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

added get protocol version api

Browse Source
This commit is contained in:
Ruixiang Du
2021-07-13 18:03:50 +08:00
parent 8b606b7520
commit f7224bf56f
14 changed files with 96 additions and 55 deletions
Download Patch File Download Diff File Expand all files Collapse all files

24
src/protocol_v2/agilex_msg_parser_v2.c
View File

@@ -50,8 +50,7 @@ bool DecodeCanFrameV2(const struct can_frame *rx_frame, AgxMessage *msg) {
msg->body.light_command_msg.front_light.custom_value =
frame->front_custom;
msg->body.light_command_msg.rear_light.mode = frame->rear_mode;
msg->body.light_command_msg.rear_light.custom_value =
frame->rear_custom;
msg->body.light_command_msg.rear_light.custom_value = frame->rear_custom;
break;
}
case CAN_MSG_BRAKING_COMMAND_ID: {
@@ -104,8 +103,7 @@ bool DecodeCanFrameV2(const struct can_frame *rx_frame, AgxMessage *msg) {
msg->body.light_command_msg.front_light.custom_value =
frame->front_custom;
msg->body.light_command_msg.rear_light.mode = frame->rear_mode;
msg->body.light_command_msg.rear_light.custom_value =
frame->rear_custom;
msg->body.light_command_msg.rear_light.custom_value = frame->rear_custom;
break;
}
case CAN_MSG_RC_STATE_ID: {
@@ -192,10 +190,9 @@ bool DecodeCanFrameV2(const struct can_frame *rx_frame, AgxMessage *msg) {
msg->body.actuator_ls_state_msg.driver_state = frame->driver_state;
break;
}
case CAN_MSG_CURRENT_CTRL_MODE:
{
msg->type=AgxMsgMotionModeState;
MotionModeStateFrame *frame = (MotionModeStateFrame*)(rx_frame->data);
case CAN_MSG_CURRENT_CTRL_MODE: {
msg->type = AgxMsgMotionModeState;
MotionModeStateFrame *frame = (MotionModeStateFrame *)(rx_frame->data);
msg->body.motion_mode_feedback_msg.motion_mode = frame->motion_mode;
msg->body.motion_mode_feedback_msg.mode_changing = frame->mode_changing;
@@ -309,7 +306,8 @@ bool DecodeCanFrameV2(const struct can_frame *rx_frame, AgxMessage *msg) {
return true;
}
void EncodeCanFrameV2(const AgxMessage *msg, struct can_frame *tx_frame) {
bool EncodeCanFrameV2(const AgxMessage *msg, struct can_frame *tx_frame) {
bool ret = true;
switch (msg->type) {
/***************** command frame *****************/
case AgxMsgMotionCommand: {
@@ -346,8 +344,7 @@ void EncodeCanFrameV2(const AgxMessage *msg, struct can_frame *tx_frame) {
frame.front_custom =
msg->body.light_command_msg.front_light.custom_value;
frame.rear_mode = msg->body.light_command_msg.rear_light.mode;
frame.rear_custom =
msg->body.light_command_msg.rear_light.custom_value;
frame.rear_custom = msg->body.light_command_msg.rear_light.custom_value;
} else {
frame.enable_cmd_ctrl = LIGHT_DISABLE_CMD_CTRL;
frame.front_mode = 0;
@@ -590,9 +587,12 @@ void EncodeCanFrameV2(const AgxMessage *msg, struct can_frame *tx_frame) {
memcpy(tx_frame->data, (uint8_t *)(&frame), tx_frame->can_dlc);
break;
}
default:
default: {
ret = false;
break;
}
}
return ret;
}
uint8_t CalcCanFrameChecksumV2(uint16_t id, uint8_t *data, uint8_t dlc) {