real_time_control_protocol.h

#pragma once
 
#include <array>
#include <cstdint>
#include <cstring>
#include <vector>
 
#include "rby1-sdk/export.h"
 
namespace rb {
 
static unsigned char const kCRC8Table[] = {
    0x00, 0x31, 0x62, 0x53, 0xc4, 0xf5, 0xa6, 0x97, 0xb9, 0x88, 0xdb, 0xea, 0x7d, 0x4c, 0x1f, 0x2e, 0x43, 0x72, 0x21,
    0x10, 0x87, 0xb6, 0xe5, 0xd4, 0xfa, 0xcb, 0x98, 0xa9, 0x3e, 0x0f, 0x5c, 0x6d, 0x86, 0xb7, 0xe4, 0xd5, 0x42, 0x73,
    0x20, 0x11, 0x3f, 0x0e, 0x5d, 0x6c, 0xfb, 0xca, 0x99, 0xa8, 0xc5, 0xf4, 0xa7, 0x96, 0x01, 0x30, 0x63, 0x52, 0x7c,
    0x4d, 0x1e, 0x2f, 0xb8, 0x89, 0xda, 0xeb, 0x3d, 0x0c, 0x5f, 0x6e, 0xf9, 0xc8, 0x9b, 0xaa, 0x84, 0xb5, 0xe6, 0xd7,
    0x40, 0x71, 0x22, 0x13, 0x7e, 0x4f, 0x1c, 0x2d, 0xba, 0x8b, 0xd8, 0xe9, 0xc7, 0xf6, 0xa5, 0x94, 0x03, 0x32, 0x61,
    0x50, 0xbb, 0x8a, 0xd9, 0xe8, 0x7f, 0x4e, 0x1d, 0x2c, 0x02, 0x33, 0x60, 0x51, 0xc6, 0xf7, 0xa4, 0x95, 0xf8, 0xc9,
    0x9a, 0xab, 0x3c, 0x0d, 0x5e, 0x6f, 0x41, 0x70, 0x23, 0x12, 0x85, 0xb4, 0xe7, 0xd6, 0x7a, 0x4b, 0x18, 0x29, 0xbe,
    0x8f, 0xdc, 0xed, 0xc3, 0xf2, 0xa1, 0x90, 0x07, 0x36, 0x65, 0x54, 0x39, 0x08, 0x5b, 0x6a, 0xfd, 0xcc, 0x9f, 0xae,
    0x80, 0xb1, 0xe2, 0xd3, 0x44, 0x75, 0x26, 0x17, 0xfc, 0xcd, 0x9e, 0xaf, 0x38, 0x09, 0x5a, 0x6b, 0x45, 0x74, 0x27,
    0x16, 0x81, 0xb0, 0xe3, 0xd2, 0xbf, 0x8e, 0xdd, 0xec, 0x7b, 0x4a, 0x19, 0x28, 0x06, 0x37, 0x64, 0x55, 0xc2, 0xf3,
    0xa0, 0x91, 0x47, 0x76, 0x25, 0x14, 0x83, 0xb2, 0xe1, 0xd0, 0xfe, 0xcf, 0x9c, 0xad, 0x3a, 0x0b, 0x58, 0x69, 0x04,
    0x35, 0x66, 0x57, 0xc0, 0xf1, 0xa2, 0x93, 0xbd, 0x8c, 0xdf, 0xee, 0x79, 0x48, 0x1b, 0x2a, 0xc1, 0xf0, 0xa3, 0x92,
    0x05, 0x34, 0x67, 0x56, 0x78, 0x49, 0x1a, 0x2b, 0xbc, 0x8d, 0xde, 0xef, 0x82, 0xb3, 0xe0, 0xd1, 0x46, 0x77, 0x24,
    0x15, 0x3b, 0x0a, 0x59, 0x68, 0xff, 0xce, 0x9d, 0xac};
 
RBY1_SDK_API inline unsigned char CalculateCRC8(unsigned char* data, size_t len) {
  unsigned char crc = 0xff;
  if (data == nullptr)
    return 0xff;
  crc &= 0xff;
  while (len--)
    crc = kCRC8Table[crc ^ *data++];
  return crc;
}
 
// ControlState : RPC -> UPC
// 0x24 0x24 len:ushort N:uchar t:double R:uchar[0...N-1] P:double[0...N-1] V:double[0...N-1] C:double[0...N-1] T:double[0...N-1] CRC 0x25 0x25
 
// ControlInput : UPC -> RPC
// 0x24 0x24 len:ushort N:uchar Mode:uchar[0...N-1] T:double[0...N-1] FBG:uint[0...N-1] FFT:double[0...N-1] Finished:uchar CRC 0x25 0x25
 
static constexpr bool kPositionControlMode = false;
static constexpr bool kVelocityControlMode = true;
 
// mode - if 0, position, if 1, velocity
RBY1_SDK_API int BuildRobotCommandRTPacket(unsigned char* packet, size_t N, const bool* mode, const double* target,
                              const unsigned int* feedback_gain, const double* feedforward_torque, bool finished);
 
RBY1_SDK_API int BuildRobotStateRTPacket(unsigned char* packet, size_t N, double t, const bool* is_ready, const double* position,
                            const double* velocity, const double* current, const double* torque);
 
RBY1_SDK_API std::pair<bool, int> ValidateRTProtocol(const unsigned char* packet, int packet_size);
 
// N
RBY1_SDK_API size_t GetDoFRobotStateRTProtocol(const unsigned char* packet);
 
// N
RBY1_SDK_API size_t GetDoFRobotCommandRTProtocol(const unsigned char* packet);
 
RBY1_SDK_API void ParseRobotStateRTProtocol(const unsigned char* packet, size_t* N, double* t, bool* is_ready, double* position,
                               double* velocity, double* current, double* torque);
 
RBY1_SDK_API void ParseRobotCommandRTProtocol(const unsigned char* packet, size_t* N, bool* mode, double* target,
                                 unsigned int* feedback_gain, double* feedforward_torque, bool* finished);
 
}  // namespace rb