame
EncodeTracerMsgToUART(&m_msg, tx_buffer_, &tx_cmd_len_);
serial_if_->SendBytes(tx_buffer_, tx_cmd_len_);
}
}
void TracerBase::SendLightCmd(uint8_t count)
{
TracerMessage l_msg;
UartTracerMessage l_msg;
l_msg.type = UartTracerLightControlMsg;
light_cmd_mutex_.lock();
if (light_ctrl_enabled_) {
l_msg.body.light_control_msg.data.cmd.light_ctrl_enable = LIGHT_ENABLE_CTRL;
l_msg.body.light_control_msg.data.cmd.front_light_mode =
static_cast<uint8_t>(current_light_cmd_.front_mode);
l_msg.body.light_control_msg.data.cmd.front_light_custom =
current_light_cmd_.front_custom_value;
l_msg.body.light_control_msg.data.cmd.rear_light_mode =
static_cast<uint8_t>(current_light_cmd_.rear_mode);
l_msg.body.light_control_msg.data.cmd.rear_light_custom =
current_light_cmd_.rear_custom_value;
} else {
l_msg.body.light_control_msg.data.cmd.light_ctrl_enable =
LIGHT_DISABLE_CTRL;
l_msg.body.light_control_msg.data.cmd.front_light_mode =
LIGHT_MODE_CONST_OFF;
l_msg.body.light_control_msg.data.cmd.front_light_custom = 0;
l_msg.body.light_control_msg.data.cmd.rear_light_mode =
LIGHT_MODE_CONST_OFF;
l_msg.body.light_control_msg.data.cmd.rear_light_custom = 0;
}
light_ctrl_requested_ = false;
light_cmd_mutex_.unlock();
l_msg.body.light_control_msg.data.cmd.reserved0 = 0;
l_msg.body.light_control_msg.data.cmd.count = count;
// serial_connected_: checksum will be calculated later when packed into a
// complete serial frame
// send to serial port
EncodeTracerMsgToUART(&l_msg, tx_buffer_, &tx_cmd_len_);
serial_if_->SendBytes(tx_buffer_, tx_cmd_len_);
/*TracerMessage l_msg;
l_msg.type = TracerLightControlMsg;
light_cmd_mutex_.lock();
@@ -130,8 +137,8 @@ void TracerBase::SendLightCmd(uint8_t count)
l_msg.body.light_control_msg.data.cmd.front_light_mode = static_cast<uint8_t>(current_light_cmd_.front_mode);
l_msg.body.light_control_msg.data.cmd.front_light_custom = current_light_cmd_.front_custom_value;
l_msg.body.light_control_msg.data.cmd.rear_light_mode = static_cast<uint8_t>(current_light_cmd_.rear_mode);
l_msg.body.light_control_msg.data.cmd.rear_light_custom = current_light_cmd_.rear_custom_value;
//l_msg.body.light_control_msg.data.cmd.rear_light_mode = static_cast<uint8_t>(current_light_cmd_.rear_mode);
//l_msg.body.light_control_msg.data.cmd.rear_light_custom = current_light_cmd_.rear_custom_value;
// std::cout << "cmd: " << l_msg.data.cmd.front_light_mode << " , " << l_msg.data.cmd.front_light_custom << " , "
// << l_msg.data.cmd.rear_light_mode << " , " << l_msg.data.cmd.rear_light_custom << std::endl;
@@ -143,8 +150,8 @@ void TracerBase::SendLightCmd(uint8_t count)
l_msg.body.light_control_msg.data.cmd.front_light_mode = LIGHT_MODE_CONST_OFF;
l_msg.body.light_control_msg.data.cmd.front_light_custom = 0;
l_msg.body.light_control_msg.data.cmd.rear_light_mode = LIGHT_MODE_CONST_OFF;
l_msg.body.light_control_msg.data.cmd.rear_light_custom = 0;
//l_msg.body.light_control_msg.data.cmd.rear_light_mode = LIGHT_MODE_CONST_OFF;
//l_msg.body.light_control_msg.data.cmd.rear_light_custom = 0;
}
light_ctrl_requested_ = false;
light_cmd_mutex_.unlock();
@@ -153,7 +160,7 @@ void TracerBase::SendLightCmd(uint8_t count)
l_msg.body.light_control_msg.data.cmd.count = count;
if (can_connected_)
l_msg.body.light_control_msg.data.cmd.checksum = CalcTracerCANChecksum(CAN_MSG_LIGHT_CONTROL_CMD_ID, l_msg.body.light_control_msg.data.raw, 8);
// l_msg.body.light_control_msg.data.cmd.checksum = CalcTracerCANChecksum(CAN_MSG_LIGHT_CONTROL_CMD_ID, l_msg.body.light_control_msg.data.raw, 8);
// serial_connected_: checksum will be calculated later when packed into a complete serial frame
if (can_connected_)
@@ -162,7 +169,7 @@ void TracerBase::SendLightCmd(uint8_t count)
can_frame l_frame;
EncodeTracerMsgToCAN(&l_msg, &l_frame);
can_if_->send_frame(l_frame);
can_if_->SendFrame(l_frame);
}
// else
// {
@@ -179,28 +186,39 @@ void TracerBase::SendLightCmd(uint8_t count)
// std::cout << "uart: ";
// for (int i = 0; i < tx_cmd_len_; ++i)
// std::cout << static_cast<int>(tx_buffer_[i]) << " ";
// std::cout << std::endl;
// std::cout << std::endl;*/
}
void TracerBase::ControlLoop(int32_t period_ms)
void TracerBase::SendControlCmd()
{
StopWatch ctrl_sw;
uint8_t cmd_count = 0;
uint8_t light_cmd_count = 0;
while (true)
TracerMessage c_msg;
c_msg.type = TracerModeControlMsg;
mode_cmd_mutex_.lock();
c_msg.body.mode_cmd_msg.data.cmd.control_mode=0x01;
mode_cmd_mutex_.unlock();
c_msg.body.mode_cmd_msg.data.cmd.reserved0=0;
c_msg.body.mode_cmd_msg.data.cmd.reserved1=0;
c_msg.body.mode_cmd_msg.data.cmd.reserved2=0;
c_msg.body.mode_cmd_msg.data.cmd.reserved3=0;
c_msg.body.mode_cmd_msg.data.cmd.reserved4=0;
c_msg.body.mode_cmd_msg.data.cmd.reserved5=0;
c_msg.body.mode_cmd_msg.data.cmd.reserved6=0;
if (can_connected_)
{
ctrl_sw.tic();
// motion control message
SendMotionCmd(cmd_count++);
// check if there is request for light control
if (light_ctrl_requested_)
SendLightCmd(light_cmd_count++);
ctrl_sw.sleep_until_ms(period_ms);
// std::cout << "control loop update frequency: " << 1.0 / ctrl_sw.toc() << std::endl;
// send to can bus
can_frame c_frame;
EncodeTracerMsgToCAN(&c_msg, &c_frame);
can_if_->SendFrame(c_frame);
}
else
{
// TODO
// send to serial port
// EncodeTracerMsgToUART(&m_msg, tx_buffer_, &tx_cmd_len_);
// serial_if_->send_bytes(tx_buffer_, tx_cmd_len_);
}
}
TracerState TracerBase::GetTracerState()
@@ -209,12 +227,18 @@ TracerState TracerBase::GetTracerState()
return tracer_state_;
}
UartTracerState TracerBase::GetUartTracerState()
{
std::lock_guard<std::mutex> guard(uart_tracer_state_mutex_);
return uart_tracer_state_;
}
void TracerBase::SetMotionCommand(double linear_vel, double angular_vel, TracerMotionCmd::FaultClearFlag fault_clr_flag)
{
// make sure cmd thread is started before attempting to send commands
if (!cmd_thread_started_)
StartCmdThread();
if (!cmd_thread_started_) StartCmdThread();
if(can_connected_)
{
if (linear_vel < TracerMotionCmd::min_linear_velocity)
linear_vel = TracerMotionCmd::min_linear_velocity;
if (linear_vel > TracerMotionCmd::max_linear_velocity)
@@ -225,9 +249,32 @@ void TracerBase::SetMotionCommand(double linear_vel, double angular_vel, TracerM
angular_vel = TracerMotionCmd::max_angular_velocity;
std::lock_guard<std::mutex> guard(motion_cmd_mutex_);
current_motion_cmd_.linear_velocity = static_cast<int8_t>(linear_vel / TracerMotionCmd::max_linear_velocity * 100.0);
current_motion_cmd_.angular_velocity = static_cast<int8_t>(angular_vel / TracerMotionCmd::max_angular_velocity * 100.0);
current_motion_cmd_.linear_velocity_H = static_cast<int16_t>(linear_vel*1000)>>8;
current_motion_cmd_.linear_velocity_L = static_cast<int16_t>(linear_vel*1000)&0xff;
current_motion_cmd_.angular_velocity_H = static_cast<int16_t>(angular_vel*1000)>>8;
current_motion_cmd_.angular_velocity_L = static_cast<int16_t>(angular_vel*1000)&0xff;
current_motion_cmd_.fault_clear_flag = fault_clr_flag;
}
else
{
if (linear_vel < UartTracerMotionCmd::min_linear_velocity)
linear_vel = UartTracerMotionCmd::min_linear_velocity;
if (linear_vel > UartTracerMotionCmd::max_linear_velocity)
linear_vel = UartTracerMotionCmd::max_linear_velocity;
if (angular_vel < UartTracerMotionCmd::min_angular_velocity)
angular_vel = UartTracerMotionCmd::min_angular_velocity;
if (angular_vel > UartTracerMotionCmd::max_angular_velocity)
angular_vel = UartTracerMotionCmd::max_angular_velocity;
std::lock_guard<std::mutex> guard(motion_cmd_mutex_);
uart_current_motion_cmd_.linear_velocity = static_cast<int8_t>(
linear_vel / UartTracerMotionCmd::max_linear_velocity * 100.0);
uart_current_motion_cmd_.angular_velocity = static_cast<int8_t>(
angular_vel / UartTracerMotionCmd::max_angular_velocity * 100.0);
//uart_current_motion_cmd_.fault_clear_flag = FaultClearFlag::NO_FAULT;
//std::cout<<"linear_vel:"<<linear_vel<<std::endl;
}
FeedCmdTimeoutWatchdog();
}
void TracerBase::SetLightCommand(TracerLightCmd cmd)
@@ -239,6 +286,7 @@ void TracerBase::SetLightCommand(TracerLightCmd cmd)
current_light_cmd_ = cmd;
light_ctrl_enabled_ = true;
light_ctrl_requested_ = true;
FeedCmdTimeoutWatchdog();
}
void TracerBase::DisableLightCmdControl()
@@ -250,16 +298,9 @@ void TracerBase::DisableLightCmdControl()
void TracerBase::ParseCANFrame(can_frame *rx_frame)
{
// validate checksum, discard frame if fails
if (!rx_frame->data[7] == CalcTracerCANChecksum(rx_frame->can_id, rx_frame->data, rx_frame->can_dlc))
{
std::cerr << "ERROR: checksum mismatch, discard frame with id " << rx_frame->can_id << std::endl;
return;
}
// otherwise, update robot state with new frame
TracerMessage status_msg;
DecodeTracerMsgFromCAN(rx_frame, &status_msg);
DecodeTracerMsgFromCAN(rx_frame, &status_msg);//assigned a value to status_msg from can include status_msg->type
NewStatusMsgReceivedCallback(status_msg);
}
@@ -269,13 +310,12 @@ void TracerBase::ParseUARTBuffer(uint8_t *buf, const size_t bufsize, size_t byte
// serial_parser_.PrintStatistics();
// serial_parser_.ParseBuffer(buf, bytes_received);
// TODO
// TracerMessage status_msg;
// for (int i = 0; i < bytes_received; ++i)
// {
// if (DecodeTracerMsgFromUART(buf[i], &status_msg))
// NewStatusMsgReceivedCallback(status_msg);
// }
UartTracerMessage status_msg;
for (int i = 0; i < bytes_received; ++i)
{
if (DecodeTracerMsgFromUART(buf[i], &status_msg))
UartNewStatusMsgReceivedCallback(status_msg);
}
}
void TracerBase::NewStatusMsgReceivedCallback(const TracerMessage &msg)
@@ -285,6 +325,13 @@ void TracerBase::NewStatusMsgReceivedCallback(const TracerMessage &msg)
UpdateTracerState(msg, tracer_state_);
}
void TracerBase::UartNewStatusMsgReceivedCallback(const UartTracerMessage &msg)
{
// std::cout << "new status msg received" << std::endl;
std::lock_guard<std::mutex> guard(tracer_state_mutex_);
UartUpdateTracerState(msg, uart_tracer_state_);
}
void TracerBase::UpdateTracerState(const TracerMessage &status_msg, TracerState &state)
{
switch (status_msg.type)
@@ -307,8 +354,8 @@ void TracerBase::UpdateTracerState(const TracerMessage &status_msg, TracerState
state.light_control_enabled = true;
state.front_light_state.mode = msg.data.status.front_light_mode;
state.front_light_state.custom_value = msg.data.status.front_light_custom;
state.rear_light_state.mode = msg.data.status.rear_light_mode;
state.rear_light_state.custom_value = msg.data.status.rear_light_custom;
//state.rear_light_state.mode = msg.data.status.rear_light_mode;
//state.rear_light_state.custom_value = msg.data.status.rear_light_custom;
break;
}
case TracerSystemStatusMsg:
@@ -318,21 +365,101 @@ void TracerBase::UpdateTracerState(const TracerMessage &status_msg, TracerState
state.control_mode = msg.data.status.control_mode;
state.base_state = msg.data.status.base_state;
state.battery_voltage = (static_cast<uint16_t>(msg.data.status.battery_voltage.low_byte) | static_cast<uint16_t>(msg.data.status.battery_voltage.high_byte) << 8) / 10.0;
state.fault_code = (static_cast<uint16_t>(msg.data.status.fault_code.low_byte) | static_cast<uint16_t>(msg.data.status.fault_code.high_byte) << 8);
state.fault_code = msg.data.status.fault_code;
break;
}
case TracerMotorDriverStatusMsg:
{
// std::cout << "motor 1 driver feedback received" << std::endl;
const MotorDriverStatusMessage &msg = status_msg.body.motor_driver_status_msg;
for (int i = 0; i < 4; ++i)
//const MotorDriverStatusMessage &msg = status_msg.body.motor_driver_status_msg;
const MotorHeightSpeedStatusMessage &msg = status_msg.body.motor_heigh_speed_msg;
for (int i = 0; i < 2; ++i)
{
state.motor_states[status_msg.body.motor_driver_status_msg.motor_id].current = (static_cast<uint16_t>(msg.data.status.current.low_byte) | static_cast<uint16_t>(msg.data.status.current.high_byte) << 8) / 10.0;
state.motor_states[status_msg.body.motor_driver_status_msg.motor_id].rpm = static_cast<int16_t>(static_cast<uint16_t>(msg.data.status.rpm.low_byte) | static_cast<uint16_t>(msg.data.status.rpm.high_byte) << 8);
state.motor_states[status_msg.body.motor_driver_status_msg.motor_id].temperature = msg.data.status.temperature;
//state.motor_states[status_msg.body.motor_driver_status_msg.motor_id].current = (static_cast<uint16_t>(msg.data.status.current.low_byte) | static_cast<uint16_t>(msg.data.status.current.high_byte) << 8) / 10.0;
state.motor_states[status_msg.body.motor_heigh_speed_msg.motor_id].rpm = static_cast<int16_t>(static_cast<uint16_t>(msg.data.status.rpm.low_byte) | static_cast<uint16_t>(msg.data.status.rpm.high_byte) << 8);
//state.motor_states[status_msg.body.motor_driver_status_msg.motor_id].temperature = msg.data.status.temperature;
}
break;
}
case TracerOdometerMsg:
{
// std::cout << "Odometer msg feedback received" << std::endl;
const OdometerMessage &msg = status_msg.body.odom_msg;
state.right_odomter=static_cast<int32_t>((static_cast<uint32_t>(msg.data.status.rightodometer.lowest))|(static_cast<uint32_t>(msg.data.status.rightodometer.sec_lowest)<<8)|(static_cast<uint32_t>(msg.data.status.rightodometer.sec_highest)<<16)|(static_cast<uint32_t>(msg.data.status.rightodometer.highest)<<24));
state.left_odomter=static_cast<int32_t>((static_cast<uint32_t>(msg.data.status.leftodometer.lowest))|(static_cast<uint32_t>(msg.data.status.leftodometer.sec_lowest)<<8)|(static_cast<uint32_t>(msg.data.status.leftodometer.sec_highest)<<16)|(static_cast<uint32_t>(msg.data.status.leftodometer.highest)<<24));
}
}
}
void TracerBase::UartUpdateTracerState(const UartTracerMessage &status_msg, UartTracerState &state)
{
switch (status_msg.type) {
case UartTracerMotionStatusMsg: {
// std::cout << "motion control feedback received" << std::endl;
const UartMotionStatusMessage &msg = status_msg.body.motion_status_msg;
state.linear_velocity =
static_cast<int16_t>(
static_cast<uint16_t>(msg.data.status.linear_velocity.low_byte) |
static_cast<uint16_t>(msg.data.status.linear_velocity.high_byte)
<< 8) /
1000.0;
state.angular_velocity =
static_cast<int16_t>(
static_cast<uint16_t>(msg.data.status.angular_velocity.low_byte) |
static_cast<uint16_t>(msg.data.status.angular_velocity.high_byte)
<< 8) /
1000.0;
break;
}
case UartTracerLightStatusMsg: {
// std::cout << "light control feedback received" << std::endl;
const UartLightStatusMessage &msg = status_msg.body.light_status_msg;
if (msg.data.status.light_ctrl_enable == LIGHT_DISABLE_CTRL)
state.light_control_enabled = false;
else
state.light_control_enabled = true;
state.front_light_state.mode = msg.data.status.front_light_mode;
state.front_light_state.custom_value = msg.data.status.front_light_custom;
state.rear_light_state.mode = msg.data.status.rear_light_mode;
state.rear_light_state.custom_value = msg.data.status.rear_light_custom;
break;
}
case UartTracerSystemStatusMsg: {
// std::cout << "system status feedback received" << std::endl;
const UartSystemStatusMessage &msg = status_msg.body.system_status_msg;
state.control_mode = msg.data.status.control_mode;
state.base_state = msg.data.status.base_state;
state.battery_voltage =
(static_cast<uint16_t>(msg.data.status.battery_voltage.low_byte) |
static_cast<uint16_t>(msg.data.status.battery_voltage.high_byte)
<< 8) /
10.0;
state.fault_code =
(static_cast<uint16_t>(msg.data.status.fault_code.low_byte) |
static_cast<uint16_t>(msg.data.status.fault_code.high_byte) << 8);
break;
}
case UartTracerMotorDriverStatusMsg: {
// std::cout << "motor 1 driver feedback received" << std::endl;
const UartMotorDriverStatusMessage &msg =
status_msg.body.motor_driver_status_msg;
for (int i = 0; i < UartTracerState::motor_num; ++i) {
state.motor_states[status_msg.body.motor_driver_status_msg.motor_id]
.current =
(static_cast<uint16_t>(msg.data.status.current.low_byte) |
static_cast<uint16_t>(msg.data.status.current.high_byte) << 8) /
10.0;
state.motor_states[status_msg.body.motor_driver_status_msg.motor_id]
.rpm = static_cast<int16_t>(
static_cast<uint16_t>(msg.data.status.rpm.low_byte) |
static_cast<uint16_t>(msg.data.status.rpm.high_byte) << 8);
state.motor_states[status_msg.body.motor_driver_status_msg.motor_id]
.temperature = msg.data.status.temperature;
}
break;
}
default:break;
}
}
} // namespace westonrobot

30
ugv_sdk/src/tracer_can_parser.c
View File

@@ -7,11 +7,12 @@
* Copyright (c) 2020 Ruixiang Du (rdu)
*/
#include "tracer_protocol/tracer_can_parser.h"
#include "ugv_sdk/tracer/tracer_can_parser.h"
#include "string.h"
static void EncodeTracerMotionControlMsgToCAN(const MotionCmdMessage *msg, struct can_frame *tx_frame);
static void EncodeTracerModeControlMsgToCAN(const ModSelectMessage *msg, struct can_frame *tx_frame);
bool DecodeTracerMsgFromCAN(const struct can_frame *rx_frame, TracerMessage *msg)
{
@@ -36,14 +37,18 @@ bool DecodeTracerMsgFromCAN(const struct can_frame *rx_frame, TracerMessage *msg
{
msg->type = TracerMotorDriverStatusMsg;
msg->body.motor_driver_status_msg.motor_id = TRACER_MOTOR1_ID;
msg->body.motor_heigh_speed_msg.motor_id=TRACER_MOTOR1_ID;
memcpy(msg->body.motor_driver_status_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
memcpy(msg->body.motor_heigh_speed_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_MOTOR2_DRIVER_STATUS_ID:
{
msg->type = TracerMotorDriverStatusMsg;
msg->body.motor_driver_status_msg.motor_id = TRACER_MOTOR2_ID;
msg->body.motor_heigh_speed_msg.motor_id = TRACER_MOTOR2_ID;
memcpy(msg->body.motor_driver_status_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
memcpy(msg->body.motor_heigh_speed_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
// in the current implementation, both MsgType and can_frame include 8 * uint8_t
@@ -53,6 +58,12 @@ bool DecodeTracerMsgFromCAN(const struct can_frame *rx_frame, TracerMessage *msg
memcpy(msg->body.motion_cmd_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_ODOMETER_ID:
{
msg->type = TracerOdometerMsg;
memcpy(msg->body.odom_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
default:
break;
}
@@ -94,10 +105,15 @@ void EncodeTracerMsgToCAN(const TracerMessage *msg, struct can_frame *tx_frame)
EncodeTracerMotionControlMsgToCAN(&(msg->body.motion_cmd_msg), tx_frame);
break;
}
case TracerModeControlMsg:
{
EncodeTracerModeControlMsgToCAN(&(msg->body.mode_cmd_msg), tx_frame);
break;
}
default:
break;
}
tx_frame->data[7] = CalcTracerCANChecksum(tx_frame->can_id, tx_frame->data, tx_frame->can_dlc);
//tx_frame->data[7] = CalcTracerCANChecksum(tx_frame->can_id, tx_frame->data, tx_frame->can_dlc);
}
void EncodeTracerMotionControlMsgToCAN(const MotionCmdMessage *msg, struct can_frame *tx_frame)
@@ -105,9 +121,15 @@ void EncodeTracerMotionControlMsgToCAN(const MotionCmdMessage *msg, struct can_f
tx_frame->can_id = CAN_MSG_MOTION_CMD_ID;
tx_frame->can_dlc = 8;
memcpy(tx_frame->data, msg->data.raw, tx_frame->can_dlc);
tx_frame->data[7] = CalcTracerCANChecksum(tx_frame->can_id, tx_frame->data, tx_frame->can_dlc);
//tx_frame->data[7] = CalcTracerCANChecksum(tx_frame->can_id, tx_frame->data, tx_frame->can_dlc);
}
void EncodeTracerModeControlMsgToCAN(const ModSelectMessage *msg, struct can_frame *tx_frame)
{
tx_frame->can_id = CAN_MSG_COMTROL_MODE_ID;
tx_frame->can_dlc = 8;
memcpy(tx_frame->data, msg->data.raw, tx_frame->can_dlc);
//tx_frame->data[7] = CalcTracerCANChecksum(tx_frame->can_id, tx_frame->data, tx_frame->can_dlc);
}
uint8_t CalcTracerCANChecksum(uint16_t id, uint8_t *data, uint8_t dlc)
{
uint8_t checksum = 0x00;

587
ugv_sdk/src/tracer_uart_parser.c Normal file
View File

@@ -0,0 +1,587 @@
#include "ugv_sdk/tracer/tracer_uart_parser.h"
// #define USE_XOR_CHECKSUM
// #define PRINT_CPP_DEBUG_INFO
// #define PRINT_JLINK_DEBUG_INFO
#ifdef PRINT_CPP_DEBUG_INFO
#undef PRINT_JLINK_DEBUG_INFO
#endif
#ifdef PRINT_CPP_DEBUG_INFO
#define <iostream>
#elif (defined(PRINT_JLINK_DEBUG_INFO))
#include "segger/jlink_rtt.h"
#endif
typedef enum
{
WAIT_FOR_SOF1 = 0,
WAIT_FOR_SOF2,
WAIT_FOR_FRAME_LEN,
WAIT_FOR_FRAME_TYPE,
WAIT_FOR_FRAME_ID,
WAIT_FOR_PAYLOAD,
WAIT_FOR_FRAME_COUNT,
WAIT_FOR_CHECKSUM
} TracerSerialDecodeState;
#define PAYLOAD_BUFFER_SIZE (TRACER_FRAME_SIZE * 2)
#define FRAME_SOF_LEN ((uint8_t)2)
#define FRAME_FIXED_FIELD_LEN ((uint8_t)4)
#define FRAME_SOF1 ((uint8_t)0x5a)
#define FRAME_SOF2 ((uint8_t)0xa5)
#define FRAME_TYPE_CONTROL ((uint8_t)0x55)
#define FRAME_TYPE_STATUS ((uint8_t)0xaa)
#define FRAME_NONE_ID ((uint8_t)0x00)
// frame buffer
static struct
{
uint8_t frame_id;
uint8_t frame_type;
uint8_t frame_len;
uint8_t frame_cnt;
uint8_t frame_checksum;
uint8_t internal_checksum;
uint8_t payload_buffer[PAYLOAD_BUFFER_SIZE];
size_t payload_data_pos;
} uart_parsing_data;
// statisctics
typedef struct
{
uint32_t frame_parsed;
uint32_t frame_with_wrong_checksum;
} UARTParsingStats;
static UARTParsingStats uart_parsing_stats = {.frame_parsed = true, .frame_with_wrong_checksum = 123};
// internal functions
static bool ParseChar(uint8_t c, UartTracerMessage *msg);
static uint8_t CalcBufferedFrameChecksum();
static bool ConstructStatusMessage(UartTracerMessage *msg);
static bool ConstructControlMessage(UartTracerMessage *msg);
static void EncodeMotionControlMsgToUART(const UartMotionControlMessage *msg, uint8_t *buf, uint8_t *len);
static void EncodeLightControlMsgToUART(const UartLightControlMessage *msg, uint8_t *buf, uint8_t *len);
void EncodeTracerMsgToUART(const UartTracerMessage *msg, uint8_t *buf, uint8_t *len)
{
// SOF
buf[0] = FRAME_SOF1;
buf[1] = FRAME_SOF2;
// frame len, type, ID
buf[2] = 0x0a;
buf[3] = FRAME_TYPE_STATUS;
switch (msg->type)
{
// in the current implementation, both MsgType and can_frame include 8 * uint8_t
case UartTracerMotionStatusMsg:
{
buf[4] = UART_FRAME_MOTION_STATUS_ID;
buf[5] = msg->body.motion_status_msg.data.status.linear_velocity.high_byte;
buf[6] = msg->body.motion_status_msg.data.status.linear_velocity.low_byte;
buf[7] = msg->body.motion_status_msg.data.status.angular_velocity.high_byte;
buf[8] = msg->body.motion_status_msg.data.status.angular_velocity.low_byte;
buf[9] = 0;
buf[10] = 0;
buf[11] = msg->body.motion_status_msg.data.status.count;
break;
}
case UartTracerLightStatusMsg:
{
buf[4] = UART_FRAME_LIGHT_STATUS_ID;
buf[5] = msg->body.light_status_msg.data.status.light_ctrl_enable;
buf[6] = msg->body.light_status_msg.data.status.front_light_mode;
buf[7] = msg->body.light_status_msg.data.status.front_light_custom;
buf[8] = msg->body.light_status_msg.data.status.rear_light_mode;
buf[9] = msg->body.light_status_msg.data.status.rear_light_custom;
buf[10] = 0;
buf[11] = msg->body.light_status_msg.data.status.count;
break;
}
case UartTracerSystemStatusMsg:
{
buf[4] = UART_FRAME_SYSTEM_STATUS_ID;
buf[5] = msg->body.system_status_msg.data.status.base_state;
buf[6] = msg->body.system_status_msg.data.status.control_mode;
buf[7] = msg->body.system_status_msg.data.status.battery_voltage.high_byte;
buf[8] = msg->body.system_status_msg.data.status.battery_voltage.low_byte;
buf[9] = msg->body.system_status_msg.data.status.fault_code.high_byte;
buf[10] = msg->body.system_status_msg.data.status.fault_code.low_byte;
buf[11] = msg->body.system_status_msg.data.status.count;
break;
}
case UartTracerMotorDriverStatusMsg:
{
if (msg->body.motor_driver_status_msg.motor_id == TRACER_MOTOR1_ID)
buf[4] = UART_FRAME_MOTOR1_DRIVER_STATUS_ID;
else if (msg->body.motor_driver_status_msg.motor_id == TRACER_MOTOR2_ID)
buf[4] = UART_FRAME_MOTOR2_DRIVER_STATUS_ID;
buf[5] = msg->body.motor_driver_status_msg.data.status.current.high_byte;
buf[6] = msg->body.motor_driver_status_msg.data.status.current.low_byte;
buf[7] = msg->body.motor_driver_status_msg.data.status.rpm.high_byte;
buf[8] = msg->body.motor_driver_status_msg.data.status.rpm.low_byte;
buf[9] = msg->body.motor_driver_status_msg.data.status.temperature;
buf[10] = 0;
buf[11] = msg->body.motor_driver_status_msg.data.status.count;
break;
}
case UartTracerMotionControlMsg:
{
EncodeMotionControlMsgToUART(&(msg->body.motion_control_msg), buf, len);
break;
}
case UartTracerLightControlMsg:
{
EncodeLightControlMsgToUART(&(msg->body.light_control_msg), buf, len);
break;
}
default:
break;
}
buf[12] = CalcTracerUARTChecksum(buf, buf[2] + FRAME_SOF_LEN);
// length: SOF + Frame + Checksum
*len = buf[2] + FRAME_SOF_LEN + 1;
}
bool DecodeTracerMsgFromUART(uint8_t c, UartTracerMessage *msg)
{
static UartTracerMessage decoded_msg;
bool result = ParseChar(c, &decoded_msg);
if (result)
*msg = decoded_msg;
return result;
}
void EncodeMotionControlMsgToUART(const UartMotionControlMessage *msg, uint8_t *buf, uint8_t *len)
{
// SOF
buf[0] = FRAME_SOF1;
buf[1] = FRAME_SOF2;
// frame len, type, ID
buf[2] = 0x0a;
buf[3] = FRAME_TYPE_CONTROL;
buf[4] = UART_FRAME_MOTION_CONTROL_ID;
// frame payload
buf[5] = msg->data.cmd.control_mode;
buf[6] = msg->data.cmd.fault_clear_flag;
buf[7] = msg->data.cmd.linear_velocity_cmd;
buf[8] = msg->data.cmd.angular_velocity_cmd;
buf[9] = 0x00;
buf[10] = 0x00;
// frame count, checksum
buf[11] = msg->data.cmd.count;
buf[12] = CalcTracerUARTChecksum(buf, buf[2] + FRAME_SOF_LEN);
// length: SOF + Frame + Checksum
*len = buf[2] + FRAME_SOF_LEN + 1;
}
void EncodeLightControlMsgToUART(const UartLightControlMessage *msg, uint8_t *buf, uint8_t *len)
{
// SOF
buf[0] = FRAME_SOF1;
buf[1] = FRAME_SOF2;
// frame len, type, ID
buf[2] = 0x0a;
buf[3] = FRAME_TYPE_CONTROL;
buf[4] = UART_FRAME_LIGHT_CONTROL_ID;
// frame payload
buf[5] = msg->data.cmd.light_ctrl_enable;
buf[6] = msg->data.cmd.front_light_mode;
buf[7] = msg->data.cmd.front_light_custom;
buf[8] = msg->data.cmd.rear_light_mode;
buf[9] = msg->data.cmd.rear_light_custom;
buf[10] = 0x00;
// frame count, checksum
buf[11] = msg->data.cmd.count;
buf[12] = CalcTracerUARTChecksum(buf, buf[2] + FRAME_SOF_LEN);
// length: SOF + Frame + Checksum
*len = buf[2] + FRAME_SOF_LEN + 1;
}
bool ParseChar(uint8_t c, UartTracerMessage *msg)
{
static TracerSerialDecodeState decode_state = WAIT_FOR_SOF1;
bool new_frame_parsed = false;
switch (decode_state)
{
case WAIT_FOR_SOF1:
{
if (c == FRAME_SOF1)
{
uart_parsing_data.frame_id = FRAME_NONE_ID;
uart_parsing_data.frame_type = 0;
uart_parsing_data.frame_len = 0;
uart_parsing_data.frame_cnt = 0;
uart_parsing_data.frame_checksum = 0;
uart_parsing_data.internal_checksum = 0;
uart_parsing_data.payload_data_pos = 0;
memset(uart_parsing_data.payload_buffer, 0, PAYLOAD_BUFFER_SIZE);
decode_state = WAIT_FOR_SOF2;
#ifdef PRINT_CPP_DEBUG_INFO
std::cout << "found sof1" << std::endl;
#elif (defined(PRINT_JLINK_DEBUG_INFO))
JLinkWriteString(0, "found sof1\n");
#endif
}
break;
}
case WAIT_FOR_SOF2:
{
if (c == FRAME_SOF2)
{
decode_state = WAIT_FOR_FRAME_LEN;
#ifdef PRINT_CPP_DEBUG_INFO
std::cout << "found sof2" << std::endl;
#elif (defined(PRINT_JLINK_DEBUG_INFO))
JLinkWriteString(0, "found sof2\n");
#endif
}
else
{
decode_state = WAIT_FOR_SOF1;
#ifdef PRINT_CPP_DEBUG_INFO
std::cout << "failed to find sof2" << std::endl;
#elif (defined(PRINT_JLINK_DEBUG_INFO))
JLinkWriteString(0, "failed to find sof2\n");
#endif
}
break;
}
case WAIT_FOR_FRAME_LEN:
{
uart_parsing_data.frame_len = c;
decode_state = WAIT_FOR_FRAME_TYPE;
#ifdef PRINT_CPP_DEBUG_INFO
std::cout << "frame len: " << std::hex << static_cast<int>(frame_len) << std::dec << std::endl;
#elif (defined(PRINT_JLINK_DEBUG_INFO))
JLinkRTTPrintf(0, "frame len: %d\n", frame_len);
#endif
break;
}
case WAIT_FOR_FRAME_TYPE:
{
switch (c)
{
case FRAME_TYPE_CONTROL:
{
uart_parsing_data.frame_type = FRAME_TYPE_CONTROL;
decode_state = WAIT_FOR_FRAME_ID;
#ifdef PRINT_CPP_DEBUG_INFO
std::cout << "control type frame received" << std::endl;
#elif (defined(PRINT_JLINK_DEBUG_INFO))
JLinkWriteString(0, "control type frame received\n");
#endif
break;
}
case FRAME_TYPE_STATUS:
{
uart_parsing_data.frame_type = FRAME_TYPE_STATUS;
decode_state = WAIT_FOR_FRAME_ID;
#ifdef PRINT_CPP_DEBUG_INFO
std::cout << "status type frame received" << std::endl;
#elif (defined(PRINT_JLINK_DEBUG_INFO))
JLinkWriteString(0, "status type frame received\n");
#endif
break;
}
default:
{
#ifdef PRINT_CPP_DEBUG_INFO
std::cerr << "ERROR: Not expecting frame of a type other than FRAME_TYPE_STATUS" << std::endl;
#elif (defined(PRINT_JLINK_DEBUG_INFO))
JLinkWriteString(0, "ERROR: Not expecting frame of a type other than FRAME_TYPE_STATUS\n");
#endif
decode_state = WAIT_FOR_SOF1;
}
}
break;
}
case WAIT_FOR_FRAME_ID:
{
switch (c)
{
case UART_FRAME_SYSTEM_STATUS_ID:
case UART_FRAME_MOTION_STATUS_ID:
case UART_FRAME_MOTOR1_DRIVER_STATUS_ID:
case UART_FRAME_MOTOR2_DRIVER_STATUS_ID:
case UART_FRAME_LIGHT_STATUS_ID:
{
uart_parsing_data.frame_id = c;
decode_state = WAIT_FOR_PAYLOAD;
#ifdef PRINT_CPP_DEBUG_INFO
std::cout << "frame id: " << std::hex << static_cast<int>(frame_id) << std::dec << std::endl;
#elif (defined(PRINT_JLINK_DEBUG_INFO))
JLinkRTTPrintf(0, "frame id: %d\n", frame_id);
#endif
break;
}
default:
{
#ifdef PRINT_CPP_DEBUG_INFO
std::cerr << "ERROR: Unknown frame id" << std::endl;
#elif (defined(PRINT_JLINK_DEBUG_INFO))
JLinkWriteString(0, "ERROR: Unknown frame id\n");
#endif
decode_state = WAIT_FOR_SOF1;
}
}
break;
}
case WAIT_FOR_PAYLOAD:
{
uart_parsing_data.payload_buffer[uart_parsing_data.payload_data_pos++] = c;
#ifdef PRINT_CPP_DEBUG_INFO
std::cout << "1 byte added: " << std::hex << static_cast<int>(c) << std::dec << std::endl;
#elif (defined(PRINT_JLINK_DEBUG_INFO))
JLinkRTTPrintf(0, "1 byte added: %d\n", c);
#endif
if (uart_parsing_data.payload_data_pos == (uart_parsing_data.frame_len - FRAME_FIXED_FIELD_LEN))
decode_state = WAIT_FOR_FRAME_COUNT;
break;
}
case WAIT_FOR_FRAME_COUNT:
{
uart_parsing_data.frame_cnt = c;
decode_state = WAIT_FOR_CHECKSUM;
#ifdef PRINT_CPP_DEBUG_INFO
std::cout << "frame count: " << std::hex << static_cast<int>(frame_cnt) << std::dec << std::endl;
#elif (defined(PRINT_JLINK_DEBUG_INFO))
JLinkRTTPrintf(0, "frame count: %d\n", frame_cnt);
#endif
break;
}
case WAIT_FOR_CHECKSUM:
{
uart_parsing_data.frame_checksum = c;
uart_parsing_data.internal_checksum = CalcBufferedFrameChecksum();
new_frame_parsed = true;
decode_state = WAIT_FOR_SOF1;
#ifdef PRINT_CPP_DEBUG_INFO
std::cout << "--- frame checksum: " << std::hex << static_cast<int>(frame_checksum) << std::dec << std::endl;
std::cout << "--- internal frame checksum: " << std::hex << static_cast<int>(internal_checksum) << std::dec << std::endl;
#elif (defined(PRINT_JLINK_DEBUG_INFO))
JLinkRTTPrintf(0, "--- frame checksum: : %d\n", frame_checksum);
JLinkRTTPrintf(0, "--- internal frame checksum: : %d\n", internal_checksum);
#endif
break;
}
default:
break;
}
if (new_frame_parsed)
{
if (uart_parsing_data.frame_checksum == uart_parsing_data.internal_checksum)
{
#ifdef PRINT_CPP_DEBUG_INFO
std::cout << "checksum correct" << std::endl;
#elif (defined(PRINT_JLINK_DEBUG_INFO))
JLinkWriteString(0, "checksum correct\n");
#endif
if (uart_parsing_data.frame_type == FRAME_TYPE_STATUS)
ConstructStatusMessage(msg);
else if (uart_parsing_data.frame_type == FRAME_TYPE_CONTROL)
ConstructControlMessage(msg);
++uart_parsing_stats.frame_parsed;
}
else
{
++uart_parsing_stats.frame_with_wrong_checksum;
#ifdef PRINT_CPP_DEBUG_INFO
std::cout << "checksum is NOT correct" << std::endl;
std::cout << std::hex << static_cast<int>(frame_id) << " , " << static_cast<int>(frame_len) << " , " << static_cast<int>(frame_cnt) << " , " << static_cast<int>(frame_checksum) << " : " << std::dec << std::endl;
std::cout << "payload: ";
for (int i = 0; i < payload_data_pos; ++i)
std::cout << std::hex << static_cast<int>(payload_buffer[i]) << std::dec << " ";
std::cout << std::endl;
std::cout << "--- frame checksum: " << std::hex << static_cast<int>(frame_checksum) << std::dec << std::endl;
std::cout << "--- internal frame checksum: " << std::hex << static_cast<int>(internal_checksum) << std::dec << std::endl;
#elif (defined(PRINT_JLINK_DEBUG_INFO))
JLinkWriteString(0, "checksum is NOT correct\n");
#endif
}
}
return new_frame_parsed;
}
bool ConstructControlMessage(UartTracerMessage *msg)
{
if (msg == NULL)
return false;
switch (uart_parsing_data.frame_id)
{
case UART_FRAME_MOTION_CONTROL_ID:
{
msg->type = UartTracerMotionControlMsg;
msg->body.motion_control_msg.data.cmd.control_mode = uart_parsing_data.payload_buffer[0];
msg->body.motion_control_msg.data.cmd.fault_clear_flag = uart_parsing_data.payload_buffer[1];
msg->body.motion_control_msg.data.cmd.linear_velocity_cmd = uart_parsing_data.payload_buffer[2];
msg->body.motion_control_msg.data.cmd.angular_velocity_cmd = uart_parsing_data.payload_buffer[3];
msg->body.motion_control_msg.data.cmd.reserved0 = uart_parsing_data.payload_buffer[4];
msg->body.motion_control_msg.data.cmd.reserved1 = uart_parsing_data.payload_buffer[5];
msg->body.motion_control_msg.data.cmd.count = uart_parsing_data.frame_cnt;
msg->body.motion_control_msg.data.cmd.checksum = uart_parsing_data.frame_checksum;
break;
}
case UART_FRAME_LIGHT_CONTROL_ID:
{
msg->type = UartTracerLightControlMsg;
msg->body.light_control_msg.data.cmd.light_ctrl_enable = uart_parsing_data.payload_buffer[0];
msg->body.light_control_msg.data.cmd.front_light_mode = uart_parsing_data.payload_buffer[1];
msg->body.light_control_msg.data.cmd.front_light_custom = uart_parsing_data.payload_buffer[2];
msg->body.light_control_msg.data.cmd.rear_light_mode = uart_parsing_data.payload_buffer[3];
msg->body.light_control_msg.data.cmd.rear_light_custom = uart_parsing_data.payload_buffer[4];
msg->body.light_control_msg.data.cmd.reserved0 = uart_parsing_data.payload_buffer[5];
msg->body.light_control_msg.data.cmd.count = uart_parsing_data.frame_cnt;
msg->body.light_control_msg.data.cmd.checksum = uart_parsing_data.frame_checksum;
break;
}
}
return true;
}
bool ConstructStatusMessage(UartTracerMessage *msg)
{
if (msg == NULL)
return false;
switch (uart_parsing_data.frame_id)
{
case UART_FRAME_SYSTEM_STATUS_ID:
{
msg->type = UartTracerSystemStatusMsg;
msg->body.system_status_msg.data.status.base_state = uart_parsing_data.payload_buffer[0];
msg->body.system_status_msg.data.status.control_mode = uart_parsing_data.payload_buffer[1];
msg->body.system_status_msg.data.status.battery_voltage.high_byte = uart_parsing_data.payload_buffer[2];
msg->body.system_status_msg.data.status.battery_voltage.low_byte = uart_parsing_data.payload_buffer[3];
msg->body.system_status_msg.data.status.fault_code.high_byte = uart_parsing_data.payload_buffer[4];
msg->body.system_status_msg.data.status.fault_code.low_byte = uart_parsing_data.payload_buffer[5];
msg->body.system_status_msg.data.status.count = uart_parsing_data.frame_cnt;
msg->body.system_status_msg.data.status.checksum = uart_parsing_data.frame_checksum;
break;
}
case UART_FRAME_MOTION_STATUS_ID:
{
msg->type = UartTracerMotionStatusMsg;
msg->body.motion_status_msg.data.status.linear_velocity.high_byte = uart_parsing_data.payload_buffer[0];
msg->body.motion_status_msg.data.status.linear_velocity.low_byte = uart_parsing_data.payload_buffer[1];
msg->body.motion_status_msg.data.status.angular_velocity.high_byte = uart_parsing_data.payload_buffer[2];
msg->body.motion_status_msg.data.status.angular_velocity.low_byte = uart_parsing_data.payload_buffer[3];
msg->body.motion_status_msg.data.status.reserved0 = 0x00;
msg->body.motion_status_msg.data.status.reserved0 = 0x00;
msg->body.motion_status_msg.data.status.count = uart_parsing_data.frame_cnt;
msg->body.motion_status_msg.data.status.checksum = uart_parsing_data.frame_checksum;
break;
}
case UART_FRAME_MOTOR1_DRIVER_STATUS_ID:
{
msg->type = UartTracerMotorDriverStatusMsg;
msg->body.motor_driver_status_msg.motor_id = TRACER_MOTOR1_ID;
msg->body.motor_driver_status_msg.data.status.current.high_byte = uart_parsing_data.payload_buffer[0];
msg->body.motor_driver_status_msg.data.status.current.low_byte = uart_parsing_data.payload_buffer[1];
msg->body.motor_driver_status_msg.data.status.rpm.high_byte = uart_parsing_data.payload_buffer[2];
msg->body.motor_driver_status_msg.data.status.rpm.low_byte = uart_parsing_data.payload_buffer[3];
msg->body.motor_driver_status_msg.data.status.temperature = uart_parsing_data.payload_buffer[4];
msg->body.motor_driver_status_msg.data.status.reserved0 = 0x00;
msg->body.motor_driver_status_msg.data.status.count = uart_parsing_data.frame_cnt;
msg->body.motor_driver_status_msg.data.status.checksum = uart_parsing_data.frame_checksum;
break;
}
case UART_FRAME_MOTOR2_DRIVER_STATUS_ID:
{
msg->type = UartTracerMotorDriverStatusMsg;
msg->body.motor_driver_status_msg.motor_id = TRACER_MOTOR2_ID;
msg->body.motor_driver_status_msg.data.status.current.high_byte = uart_parsing_data.payload_buffer[0];
msg->body.motor_driver_status_msg.data.status.current.low_byte = uart_parsing_data.payload_buffer[1];
msg->body.motor_driver_status_msg.data.status.rpm.high_byte = uart_parsing_data.payload_buffer[2];
msg->body.motor_driver_status_msg.data.status.rpm.low_byte = uart_parsing_data.payload_buffer[3];
msg->body.motor_driver_status_msg.data.status.temperature = uart_parsing_data.payload_buffer[4];
msg->body.motor_driver_status_msg.data.status.reserved0 = 0x00;
msg->body.motor_driver_status_msg.data.status.count = uart_parsing_data.frame_cnt;
msg->body.motor_driver_status_msg.data.status.checksum = uart_parsing_data.frame_checksum;
break;
}
case UART_FRAME_LIGHT_STATUS_ID:
{
msg->type = UartTracerLightStatusMsg;
msg->body.light_status_msg.data.status.light_ctrl_enable = uart_parsing_data.payload_buffer[0];
msg->body.light_status_msg.data.status.front_light_mode = uart_parsing_data.payload_buffer[1];
msg->body.light_status_msg.data.status.front_light_custom = uart_parsing_data.payload_buffer[2];
msg->body.light_status_msg.data.status.rear_light_mode = uart_parsing_data.payload_buffer[3];
msg->body.light_status_msg.data.status.rear_light_custom = uart_parsing_data.payload_buffer[4];
msg->body.light_status_msg.data.status.reserved0 = 0x00;
msg->body.light_status_msg.data.status.count = uart_parsing_data.frame_cnt;
msg->body.light_status_msg.data.status.checksum = uart_parsing_data.frame_checksum;
break;
}
}
return true;
}
uint8_t CalcTracerUARTChecksum(uint8_t *buf, uint8_t len)
{
uint8_t checksum = 0;
#ifdef USE_XOR_CHECKSUM
for (int i = 0; i < len; ++i)
checksum ^= buf[i];
#else
for (int i = 0; i < len; ++i)
checksum += buf[i];
#endif
return checksum;
}
uint8_t CalcBufferedFrameChecksum()
{
uint8_t checksum = 0x00;
#ifdef USE_XOR_CHECKSUM
checksum ^= FRAME_SOF1;
checksum ^= FRAME_SOF2;
checksum ^= uart_parsing_data.frame_len;
checksum ^= uart_parsing_data.frame_type;
checksum ^= uart_parsing_data.frame_id;
for (size_t i = 0; i < uart_parsing_data.payload_data_pos; ++i)
checksum ^= uart_parsing_data.payload_buffer[i];
checksum ^= uart_parsing_data.frame_cnt;
#else
checksum += FRAME_SOF1;
checksum += FRAME_SOF2;
checksum += uart_parsing_data.frame_len;
checksum += uart_parsing_data.frame_type;
checksum += uart_parsing_data.frame_id;
for (size_t i = 0; i < uart_parsing_data.payload_data_pos; ++i)
checksum += uart_parsing_data.payload_buffer[i];
checksum += uart_parsing_data.frame_cnt;
#endif
return checksum;
}