Smikkelbakje/J2S1-Kobuki
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parser finaly works

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This commit is contained in:
Sam Hos
2024-10-07 15:53:46 +02:00
parent 76c088bd50
commit 65b5a3c417
1 changed files with 196 additions and 188 deletions
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184
src/C++/Driver/src/KobukiParser.cpp
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@@ -3,34 +3,33 @@
int KobukiParser::parseKobukiMessage(TKobukiData &output, unsigned char *data) {
int rtrnvalue = checkChecksum(data);
// ak je zly checksum,tak kaslat na to
if (rtrnvalue != 0)
if (rtrnvalue != 0) {
std::cerr << "Invalid checksum" << std::endl;
return -2;
}
int checkedValue = 1;
// kym neprejdeme celu dlzku
while (checkedValue < data[0])
{
// basic data subload
if (data[checkedValue] == 0x01)
{
checkedValue++;
if (data[checkedValue] != 0x0F)
return -1;
checkedValue++;
while (checkedValue < data[0]) {
unsigned char dataType = data[checkedValue];
unsigned char dataLength = data[checkedValue + 1];
checkedValue += 2;
switch (dataType) {
case 0x01:
if (dataLength == 0x0F) {
output.timestamp = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
output.BumperCenter = data[checkedValue] && 0x02;
output.BumperCenter = data[checkedValue] & 0x02;
std::cout << "BumperCenter: " << output.BumperCenter << std::endl;
output.BumperLeft = data[checkedValue] && 0x04;
output.BumperRight = data[checkedValue] && 0x01;
output.BumperLeft = data[checkedValue] & 0x04;
output.BumperRight = data[checkedValue] & 0x01;
checkedValue++;
output.WheelDropLeft = data[checkedValue] && 0x02;
output.WheelDropRight = data[checkedValue] && 0x01;
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;
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;
@@ -48,98 +47,101 @@ int KobukiParser::parseKobukiMessage(TKobukiData &output, unsigned char *data) {
checkedValue++;
output.overCurrent = data[checkedValue];
checkedValue++;
} else {
std::cerr << "Invalid data length for type 0x01" << std::endl;
checkedValue += dataLength;
}
else if (data[checkedValue] == 0x03)
{
checkedValue++;
if (data[checkedValue] != 0x03)
return -3;
checkedValue++;
break;
case 0x03:
if (dataLength == 0x03) {
output.IRSensorRight = data[checkedValue];
checkedValue++;
output.IRSensorCenter = data[checkedValue];
checkedValue++;
output.IRSensorLeft = data[checkedValue];
checkedValue++;
} else {
std::cerr << "Invalid data length for type 0x03" << std::endl;
checkedValue += dataLength;
}
else if (data[checkedValue] == 0x04)
{
checkedValue++;
if (data[checkedValue] != 0x07)
return -4;
checkedValue++;
break;
case 0x04:
if (dataLength == 0x07) {
output.GyroAngle = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
output.GyroAngleRate = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 5; // 3 unsued
checkedValue += 5; // 3 unused
} else {
std::cerr << "Invalid data length for type 0x04" << std::endl;
checkedValue += dataLength;
}
else if (data[checkedValue] == 0x05)
{
checkedValue++;
if (data[checkedValue] != 0x06)
return -5;
checkedValue++;
output.CliffSensorRight =
data[checkedValue + 1] * 256 + data[checkedValue];
break;
case 0x05:
if (dataLength == 0x06) {
output.CliffSensorRight = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
output.CliffSensorCenter =
data[checkedValue + 1] * 256 + data[checkedValue];
output.CliffSensorCenter = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
output.CliffSensorLeft =
data[checkedValue + 1] * 256 + data[checkedValue];
output.CliffSensorLeft = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
} else {
std::cerr << "Invalid data length for type 0x05" << std::endl;
checkedValue += dataLength;
}
else if (data[checkedValue] == 0x06)
{
checkedValue++;
if (data[checkedValue] != 0x02)
return -6;
checkedValue++;
break;
case 0x06:
if (dataLength == 0x02) {
output.wheelCurrentLeft = data[checkedValue];
checkedValue++;
output.wheelCurrentRight = data[checkedValue];
checkedValue++;
} else {
std::cerr << "Invalid data length for type 0x06" << std::endl;
checkedValue += dataLength;
}
else if (data[checkedValue] == 0x0A)
{
checkedValue++;
if (data[checkedValue] != 0x04)
return -7;
checkedValue++;
break;
case 0x0A:
if (dataLength == 0x04) {
output.extraInfo.HardwareVersionPatch = data[checkedValue];
checkedValue++;
output.extraInfo.HardwareVersionMinor = data[checkedValue];
checkedValue++;
output.extraInfo.HardwareVersionMajor = data[checkedValue];
checkedValue += 2;
} else {
std::cerr << "Invalid data length for type 0x0A" << std::endl;
checkedValue += dataLength;
}
else if (data[checkedValue] == 0x0B)
{
checkedValue++;
if (data[checkedValue] != 0x04)
return -8;
checkedValue++;
break;
case 0x0B:
if (dataLength == 0x04) {
output.extraInfo.FirmwareVersionPatch = data[checkedValue];
checkedValue++;
output.extraInfo.FirmwareVersionMinor = data[checkedValue];
checkedValue++;
output.extraInfo.FirmwareVersionMajor = data[checkedValue];
checkedValue += 2;
} else {
std::cerr << "Invalid data length for type 0x0B" << std::endl;
checkedValue += dataLength;
}
else if (data[checkedValue] == 0x0D)
{
checkedValue++;
if (data[checkedValue] % 2 != 0)
return -9;
checkedValue++;
break;
case 0x0D:
if (dataLength % 2 == 0) {
output.frameId = data[checkedValue];
checkedValue++;
int howmanyFrames = data[checkedValue] / 3;
checkedValue++;
output.gyroData.reserve(howmanyFrames);
output.gyroData.clear();
for (int hk = 0; hk < howmanyFrames; hk++)
{
for (int hk = 0; hk < howmanyFrames; hk++) {
TRawGyroData temp;
temp.x = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
@@ -149,13 +151,14 @@ int KobukiParser::parseKobukiMessage(TKobukiData &output, unsigned char *data) {
checkedValue += 2;
output.gyroData.push_back(temp);
}
} else {
std::cerr << "Invalid data length for type 0x0D" << std::endl;
checkedValue += dataLength;
}
else if (data[checkedValue] == 0x10)
{
checkedValue++;
if (data[checkedValue] != 0x10)
return -10;
checkedValue++;
break;
case 0x10:
if (dataLength == 0x10) {
output.digitalInput = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2;
output.analogInputCh0 = data[checkedValue + 1] * 256 + data[checkedValue];
@@ -166,13 +169,14 @@ int KobukiParser::parseKobukiMessage(TKobukiData &output, unsigned char *data) {
checkedValue += 2;
output.analogInputCh3 = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 8; // 2+6
} else {
std::cerr << "Invalid data length for type 0x10" << std::endl;
checkedValue += dataLength;
}
else if (data[checkedValue] == 0x13)
{
checkedValue++;
if (data[checkedValue] != 0x0C)
return -11;
checkedValue++;
break;
case 0x13:
if (dataLength == 0x0C) {
output.extraInfo.UDID0 = data[checkedValue + 3] * 256 * 256 * 256 +
data[checkedValue + 2] * 256 * 256 +
data[checkedValue + 1] * 256 +
@@ -188,16 +192,20 @@ int KobukiParser::parseKobukiMessage(TKobukiData &output, unsigned char *data) {
data[checkedValue + 1] * 256 +
data[checkedValue];
checkedValue += 4;
} else {
std::cerr << "Invalid data length for type 0x13" << std::endl;
checkedValue += dataLength;
}
else
{
checkedValue++;
checkedValue += data[checkedValue] + 1;
break;
default:
std::cerr << "Unknown data type: " << std::hex << static_cast<int>(dataType) << std::dec << std::endl;
checkedValue += dataLength;
break;
}
}
return 0;
}
int KobukiParser::checkChecksum(unsigned char *data) {
unsigned char chckSum = 0;
for (int i = 0; i < data[0] + 2; i++) {