Smikkelbakje/J2S1-Kobuki
1
0
Fork 0
mirror of https://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79.git synced 2025-08-03 20:04:58 +00:00
Code Issues Actions Packages Projects Releases Wiki Activity

fix illegal hardware instruction and bitwise operations

Browse Source
This commit is contained in:
Sam Hos
2024-10-08 11:50:27 +02:00
parent 61a7b10cd4
commit 5cb6534a4e
2 changed files with 150 additions and 124 deletions
Download Patch File Download Diff File Expand all files Collapse all files

252
src/C++/Driver/src/KobukiParser.cpp
View File

@@ -17,183 +17,80 @@ int KobukiParser::parseKobukiMessage(TKobukiData &output, unsigned char *data) {
switch (dataType) { switch (dataType) {
case 0x01: case 0x01:
if (dataLength == 0x0F) { if (dataLength == 0x0F) {
output.timestamp = data[checkedValue + 1] * 256 + data[checkedValue]; parseBasicData(output, data, checkedValue);
checkedValue += 2;
output.BumperCenter = data[checkedValue] & 0x02;
std::cout << "BumperCenter: " << output.BumperCenter << std::endl;
output.BumperLeft = data[checkedValue] & 0x04;
output.BumperRight = data[checkedValue] & 0x01;
checkedValue++;
output.WheelDropLeft = data[checkedValue] & 0x02;
output.WheelDropRight = data[checkedValue] & 0x01;
checkedValue++;
output.CliffCenter = data[checkedValue] & 0x02;
output.CliffLeft = data[checkedValue] & 0x04;
output.CliffRight = data[checkedValue] & 0x01;
checkedValue++;
output.EncoderLeft = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
output.EncoderRight = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
output.PWMleft = data[checkedValue];
checkedValue++;
output.PWMright = data[checkedValue];
checkedValue++;
output.ButtonPress = data[checkedValue];
checkedValue++;
output.Charger = data[checkedValue];
checkedValue++;
output.Battery = data[checkedValue];
checkedValue++;
output.overCurrent = data[checkedValue];
checkedValue++;
} else { } else {
std::cerr << "Invalid data length for type 0x01" << std::endl;
checkedValue += dataLength; checkedValue += dataLength;
} }
break; break;
case 0x03: case 0x03:
if (dataLength == 0x03) { if (dataLength == 0x03) {
output.IRSensorRight = data[checkedValue]; parseIRSensorData(output, data, checkedValue);
checkedValue++;
output.IRSensorCenter = data[checkedValue];
checkedValue++;
output.IRSensorLeft = data[checkedValue];
checkedValue++;
} else { } else {
std::cerr << "Invalid data length for type 0x03" << std::endl;
checkedValue += dataLength; checkedValue += dataLength;
} }
break; break;
case 0x04: case 0x04:
if (dataLength == 0x07) { if (dataLength == 0x07) {
output.GyroAngle = data[checkedValue + 1] * 256 + data[checkedValue]; parseGyroData(output, data, checkedValue);
checkedValue += 2;
output.GyroAngleRate = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 5; // 3 unused
} else { } else {
std::cerr << "Invalid data length for type 0x04" << std::endl;
checkedValue += dataLength; checkedValue += dataLength;
} }
break; break;
case 0x05: case 0x05:
if (dataLength == 0x06) { if (dataLength == 0x06) {
output.CliffSensorRight = data[checkedValue + 1] * 256 + data[checkedValue]; parseCliffSensorData(output, data, checkedValue);
checkedValue += 2;
output.CliffSensorCenter = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
output.CliffSensorLeft = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
} else { } else {
std::cerr << "Invalid data length for type 0x05" << std::endl;
checkedValue += dataLength; checkedValue += dataLength;
} }
break; break;
case 0x06: case 0x06:
if (dataLength == 0x02) { if (dataLength == 0x02) {
output.wheelCurrentLeft = data[checkedValue]; parseWheelCurrentData(output, data, checkedValue);
checkedValue++;
output.wheelCurrentRight = data[checkedValue];
checkedValue++;
} else { } else {
std::cerr << "Invalid data length for type 0x06" << std::endl;
checkedValue += dataLength; checkedValue += dataLength;
} }
break; break;
case 0x0A: case 0x0A:
if (dataLength == 0x04) { if (dataLength == 0x04) {
output.extraInfo.HardwareVersionPatch = data[checkedValue]; parseHardwareVersionData(output, data, checkedValue);
checkedValue++;
output.extraInfo.HardwareVersionMinor = data[checkedValue];
checkedValue++;
output.extraInfo.HardwareVersionMajor = data[checkedValue];
checkedValue += 2;
} else { } else {
std::cerr << "Invalid data length for type 0x0A" << std::endl;
checkedValue += dataLength; checkedValue += dataLength;
} }
break; break;
case 0x0B: case 0x0B:
if (dataLength == 0x04) { if (dataLength == 0x04) {
output.extraInfo.FirmwareVersionPatch = data[checkedValue]; parseFirmwareVersionData(output, data, checkedValue);
checkedValue++;
output.extraInfo.FirmwareVersionMinor = data[checkedValue];
checkedValue++;
output.extraInfo.FirmwareVersionMajor = data[checkedValue];
checkedValue += 2;
} else { } else {
std::cerr << "Invalid data length for type 0x0B" << std::endl;
checkedValue += dataLength; checkedValue += dataLength;
} }
break; break;
case 0x0D: case 0x0D:
if (dataLength % 2 == 0) { if (dataLength % 2 == 0) {
output.frameId = data[checkedValue]; parseXYZData(output, data, checkedValue);
checkedValue++;
int howmanyFrames = data[checkedValue] / 3;
checkedValue++;
output.gyroData.reserve(howmanyFrames);
output.gyroData.clear();
for (int hk = 0; hk < howmanyFrames; hk++) {
TRawGyroData temp;
temp.x = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
temp.y = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
temp.z = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
output.gyroData.push_back(temp);
}
} else { } else {
std::cerr << "Invalid data length for type 0x0D" << std::endl;
checkedValue += dataLength; checkedValue += dataLength;
} }
break; break;
case 0x10: case 0x10:
if (dataLength == 0x10) { if (dataLength == 0x10) {
output.digitalInput = data[checkedValue + 1] * 256 + data[checkedValue]; parseDigitalAnalogInputData(output, data, checkedValue);
checkedValue += 2;
output.analogInputCh0 = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
output.analogInputCh1 = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
output.analogInputCh2 = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
output.analogInputCh3 = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 8; // 2+6
} else { } else {
std::cerr << "Invalid data length for type 0x10" << std::endl;
checkedValue += dataLength; checkedValue += dataLength;
} }
break; break;
case 0x13: case 0x13:
if (dataLength == 0x0C) { if (dataLength == 0x0C) {
output.extraInfo.UDID0 = data[checkedValue + 3] * 256 * 256 * 256 + parseUDIDData(output, data, checkedValue);
data[checkedValue + 2] * 256 * 256 +
data[checkedValue + 1] * 256 +
data[checkedValue];
checkedValue += 4;
output.extraInfo.UDID1 = data[checkedValue + 3] * 256 * 256 * 256 +
data[checkedValue + 2] * 256 * 256 +
data[checkedValue + 1] * 256 +
data[checkedValue];
checkedValue += 4;
output.extraInfo.UDID2 = data[checkedValue + 3] * 256 * 256 * 256 +
data[checkedValue + 2] * 256 * 256 +
data[checkedValue + 1] * 256 +
data[checkedValue];
checkedValue += 4;
} else { } else {
std::cerr << "Invalid data length for type 0x13" << std::endl;
checkedValue += dataLength; checkedValue += dataLength;
} }
break; break;
@@ -206,6 +103,135 @@ int KobukiParser::parseKobukiMessage(TKobukiData &output, unsigned char *data) {
} }
return 0; return 0;
} }
void KobukiParser::parseBasicData(TKobukiData &output, unsigned char *data, int &checkedValue){
output.timestamp = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
output.BumperCenter = (data[checkedValue] & 0x02) >> 1;
output.BumperLeft = (data[checkedValue] & 0x04) >> 2;
output.BumperRight = data[checkedValue] & 0x01;
checkedValue++;
output.WheelDropLeft = (data[checkedValue] & 0x02) >> 1;
output.WheelDropRight = data[checkedValue] & 0x01;
checkedValue++;
output.CliffCenter = (data[checkedValue] & 0x02) >> 1;
output.CliffLeft = (data[checkedValue] & 0x04) >> 2;
output.CliffRight = data[checkedValue] & 0x01;
checkedValue++;
output.EncoderLeft = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
output.EncoderRight = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
output.PWMleft = data[checkedValue];
checkedValue++;
output.PWMright = data[checkedValue];
checkedValue++;
output.ButtonPress = data[checkedValue];
checkedValue++;
output.Charger = data[checkedValue];
checkedValue++;
output.Battery = data[checkedValue];
checkedValue++;
output.overCurrent = data[checkedValue];
checkedValue++;
}
void KobukiParser::parseIRSensorData(TKobukiData &output, unsigned char *data, int &checkedValue){
output.IRSensorRight = data[checkedValue];
checkedValue++;
output.IRSensorCenter = data[checkedValue];
checkedValue++;
output.IRSensorLeft = data[checkedValue];
checkedValue++;
}
void KobukiParser::parseGyroData(TKobukiData &output, unsigned char *data, int &checkedValue){
output.GyroAngle = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
output.GyroAngleRate = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 5; // 3 unused
}
void KobukiParser::parseCliffSensorData(TKobukiData &output, unsigned char *data, int &checkedValue){
output.CliffSensorRight = data[checkedValue];
checkedValue++;
output.CliffSensorCenter = data[checkedValue];
checkedValue++;
output.CliffSensorLeft = data[checkedValue];
checkedValue++;
}
void KobukiParser::parseWheelCurrentData(TKobukiData &output, unsigned char *data, int &checkedValue){
output.wheelCurrentLeft = data[checkedValue];
checkedValue++;
output.wheelCurrentRight = data[checkedValue];
checkedValue++;
}
void KobukiParser::parseHardwareVersionData(TKobukiData &output, unsigned char *data, int &checkedValue){
output.extraInfo.HardwareVersionPatch = data[checkedValue];
checkedValue++;
output.extraInfo.HardwareVersionMinor = data[checkedValue];
checkedValue++;
output.extraInfo.HardwareVersionMajor = data[checkedValue];
checkedValue += 2;
}
void KobukiParser::parseFirmwareVersionData(TKobukiData &output, unsigned char *data, int &checkedValue){
output.extraInfo.FirmwareVersionPatch = data[checkedValue];
checkedValue++;
output.extraInfo.FirmwareVersionMinor = data[checkedValue];
checkedValue++;
output.extraInfo.FirmwareVersionMajor = data[checkedValue];
checkedValue += 2;
}
void KobukiParser::parseXYZData(TKobukiData &output, unsigned char *data, int &checkedValue){
output.gyroData.reserve(data[checkedValue]);
output.gyroData.clear();
for (int hk = 0; hk < data[checkedValue]; hk++) {
TRawGyroData temp;
temp.x = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
temp.y = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
temp.z = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
output.gyroData.push_back(temp);
}
}
void KobukiParser::parseDigitalAnalogInputData(TKobukiData &output, unsigned char *data, int &checkedValue){
output.digitalInput = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
output.analogInputCh0 = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
output.analogInputCh1 = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
output.analogInputCh2 = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
output.analogInputCh3 = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 8; // 2+6
}
void KobukiParser::parseUDIDData(TKobukiData &output, unsigned char *data, int &checkedValue){
output.extraInfo.UDID0 = data[checkedValue + 3] * 256 * 256 * 256 +
data[checkedValue + 2] * 256 * 256 +
data[checkedValue + 1] * 256 +
data[checkedValue];
checkedValue += 4;
output.extraInfo.UDID1 = data[checkedValue + 3] * 256 * 256 * 256 +
data[checkedValue + 2] * 256 * 256 +
data[checkedValue + 1] * 256 +
data[checkedValue];
checkedValue += 4;
output.extraInfo.UDID2 = data[checkedValue + 3] * 256 * 256 * 256 +
data[checkedValue + 2] * 256 * 256 +
data[checkedValue + 1] * 256 +
data[checkedValue];
checkedValue += 4;
}
int KobukiParser::checkChecksum(unsigned char *data) { int KobukiParser::checkChecksum(unsigned char *data) {
unsigned char chckSum = 0; unsigned char chckSum = 0;
for (int i = 0; i < data[0] + 2; i++) { for (int i = 0; i < data[0] + 2; i++) {

22
src/C++/Driver/src/KobukiParser.h
View File

@@ -38,17 +38,17 @@ public:
private: private:
int checkChecksum(unsigned char *data); int checkChecksum(unsigned char *data);
int parseBasicData(TKobukiData &output, unsigned char *data, int &checkedValue); void parseBasicData(TKobukiData &output, unsigned char *data, int &checkedValue);
int parseIRSensorData(TKobukiData &output, unsigned char *data, int &checkedValue); void parseIRSensorData(TKobukiData &output, unsigned char *data, int &checkedValue);
int parseGyroData(TKobukiData &output, unsigned char *data, int &checkedValue); void parseGyroData(TKobukiData &output, unsigned char *data, int &checkedValue);
int parseCliffSensorData(TKobukiData &output, unsigned char *data, int &checkedValue); void parseCliffSensorData(TKobukiData &output, unsigned char *data, int &checkedValue);
int parseWheelCurrentData(TKobukiData &output, unsigned char *data, int &checkedValue); void parseWheelCurrentData(TKobukiData &output, unsigned char *data, int &checkedValue);
int parseHardwareVersionData(TKobukiData &output, unsigned char *data, int &checkedValue); void parseHardwareVersionData(TKobukiData &output, unsigned char *data, int &checkedValue);
int parseFirmwareVersionData(TKobukiData &output, unsigned char *data, int &checkedValue); void parseFirmwareVersionData(TKobukiData &output, unsigned char *data, int &checkedValue);
int parseXYZData(TKobukiData &output, unsigned char *data, int &checkedValue); void parseXYZData(TKobukiData &output, unsigned char *data, int &checkedValue);
int parseDigitalAnalogInputData(TKobukiData &output, unsigned char *data, int &checkedValue); void parseDigitalAnalogInputData(TKobukiData &output, unsigned char *data, int &checkedValue);
int parseUDIDData(TKobukiData &output, unsigned char *data, int &checkedValue); void parseUDIDData(TKobukiData &output, unsigned char *data, int &checkedValue);
int parseExtraData(TKobukiData &output, unsigned char *data, int &checkedValue); void parseExtraData(TKobukiData &output, unsigned char *data, int &checkedValue);
}; };