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made scout_base to be class template

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This commit is contained in:
Ruixiang Du
2021-07-08 23:40:29 +08:00
parent dd810eccba
commit 3c56ae3a0a
21 changed files with 887 additions and 138 deletions
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2
src/mobile_base/scout_robot.cpp
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@@ -8,7 +8,7 @@
*/
#include "ugv_sdk/mobile_base/scout_robot.hpp"
#include "ugv_sdk/protocol_v2/scout_base_v2.hpp"
#include "ugv_sdk/details/robot_base/scout_base.hpp"
namespace westonrobot {
ScoutRobot::ScoutRobot(ProtocolType protocol) {

2
src/protocol_v1/scout_can_parser_v1.c → src/protocol_v1/scout/scout_can_parser.c
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@@ -7,7 +7,7 @@
* Copyright (c) 2019 Ruixiang Du (rdu)
*/
#include "ugv_sdk/protocol_v1/scout_can_parser_v1.h"
#include "protocol_v1/scout/scout_can_parser.h"
#include "string.h"

42
src/protocol_v1/scout/scout_can_parser.h Normal file
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@@ -0,0 +1,42 @@
/*
* scout_can_parser.h
*
* Created on: Aug 31, 2019 04:23
* Description:
*
* Copyright (c) 2019 Ruixiang Du (rdu)
*/
#ifndef SCOUT_CAN_PARSER_H
#define SCOUT_CAN_PARSER_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stdbool.h>
#include "protocol_v1/scout/scout_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 DecodeScoutMsgFromCAN(const struct can_frame *rx_frame, ScoutMessage *msg);
void EncodeScoutMsgToCAN(const ScoutMessage *msg, struct can_frame *tx_frame);
uint8_t CalcScoutCANChecksum(uint16_t id, uint8_t *data, uint8_t dlc);
#ifdef __cplusplus
}
#endif
#endif /* SCOUT_CAN_PARSER_H */

275
src/protocol_v1/scout/scout_protocol.h Normal file
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/*
* scout_protocol.h
*
* Created on: Aug 07, 2019 21:49
* Description:
*
* Copyright (c) 2019 Ruixiang Du (rdu)
*/
#ifndef SCOUT_PROTOCOL_H
#define SCOUT_PROTOCOL_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#define SCOUT_CMD_BUF_LEN 32
#define SCOUT_STATUS_BUF_LEN 32
#define SCOUT_FRAME_SIZE 13
#define SCOUT_MOTOR1_ID ((uint8_t)0x00)
#define SCOUT_MOTOR2_ID ((uint8_t)0x01)
#define SCOUT_MOTOR3_ID ((uint8_t)0x02)
#define SCOUT_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
{
ScoutMsgNone = 0x00,
// status messages
ScoutMotionStatusMsg = 0x01,
ScoutLightStatusMsg = 0x02,
ScoutSystemStatusMsg = 0x03,
ScoutMotorDriverStatusMsg = 0x04,
// control messages
ScoutMotionControlMsg = 0x21,
ScoutLightControlMsg = 0x22
} ScoutMsgType;
typedef struct
{
ScoutMsgType 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;
} ScoutMessage;
#pragma pack(pop)
#ifdef __cplusplus
}
#endif
#endif /* SCOUT_PROTOCOL_H */

32
src/protocol_v1/scout/scout_protocol_v1_parser.cpp Normal file
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@@ -0,0 +1,32 @@
/*
* scout_protocol_v1_parser.cpp
*
* Created on: Jul 08, 2021 22:43
* Description:
*
* Copyright (c) 2021 Ruixiang Du (rdu)
*/
#include "ugv_sdk/protocol_v1/scout_protocol_v1_parser.hpp"
#include "protocol_v1/scout/scout_can_parser.h"
namespace westonrobot {
bool ScoutProtocolV1Parser::DecodeMessage(const struct can_frame *rx_frame,
AgxMessage *msg) {}
void ScoutProtocolV1Parser::EncodeMessage(const AgxMessage *msg,
struct can_frame *tx_frame) {}
uint8_t ScoutProtocolV1Parser::CalculateChecksum(uint16_t id, uint8_t *data,
uint8_t dlc) {}
// 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

629
src/protocol_v1/scout/scout_uart_parser.c Normal file
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@@ -0,0 +1,629 @@
/*
* scout_uart_parser.c
*
* Created on: Aug 14, 2019 12:02
* Description:
*
* Copyright (c) 2019 Ruixiang Du (rdu)
*/
#include "protocol_v1/scout/scout_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
} ScoutSerialDecodeState;
#define PAYLOAD_BUFFER_SIZE (SCOUT_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, ScoutMessage *msg);
static uint8_t CalcBufferedFrameChecksum();
static bool ConstructStatusMessage(ScoutMessage *msg);
static bool ConstructControlMessage(ScoutMessage *msg);
static void EncodeMotionControlMsgToUART(const MotionControlMessage *msg, uint8_t *buf, uint8_t *len);
static void EncodeLightControlMsgToUART(const LightControlMessage *msg, uint8_t *buf, uint8_t *len);
void EncodeScoutMsgToUART(const ScoutMessage *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 ScoutMotionStatusMsg:
{
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 ScoutLightStatusMsg:
{
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 ScoutSystemStatusMsg:
{
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 ScoutMotorDriverStatusMsg:
{
if (msg->body.motor_driver_status_msg.motor_id == SCOUT_MOTOR1_ID)
buf[4] = UART_FRAME_MOTOR1_DRIVER_STATUS_ID;
else if (msg->body.motor_driver_status_msg.motor_id == SCOUT_MOTOR2_ID)
buf[4] = UART_FRAME_MOTOR2_DRIVER_STATUS_ID;
else if (msg->body.motor_driver_status_msg.motor_id == SCOUT_MOTOR3_ID)
buf[4] = UART_FRAME_MOTOR3_DRIVER_STATUS_ID;
else if (msg->body.motor_driver_status_msg.motor_id == SCOUT_MOTOR4_ID)
buf[4] = UART_FRAME_MOTOR4_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 ScoutMotionControlMsg:
{
EncodeMotionControlMsgToUART(&(msg->body.motion_control_msg), buf, len);
break;
}
case ScoutLightControlMsg:
{
EncodeLightControlMsgToUART(&(msg->body.light_control_msg), buf, len);
break;
}
default:
break;
}
buf[12] = CalcScoutUARTChecksum(buf, buf[2] + FRAME_SOF_LEN);
// length: SOF + Frame + Checksum
*len = buf[2] + FRAME_SOF_LEN + 1;
}
bool DecodeScoutMsgFromUART(uint8_t c, ScoutMessage *msg)
{
static ScoutMessage decoded_msg;
bool result = ParseChar(c, &decoded_msg);
if (result)
*msg = decoded_msg;
return result;
}
void EncodeMotionControlMsgToUART(const MotionControlMessage *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] = CalcScoutUARTChecksum(buf, buf[2] + FRAME_SOF_LEN);
// length: SOF + Frame + Checksum
*len = buf[2] + FRAME_SOF_LEN + 1;
}
void EncodeLightControlMsgToUART(const LightControlMessage *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] = CalcScoutUARTChecksum(buf, buf[2] + FRAME_SOF_LEN);
// length: SOF + Frame + Checksum
*len = buf[2] + FRAME_SOF_LEN + 1;
}
bool ParseChar(uint8_t c, ScoutMessage *msg)
{
static ScoutSerialDecodeState 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_MOTOR3_DRIVER_STATUS_ID:
case UART_FRAME_MOTOR4_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(ScoutMessage *msg)
{
if (msg == NULL)
return false;
switch (uart_parsing_data.frame_id)
{
case UART_FRAME_MOTION_CONTROL_ID:
{
msg->type = ScoutMotionControlMsg;
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 = ScoutLightControlMsg;
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(ScoutMessage *msg)
{
if (msg == NULL)
return false;
switch (uart_parsing_data.frame_id)
{
case UART_FRAME_SYSTEM_STATUS_ID:
{
msg->type = ScoutSystemStatusMsg;
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 = ScoutMotionStatusMsg;
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 = ScoutMotorDriverStatusMsg;
msg->body.motor_driver_status_msg.motor_id = SCOUT_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 = ScoutMotorDriverStatusMsg;
msg->body.motor_driver_status_msg.motor_id = SCOUT_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_MOTOR3_DRIVER_STATUS_ID:
{
msg->type = ScoutMotorDriverStatusMsg;
msg->body.motor_driver_status_msg.motor_id = SCOUT_MOTOR3_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_MOTOR4_DRIVER_STATUS_ID:
{
msg->type = ScoutMotorDriverStatusMsg;
msg->body.motor_driver_status_msg.motor_id = SCOUT_MOTOR4_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 = ScoutLightStatusMsg;
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 CalcScoutUARTChecksum(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;
}

32
src/protocol_v1/scout/scout_uart_parser.h Normal file
View File

@@ -0,0 +1,32 @@
/*
* scout_uart_parser.h
*
* Created on: Aug 14, 2019 12:01
* Description:
*
* Copyright (c) 2019 Ruixiang Du (rdu)
*/
#ifndef SCOUT_UART_PARSER_H
#define SCOUT_UART_PARSER_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <string.h>
#include <stdbool.h>
#include "protocol_v1/scout/scout_protocol.h"
bool DecodeScoutMsgFromUART(uint8_t c, ScoutMessage *msg);
void EncodeScoutMsgToUART(const ScoutMessage *msg, uint8_t *buf, uint8_t *len);
uint8_t CalcScoutUARTChecksum(uint8_t *buf, uint8_t len);
#ifdef __cplusplus
}
#endif
#endif /* SCOUT_UART_PARSER_H */

98
src/protocol_v2/scout_base.cpp
View File

@@ -1,98 +0,0 @@
/*
* scout_base.cpp
*
* Created on: Jul 08, 2021 12:07
* Description:
*
* Copyright (c) 2021 Weston Robot Pte. Ltd.
*/
#include "ugv_sdk/protocol_v2/scout_base_v2.hpp"
#include <string>
#include <cstring>
#include <iostream>
#include <algorithm>
#include <array>
#include <chrono>
#include <cstdint>
#include <ratio>
#include <thread>
#include "ugv_sdk/protocol_v2/agilex_msg_parser.h"
namespace westonrobot {
void ScoutBaseV2::Connect(std::string dev_name) {
AgilexBase::ConnectPort(dev_name, std::bind(&ScoutBaseV2::ParseCANFrame, this,
std::placeholders::_1));
}
void ScoutBaseV2::Connect(std::string uart_name, uint32_t baudrate) {
// TODO
}
void ScoutBaseV2::SetMotionCommand(double linear_vel, double angular_vel) {
AgilexBase::SendMotionCommand(linear_vel, angular_vel, 0.0, 0.0);
}
void ScoutBaseV2::SetLightCommand(LightMode f_mode, uint8_t f_value,
LightMode r_mode, uint8_t r_value) {
AgilexBase::SendLightCommand(f_mode, f_value, r_mode, r_value);
}
ScoutState ScoutBaseV2::GetRobotState() {
std::lock_guard<std::mutex> guard(state_mutex_);
return scout_state_;
}
void ScoutBaseV2::ParseCANFrame(can_frame *rx_frame) {
AgxMessage status_msg;
DecodeCanFrame(rx_frame, &status_msg);
std::lock_guard<std::mutex> guard(state_mutex_);
UpdateScoutState(status_msg, scout_state_);
}
void ScoutBaseV2::UpdateScoutState(const AgxMessage &status_msg,
ScoutState &state) {
switch (status_msg.type) {
case AgxMsgSystemState: {
// std::cout << "system status feedback received" << std::endl;
state.system_state = status_msg.body.system_state_msg;
break;
}
case AgxMsgMotionState: {
// std::cout << "motion control feedback received" << std::endl;
state.motion_state = status_msg.body.motion_state_msg;
break;
}
case AgxMsgLightState: {
// std::cout << "light control feedback received" << std::endl;
state.light_state = status_msg.body.light_state_msg;
break;
}
case AgxMsgRcState: {
state.rc_state = status_msg.body.rc_state_msg;
break;
}
case AgxMsgActuatorHSState: {
// std::cout << "actuator hs feedback received" << std::endl;
state.actuator_hs_state[status_msg.body.actuator_hs_state_msg.motor_id] =
status_msg.body.actuator_hs_state_msg;
break;
}
case AgxMsgActuatorLSState: {
// std::cout << "actuator ls feedback received" << std::endl;
state.actuator_ls_state[status_msg.body.actuator_ls_state_msg.motor_id] =
status_msg.body.actuator_ls_state_msg;
break;
}
/* sensor feedback */
case AgxMsgOdometry: {
// std::cout << "Odometer msg feedback received" << std::endl;
state.odometry = status_msg.body.odometry_msg;
}
default:
break;
}
}
} // namespace westonrobot

16
src/protocol_v2/tracer_base.cpp
View File

@@ -15,39 +15,39 @@
#include "ugv_sdk/protocol_v2/agilex_msg_parser.h"
namespace westonrobot {
void TracerBase::Connect(std::string dev_name) {
AgilexBase::ConnectPort(dev_name, std::bind(&TracerBase::ParseCANFrame, this,
void TracerBaseV2::Connect(std::string dev_name) {
AgilexBase::ConnectPort(dev_name, std::bind(&TracerBaseV2::ParseCANFrame, this,
std::placeholders::_1));
}
void TracerBase::Connect(std::string uart_name, uint32_t baudrate) {
void TracerBaseV2::Connect(std::string uart_name, uint32_t baudrate) {
// TODO
}
void TracerBase::SetMotionCommand(double linear_vel, double angular_vel) {
void TracerBaseV2::SetMotionCommand(double linear_vel, double angular_vel) {
AgilexBase::SetMotionCommand(linear_vel, angular_vel, 0.0, 0.0);
}
void TracerBase::SetLightCommand(const TracerLightCmd &cmd) {
void TracerBaseV2::SetLightCommand(const TracerLightCmd &cmd) {
if (cmd.cmd_ctrl_allowed) {
AgilexBase::SendLightCommand(cmd.front_mode, cmd.front_custom_value,
LightMode::CONST_OFF, 0);
}
}
TracerState TracerBase::GetTracerState() {
TracerState TracerBaseV2::GetTracerState() {
std::lock_guard<std::mutex> guard(state_mutex_);
return tracer_state_;
}
void TracerBase::ParseCANFrame(can_frame *rx_frame) {
void TracerBaseV2::ParseCANFrame(can_frame *rx_frame) {
AgxMessage status_msg;
DecodeCanFrame(rx_frame, &status_msg);
std::lock_guard<std::mutex> guard(state_mutex_);
UpdateTracerState(status_msg, tracer_state_);
}
void TracerBase::UpdateTracerState(const AgxMessage &status_msg,
void TracerBaseV2::UpdateTracerState(const AgxMessage &status_msg,
TracerState &state) {
switch (status_msg.type) {
case AgxMsgSystemState: {