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updated scout code

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This commit is contained in:
Ruixiang Du
2020-11-06 10:39:56 +08:00
parent 16ccaa1706
commit a08f32f601
16 changed files with 247 additions and 2211 deletions
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12
ugv_sdk/CMakeLists.txt
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@@ -78,21 +78,15 @@ endif()
# Build libraries # Build libraries
find_package(Threads REQUIRED) find_package(Threads REQUIRED)
# import asio library
# add_subdirectory(asio)
add_library(${PROJECT_NAME} add_library(${PROJECT_NAME}
# agx common
src/mobile_base.cpp src/mobile_base.cpp
src/agx_msg_parser.c src/agx_msg_parser.c
# robots # robot support
src/scout_base.cpp
# src/hunter_base.cpp # src/hunter_base.cpp
# src/hunter_can_parser.c
# src/scout_base.cpp
# src/scout_can_parser.c
# src/scout_uart_parser.c
src/tracer_base.cpp src/tracer_base.cpp
# src/bunker_base.cpp # src/bunker_base.cpp
# src/bunker_can_parser.c
) )
if(BUILD_WITHOUT_ROS) if(BUILD_WITHOUT_ROS)
target_link_libraries(${PROJECT_NAME} wrp_io Threads::Threads) target_link_libraries(${PROJECT_NAME} wrp_io Threads::Threads)

42
ugv_sdk/include/ugv_sdk/hunter/hunter_can_parser.h
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@@ -1,42 +0,0 @@
/*
* hunter_can_parser.h
*
* Created on: Jan 02, 2020 12:36
* Description:
*
* Copyright (c) 2019 Ruixiang Du (rdu)
*/
#ifndef HUNTER_CAN_PARSER_H
#define HUNTER_CAN_PARSER_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stdbool.h>
#include "ugv_sdk/hunter/hunter_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 DecodeHunterMsgFromCAN(const struct can_frame *rx_frame, HunterMessage *msg);
void EncodeHunterMsgToCAN(const HunterMessage *msg, struct can_frame *tx_frame);
uint8_t CalcHunterCANChecksum(uint16_t id, uint8_t *data, uint8_t dlc);
#ifdef __cplusplus
}
#endif
#endif /* HUNTER_CAN_PARSER_H */

298
ugv_sdk/include/ugv_sdk/hunter/hunter_protocol.h
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@@ -1,298 +0,0 @@
/*
* hunter_protocol.h
*
* Created on: Jan 02, 2020 12:06
* Description:
*
* Copyright (c) 2019 Ruixiang Du (rdu)
*/
#ifndef HUNTER_PROTOCOL_H
#define HUNTER_PROTOCOL_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#define HUNTER_CMD_BUF_LEN 32
#define HUNTER_STATUS_BUF_LEN 32
#define HUNTER_FRAME_SIZE 13
#define HUNTER_MOTOR1_ID ((uint8_t)0x00)
#define HUNTER_MOTOR2_ID ((uint8_t)0x01)
#define HUNTER_MOTOR3_ID ((uint8_t)0x02)
// CAN Definitions
#define CAN_MSG_MOTION_CONTROL_CMD_ID ((uint32_t)0x111)
#define CAN_MSG_MOTION_CONTROL_STATUS_ID ((uint32_t)0x221)
#define CAN_MSG_SELECT_CONTROL_MODE_ID ((uint32_t)0x421)
#define CAN_MSG_SYSTEM_STATUS_STATUS_ID ((uint32_t)0x211)
#define CAN_MSG_MOTOR1_HEIGHT_DRIVER_STATUS_ID ((uint32_t)0x251)
#define CAN_MSG_MOTOR2_HEIGHT_DRIVER_STATUS_ID ((uint32_t)0x252)
#define CAN_MSG_MOTOR3_HEIGHT_DRIVER_STATUS_ID ((uint32_t)0x253)
#define CAN_MSG_MOTOR1_LOW_DRIVER_STATUS_ID ((uint32_t)0x261)
#define CAN_MSG_MOTOR2_LOW_DRIVER_STATUS_ID ((uint32_t)0x262)
#define CAN_MSG_MOTOR3_LOW_DRIVER_STATUS_ID ((uint32_t)0x263)
#define CAN_MSG_PARK_CONTROL_ID ((uint32_t)0x131)
/*--------------------- 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)
// System Configuration
#define STEERING_ZERO_CONFIG_FAIL ((uint8_t)0x00)
#define STEERING_ZERO_CONFIG_SUCCESS ((uint8_t)0xaa)
// 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_FRONT_STEER_ENCODER_F ((uint16_t)0x0200)
#define FAULT_RC_SIGNAL_LOSS ((uint16_t)0x0400)
#define FAULT_HIGH_BYTE_RESERVED1 ((uint16_t)0x0800)
#define FAULT_HIGH_BYTE_RESERVED2 ((uint16_t)0x1000)
#define FAULT_HIGH_BYTE_RESERVED3 ((uint16_t)0x2000)
#define FAULT_HIGH_BYTE_RESERVED4 ((uint16_t)0x4000)
#define FAULT_HIGH_BYTE_RESERVED5 ((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 Status Feedback
typedef struct {
union
{
struct
{
struct
{
uint8_t high_byte;
uint8_t low_byte;
} linear_velocity;
uint8_t reserved0;
uint8_t reserved1;
uint8_t reserved2;
uint8_t reserved3;
struct
{
uint8_t high_byte;
uint8_t low_byte;
} angular_velocity;
} 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 park_mode;
uint8_t count;
} status;
uint8_t raw[8];
} data;
} SystemStatusMessage;
// Motor Driver Height Speed Status Feedback
typedef struct {
uint8_t motor_id;
union
{
struct
{
struct
{
uint8_t high_byte;
uint8_t low_byte;
} rpm;
struct
{
uint8_t high_byte;
uint8_t low_byte;
} current;
struct
{
uint8_t heighest;
uint8_t sec_heighest;
uint8_t sec_lowest;
uint8_t lowest;
} moter_pose;
} status;
uint8_t raw[8];
} data;
} MotorDriverHeightSpeedStatusMessage;
// Motor Driver Low Speed Status Feedback
typedef struct {
uint8_t motor_id;
union
{
struct
{
struct
{
uint8_t high_byte;
uint8_t low_byte;
} driver_voltage;
struct
{
uint8_t high_byte;
uint8_t low_byte;
} driver_temperature;
uint8_t motor_temperature;
uint8_t driver_status;
uint8_t reserved0;
uint8_t reserved1;
} status;
uint8_t raw[8];
} data;
} MotorDriverLowSpeedStatusMessage;
// Motion Control
typedef struct {
union
{
struct
{
struct
{
uint8_t high_byte;
uint8_t low_byte;
} linear_velocity_cmd;
uint8_t reserved0;
uint8_t reserved1;
uint8_t reserved2;
uint8_t reserved3;
struct
{
uint8_t high_byte;
uint8_t low_byte;
} angular_velocity_cmd;
} cmd;
uint8_t raw[8];
} data;
} MotionControlMessage;
// Parking Mode Control
typedef struct {
union
{
struct
{
uint8_t packing_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;
} ParkControlMessage;
// Motion Mode Control
typedef struct {
union
{
struct
{
uint8_t mode_control;
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;
// For convenience to access status/control message
typedef enum
{
HunterMsgNone = 0x00,
// status messages
HunterMotionStatusMsg = 0x01,
HunterSystemStatusMsg = 0x02,
HunterMotorDriverHeightSpeedStatusMsg = 0x03,
HunterMotorDriverLowSpeedStatusMsg = 0x04,
// control messages
HunterMotionControlMsg = 0x21,
HunterParkControlMsg = 0x22,
HunterControlModeMsg = 0x23
} HunterMsgType;
typedef struct
{
HunterMsgType type;
union {
// status messages
MotionStatusMessage motion_status_msg;
SystemStatusMessage system_status_msg;
MotorDriverHeightSpeedStatusMessage motor_driver_height_speed_status_msg;
MotorDriverLowSpeedStatusMessage motor_driver_low_speed_status_msg;
// control messages
MotionControlMessage motion_control_msg;
ParkControlMessage park_control_msg;
ModSelectMessage mode_cmd_msg;
} body;
} HunterMessage;
#pragma pack(pop)
#ifdef __cplusplus
}
#endif
#endif /* HUNTER_PROTOCOL_H */

6
ugv_sdk/include/ugv_sdk/proto/agx_msg_parser.h
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@@ -45,7 +45,9 @@ typedef enum {
AgxMsgRcState = 0x24, AgxMsgRcState = 0x24,
AgxMsgActuatorHSState = 0x25, AgxMsgActuatorHSState = 0x25,
AgxMsgActuatorLSState = 0x26, AgxMsgActuatorLSState = 0x26,
AgxMsgOdometry = 0x27 AgxMsgOdometry = 0x27,
AgxMsgVersionQuery = 0x28,
AgxMsgPlatformVersion = 0x29
} MsgType; } MsgType;
typedef struct { typedef struct {
@@ -64,6 +66,8 @@ typedef struct {
ActuatorHSStateMessage actuator_hs_state_msg; ActuatorHSStateMessage actuator_hs_state_msg;
ActuatorLSStateMessage actuator_ls_state_msg; ActuatorLSStateMessage actuator_ls_state_msg;
OdometryMessage odometry_msg; OdometryMessage odometry_msg;
VersionQueryMessage version_query_msg;
PlatformVersionMessage platform_version_msg;
} body; } body;
} AgxMessage; } AgxMessage;
#pragma pack(pop) #pragma pack(pop)

74
ugv_sdk/include/ugv_sdk/proto/agx_protocol_v2.h
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@@ -45,6 +45,9 @@ extern "C" {
#define CAN_MSG_ODOMETRY_ID ((uint32_t)0x311) #define CAN_MSG_ODOMETRY_ID ((uint32_t)0x311)
#define CAN_MSG_VERSION_QUERY_ID ((uint32_t)0x411)
#define CAN_MSG_PLATFORM_VERSION_ID ((uint32_t)0x41a)
#define CAN_MSG_CTRL_MODE_SELECT_ID ((uint32_t)0x421) #define CAN_MSG_CTRL_MODE_SELECT_ID ((uint32_t)0x421)
#define CAN_MSG_STATE_RESET_ID ((uint32_t)0x441) #define CAN_MSG_STATE_RESET_ID ((uint32_t)0x441)
@@ -55,11 +58,17 @@ extern "C" {
#define VEHICLE_STATE_ESTOP ((uint8_t)0x01) #define VEHICLE_STATE_ESTOP ((uint8_t)0x01)
#define VEHICLE_STATE_EXCEPTION ((uint8_t)0x02) #define VEHICLE_STATE_EXCEPTION ((uint8_t)0x02)
#define FAULT_BATTERY_LOW_ERROR ((uint8_t)0x01)
#define FAULT_BATTERY_LOW_WARN ((uint8_t)0x02)
#define FAULT_RC_SIGNAL_LOSS ((uint8_t)0x04)
#define FAULT_CLR_ALL ((uint8_t)0x00) #define FAULT_CLR_ALL ((uint8_t)0x00)
#define FAULT_CLR_MOTOR1_COMM ((uint8_t)0x01) #define FAULT_CLR_MOTOR1_COMM ((uint8_t)0x01)
#define FAULT_CLR_MOTOR2_COMM ((uint8_t)0x02) #define FAULT_CLR_MOTOR2_COMM ((uint8_t)0x02)
#define FAULT_CLR_MOTOR3_COMM ((uint8_t)0x04) #define FAULT_CLR_MOTOR3_COMM ((uint8_t)0x03)
#define FAULT_CLR_MOTOR4_COMM ((uint8_t)0x08) #define FAULT_CLR_MOTOR4_COMM ((uint8_t)0x04)
#define QUERY_PLATFORM_VERSION_REQUEST ((uint8_t)0x01)
// Motion Control // Motion Control
#define CTRL_MODE_RC ((uint8_t)0x00) #define CTRL_MODE_RC ((uint8_t)0x00)
@@ -69,20 +78,21 @@ extern "C" {
// Light Control // Light Control
#define LIGHT_CTRL_DISABLE ((uint8_t)0x00) #define LIGHT_CTRL_DISABLE ((uint8_t)0x00)
#define LIGHT_CTRL_ENABLE ((uint8_t)0x01) #define LIGHT_CTRL_ENABLE ((uint8_t)0x01)
#define LIGHT_MODE_CONST_OFF ((uint8_t)0x00) #define LIGHT_MODE_CONST_OFF ((uint8_t)0x00)
#define LIGHT_MODE_CONST_ON ((uint8_t)0x01) #define LIGHT_MODE_CONST_ON ((uint8_t)0x01)
#define LIGHT_MODE_BREATH ((uint8_t)0x02) #define LIGHT_MODE_BREATH ((uint8_t)0x02)
#define LIGHT_MODE_CUSTOM ((uint8_t)0x03) #define LIGHT_MODE_CUSTOM ((uint8_t)0x03)
// Actuator State // Actuator State
#define BATTERY_VOLTAGE_LOW ((uint8_t)0x00) #define BATTERY_VOLTAGE_LOW ((uint8_t)0x01)
#define MOTOR_OVERHEAT ((uint8_t)0x01) #define MOTOR_OVERHEAT ((uint8_t)0x02)
#define MOTOR_DRIVER_OVERLOAD ((uint8_t)0x02) #define MOTOR_DRIVER_OVERLOAD ((uint8_t)0x04)
#define MOTOR_DRIVER_OVERHEAT ((uint8_t)0x03) #define MOTOR_DRIVER_OVERHEAT ((uint8_t)0x08)
#define MOTOR_SENSOR_FAULT ((uint8_t)0x04) #define MOTOR_SENSOR_FAULT ((uint8_t)0x10)
#define MOTOR_DRIVER_FAULT ((uint8_t)0x05) #define MOTOR_DRIVER_FAULT ((uint8_t)0x20)
#define MOTOR_DRIVER_ENABLED ((uint8_t)0x06) #define MOTOR_DRIVER_ENABLED ((uint8_t)0x40)
#define MOTOR_DRIVER_RESERVED0 ((uint8_t)0x07) #define MOTOR_DRIVER_RESERVED0 ((uint8_t)0x80)
/*-------------------- Control/Feedback Messages -----------------------*/ /*-------------------- Control/Feedback Messages -----------------------*/
@@ -182,11 +192,13 @@ typedef union {
struct { struct {
uint8_t high_byte; uint8_t high_byte;
uint8_t low_byte; uint8_t low_byte;
} angular_velocity; } angular_velocity; // only valid for differential drivering
uint8_t reserved0; uint8_t reserved0;
uint8_t reserved1; uint8_t reserved1;
uint8_t reserved2; struct {
uint8_t reserved3; uint8_t high_byte;
uint8_t low_byte;
} steering_angle; // only valid for ackermann steering
} state; } state;
uint8_t raw[8]; uint8_t raw[8];
} MotionStateMessage; } MotionStateMessage;
@@ -281,6 +293,42 @@ typedef union {
uint8_t raw[8]; uint8_t raw[8];
} OdometryMessage; } OdometryMessage;
typedef union {
struct {
uint8_t request;
uint8_t reserved0;
uint8_t reserved1;
uint8_t reserved2;
uint8_t reserved3;
uint8_t reserved4;
uint8_t reserved5;
uint8_t reserved6;
} state;
uint8_t raw[8];
} VersionQueryMessage;
typedef union {
struct {
struct {
uint8_t high_byte;
uint8_t low_byte;
} controller_hw_version;
struct {
uint8_t high_byte;
uint8_t low_byte;
} motor_driver_hw_version;
struct {
uint8_t high_byte;
uint8_t low_byte;
} controller_sw_version;
struct {
uint8_t high_byte;
uint8_t low_byte;
} motor_driver_sw_version;
} state;
uint8_t raw[8];
} PlatformVersionMessage;
#pragma pack(pop) #pragma pack(pop)
#ifdef __cplusplus #ifdef __cplusplus

54
ugv_sdk/include/ugv_sdk/scout/scout_base.hpp
View File

@@ -17,10 +17,7 @@
#include <functional> #include <functional>
#include "ugv_sdk/mobile_base.hpp" #include "ugv_sdk/mobile_base.hpp"
#include "ugv_sdk/proto/agx_msg_parser.h"
#include "ugv_sdk/scout/scout_protocol.h"
#include "ugv_sdk/scout/scout_can_parser.h"
#include "ugv_sdk/scout/scout_uart_parser.h"
#include "ugv_sdk/scout/scout_types.hpp" #include "ugv_sdk/scout/scout_types.hpp"
namespace westonrobot { namespace westonrobot {
@@ -29,55 +26,34 @@ class ScoutBase : public MobileBase {
ScoutBase() : MobileBase(){}; ScoutBase() : MobileBase(){};
~ScoutBase() = default; ~ScoutBase() = default;
public:
// motion control
void SetMotionCommand(double linear_vel, double angular_vel,
ScoutMotionCmd::FaultClearFlag fault_clr_flag =
ScoutMotionCmd::FaultClearFlag::NO_FAULT);
// light control
void SetLightCommand(ScoutLightCmd cmd);
void DisableLightCmdControl();
// get robot state // get robot state
ScoutState GetScoutState(); ScoutState GetScoutState();
private: void EnableCommandedMode();
// serial port buffer
uint8_t tx_cmd_len_;
uint8_t tx_buffer_[SCOUT_CMD_BUF_LEN];
// motion control
void SetMotionCommand(double linear_vel, double angular_vel);
// light control
void SetLightCommand(const ScoutLightCmd &cmd);
private:
// cmd/status update related variables // cmd/status update related variables
std::thread cmd_thread_;
std::mutex scout_state_mutex_; std::mutex scout_state_mutex_;
std::mutex motion_cmd_mutex_; std::mutex motion_cmd_mutex_;
std::mutex light_cmd_mutex_;
std::mutex mode_cmd_mutex_;
ScoutState scout_state_; ScoutState scout_state_;
ScoutMotionCmd current_motion_cmd_; ScoutMotionCmd current_motion_cmd_;
ScoutLightCmd current_light_cmd_;
bool light_ctrl_enabled_ = false;
bool light_ctrl_requested_ = false;
// internal functions // internal functions
void SendRobotCmd() override;
void ParseCANFrame(can_frame *rx_frame);
void ParseUARTBuffer(uint8_t *buf, const size_t bufsize,
size_t bytes_received);
void SendMotionCmd(uint8_t count); void SendMotionCmd(uint8_t count);
void SendLightCmd(uint8_t count); void SendLightCmd(const ScoutLightCmd &cmd, uint8_t count);
void SendModeCtl();
void NewStatusMsgReceivedCallback(const ScoutMessage &msg);
public: void SendRobotCmd() override;
static void UpdateScoutState(const ScoutMessage &status_msg, void ParseCANFrame(can_frame *rx_frame) override;
ScoutState &state);
void NewStatusMsgReceivedCallback(const AgxMessage &msg);
static void UpdateScoutState(const AgxMessage &status_msg, ScoutState &state);
}; };
} // namespace westonrobot } // namespace westonrobot

42
ugv_sdk/include/ugv_sdk/scout/scout_can_parser.h
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@@ -1,42 +0,0 @@
/*
* 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 "ugv_sdk/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 */

393
ugv_sdk/include/ugv_sdk/scout/scout_protocol.h
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@@ -1,393 +0,0 @@
/*
* 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)0x111)
#define CAN_MSG_MOTION_CONTROL_STATUS_ID ((uint32_t)0x221)
#define CAN_MSG_SELECT_CONTROL_MODE_ID ((uint32_t)0x421)
#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_MOTOR3_DRIVER_STATUS_ID ((uint32_t)0x253)
//#define CAN_MSG_MOTOR4_DRIVER_STATUS_ID ((uint32_t)0x254)
#define CAN_MSG_MOTOR1_HEIGHT_DRIVER_STATUS_ID ((uint32_t)0x251)
#define CAN_MSG_MOTOR2_HEIGHT_DRIVER_STATUS_ID ((uint32_t)0x252)
#define CAN_MSG_MOTOR3_HEIGHT_DRIVER_STATUS_ID ((uint32_t)0x253)
#define CAN_MSG_MOTOR4_HEIGHT_DRIVER_STATUS_ID ((uint32_t)0x254)
#define CAN_MSG_MOTOR1_LOW_DRIVER_STATUS_ID ((uint32_t)0x261)
#define CAN_MSG_MOTOR2_LOW_DRIVER_STATUS_ID ((uint32_t)0x262)
#define CAN_MSG_MOTOR3_LOW_DRIVER_STATUS_ID ((uint32_t)0x263)
#define CAN_MSG_MOTOR4_LOW_DRIVER_STATUS_ID ((uint32_t)0x264)
#define CAN_MSG_ODOMETER_ID ((uint32_t)0x311)
/*--------------------- 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
{
struct
{
int8_t high_byte;
int8_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;
} 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 reserved2;
uint8_t reserved3;
} cmd;
uint8_t raw[8];
} data;
} MotionStatusMessage;
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;
// 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 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 reserved1;
uint8_t count;
} 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 reserved1;
uint8_t count;
} 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;
typedef struct
{
uint8_t motor_id;
union {
struct
{
struct
{
uint8_t high_byte;
uint8_t low_byte;
} rpm;
struct
{
uint8_t high_byte;
uint8_t low_byte;
} current;
struct
{
int8_t heighest;
int8_t sec_heighest;
int8_t sec_lowest;
int8_t lowest;
}moter_pose;
} status;
uint8_t raw[8];
} data;
} MotorDriverHeightSpeedStatusMessage;
typedef struct
{
uint8_t motor_id;
union {
struct
{
struct
{
uint8_t high_byte;
uint8_t low_byte;
} driver_voltage;
struct
{
uint8_t high_byte;
uint8_t low_byte;
} driver_temperature;
int8_t motor_temperature;
uint8_t driver_state;
uint8_t reserved0;
uint8_t reserved1;
} status;
uint8_t raw[8];
} data;
} MotorDriverLowSpeedStatusMessage;
typedef struct
{
uint8_t motor_id;
union {
struct
{
struct
{
uint8_t heighest;
uint8_t sec_heighest;
uint8_t sec_lowest;
uint8_t lowest;
} left;
struct
{
uint8_t heighest;
uint8_t sec_heighest;
uint8_t sec_lowest;
uint8_t lowest;
} right;
} status;
uint8_t raw[8];
} data;
} OdomterMessage;
// For convenience to access status/control message
typedef enum
{
ScoutMsgNone = 0x00,
// status messages
ScoutMotionStatusMsg = 0x01,
ScoutLightStatusMsg = 0x02,
ScoutSystemStatusMsg = 0x03,
ScoutMotorDriverStatusMsg = 0x04,
ScoutMotorDriverHeightSpeedStatusMsg = 0x05,
ScoutMotorDriverLowSpeedStatusMsg = 0x06,
ScoutodometerMsg = 0x07,
// control messages
ScoutMotionControlMsg = 0x21,
ScoutLightControlMsg = 0x22,
ScoutControlModeMsg = 0x23
} 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;
MotorDriverLowSpeedStatusMessage motor_driver_low_speed_status_msg;
MotorDriverHeightSpeedStatusMessage motor_driver_height_speed_status_msg;
OdomterMessage odom_msg;
// control messages
MotionControlMessage motion_control_msg;
LightControlMessage light_control_msg;
ModSelectMessage mode_cmd_msg;
} body;
} ScoutMessage;
#pragma pack(pop)
#ifdef __cplusplus
}
#endif
#endif /* SCOUT_PROTOCOL_H */

69
ugv_sdk/include/ugv_sdk/scout/scout_types.hpp
View File

@@ -22,28 +22,17 @@ struct ScoutState {
REAR_RIGHT = 3 REAR_RIGHT = 3
}; };
struct MotorState { struct ActuatorState {
double current = 0; // in A double motor_current = 0; // in A
double rpm = 0; uint16_t motor_rpm = 0;
double temperature = 0; uint16_t motor_pulses = 0;
double motor_pose = 0;
};
struct DriverState {
double driver_voltage = 0;
double driver_temperature = 0;
uint8_t driver_state = 0;
};
struct MotorHighSpeedState {
double current = 0; // in A
double rpm = 0;
double motor_pose = 0;
};
struct MotorLowSpeedState {
double driver_voltage = 0;
double driver_temperature = 0;
double motor_temperature = 0; double motor_temperature = 0;
double driver_voltage = 0;
double driver_temperature = 0;
uint8_t driver_state = 0; uint8_t driver_state = 0;
}; };
struct LightState { struct LightState {
uint8_t mode = 0; uint8_t mode = 0;
uint8_t custom_value = 0; uint8_t custom_value = 0;
@@ -57,10 +46,7 @@ struct ScoutState {
// motor state // motor state
static constexpr uint8_t motor_num = 4; static constexpr uint8_t motor_num = 4;
// MotorState motor_states[motor_num]; ActuatorState actuator_states[motor_num];
// DriverState driver_states[motor_num];
MotorHighSpeedState motor_hs_state[motor_num];
MotorLowSpeedState motor_ls_state[motor_num];
// light state // light state
bool light_control_enabled = false; bool light_control_enabled = false;
@@ -72,37 +58,16 @@ struct ScoutState {
double angular_velocity = 0; double angular_velocity = 0;
// odometer state // odometer state
double left_odomter = 0; double left_odometry = 0;
double right_odomter = 0; double right_odometry = 0;
}; };
struct ScoutMotionCmd { struct ScoutMotionCmd {
enum class FaultClearFlag { ScoutMotionCmd(double linear = 0.0, double angular = 0.0)
NO_FAULT = 0x00, : linear_velocity(linear), angular_velocity(angular) {}
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
};
ScoutMotionCmd(int8_t linear_height_byte = 0, int8_t linear_low_byte = 0, double linear_velocity;
int8_t angular_height_byte = 0, int8_t angular_low_byte = 0, double angular_velocity;
FaultClearFlag fault_clr_flag = FaultClearFlag::NO_FAULT)
: linear_velocity_height_byte(linear_height_byte),
linear_velocity_low_byte(linear_low_byte),
angular_velocity_height_byte(angular_height_byte),
angular_velocity_low_byte(angular_low_byte),
fault_clear_flag(fault_clr_flag) {}
int8_t linear_velocity_height_byte;
int8_t linear_velocity_low_byte;
int8_t angular_velocity_height_byte;
int8_t angular_velocity_low_byte;
FaultClearFlag fault_clear_flag;
static constexpr double max_linear_velocity = 1.5; // 1.5 m/s 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 min_linear_velocity = -1.5; // -1.5 m/s
@@ -121,11 +86,13 @@ struct ScoutLightCmd {
ScoutLightCmd() = default; ScoutLightCmd() = default;
ScoutLightCmd(LightMode f_mode, uint8_t f_value, LightMode r_mode, ScoutLightCmd(LightMode f_mode, uint8_t f_value, LightMode r_mode,
uint8_t r_value) uint8_t r_value)
: front_mode(f_mode), : enable_ctrl(true),
front_mode(f_mode),
front_custom_value(f_value), front_custom_value(f_value),
rear_mode(r_mode), rear_mode(r_mode),
rear_custom_value(r_value) {} rear_custom_value(r_value) {}
bool enable_ctrl = false;
LightMode front_mode; LightMode front_mode;
uint8_t front_custom_value; uint8_t front_custom_value;
LightMode rear_mode; LightMode rear_mode;

32
ugv_sdk/include/ugv_sdk/scout/scout_uart_parser.h
View File

@@ -1,32 +0,0 @@
/*
* 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 "ugv_sdk/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 */

3
ugv_sdk/include/ugv_sdk/tracer/tracer_base.hpp
View File

@@ -44,9 +44,6 @@ class TracerBase : public MobileBase {
TracerState tracer_state_; TracerState tracer_state_;
TracerMotionCmd current_motion_cmd_; TracerMotionCmd current_motion_cmd_;
bool light_ctrl_enabled_ = false;
bool light_ctrl_requested_ = false;
void SendMotionCmd(uint8_t count); void SendMotionCmd(uint8_t count);
void SendLightCmd(const TracerLightCmd &cmd, uint8_t count); void SendLightCmd(const TracerLightCmd &cmd, uint8_t count);

169
ugv_sdk/src/hunter_can_parser.c
View File

@@ -1,169 +0,0 @@
/*
* hunter_can_parser.c
*
* Created on: Jan 02, 2020 12:40
* Description:
*
* Copyright (c) 2019 Ruixiang Du (rdu)
*/
#include "ugv_sdk/hunter/hunter_can_parser.h"
#include "string.h"
static void EncodeHunterMotionControlMsgToCAN(const MotionControlMessage *msg, struct can_frame *tx_frame);
static void EncodeHunterControlModeMsgToCAN(const ModSelectMessage *msg,struct can_frame *tx_frame);
static void EncodeHunterControlParkMsgToCAN(const ParkControlMessage *msg,struct can_frame *tx_frame);
bool DecodeHunterMsgFromCAN(const struct can_frame *rx_frame, HunterMessage *msg)
{
msg->type = HunterMsgNone;
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 = HunterMotionStatusMsg;
memcpy(msg->body.motion_status_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_SYSTEM_STATUS_STATUS_ID:
{
msg->type = HunterSystemStatusMsg;
memcpy(msg->body.system_status_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_MOTOR1_HEIGHT_DRIVER_STATUS_ID:
{
msg->type = HunterMotorDriverHeightSpeedStatusMsg;
msg->body.motor_driver_height_speed_status_msg.motor_id = HUNTER_MOTOR1_ID;
memcpy(msg->body.motor_driver_height_speed_status_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_MOTOR2_HEIGHT_DRIVER_STATUS_ID:
{
msg->type = HunterMotorDriverHeightSpeedStatusMsg;
msg->body.motor_driver_height_speed_status_msg.motor_id = HUNTER_MOTOR2_ID;
memcpy(msg->body.motor_driver_height_speed_status_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_MOTOR3_HEIGHT_DRIVER_STATUS_ID:
{
msg->type = HunterMotorDriverHeightSpeedStatusMsg;
msg->body.motor_driver_height_speed_status_msg.motor_id = HUNTER_MOTOR3_ID;
memcpy(msg->body.motor_driver_height_speed_status_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_MOTOR1_LOW_DRIVER_STATUS_ID:
{
msg->type = HunterMotorDriverLowSpeedStatusMsg;
msg->body.motor_driver_low_speed_status_msg.motor_id = HUNTER_MOTOR1_ID;
memcpy(msg->body.motor_driver_low_speed_status_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_MOTOR2_LOW_DRIVER_STATUS_ID:
{
msg->type = HunterMotorDriverLowSpeedStatusMsg;
msg->body.motor_driver_low_speed_status_msg.motor_id = HUNTER_MOTOR2_ID;
memcpy(msg->body.motor_driver_low_speed_status_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_MOTOR3_LOW_DRIVER_STATUS_ID:
{
msg->type = HunterMotorDriverLowSpeedStatusMsg;
msg->body.motor_driver_low_speed_status_msg.motor_id = HUNTER_MOTOR3_ID;
memcpy(msg->body.motor_driver_low_speed_status_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_MOTION_CONTROL_CMD_ID:
{
msg->type = HunterMotionControlMsg;
memcpy(msg->body.motion_control_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_PARK_CONTROL_ID:
{
msg->type = HunterParkControlMsg;
memcpy(msg->body.park_control_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_SELECT_CONTROL_MODE_ID:
{
msg->type = HunterControlModeMsg;
memcpy(msg->body.mode_cmd_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
default:
break;
}
return true;
}
void EncodeHunterMsgToCAN(const HunterMessage *msg, struct can_frame *tx_frame)
{
switch (msg->type)
{
// in the current implementation, both MsgType and can_frame include 8 * uint8_t
case HunterMotionStatusMsg:
{
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 HunterSystemStatusMsg:
{
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 HunterMotionControlMsg:
{
EncodeHunterMotionControlMsgToCAN(&(msg->body.motion_control_msg), tx_frame);
break;
}
case HunterControlModeMsg:
{
EncodeHunterControlModeMsgToCAN(&(msg->body.mode_cmd_msg), tx_frame);
break;
}
case HunterParkControlMsg:
{
EncodeHunterControlParkMsgToCAN(&(msg->body.park_control_msg), tx_frame);
break;
}
default:
break;
}
}
void EncodeHunterMotionControlMsgToCAN(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);
}
void EncodeHunterControlModeMsgToCAN(const ModSelectMessage *msg,struct can_frame *tx_frame)
{
tx_frame->can_id = CAN_MSG_SELECT_CONTROL_MODE_ID;
tx_frame->can_dlc = 8;
memcpy(tx_frame->data, msg->data.raw, tx_frame->can_dlc);
}
void EncodeHunterControlParkMsgToCAN(const ParkControlMessage *msg,struct can_frame *tx_frame)
{
tx_frame->can_id = CAN_MSG_PARK_CONTROL_ID;
tx_frame->can_dlc = 8;
memcpy(tx_frame->data, msg->data.raw, tx_frame->can_dlc);
}
uint8_t CalcHunterCANChecksum(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;
}

393
ugv_sdk/src/scout_base.cpp
View File

@@ -1,4 +1,5 @@
#include "ugv_sdk/scout/scout_base.hpp" #include "ugv_sdk/scout/scout_base.hpp"
#include <stdio.h> #include <stdio.h>
#include <string> #include <string>
#include <cstring> #include <cstring>
@@ -15,143 +16,78 @@
namespace westonrobot { namespace westonrobot {
void ScoutBase::SendRobotCmd() { void ScoutBase::SendRobotCmd() {
static uint8_t cmd_count = 0; static uint8_t cmd_count = 0;
static uint8_t light_cmd_count = 0; // EnableCommandedMode();
SendModeCtl(); if (can_connected_) {
SendMotionCmd(cmd_count++); SendMotionCmd(cmd_count++);
if (light_ctrl_requested_) SendLightCmd(light_cmd_count++); }
}
void ScoutBase::EnableCommandedMode() {
AgxMessage c_msg;
c_msg.type = AgxMsgCtrlModeSelect;
memset(c_msg.body.ctrl_mode_select_msg.raw, 0, 8);
c_msg.body.ctrl_mode_select_msg.cmd.control_mode = CTRL_MODE_CMD_CAN;
// send to can bus
can_frame c_frame;
EncodeCanFrame(&c_msg, &c_frame);
can_if_->SendFrame(c_frame);
} }
void ScoutBase::SendMotionCmd(uint8_t count) { void ScoutBase::SendMotionCmd(uint8_t count) {
// motion control message // motion control message
ScoutMessage m_msg; AgxMessage m_msg;
m_msg.type = ScoutMotionControlMsg; m_msg.type = AgxMsgMotionCommand;
memset(m_msg.body.motion_command_msg.raw, 0, 8);
// 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(); motion_cmd_mutex_.lock();
m_msg.body.motion_control_msg.data.cmd.linear_velocity.high_byte = int16_t linear_cmd =
current_motion_cmd_.linear_velocity_height_byte; static_cast<int16_t>(current_motion_cmd_.linear_velocity * 1000);
m_msg.body.motion_control_msg.data.cmd.linear_velocity.low_byte = int16_t angular_cmd =
current_motion_cmd_.linear_velocity_low_byte; static_cast<int16_t>(current_motion_cmd_.angular_velocity * 1000);
m_msg.body.motion_control_msg.data.cmd.angular_velocity.high_byte =
current_motion_cmd_.angular_velocity_height_byte;
m_msg.body.motion_control_msg.data.cmd.angular_velocity.low_byte =
current_motion_cmd_.angular_velocity_low_byte;
motion_cmd_mutex_.unlock(); motion_cmd_mutex_.unlock();
m_msg.body.motion_control_msg.data.cmd.reserved0 = 0; // SendControlCmd();
m_msg.body.motion_control_msg.data.cmd.reserved1 = 0; m_msg.body.motion_command_msg.cmd.linear_velocity.high_byte =
m_msg.body.motion_control_msg.data.cmd.reserved2 = 0; (static_cast<uint16_t>(linear_cmd) >> 8) & 0x00ff;
m_msg.body.motion_control_msg.data.cmd.reserved3 = 0; m_msg.body.motion_command_msg.cmd.linear_velocity.low_byte =
(static_cast<uint16_t>(linear_cmd) >> 0) & 0x00ff;
m_msg.body.motion_command_msg.cmd.angular_velocity.high_byte =
(static_cast<uint16_t>(angular_cmd) >> 8) & 0x00ff;
m_msg.body.motion_command_msg.cmd.angular_velocity.low_byte =
(static_cast<uint16_t>(angular_cmd) >> 0) & 0x00ff;
if (can_connected_) {
// send to can bus // send to can bus
can_frame m_frame; can_frame m_frame;
EncodeScoutMsgToCAN(&m_msg, &m_frame); EncodeCanFrame(&m_msg, &m_frame);
can_if_->SendFrame(m_frame); can_if_->SendFrame(m_frame);
} else {
// send to serial port
EncodeScoutMsgToUART(&m_msg, tx_buffer_, &tx_cmd_len_);
serial_if_->SendBytes(tx_buffer_, tx_cmd_len_);
}
} }
void ScoutBase::SendModeCtl(){ void ScoutBase::SendLightCmd(const ScoutLightCmd &lcmd, uint8_t count) {
ScoutMessage m_msg; AgxMessage l_msg;
m_msg.type = ScoutControlModeMsg; l_msg.type = AgxMsgLightCommand;
mode_cmd_mutex_.lock(); memset(l_msg.body.light_command_msg.raw, 0, 8);
m_msg.body.mode_cmd_msg.data.cmd.control_mode=0x01;
mode_cmd_mutex_.unlock(); if (lcmd.enable_ctrl) {
m_msg.body.mode_cmd_msg.data.cmd.reserved0=0; l_msg.body.light_command_msg.cmd.light_ctrl_enabled = LIGHT_CTRL_ENABLE;
m_msg.body.mode_cmd_msg.data.cmd.reserved1=0;
m_msg.body.mode_cmd_msg.data.cmd.reserved2=0; l_msg.body.light_command_msg.cmd.front_light_mode =
m_msg.body.mode_cmd_msg.data.cmd.reserved3=0; static_cast<uint8_t>(lcmd.front_mode);
m_msg.body.mode_cmd_msg.data.cmd.reserved4=0; l_msg.body.light_command_msg.cmd.front_light_custom =
m_msg.body.mode_cmd_msg.data.cmd.reserved5=0; lcmd.front_custom_value;
m_msg.body.mode_cmd_msg.data.cmd.reserved6=0; l_msg.body.light_command_msg.cmd.rear_light_mode =
if (can_connected_) { static_cast<uint8_t>(lcmd.rear_mode);
// send to can bus l_msg.body.light_command_msg.cmd.rear_light_custom = lcmd.rear_custom_value;
can_frame m_frame;
EncodeScoutMsgToCAN(&m_msg, &m_frame);
can_if_->SendFrame(m_frame);
} else { } else {
// send to serial port l_msg.body.light_command_msg.cmd.light_ctrl_enabled = LIGHT_CTRL_DISABLE;
EncodeScoutMsgToUART(&m_msg, tx_buffer_, &tx_cmd_len_);
serial_if_->SendBytes(tx_buffer_, tx_cmd_len_);
} }
}
void ScoutBase::SendLightCmd(uint8_t count) {
ScoutMessage l_msg;
l_msg.type = ScoutLightControlMsg;
l_msg.body.light_command_msg.cmd.count = count;
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;
// 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;
// std::cout << "light cmd generated" << std::endl;
} 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;
// if (can_connected_)
// l_msg.body.light_control_msg.data.cmd.checksum = CalcScoutCANChecksum(
// 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_) {
// send to can bus // send to can bus
can_frame l_frame; can_frame l_frame;
EncodeScoutMsgToCAN(&l_msg, &l_frame); EncodeCanFrame(&l_msg, &l_frame);
can_if_->SendFrame(l_frame); can_if_->SendFrame(l_frame);
} else {
// send to serial port
EncodeScoutMsgToUART(&l_msg, tx_buffer_, &tx_cmd_len_);
serial_if_->SendBytes(tx_buffer_, tx_cmd_len_);
}
// std::cout << "cmd: " << static_cast<int>(l_msg.data.cmd.front_light_mode)
// << " , " << static_cast<int>(l_msg.data.cmd.front_light_custom) << " , "
// << static_cast<int>(l_msg.data.cmd.rear_light_mode) << " , " <<
// static_cast<int>(l_msg.data.cmd.rear_light_custom) << std::endl;
// std::cout << "can: ";
// for (int i = 0; i < 8; ++i)
// std::cout << static_cast<int>(l_frame.data[i]) << " ";
// std::cout << "uart: ";
// for (int i = 0; i < tx_cmd_len_; ++i)
// std::cout << static_cast<int>(tx_buffer_[i]) << " ";
// std::cout << std::endl;
} }
ScoutState ScoutBase::GetScoutState() { ScoutState ScoutBase::GetScoutState() {
@@ -159,9 +95,7 @@ ScoutState ScoutBase::GetScoutState() {
return scout_state_; return scout_state_;
} }
void ScoutBase::SetMotionCommand( void ScoutBase::SetMotionCommand(double linear_vel, double angular_vel) {
double linear_vel, double angular_vel,
ScoutMotionCmd::FaultClearFlag fault_clr_flag) {
// make sure cmd thread is started before attempting to send commands // make sure cmd thread is started before attempting to send commands
if (!cmd_thread_started_) StartCmdThread(); if (!cmd_thread_started_) StartCmdThread();
@@ -175,171 +109,122 @@ void ScoutBase::SetMotionCommand(
angular_vel = ScoutMotionCmd::max_angular_velocity; angular_vel = ScoutMotionCmd::max_angular_velocity;
std::lock_guard<std::mutex> guard(motion_cmd_mutex_); std::lock_guard<std::mutex> guard(motion_cmd_mutex_);
current_motion_cmd_.linear_velocity_height_byte = static_cast<int16_t>(linear_vel*1000)>>8; current_motion_cmd_.linear_velocity = linear_vel;
current_motion_cmd_.linear_velocity_low_byte = static_cast<int16_t>(linear_vel*1000)&0xff; current_motion_cmd_.angular_velocity = angular_vel;
current_motion_cmd_.angular_velocity_height_byte = static_cast<int16_t>(angular_vel*1000)>>8;
current_motion_cmd_.angular_velocity_low_byte = static_cast<int16_t>(angular_vel*1000)&0xff; FeedCmdTimeoutWatchdog();
current_motion_cmd_.fault_clear_flag = fault_clr_flag;
} }
void ScoutBase::SetLightCommand(ScoutLightCmd cmd) { void ScoutBase::SetLightCommand(const ScoutLightCmd &cmd) {
if (!cmd_thread_started_) StartCmdThread(); static uint8_t light_cmd_count = 0;
SendLightCmd(cmd, light_cmd_count++);
std::lock_guard<std::mutex> guard(light_cmd_mutex_);
current_light_cmd_ = cmd;
light_ctrl_enabled_ = true;
light_ctrl_requested_ = true;
}
void ScoutBase::DisableLightCmdControl() {
std::lock_guard<std::mutex> guard(light_cmd_mutex_);
light_ctrl_enabled_ = false;
light_ctrl_requested_ = true;
} }
void ScoutBase::ParseCANFrame(can_frame *rx_frame) { void ScoutBase::ParseCANFrame(can_frame *rx_frame) {
// validate checksum, discard frame if fails AgxMessage status_msg;
// if (!rx_frame->data[7] == CalcScoutCANChecksum(rx_frame->can_id, DecodeCanFrame(rx_frame, &status_msg);
// 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
ScoutMessage status_msg;
DecodeScoutMsgFromCAN(rx_frame, &status_msg);
// printf("%x\t",status_msg.body.odom_msg.data.status.left.heighest);
// printf("%x\t",status_msg.body.odom_msg.data.status.left.sec_heighest);
// printf("%x\t",status_msg.body.odom_msg.data.status.left.sec_lowest);
// printf("%x\r\n",status_msg.body.odom_msg.data.status.left.lowest);
NewStatusMsgReceivedCallback(status_msg); NewStatusMsgReceivedCallback(status_msg);
} }
void ScoutBase::ParseUARTBuffer(uint8_t *buf, const size_t bufsize, void ScoutBase::NewStatusMsgReceivedCallback(const AgxMessage &msg) {
size_t bytes_received) {
// std::cout << "bytes received from serial: " << bytes_received << std::endl;
// serial_parser_.PrintStatistics();
// serial_parser_.ParseBuffer(buf, bytes_received);
ScoutMessage status_msg;
for (int i = 0; i < bytes_received; ++i) {
if (DecodeScoutMsgFromUART(buf[i], &status_msg))
NewStatusMsgReceivedCallback(status_msg);
}
}
void ScoutBase::NewStatusMsgReceivedCallback(const ScoutMessage &msg) {
// std::cout << "new status msg received" << std::endl; // std::cout << "new status msg received" << std::endl;
std::lock_guard<std::mutex> guard(scout_state_mutex_); std::lock_guard<std::mutex> guard(scout_state_mutex_);
UpdateScoutState(msg, scout_state_); UpdateScoutState(msg, scout_state_);
} }
void ScoutBase::UpdateScoutState(const ScoutMessage &status_msg, void ScoutBase::UpdateScoutState(const AgxMessage &status_msg,
ScoutState &state) { ScoutState &state) {
switch (status_msg.type) { switch (status_msg.type) {
case ScoutMotionStatusMsg: { case AgxMsgSystemState: {
// std::cout << "motion control feedback received" << std::endl; // std::cout << "system status feedback received" << std::endl;
const MotionStatusMessage &msg = status_msg.body.motion_status_msg; const SystemStateMessage &msg = status_msg.body.system_state_msg;
state.linear_velocity =static_cast<int16_t>(static_cast<uint16_t>(msg.data.cmd.linear_velocity.low_byte) |static_cast<uint16_t>(msg.data.cmd.linear_velocity.high_byte)<< 8)/1000.0; state.control_mode = msg.state.control_mode;
state.angular_velocity =static_cast<int16_t>(static_cast<uint16_t>(msg.data.cmd.angular_velocity.low_byte) |static_cast<uint16_t>(msg.data.cmd.angular_velocity.high_byte)<< 8)/1000.0; state.base_state = msg.state.vehicle_state;
state.battery_voltage =
(static_cast<uint16_t>(msg.state.battery_voltage.low_byte) |
static_cast<uint16_t>(msg.state.battery_voltage.high_byte) << 8) /
10.0;
state.fault_code = msg.state.fault_code;
break; break;
} }
case ScoutLightStatusMsg: { case AgxMsgMotionState: {
// std::cout << "motion control feedback received" << std::endl;
const MotionStateMessage &msg = status_msg.body.motion_state_msg;
state.linear_velocity =
static_cast<int16_t>(
static_cast<uint16_t>(msg.state.linear_velocity.low_byte) |
static_cast<uint16_t>(msg.state.linear_velocity.high_byte) << 8) /
1000.0;
state.angular_velocity =
static_cast<int16_t>(
static_cast<uint16_t>(msg.state.angular_velocity.low_byte) |
static_cast<uint16_t>(msg.state.angular_velocity.high_byte)
<< 8) /
1000.0;
break;
}
case AgxMsgLightState: {
// std::cout << "light control feedback received" << std::endl; // std::cout << "light control feedback received" << std::endl;
const LightStatusMessage &msg = status_msg.body.light_status_msg; const LightStateMessage &msg = status_msg.body.light_state_msg;
if (msg.data.status.light_ctrl_enable == LIGHT_DISABLE_CTRL) if (msg.state.light_ctrl_enabled == LIGHT_CTRL_DISABLE)
state.light_control_enabled = false; state.light_control_enabled = false;
else else
state.light_control_enabled = true; state.light_control_enabled = true;
state.front_light_state.mode = msg.data.status.front_light_mode; state.front_light_state.mode = msg.state.front_light_mode;
state.front_light_state.custom_value = msg.data.status.front_light_custom; state.front_light_state.custom_value = msg.state.front_light_custom;
state.rear_light_state.mode = msg.data.status.rear_light_mode; state.rear_light_state.mode = msg.state.rear_light_mode;
state.rear_light_state.custom_value = msg.data.status.rear_light_custom; state.rear_light_state.custom_value = msg.state.rear_light_custom;
break; break;
} }
case ScoutSystemStatusMsg: { case AgxMsgActuatorHSState: {
// std::cout << "system status feedback received" << std::endl; // std::cout << "actuator hs feedback received" << std::endl;
const SystemStatusMessage &msg = status_msg.body.system_status_msg; const ActuatorHSStateMessage &msg = status_msg.body.actuator_hs_state_msg;
state.control_mode = msg.data.status.control_mode; state.actuator_states[msg.motor_id].motor_current =
state.base_state = msg.data.status.base_state; (static_cast<uint16_t>(msg.data.state.current.low_byte) |
state.battery_voltage = static_cast<uint16_t>(msg.data.state.current.high_byte) << 8) /
(static_cast<uint16_t>(msg.data.status.battery_voltage.low_byte) | 10.0;
static_cast<uint16_t>(msg.data.status.battery_voltage.high_byte) state.actuator_states[msg.motor_id].motor_rpm = static_cast<int16_t>(
static_cast<uint16_t>(msg.data.state.rpm.low_byte) |
static_cast<uint16_t>(msg.data.state.rpm.high_byte) << 8);
state.actuator_states[msg.motor_id].motor_pulses = static_cast<int16_t>(
static_cast<uint16_t>(msg.data.state.pulse_count.low_byte) |
static_cast<uint16_t>(msg.data.state.pulse_count.high_byte) << 8);
break;
}
case AgxMsgActuatorLSState: {
// std::cout << "actuator ls feedback received" << std::endl;
const ActuatorLSStateMessage &msg = status_msg.body.actuator_ls_state_msg;
for (int i = 0; i < 2; ++i) {
state.actuator_states[msg.motor_id].driver_voltage =
(static_cast<uint16_t>(msg.data.state.driver_voltage.low_byte) |
static_cast<uint16_t>(msg.data.state.driver_voltage.high_byte)
<< 8) / << 8) /
10.0; 10.0;
state.fault_code =msg.data.status.fault_code; state.actuator_states[msg.motor_id]
break;
}
// case ScoutMotorDriverStatusMsg: {
// // std::cout << "motor 1 driver feedback received" << std::endl;
// const MotorDriverStatusMessage &msg =
// status_msg.body.motor_driver_status_msg;
// for (int i = 0; i < ScoutState::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;
// }
case ScoutMotorDriverHeightSpeedStatusMsg: {
// std::cout << "motor 1 driver feedback received" << std::endl;
const MotorDriverHeightSpeedStatusMessage &msg =status_msg.body.motor_driver_height_speed_status_msg;
for (int i = 0; i < ScoutState::motor_num; ++i) {
state.motor_hs_state[status_msg.body.motor_driver_height_speed_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_hs_state[status_msg.body.motor_driver_height_speed_status_msg.motor_id]
.rpm = static_cast<int16_t>(
static_cast<int16_t>(msg.data.status.rpm.low_byte) |
static_cast<int16_t>(msg.data.status.rpm.high_byte) << 8);
state.motor_hs_state[status_msg.body.motor_driver_height_speed_status_msg.motor_id]
.motor_pose = static_cast<int32_t>(static_cast<uint32_t>(msg.data.status.moter_pose.lowest)|static_cast<uint32_t>(msg.data.status.moter_pose.sec_lowest
)<<8|static_cast<uint32_t>(msg.data.status.moter_pose.sec_heighest)<<16|static_cast<uint32_t>(msg.data.status.moter_pose.heighest)<<24);
}
break;
}
case ScoutMotorDriverLowSpeedStatusMsg: {
// std::cout << "motor 1 driver feedback received" << std::endl;
const MotorDriverLowSpeedStatusMessage &msg =status_msg.body.motor_driver_low_speed_status_msg;
for (int i = 0; i < ScoutState::motor_num; ++i) {
state.motor_ls_state[status_msg.body.motor_driver_low_speed_status_msg.motor_id]
.driver_voltage =
(static_cast<uint16_t>(msg.data.status.driver_voltage.low_byte) |
static_cast<uint16_t>(msg.data.status.driver_voltage.high_byte) << 8) /
10.0;
state.motor_ls_state[status_msg.body.motor_driver_low_speed_status_msg.motor_id]
.driver_temperature = static_cast<int16_t>( .driver_temperature = static_cast<int16_t>(
static_cast<uint16_t>(msg.data.status.driver_temperature.low_byte) | static_cast<uint16_t>(msg.data.state.driver_temperature.low_byte) |
static_cast<uint16_t>(msg.data.status.driver_temperature.high_byte) << 8); static_cast<uint16_t>(msg.data.state.driver_temperature.high_byte)
state.motor_ls_state[status_msg.body.motor_driver_low_speed_status_msg.motor_id] << 8);
.motor_temperature = msg.data.status.motor_temperature; state.actuator_states[msg.motor_id].motor_temperature =
state.motor_ls_state[status_msg.body.motor_driver_low_speed_status_msg.motor_id] msg.data.state.motor_temperature;
.driver_state = msg.data.status.driver_state; state.actuator_states[msg.motor_id].driver_state =
msg.data.state.driver_state;
} }
break; break;
} }
case ScoutodometerMsg:{ case AgxMsgOdometry: {
const OdomterMessage &msg=status_msg.body.odom_msg; // std::cout << "Odometer msg feedback received" << std::endl;
const OdometryMessage &msg = status_msg.body.odometry_msg;
state.right_odometry = static_cast<int32_t>(
state.left_odomter=static_cast<int32_t>(static_cast<uint32_t>(msg.data.status.left.lowest)|static_cast<uint32_t>(msg.data.status.left.sec_lowest)<<8|(static_cast<uint32_t>(msg.data.status.left.sec_heighest))<<16|static_cast<uint32_t>(msg.data.status.left.heighest)<<24); (static_cast<uint32_t>(msg.state.right_wheel.lsb)) |
state.right_odomter=static_cast<int32_t>((static_cast<uint32_t>(msg.data.status.right.lowest))|(static_cast<uint32_t>(msg.data.status.right.sec_lowest)<<8)|(static_cast<uint32_t>(msg.data.status.right.sec_heighest)<<16)|(static_cast<uint32_t>(msg.data.status.right.heighest)<<24)); (static_cast<uint32_t>(msg.state.right_wheel.low_byte) << 8) |
// printf("%x\t",status_msg.body.odom_msg.data.status.left.heighest); (static_cast<uint32_t>(msg.state.right_wheel.high_byte) << 16) |
// printf("%x\t",status_msg.body.odom_msg.data.status.left.sec_heighest); (static_cast<uint32_t>(msg.state.right_wheel.msb) << 24));
// printf("%x\t",status_msg.body.odom_msg.data.status.left.sec_lowest); state.left_odometry = static_cast<int32_t>(
// printf("%x\r\n",status_msg.body.odom_msg.data.status.left.lowest); (static_cast<uint32_t>(msg.state.left_wheel.lsb)) |
break; (static_cast<uint32_t>(msg.state.left_wheel.low_byte) << 8) |
(static_cast<uint32_t>(msg.state.left_wheel.high_byte) << 16) |
(static_cast<uint32_t>(msg.state.left_wheel.msb) << 24));
} }
} }
} }

228
ugv_sdk/src/scout_can_parser.c
View File

@@ -1,228 +0,0 @@
/*
* scout_can_parser.c
*
* Created on: Aug 31, 2019 04:25
* Description:
*
* Copyright (c) 2019 Ruixiang Du (rdu)
*/
#include "ugv_sdk/scout/scout_can_parser.h"
#include "string.h"
static void EncodeScoutMotionControlMsgToCAN(const MotionControlMessage *msg, struct can_frame *tx_frame);
static void EncodeScoutLightControlMsgToCAN(const LightControlMessage *msg, struct can_frame *tx_frame);
static void EncodeScoutnControlModeMsgToCAN(const ModSelectMessage *msg, struct can_frame *tx_frame);
bool DecodeScoutMsgFromCAN(const struct can_frame *rx_frame, ScoutMessage *msg)
{
msg->type = ScoutMsgNone;
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 = ScoutMotionStatusMsg;
// 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 = ScoutLightStatusMsg;
// 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 = ScoutSystemStatusMsg;
// 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;
}
// in the current implementation, both MsgType and can_frame include 8 * uint8_t
case CAN_MSG_MOTION_CONTROL_CMD_ID:
{
msg->type = ScoutMotionControlMsg;
// 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 = ScoutLightControlMsg;
// 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;
}
case CAN_MSG_MOTOR1_LOW_DRIVER_STATUS_ID:
{
msg->type = ScoutMotorDriverLowSpeedStatusMsg;
msg->body.motor_driver_low_speed_status_msg.motor_id = SCOUT_MOTOR1_ID;
memcpy(msg->body.motor_driver_low_speed_status_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_MOTOR2_LOW_DRIVER_STATUS_ID:
{
msg->type = ScoutMotorDriverLowSpeedStatusMsg;
msg->body.motor_driver_low_speed_status_msg.motor_id = SCOUT_MOTOR2_ID;
memcpy(msg->body.motor_driver_low_speed_status_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_MOTOR3_LOW_DRIVER_STATUS_ID:
{
msg->type = ScoutMotorDriverLowSpeedStatusMsg;
msg->body.motor_driver_low_speed_status_msg.motor_id = SCOUT_MOTOR3_ID;
memcpy(msg->body.motor_driver_low_speed_status_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_MOTOR4_LOW_DRIVER_STATUS_ID:
{
msg->type = ScoutMotorDriverLowSpeedStatusMsg;
msg->body.motor_driver_low_speed_status_msg.motor_id = SCOUT_MOTOR4_ID;
memcpy(msg->body.motor_driver_low_speed_status_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_MOTOR1_HEIGHT_DRIVER_STATUS_ID:
{
msg->type = ScoutMotorDriverHeightSpeedStatusMsg;
msg->body.motor_driver_height_speed_status_msg.motor_id = SCOUT_MOTOR1_ID;
memcpy(msg->body.motor_driver_height_speed_status_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_MOTOR2_HEIGHT_DRIVER_STATUS_ID:
{
msg->type = ScoutMotorDriverHeightSpeedStatusMsg;
msg->body.motor_driver_height_speed_status_msg.motor_id = SCOUT_MOTOR2_ID;
memcpy(msg->body.motor_driver_height_speed_status_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_MOTOR3_HEIGHT_DRIVER_STATUS_ID:
{
msg->type = ScoutMotorDriverHeightSpeedStatusMsg;
msg->body.motor_driver_height_speed_status_msg.motor_id = SCOUT_MOTOR3_ID;
memcpy(msg->body.motor_driver_height_speed_status_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_MOTOR4_HEIGHT_DRIVER_STATUS_ID:
{
msg->type = ScoutMotorDriverHeightSpeedStatusMsg;
msg->body.motor_driver_height_speed_status_msg.motor_id = SCOUT_MOTOR4_ID;
memcpy(msg->body.motor_driver_height_speed_status_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
break;
}
case CAN_MSG_ODOMETER_ID:
{
msg->type = ScoutodometerMsg;
// msg->light_control_msg.id = CAN_MSG_LIGHT_CONTROL_STATUS_ID;
memcpy(msg->body.odom_msg.data.raw, rx_frame->data, rx_frame->can_dlc * sizeof(uint8_t));
// printf("%x\t",msg->body.odom_msg.data.status.left.heighest);
// printf("%x\t",msg->body.odom_msg.data.status.left.sec_heighest);
// printf("%x\t",msg->body.odom_msg.data.status.left.sec_lowest);
// printf("%x\r\n",msg->body.odom_msg.data.status.left.lowest);
// printf("%x\t",msg->body.odom_msg.data.raw);
// printf("%x\r\n",msg->body.odom_msg.data.status);
break;
}
default:
break;
}
return true;
}
void EncodeScoutMsgToCAN(const ScoutMessage *msg, struct can_frame *tx_frame)
{
switch (msg->type)
{
// in the current implementation, both MsgType and can_frame include 8 * uint8_t
case ScoutMotionStatusMsg:
{
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 ScoutLightStatusMsg:
{
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 ScoutSystemStatusMsg:
{
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 ScoutMotorDriverStatusMsg:
// {
// if (msg->body.motor_driver_status_msg.motor_id == SCOUT_MOTOR1_ID)
// tx_frame->can_id = CAN_MSG_MOTOR1_DRIVER_STATUS_ID;
// else if (msg->body.motor_driver_status_msg.motor_id == SCOUT_MOTOR2_ID)
// tx_frame->can_id = CAN_MSG_MOTOR2_DRIVER_STATUS_ID;
// else if (msg->body.motor_driver_status_msg.motor_id == SCOUT_MOTOR3_ID)
// tx_frame->can_id = CAN_MSG_MOTOR3_DRIVER_STATUS_ID;
// else if (msg->body.motor_driver_status_msg.motor_id == SCOUT_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 ScoutMotionControlMsg:
{
EncodeScoutMotionControlMsgToCAN(&(msg->body.motion_control_msg), tx_frame);
break;
}
case ScoutControlModeMsg:
{
EncodeScoutnControlModeMsgToCAN(&(msg->body.motion_control_msg), tx_frame);
break;
}
case ScoutLightControlMsg:
{
EncodeScoutLightControlMsgToCAN(&(msg->body.light_control_msg), tx_frame);
break;
}
default:
break;
}
// tx_frame->data[7] = CalcScoutCANChecksum(tx_frame->can_id, tx_frame->data, tx_frame->can_dlc);
}
void EncodeScoutMotionControlMsgToCAN(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] = CalcScoutCANChecksum(tx_frame->can_id, tx_frame->data, tx_frame->can_dlc);
}
void EncodeScoutnControlModeMsgToCAN(const ModSelectMessage *msg, struct can_frame *tx_frame)
{
tx_frame->can_id = CAN_MSG_SELECT_CONTROL_MODE_ID;
tx_frame->can_dlc = 8;
memcpy(tx_frame->data, msg->data.raw, tx_frame->can_dlc);
tx_frame->data[7] = CalcScoutCANChecksum(tx_frame->can_id, tx_frame->data, tx_frame->can_dlc);
}
void EncodeScoutLightControlMsgToCAN(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] = CalcScoutCANChecksum(tx_frame->can_id, tx_frame->data, tx_frame->can_dlc);
}
uint8_t CalcScoutCANChecksum(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;
}

629
ugv_sdk/src/scout_uart_parser.c
View File

@@ -1,629 +0,0 @@
/*
* scout_uart_parser.c
*
* Created on: Aug 14, 2019 12:02
* Description:
*
* Copyright (c) 2019 Ruixiang Du (rdu)
*/
#include "ugv_sdk/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.cmd.linear_velocity.high_byte;
buf[6] = msg->body.motion_status_msg.data.cmd.linear_velocity.low_byte;
buf[7] = msg->body.motion_status_msg.data.cmd.angular_velocity.high_byte;
buf[8] = msg->body.motion_status_msg.data.cmd.angular_velocity.low_byte;
buf[9] = 0;
buf[10] = 0;
buf[11] = 0;
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;
buf[10] = 0;
buf[11] = 0;
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.linear_velocity.high_byte;
buf[6] = msg->data.cmd.linear_velocity.low_byte;
buf[7] = msg->data.cmd.angular_velocity.high_byte;
buf[8] = msg->data.cmd.angular_velocity.low_byte;
buf[9] = 0x00;
buf[10] = 0x00;
// frame count, checksum
buf[11] = 0x00;
buf[12] = 0x00;
// 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.linear_velocity.high_byte = uart_parsing_data.payload_buffer[0];
msg->body.motion_control_msg.data.cmd.linear_velocity.low_byte = uart_parsing_data.payload_buffer[1];
msg->body.motion_control_msg.data.cmd.angular_velocity.high_byte = uart_parsing_data.payload_buffer[2];
msg->body.motion_control_msg.data.cmd.angular_velocity.low_byte = 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.reserved2 = uart_parsing_data.payload_buffer[6];
msg->body.motion_control_msg.data.cmd.reserved3 = uart_parsing_data.payload_buffer[7];
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 = uart_parsing_data.payload_buffer[4];
msg->body.system_status_msg.data.status.reserved0 = uart_parsing_data.payload_buffer[5];
msg->body.system_status_msg.data.status.reserved1 = 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.cmd.linear_velocity.high_byte = uart_parsing_data.payload_buffer[0];
msg->body.motion_status_msg.data.cmd.linear_velocity.low_byte = uart_parsing_data.payload_buffer[1];
msg->body.motion_status_msg.data.cmd.angular_velocity.high_byte = uart_parsing_data.payload_buffer[2];
msg->body.motion_status_msg.data.cmd.angular_velocity.low_byte = uart_parsing_data.payload_buffer[3];
msg->body.motion_status_msg.data.cmd.reserved0 = 0x00;
msg->body.motion_status_msg.data.cmd.reserved1 = 0x00;
msg->body.motion_status_msg.data.cmd.reserved2 = 0x00;
msg->body.motion_status_msg.data.cmd.reserved3 = 0x00;
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.reserved1 = 0x00;
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;
}

2
ugv_sdk/src/tracer_base.cpp
View File

@@ -87,8 +87,6 @@ void TracerBase::SendLightCmd(const TracerLightCmd &lcmd, uint8_t count) {
can_frame l_frame; can_frame l_frame;
EncodeCanFrame(&l_msg, &l_frame); EncodeCanFrame(&l_msg, &l_frame);
can_if_->SendFrame(l_frame); can_if_->SendFrame(l_frame);
std::cout << "light cmd sent <---------------------" << std::endl;
} }
TracerState TracerBase::GetTracerState() { TracerState TracerBase::GetTracerState() {