Smikkelbakje/J2S1-Kobuki
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Merge branch 'main' of ssh://gitlab.fdmci.hva.nl/technische-informatica-sm3/ti-projectten/rooziinuubii79

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This commit is contained in:
ishak jmilou.ishak
2024-10-08 11:54:22 +02:00
parent d3b71cd8ba 5cb6534a4e
commit ead5e1b36a
2 changed files with 150 additions and 124 deletions
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214
src/C++/Driver/src/KobukiParser.cpp
View File

@@ -17,18 +17,105 @@ int KobukiParser::parseKobukiMessage(TKobukiData &output, unsigned char *data) {
switch (dataType) { switch (dataType) {
case 0x01: case 0x01:
if (dataLength == 0x0F) { if (dataLength == 0x0F) {
parseBasicData(output, data, checkedValue);
} else {
checkedValue += dataLength;
}
break;
case 0x03:
if (dataLength == 0x03) {
parseIRSensorData(output, data, checkedValue);
} else {
checkedValue += dataLength;
}
break;
case 0x04:
if (dataLength == 0x07) {
parseGyroData(output, data, checkedValue);
} else {
checkedValue += dataLength;
}
break;
case 0x05:
if (dataLength == 0x06) {
parseCliffSensorData(output, data, checkedValue);
} else {
checkedValue += dataLength;
}
break;
case 0x06:
if (dataLength == 0x02) {
parseWheelCurrentData(output, data, checkedValue);
} else {
checkedValue += dataLength;
}
break;
case 0x0A:
if (dataLength == 0x04) {
parseHardwareVersionData(output, data, checkedValue);
} else {
checkedValue += dataLength;
}
break;
case 0x0B:
if (dataLength == 0x04) {
parseFirmwareVersionData(output, data, checkedValue);
} else {
checkedValue += dataLength;
}
break;
case 0x0D:
if (dataLength % 2 == 0) {
parseXYZData(output, data, checkedValue);
} else {
checkedValue += dataLength;
}
break;
case 0x10:
if (dataLength == 0x10) {
parseDigitalAnalogInputData(output, data, checkedValue);
} else {
checkedValue += dataLength;
}
break;
case 0x13:
if (dataLength == 0x0C) {
parseUDIDData(output, data, checkedValue);
} else {
checkedValue += dataLength;
}
break;
default:
std::cerr << "Unknown data type: " << std::hex << static_cast<int>(dataType) << std::dec << std::endl;
checkedValue += dataLength;
break;
}
}
return 0;
}
void KobukiParser::parseBasicData(TKobukiData &output, unsigned char *data, int &checkedValue){
output.timestamp = data[checkedValue + 1] * 256 + data[checkedValue]; output.timestamp = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2; checkedValue += 2;
output.BumperCenter = data[checkedValue] & 0x02; output.BumperCenter = (data[checkedValue] & 0x02) >> 1;
std::cout << "BumperCenter: " << output.BumperCenter << std::endl; output.BumperLeft = (data[checkedValue] & 0x04) >> 2;
output.BumperLeft = data[checkedValue] & 0x04;
output.BumperRight = data[checkedValue] & 0x01; output.BumperRight = data[checkedValue] & 0x01;
checkedValue++; checkedValue++;
output.WheelDropLeft = data[checkedValue] & 0x02; output.WheelDropLeft = (data[checkedValue] & 0x02) >> 1;
output.WheelDropRight = data[checkedValue] & 0x01; output.WheelDropRight = data[checkedValue] & 0x01;
checkedValue++; checkedValue++;
output.CliffCenter = data[checkedValue] & 0x02; output.CliffCenter = (data[checkedValue] & 0x02) >> 1;
output.CliffLeft = data[checkedValue] & 0x04; output.CliffLeft = (data[checkedValue] & 0x04) >> 2;
output.CliffRight = data[checkedValue] & 0x01; output.CliffRight = data[checkedValue] & 0x01;
checkedValue++; checkedValue++;
output.EncoderLeft = data[checkedValue + 1] * 256 + data[checkedValue]; output.EncoderLeft = data[checkedValue + 1] * 256 + data[checkedValue];
@@ -47,101 +134,62 @@ int KobukiParser::parseKobukiMessage(TKobukiData &output, unsigned char *data) {
checkedValue++; checkedValue++;
output.overCurrent = data[checkedValue]; output.overCurrent = data[checkedValue];
checkedValue++; checkedValue++;
} else { }
std::cerr << "Invalid data length for type 0x01" << std::endl;
checkedValue += dataLength;
}
break;
case 0x03: void KobukiParser::parseIRSensorData(TKobukiData &output, unsigned char *data, int &checkedValue){
if (dataLength == 0x03) {
output.IRSensorRight = data[checkedValue]; output.IRSensorRight = data[checkedValue];
checkedValue++; checkedValue++;
output.IRSensorCenter = data[checkedValue]; output.IRSensorCenter = data[checkedValue];
checkedValue++; checkedValue++;
output.IRSensorLeft = data[checkedValue]; output.IRSensorLeft = data[checkedValue];
checkedValue++; checkedValue++;
} else { }
std::cerr << "Invalid data length for type 0x03" << std::endl;
checkedValue += dataLength;
}
break;
case 0x04: void KobukiParser::parseGyroData(TKobukiData &output, unsigned char *data, int &checkedValue){
if (dataLength == 0x07) {
output.GyroAngle = data[checkedValue + 1] * 256 + data[checkedValue]; output.GyroAngle = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2; checkedValue += 2;
output.GyroAngleRate = data[checkedValue + 1] * 256 + data[checkedValue]; output.GyroAngleRate = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 5; // 3 unused checkedValue += 5; // 3 unused
} else { }
std::cerr << "Invalid data length for type 0x04" << std::endl;
checkedValue += dataLength;
}
break;
case 0x05: void KobukiParser::parseCliffSensorData(TKobukiData &output, unsigned char *data, int &checkedValue){
if (dataLength == 0x06) { output.CliffSensorRight = data[checkedValue];
output.CliffSensorRight = data[checkedValue + 1] * 256 + data[checkedValue]; checkedValue++;
checkedValue += 2; output.CliffSensorCenter = data[checkedValue];
output.CliffSensorCenter = data[checkedValue + 1] * 256 + data[checkedValue]; checkedValue++;
checkedValue += 2; output.CliffSensorLeft = data[checkedValue];
output.CliffSensorLeft = data[checkedValue + 1] * 256 + data[checkedValue]; checkedValue++;
checkedValue += 2; }
} else {
std::cerr << "Invalid data length for type 0x05" << std::endl;
checkedValue += dataLength;
}
break;
case 0x06: void KobukiParser::parseWheelCurrentData(TKobukiData &output, unsigned char *data, int &checkedValue){
if (dataLength == 0x02) {
output.wheelCurrentLeft = data[checkedValue]; output.wheelCurrentLeft = data[checkedValue];
checkedValue++; checkedValue++;
output.wheelCurrentRight = data[checkedValue]; output.wheelCurrentRight = data[checkedValue];
checkedValue++; checkedValue++;
} else { }
std::cerr << "Invalid data length for type 0x06" << std::endl;
checkedValue += dataLength;
}
break;
case 0x0A: void KobukiParser::parseHardwareVersionData(TKobukiData &output, unsigned char *data, int &checkedValue){
if (dataLength == 0x04) {
output.extraInfo.HardwareVersionPatch = data[checkedValue]; output.extraInfo.HardwareVersionPatch = data[checkedValue];
checkedValue++; checkedValue++;
output.extraInfo.HardwareVersionMinor = data[checkedValue]; output.extraInfo.HardwareVersionMinor = data[checkedValue];
checkedValue++; checkedValue++;
output.extraInfo.HardwareVersionMajor = data[checkedValue]; output.extraInfo.HardwareVersionMajor = data[checkedValue];
checkedValue += 2; checkedValue += 2;
} else { }
std::cerr << "Invalid data length for type 0x0A" << std::endl;
checkedValue += dataLength;
}
break;
case 0x0B: void KobukiParser::parseFirmwareVersionData(TKobukiData &output, unsigned char *data, int &checkedValue){
if (dataLength == 0x04) {
output.extraInfo.FirmwareVersionPatch = data[checkedValue]; output.extraInfo.FirmwareVersionPatch = data[checkedValue];
checkedValue++; checkedValue++;
output.extraInfo.FirmwareVersionMinor = data[checkedValue]; output.extraInfo.FirmwareVersionMinor = data[checkedValue];
checkedValue++; checkedValue++;
output.extraInfo.FirmwareVersionMajor = data[checkedValue]; output.extraInfo.FirmwareVersionMajor = data[checkedValue];
checkedValue += 2; checkedValue += 2;
} else { }
std::cerr << "Invalid data length for type 0x0B" << std::endl;
checkedValue += dataLength;
}
break;
case 0x0D: void KobukiParser::parseXYZData(TKobukiData &output, unsigned char *data, int &checkedValue){
if (dataLength % 2 == 0) { output.gyroData.reserve(data[checkedValue]);
output.frameId = data[checkedValue];
checkedValue++;
int howmanyFrames = data[checkedValue] / 3;
checkedValue++;
output.gyroData.reserve(howmanyFrames);
output.gyroData.clear(); output.gyroData.clear();
for (int hk = 0; hk < howmanyFrames; hk++) { for (int hk = 0; hk < data[checkedValue]; hk++) {
TRawGyroData temp; TRawGyroData temp;
temp.x = data[checkedValue + 1] * 256 + data[checkedValue]; temp.x = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2; checkedValue += 2;
@@ -151,14 +199,9 @@ int KobukiParser::parseKobukiMessage(TKobukiData &output, unsigned char *data) {
checkedValue += 2; checkedValue += 2;
output.gyroData.push_back(temp); output.gyroData.push_back(temp);
} }
} else { }
std::cerr << "Invalid data length for type 0x0D" << std::endl;
checkedValue += dataLength;
}
break;
case 0x10: void KobukiParser::parseDigitalAnalogInputData(TKobukiData &output, unsigned char *data, int &checkedValue){
if (dataLength == 0x10) {
output.digitalInput = data[checkedValue + 1] * 256 + data[checkedValue]; output.digitalInput = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 2; checkedValue += 2;
output.analogInputCh0 = data[checkedValue + 1] * 256 + data[checkedValue]; output.analogInputCh0 = data[checkedValue + 1] * 256 + data[checkedValue];
@@ -169,14 +212,9 @@ int KobukiParser::parseKobukiMessage(TKobukiData &output, unsigned char *data) {
checkedValue += 2; checkedValue += 2;
output.analogInputCh3 = data[checkedValue + 1] * 256 + data[checkedValue]; output.analogInputCh3 = data[checkedValue + 1] * 256 + data[checkedValue];
checkedValue += 8; // 2+6 checkedValue += 8; // 2+6
} else { }
std::cerr << "Invalid data length for type 0x10" << std::endl;
checkedValue += dataLength;
}
break;
case 0x13: void KobukiParser::parseUDIDData(TKobukiData &output, unsigned char *data, int &checkedValue){
if (dataLength == 0x0C) {
output.extraInfo.UDID0 = data[checkedValue + 3] * 256 * 256 * 256 + output.extraInfo.UDID0 = data[checkedValue + 3] * 256 * 256 * 256 +
data[checkedValue + 2] * 256 * 256 + data[checkedValue + 2] * 256 * 256 +
data[checkedValue + 1] * 256 + data[checkedValue + 1] * 256 +
@@ -192,20 +230,8 @@ int KobukiParser::parseKobukiMessage(TKobukiData &output, unsigned char *data) {
data[checkedValue + 1] * 256 + data[checkedValue + 1] * 256 +
data[checkedValue]; data[checkedValue];
checkedValue += 4; checkedValue += 4;
} else {
std::cerr << "Invalid data length for type 0x13" << std::endl;
checkedValue += dataLength;
}
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) { 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);
}; };