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This commit is contained in:
Ruixiang Du
2021-07-12 19:02:41 +08:00
parent 10d9fc734e
commit 6cbdebc38a
14 changed files with 337 additions and 93 deletions
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87
src/protocol_v1/agilex_msg_parser_v1.c
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@@ -7,26 +7,40 @@
* Copyright (c) 2021 Ruixiang Du (rdu)
*/
#include "ugv_sdk/details/protocol_v1/agilex_protocol_v1.h"
#include "ugv_sdk/details/protocol_v1//agilex_msg_parser_v1.h"
#include "protocol_v1/agilex_protocol_v1.h"
#include "stdio.h"
#include "string.h"
bool DecodeCanFrameV1(const struct can_frame *rx_frame, AgxMessage *msg) {
// if checksum not correct
if (!CalcCanFrameChecksumV1(rx_frame->can_id, (uint8_t *)rx_frame->data,
rx_frame->can_dlc)) {
return false;
}
switch (rx_frame->can_id) {
case CAN_MSG_SYSTEM_STATE_ID: {
msg->type = AgxMsgSystemState;
// msg->system_status_msg.id = CAN_MSG_SYSTEM_STATUS_STATUS_ID;
// memcpy(msg->body.system_state_msg.data.raw, rx_frame->data,
// rx_frame->can_dlc * sizeof(uint8_t));
msg->body.system_state_msg.vehicle_state = rx_frame->data[0];
msg->body.system_state_msg.control_mode = rx_frame->data[1];
msg->body.system_state_msg.battery_voltage =
((((uint16_t)rx_frame->data[2]) << 8) | (uint16_t)rx_frame->data[3]) /
10.0f;
msg->body.system_state_msg.error_code =
((((uint16_t)rx_frame->data[4]) << 8) | (uint16_t)rx_frame->data[5]);
break;
}
case CAN_MSG_MOTION_STATE_ID: {
msg->type = AgxMsgMotionState;
// msg->motion_status_msg.id = CAN_MSG_MOTION_CONTROL_STATUS_ID;
// memcpy(msg->body.motion_state_msg.data.raw, rx_frame->data,
// rx_frame->can_dlc * sizeof(uint8_t));
msg->body.motion_state_msg.linear_velocity =
((((uint16_t)rx_frame->data[0]) << 8) | (uint16_t)rx_frame->data[1]) /
1000.0f;
msg->body.motion_state_msg.angular_velocity =
((((uint16_t)rx_frame->data[2]) << 8) | (uint16_t)rx_frame->data[3]) /
1000.0f;
break;
}
case CAN_MSG_LIGHT_STATE_ID: {
@@ -36,33 +50,21 @@ bool DecodeCanFrameV1(const struct can_frame *rx_frame, AgxMessage *msg) {
// rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_ACTUATOR1_STATE_ID: {
msg->type = AgxMsgActuatorStateV1;
// msg->motor_driver_status_msg.id = CAN_MSG_MOTOR1_DRIVER_STATUS_ID;
// msg->body.v1_actuator_state_msg.motor_id = SCOUT_MOTOR1_ID;
// memcpy(msg->body.motor_driver_status_msg.data.raw, rx_frame->data,
// rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_ACTUATOR2_STATE_ID: {
msg->type = AgxMsgActuatorStateV1;
// msg->motor_driver_status_msg.id = CAN_MSG_MOTOR2_DRIVER_STATUS_ID;
// msg->body.v1_actuator_state_msg.motor_id = SCOUT_MOTOR2_ID;
// memcpy(msg->body.motor_driver_status_msg.data.raw, rx_frame->data,
// rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_ACTUATOR3_STATE_ID: {
msg->type = AgxMsgActuatorStateV1;
// msg->motor_driver_status_msg.id = CAN_MSG_MOTOR3_DRIVER_STATUS_ID;
// msg->body.v1_actuator_state_msg.motor_id = SCOUT_MOTOR3_ID;
// memcpy(msg->body.motor_driver_status_msg.data.raw, rx_frame->data,
// rx_frame->can_dlc * sizeof(uint8_t));
case CAN_MSG_VALUE_SET_STATE_ID: {
msg->type = AgxMsgValueSetStateV1;
if (rx_frame->data[0] == 0xaa)
msg->body.v1_value_set_state_msg.set_neutral = true;
else
msg->body.v1_value_set_state_msg.set_neutral = false;
break;
}
case CAN_MSG_ACTUATOR1_STATE_ID:
case CAN_MSG_ACTUATOR2_STATE_ID:
case CAN_MSG_ACTUATOR3_STATE_ID:
case CAN_MSG_ACTUATOR4_STATE_ID: {
msg->type = AgxMsgActuatorStateV1;
// msg->motor_driver_status_msg.id = CAN_MSG_MOTOR4_DRIVER_STATUS_ID;
msg->body.v1_actuator_state_msg.motor_id =
rx_frame->can_id - CAN_MSG_ACTUATOR1_STATE_ID;
// msg->body.v1_actuator_state_msg.motor_id = SCOUT_MOTOR4_ID;
// memcpy(msg->body.motor_driver_status_msg.data.raw, rx_frame->data,
// rx_frame->can_dlc * sizeof(uint8_t));
@@ -83,10 +85,8 @@ void EncodeCanFrameV1(const AgxMessage *msg, struct can_frame *tx_frame) {
tx_frame->can_dlc = 8;
tx_frame->data[0] = CTRL_MODE_CMD_CAN;
tx_frame->data[1] = ERROR_CLR_NONE;
tx_frame->data[2] =
(int8_t)(msg->body.motion_command_msg.linear_velocity * 100);
tx_frame->data[3] =
(int8_t)(msg->body.motion_command_msg.angular_velocity * 100);
tx_frame->data[2] = (int8_t)(msg->body.v1_motion_command_msg.linear);
tx_frame->data[3] = (int8_t)(msg->body.v1_motion_command_msg.angular);
tx_frame->data[4] = 0;
tx_frame->data[5] = 0;
tx_frame->data[6] = count++;
@@ -95,6 +95,22 @@ void EncodeCanFrameV1(const AgxMessage *msg, struct can_frame *tx_frame) {
break;
}
case AgxMsgValueSetCommandV1: {
static uint8_t count = 0;
tx_frame->can_id = CAN_MSG_VALUE_SET_COMMAND_ID;
tx_frame->can_dlc = 8;
tx_frame->data[0] =
msg->body.v1_value_set_command_msg.set_neutral ? 0xaa : 0x00;
tx_frame->data[1] = 0x00;
tx_frame->data[2] = 0x00;
tx_frame->data[3] = 0x00;
tx_frame->data[4] = 0x00;
tx_frame->data[5] = 0x00;
tx_frame->data[6] = 0x00;
tx_frame->data[7] = CalcCanFrameChecksumV1(
tx_frame->can_id, tx_frame->data, tx_frame->can_dlc);
break;
}
case AgxMsgLightCommand: {
static uint8_t count = 0;
tx_frame->can_id = CAN_MSG_LIGHT_COMMAND_ID;
tx_frame->can_dlc = 8;
@@ -120,9 +136,6 @@ void EncodeCanFrameV1(const AgxMessage *msg, struct can_frame *tx_frame) {
tx_frame->can_id, tx_frame->data, tx_frame->can_dlc);
break;
}
case AgxMsgLightCommand: {
break;
}
default:
break;
}