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+头部Nano---腹部Nano---RaspberryPi +IP: 13 15 161 + +部署&运行: + 将nano文件夹移动到头部nano, 执行start.sh, 开启网络摄像头 + (在机器狗局域网中的任何设备都可以通过192.168.123.13:5000/video1获取前向摄像头图像 + 在机器狗局域网中的任何设备都可以通过192.168.123.13:5000/video2获取下巴摄像头图像) + + +参考资料: +GitHub(Unitree Robotics): https://github.com/unitreerobotics +开发知识库 语雀: https://www.yuque.com/ironfatty/nly1un +Unitree Go1 开发指南: https://blog.csdn.net/qq_45779334/article/details/121960667?spm=1001.2101.3001.6661.1&utm_medium=distribute.pc_relevant_t0.none-task-blog-2%7Edefault%7ECTRLIST%7Edefault-1-121960667-blog-121993402.pc_relevant_multi_platform_whitelistv1&depth_1-utm_source=distribute.pc_relevant_t0.none-task-blog-2%7Edefault%7ECTRLIST%7Edefault-1-121960667-blog-121993402.pc_relevant_multi_platform_whitelistv1&utm_relevant_index=1 + + + diff --git a/src/Robot/UnitreecameraSDK/CMakeLists.txt b/src/Robot/nano/UnitreecameraSDK/CMakeLists.txt similarity index 91% rename from src/Robot/UnitreecameraSDK/CMakeLists.txt rename to src/Robot/nano/UnitreecameraSDK/CMakeLists.txt index 029d1ce..3a580ec 100644 --- a/src/Robot/UnitreecameraSDK/CMakeLists.txt +++ b/src/Robot/nano/UnitreecameraSDK/CMakeLists.txt @@ -2,7 +2,7 @@ cmake_minimum_required( VERSION 2.8 ) project( UnitreeCameraSDK ) set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bins/) -set(OpenCV_DIR /home/lqs/opencv-4.6.0/build) + find_package(OpenCV 4 REQUIRED) if(OpenCV_FOUND) include_directories(${OpenCV_INCLUDE_DIR}) @@ -25,11 +25,10 @@ set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib/arm64/) link_directories(${PROJECT_SOURCE_DIR}/lib/arm64/) endif() - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread") include_directories(${PROJECT_SOURCE_DIR}/include) set(SDKLIBS unitree_camera tstc_V4L2_xu_camera udev systemlog ${OpenCV_LIBS}) -add_subdirectory(${PROJECT_SOURCE_DIR}/examples) +add_subdirectory(${PROJECT_SOURCE_DIR}/src) diff --git a/src/Robot/UnitreecameraSDK/LICENSE b/src/Robot/nano/UnitreecameraSDK/LICENSE similarity index 100% rename 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b/src/Robot/nano/UnitreecameraSDK/doc/latex/example__get_rect_frame_8cc.tex similarity index 100% rename from src/Robot/UnitreecameraSDK/doc/latex/example__get_rect_frame_8cc.tex rename to src/Robot/nano/UnitreecameraSDK/doc/latex/example__get_rect_frame_8cc.tex diff --git a/src/Robot/UnitreecameraSDK/doc/latex/example__get_rect_frame_8cc__incl.md5 b/src/Robot/nano/UnitreecameraSDK/doc/latex/example__get_rect_frame_8cc__incl.md5 similarity index 100% rename from src/Robot/UnitreecameraSDK/doc/latex/example__get_rect_frame_8cc__incl.md5 rename to src/Robot/nano/UnitreecameraSDK/doc/latex/example__get_rect_frame_8cc__incl.md5 diff --git a/src/Robot/UnitreecameraSDK/doc/latex/example__get_rect_frame_8cc__incl.pdf b/src/Robot/nano/UnitreecameraSDK/doc/latex/example__get_rect_frame_8cc__incl.pdf similarity index 100% rename from src/Robot/UnitreecameraSDK/doc/latex/example__get_rect_frame_8cc__incl.pdf rename to src/Robot/nano/UnitreecameraSDK/doc/latex/example__get_rect_frame_8cc__incl.pdf 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similarity index 100% rename from src/Robot/UnitreecameraSDK/doc/latex/structglwindow_1_1_event_handler.tex rename to src/Robot/nano/UnitreecameraSDK/doc/latex/structglwindow_1_1_event_handler.tex diff --git a/src/Robot/UnitreecameraSDK/doc/latex/structglwindow_1_1_event_handler__inherit__graph.md5 b/src/Robot/nano/UnitreecameraSDK/doc/latex/structglwindow_1_1_event_handler__inherit__graph.md5 similarity index 100% rename from src/Robot/UnitreecameraSDK/doc/latex/structglwindow_1_1_event_handler__inherit__graph.md5 rename to src/Robot/nano/UnitreecameraSDK/doc/latex/structglwindow_1_1_event_handler__inherit__graph.md5 diff --git a/src/Robot/UnitreecameraSDK/doc/latex/structglwindow_1_1_event_handler__inherit__graph.pdf b/src/Robot/nano/UnitreecameraSDK/doc/latex/structglwindow_1_1_event_handler__inherit__graph.pdf similarity index 100% rename from src/Robot/UnitreecameraSDK/doc/latex/structglwindow_1_1_event_handler__inherit__graph.pdf rename to 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src/Robot/nano/UnitreecameraSDK/doc/latex/structglwindow_1_1_g_l_window_1_1_scoped_context__coll__graph.md5 diff --git a/src/Robot/UnitreecameraSDK/doc/latex/structglwindow_1_1_g_l_window_1_1_scoped_context__coll__graph.pdf b/src/Robot/nano/UnitreecameraSDK/doc/latex/structglwindow_1_1_g_l_window_1_1_scoped_context__coll__graph.pdf similarity index 100% rename from src/Robot/UnitreecameraSDK/doc/latex/structglwindow_1_1_g_l_window_1_1_scoped_context__coll__graph.pdf rename to src/Robot/nano/UnitreecameraSDK/doc/latex/structglwindow_1_1_g_l_window_1_1_scoped_context__coll__graph.pdf diff --git a/src/Robot/UnitreecameraSDK/doc/latex/structglwindow_1_1_scene_window_1_1_viewpoint.tex b/src/Robot/nano/UnitreecameraSDK/doc/latex/structglwindow_1_1_scene_window_1_1_viewpoint.tex similarity index 100% rename from src/Robot/UnitreecameraSDK/doc/latex/structglwindow_1_1_scene_window_1_1_viewpoint.tex rename to src/Robot/nano/UnitreecameraSDK/doc/latex/structglwindow_1_1_scene_window_1_1_viewpoint.tex diff --git a/src/Robot/UnitreecameraSDK/examples/CMakeLists.txt b/src/Robot/nano/UnitreecameraSDK/examples/CMakeLists.txt similarity index 100% rename from src/Robot/UnitreecameraSDK/examples/CMakeLists.txt rename to src/Robot/nano/UnitreecameraSDK/examples/CMakeLists.txt diff --git a/src/Robot/UnitreecameraSDK/examples/example_getCalibParamsFile.cc b/src/Robot/nano/UnitreecameraSDK/examples/example_getCalibParamsFile.cc similarity index 100% rename from src/Robot/UnitreecameraSDK/examples/example_getCalibParamsFile.cc rename to src/Robot/nano/UnitreecameraSDK/examples/example_getCalibParamsFile.cc diff --git a/src/Robot/UnitreecameraSDK/examples/example_getDepthFrame.cc b/src/Robot/nano/UnitreecameraSDK/examples/example_getDepthFrame.cc similarity index 100% rename from src/Robot/UnitreecameraSDK/examples/example_getDepthFrame.cc rename to src/Robot/nano/UnitreecameraSDK/examples/example_getDepthFrame.cc diff --git a/src/Robot/UnitreecameraSDK/examples/example_getPointCloud.cc b/src/Robot/nano/UnitreecameraSDK/examples/example_getPointCloud.cc similarity index 100% rename from src/Robot/UnitreecameraSDK/examples/example_getPointCloud.cc rename to src/Robot/nano/UnitreecameraSDK/examples/example_getPointCloud.cc diff --git a/src/Robot/UnitreecameraSDK/examples/example_getRawFrame.cc b/src/Robot/nano/UnitreecameraSDK/examples/example_getRawFrame.cc similarity index 100% rename from src/Robot/UnitreecameraSDK/examples/example_getRawFrame.cc rename to src/Robot/nano/UnitreecameraSDK/examples/example_getRawFrame.cc diff --git a/src/Robot/UnitreecameraSDK/examples/example_getRectFrame.cc b/src/Robot/nano/UnitreecameraSDK/examples/example_getRectFrame.cc similarity index 100% rename from src/Robot/UnitreecameraSDK/examples/example_getRectFrame.cc rename to src/Robot/nano/UnitreecameraSDK/examples/example_getRectFrame.cc diff --git a/src/Robot/UnitreecameraSDK/examples/example_getimagetrans.cc b/src/Robot/nano/UnitreecameraSDK/examples/example_getimagetrans.cc similarity index 100% rename from src/Robot/UnitreecameraSDK/examples/example_getimagetrans.cc rename to src/Robot/nano/UnitreecameraSDK/examples/example_getimagetrans.cc diff --git a/src/Robot/UnitreecameraSDK/examples/example_putImagetrans.cc b/src/Robot/nano/UnitreecameraSDK/examples/example_putImagetrans.cc similarity index 100% rename from src/Robot/UnitreecameraSDK/examples/example_putImagetrans.cc rename to src/Robot/nano/UnitreecameraSDK/examples/example_putImagetrans.cc diff --git a/src/Robot/UnitreecameraSDK/examples/example_share.cc b/src/Robot/nano/UnitreecameraSDK/examples/example_share.cc similarity index 100% rename from src/Robot/UnitreecameraSDK/examples/example_share.cc rename to src/Robot/nano/UnitreecameraSDK/examples/example_share.cc diff --git a/src/Robot/UnitreecameraSDK/examples/glViewer/glwindow.hpp b/src/Robot/nano/UnitreecameraSDK/examples/glViewer/glwindow.hpp similarity index 100% rename from src/Robot/UnitreecameraSDK/examples/glViewer/glwindow.hpp rename to src/Robot/nano/UnitreecameraSDK/examples/glViewer/glwindow.hpp diff --git a/src/Robot/UnitreecameraSDK/examples/glViewer/glwindow_x11.cpp b/src/Robot/nano/UnitreecameraSDK/examples/glViewer/glwindow_x11.cpp similarity index 100% rename from src/Robot/UnitreecameraSDK/examples/glViewer/glwindow_x11.cpp rename to src/Robot/nano/UnitreecameraSDK/examples/glViewer/glwindow_x11.cpp diff --git a/src/Robot/UnitreecameraSDK/examples/glViewer/scenewindow.cpp b/src/Robot/nano/UnitreecameraSDK/examples/glViewer/scenewindow.cpp similarity index 100% rename from src/Robot/UnitreecameraSDK/examples/glViewer/scenewindow.cpp rename to src/Robot/nano/UnitreecameraSDK/examples/glViewer/scenewindow.cpp diff --git a/src/Robot/UnitreecameraSDK/examples/glViewer/scenewindow.hpp b/src/Robot/nano/UnitreecameraSDK/examples/glViewer/scenewindow.hpp similarity index 100% rename from src/Robot/UnitreecameraSDK/examples/glViewer/scenewindow.hpp rename to src/Robot/nano/UnitreecameraSDK/examples/glViewer/scenewindow.hpp diff --git a/src/Robot/UnitreecameraSDK/include/StereoCameraCommon.hpp b/src/Robot/nano/UnitreecameraSDK/include/StereoCameraCommon.hpp similarity index 100% rename from src/Robot/UnitreecameraSDK/include/StereoCameraCommon.hpp rename to src/Robot/nano/UnitreecameraSDK/include/StereoCameraCommon.hpp diff --git a/src/Robot/UnitreecameraSDK/include/SystemLog.hpp b/src/Robot/nano/UnitreecameraSDK/include/SystemLog.hpp similarity index 100% rename from src/Robot/UnitreecameraSDK/include/SystemLog.hpp rename to src/Robot/nano/UnitreecameraSDK/include/SystemLog.hpp diff --git a/src/Robot/UnitreecameraSDK/include/UnitreeCameraSDK.hpp b/src/Robot/nano/UnitreecameraSDK/include/UnitreeCameraSDK.hpp similarity index 100% rename from src/Robot/UnitreecameraSDK/include/UnitreeCameraSDK.hpp rename to src/Robot/nano/UnitreecameraSDK/include/UnitreeCameraSDK.hpp diff --git a/src/Robot/UnitreecameraSDK/lib/amd64/libsystemlog.a b/src/Robot/nano/UnitreecameraSDK/lib/amd64/libsystemlog.a similarity index 100% rename from src/Robot/UnitreecameraSDK/lib/amd64/libsystemlog.a rename to src/Robot/nano/UnitreecameraSDK/lib/amd64/libsystemlog.a diff --git a/src/Robot/UnitreecameraSDK/lib/amd64/libtstc_V4L2_xu_camera.a b/src/Robot/nano/UnitreecameraSDK/lib/amd64/libtstc_V4L2_xu_camera.a similarity index 100% rename from src/Robot/UnitreecameraSDK/lib/amd64/libtstc_V4L2_xu_camera.a rename to src/Robot/nano/UnitreecameraSDK/lib/amd64/libtstc_V4L2_xu_camera.a diff --git a/src/Robot/UnitreecameraSDK/lib/amd64/libunitree_camera.a b/src/Robot/nano/UnitreecameraSDK/lib/amd64/libunitree_camera.a similarity index 100% rename from src/Robot/UnitreecameraSDK/lib/amd64/libunitree_camera.a rename to src/Robot/nano/UnitreecameraSDK/lib/amd64/libunitree_camera.a diff --git a/src/Robot/UnitreecameraSDK/lib/arm64/libsystemlog.a b/src/Robot/nano/UnitreecameraSDK/lib/arm64/libsystemlog.a similarity index 100% rename from src/Robot/UnitreecameraSDK/lib/arm64/libsystemlog.a rename to src/Robot/nano/UnitreecameraSDK/lib/arm64/libsystemlog.a diff --git a/src/Robot/UnitreecameraSDK/lib/arm64/libtstc_V4L2_xu_camera.a b/src/Robot/nano/UnitreecameraSDK/lib/arm64/libtstc_V4L2_xu_camera.a similarity index 100% rename from src/Robot/UnitreecameraSDK/lib/arm64/libtstc_V4L2_xu_camera.a rename to src/Robot/nano/UnitreecameraSDK/lib/arm64/libtstc_V4L2_xu_camera.a diff --git a/src/Robot/UnitreecameraSDK/lib/arm64/libunitree_camera.a b/src/Robot/nano/UnitreecameraSDK/lib/arm64/libunitree_camera.a similarity index 100% rename from src/Robot/UnitreecameraSDK/lib/arm64/libunitree_camera.a rename to src/Robot/nano/UnitreecameraSDK/lib/arm64/libunitree_camera.a diff --git a/src/Robot/nano/UnitreecameraSDK/src/CMakeLists.txt b/src/Robot/nano/UnitreecameraSDK/src/CMakeLists.txt new file mode 100644 index 0000000..0e54c8a --- /dev/null +++ b/src/Robot/nano/UnitreecameraSDK/src/CMakeLists.txt @@ -0,0 +1,40 @@ + +add_executable(putimagetrans ./putimagetrans.cc) +target_link_libraries(putimagetrans ${SDKLIBS}) + +add_executable(getimagetrans ./getimagetrans.cc) +target_link_libraries(getimagetrans ${SDKLIBS}) + + +find_package(OpenGL REQUIRED) +if(OpenGL_FOUND) + include_directories(${OPENGL_INCLUDE_DIR}) + message(STATUS ${OPENGL_INCLUDE_DIR}) + message(STATUS ${OPENGL_LIBRARIES}) +else() + message(WARNING "OpenGL Library Not Found") +endif() + +find_package(GLUT REQUIRED) +if(GLUT_FOUND) + include_directories(${GLUT_INCLUDE_DIR}) + message(STATUS ${GLUT_INCLUDE_DIR}) + message(STATUS ${GLUT_LIBRARY}) +else() + message(WARNING "GLUT Library Not Found") +endif() + +find_package(X11 REQUIRED) +if(X11_FOUND) + include_directories(${X11_INCLUDE_DIR}) + message(${X11_INCLUDE_DIR}) + message(${X11_LIBRARIES}) +else() + message(WARNING "X11 Library Not Found") +endif() + + + +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread") + + diff --git a/src/Robot/nano/UnitreecameraSDK/src/getimagetrans.cc b/src/Robot/nano/UnitreecameraSDK/src/getimagetrans.cc new file mode 100644 index 0000000..9270f40 --- /dev/null +++ b/src/Robot/nano/UnitreecameraSDK/src/getimagetrans.cc @@ -0,0 +1,47 @@ +/** + * @file example_getRectFrame.cc + * @brief This file is part of UnitreeCameraSDK. + * @details This example that how to Transmission picture + * @author SunMingzhe + * @date 2021.12.07 + * @version 1.1.0 + * @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved. + */ + +/* +接收端： +方法概述：采用定向udp方法接收图片，在应用其之前，需要先发送图片，例子:example_putImagetrans.cc +端口9201~9205分别对应前方，下巴，左，右，腹部 +本机ip需要是192.168.123.IpLastSegment，IpLastSegment被设置在发送端cofigure yaml- +*/ + + +#include +#include +int main(int argc,char** argv) +{ + std::string IpLastSegment = "15"; + int cam = 1; + if (argc>=2) + cam = std::atoi(argv[1]); + std::string udpstrPrevData = "udpsrc address=192.168.123."+ IpLastSegment + " port="; + //端口：前方，下巴，左，右，腹部 + std::array udpPORT = std::array{9201, 9202, 9203, 9204, 9205}; + std::string udpstrBehindData = " ! application/x-rtp,media=video,encoding-name=H264 ! rtph264depay ! h264parse ! omxh264dec ! videoconvert ! appsink"; + std::string udpSendIntegratedPipe = udpstrPrevData + std::to_string(udpPORT[cam-1]) + udpstrBehindData; + std::cout<<"udpSendIntegratedPipe:"<> frame; + if(frame.empty()) + break; + imshow("video", frame); + cv::waitKey(20); + } + cap.release();//释放资源 + return 0; +} diff --git a/src/Robot/nano/UnitreecameraSDK/src/putimagetrans.cc b/src/Robot/nano/UnitreecameraSDK/src/putimagetrans.cc new file mode 100644 index 0000000..9257ac4 --- /dev/null +++ b/src/Robot/nano/UnitreecameraSDK/src/putimagetrans.cc @@ -0,0 +1,108 @@ +/** + * @file example_getRectFrame.cc + * @brief This file is part of UnitreeCameraSDK. + * @details This example that how to Transmission picture + * @author SunMingzhe + * @date 2021.12.07 + * @version 1.1.0 + * @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved. + */ + + +/* +发送端： +方法概述：采用udp方法输出图片，传输方式已写入程序，由StereoCameraCommon::startCapture(true,false)中第一个参数控制定向udp传输，当其为true时打开udp264硬编码传输模式 +参数：配置文件中IpLastSegment是接收端ip，接收端地址必须是192.168.123.IpLastSegment。 + 配置文件中Transmode决定传输模式 + 配置文件中Transrate决定传输速率，限制了传输速率小于图片速率 + 端口9201~9205分别对应前方，下巴，左，右，腹部 + 启动自定义图传时需使用kill.sh文件关闭Unitree/autostart/02camerarosnode程序来解除相机占用，Unitree/autostart/04imageai来释放算力。 + （也可使用以下几条指令 + ps -A | grep point | awk '{print $1}' | xargs kill -9 + ps -aux|grep mqttControlNode|grep -v grep|head -n 1|awk '{print $2}'|xargs kill -9 + ps -aux|grep live_human_pose|grep -v grep|head -n 1|awk '{print $2}'|xargs kill -9 + ） +传输图片模式：由配置文件中Transmode决定，该值只可通过读取配置文件方式写入 +0：传输左目原始图片 +1：传输双目原始图片 +2：传输左目畸变校正后图片，视野范围角度可调60~140 +3：传输双目畸变校正后图片 +※※※注意，双目图的最后的左右目输出位置是反的。左目->右图，右目->左图 +4：不建议使用！！，Depthmode = 2时 可输出深度图和对应左目图片，不建议使用。 +*/ + + +#include +#include + +int main(int argc, char *argv[]) +{ + int cam_num = 1; + if (argc>=2) + cam_num = std::atoi(argv[1]); + + // int cam_num = 1; // 1,2 the number of cameras used + // nano_id dev_id port_id 位置 + // 13 0 9202 下巴 + // 13 1 9201 前方 + // 14 0 9203 左方 + // 14 1 9204 右方 + // 15 0 9205 腹部（默认） + int cam_id = 0; // the id of the camera used if cam_num is 1 + if (cam_num == 1){ + UnitreeCamera cam("trans_rect_config_"+ std::to_string(cam_id) +".yaml"); ///< init camera by device node number + if(!cam.isOpened()) ///< get camera open state + exit(EXIT_FAILURE); + cam.startCapture(true,false); ///< disable share memory sharing and able image h264 encoding + + usleep(500000); + while(cam.isOpened()) + { + cv::Mat left,right,feim; + if(!cam.getRectStereoFrame(left,right)) + { + + usleep(1000); + continue; + } + char key = cv::waitKey(1); + if(key == 27) // press ESC key + break; + } + + cam.stopCapture(); ///< stop camera capturing + } + else { + UnitreeCamera cam1("trans_rect_config_0.yaml"); + UnitreeCamera cam2("trans_rect_config_1.yaml"); + if(!cam1.isOpened()) + exit(EXIT_FAILURE); + if(!cam2.isOpened()) + exit(EXIT_FAILURE); + cam1.startCapture(true,false); + cam2.startCapture(true,false); + + usleep(500000); + while(cam1.isOpened()) + { + cv::Mat left1,right1,feim1,left2,right2,feim2; + if(!cam1.getRectStereoFrame(left1,right1)) + { + usleep(500); + continue; + } + if(!cam2.getRectStereoFrame(left2,right2)) + { + usleep(500); + continue; + } + char key = cv::waitKey(1); + if(key == 27) // press ESC key + break; + } + + + } + + return 0; +} diff --git a/src/Robot/UnitreecameraSDK/stereo_camera_config.yaml b/src/Robot/nano/UnitreecameraSDK/stereo_camera_config.yaml similarity index 100% rename from src/Robot/UnitreecameraSDK/stereo_camera_config.yaml rename to src/Robot/nano/UnitreecameraSDK/stereo_camera_config.yaml diff --git a/src/Robot/UnitreecameraSDK/trans_rect_config.yaml b/src/Robot/nano/UnitreecameraSDK/trans_rect_config.yaml similarity index 85% rename from src/Robot/UnitreecameraSDK/trans_rect_config.yaml rename to src/Robot/nano/UnitreecameraSDK/trans_rect_config.yaml index 5ee2b5f..db182b8 100644 --- a/src/Robot/UnitreecameraSDK/trans_rect_config.yaml +++ b/src/Robot/nano/UnitreecameraSDK/trans_rect_config.yaml @@ -24,16 +24,12 @@ IpLastSegment: !!opencv-matrix cols: 1 dt: d data: [ 15. ] -#这个地方要改成实际的接收IP -######################################### #DeviceNode DeviceNode: !!opencv-matrix rows: 1 cols: 1 dt: d - data: [ 1. ] -#设备号要改成需要的，可以参考上文 -######################################### + data: [ 0. ] #fov (perspective 60~140) hFov: !!opencv-matrix rows: 1 @@ -63,9 +59,7 @@ Transmode: !!opencv-matrix rows: 1 cols: 1 dt: d - data: [ 2. ] -#这里的transmode，0和1不能用，要设置2或者3 -######################################### + data: [ 0. ] #Transmission rate(FPS) in the UDP transmitting process. <= FrameRate Transrate: !!opencv-matrix rows: 1 diff --git a/src/Robot/nano/UnitreecameraSDK/trans_rect_config_0.yaml b/src/Robot/nano/UnitreecameraSDK/trans_rect_config_0.yaml new file mode 100644 index 0000000..e0faf07 --- /dev/null +++ b/src/Robot/nano/UnitreecameraSDK/trans_rect_config_0.yaml @@ -0,0 +1,78 @@ +%YAML:1.0 +--- +# unimportant +LogLevel: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 1. ] +# unimportant +Threshold: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 190. ] +# unimportant. It is recommended not to change +Algorithm: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [1. ] +#UDP address for image transfer 192.168.123.IpLastSegment +IpLastSegment: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 15. ] +#DeviceNode +DeviceNode: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 0. ] +#fov (perspective 60~140) +hFov: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 120. ] +#image size ([1856,800] or [928,400]) +FrameSize: !!opencv-matrix + rows: 1 + cols: 2 + dt: d + data: [ 928., 400. ] +# +RectifyFrameSize: !!opencv-matrix + rows: 1 + cols: 2 + dt: d + data: [ 928., 800. ] +#FrameRate +FrameRate: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 3e+01 ] +#0 ori img - right 1 ori img - stereo 2 rect img - right 3 rect img - stereo -1 不传图 +Transmode: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 2. ] +#Transmission rate +Transrate: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 3e+01 ] +# unimportant +Depthmode: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 1. ] +Reserved: !!opencv-matrix + rows: 3 + cols: 3 + dt: d \ No newline at end of file diff --git a/src/Robot/nano/UnitreecameraSDK/trans_rect_config_1.yaml b/src/Robot/nano/UnitreecameraSDK/trans_rect_config_1.yaml new file mode 100644 index 0000000..49641f1 --- /dev/null +++ b/src/Robot/nano/UnitreecameraSDK/trans_rect_config_1.yaml @@ -0,0 +1,78 @@ +%YAML:1.0 +--- +# unimportant +LogLevel: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 1. ] +# unimportant +Threshold: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 190. ] +# unimportant. It is recommended not to change +Algorithm: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [1. ] +#UDP address for image transfer 192.168.123.IpLastSegment +IpLastSegment: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 15. ] +#DeviceNode +DeviceNode: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 1. ] +#fov (perspective 60~140) +hFov: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 90. ] +#image size ([1856,800] or [928,400]) +FrameSize: !!opencv-matrix + rows: 1 + cols: 2 + dt: d + data: [ 1856., 800. ] +# +RectifyFrameSize: !!opencv-matrix + rows: 1 + cols: 2 + dt: d + data: [ 928., 800. ] +#FrameRate +FrameRate: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 2e+01 ] +#0 ori img - right 1 ori img - stereo 2 rect img - right 3 rect img - stereo -1 不传图 +Transmode: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 2. ] +#Transmission rate +Transrate: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 2e+01 ] +# unimportant +Depthmode: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 1. ] +Reserved: !!opencv-matrix + rows: 3 + cols: 3 + dt: d \ No newline at end of file diff --git a/src/Robot/UnitreecameraSDK/version.txt b/src/Robot/nano/UnitreecameraSDK/version.txt similarity index 100% rename from src/Robot/UnitreecameraSDK/version.txt rename to src/Robot/nano/UnitreecameraSDK/version.txt diff --git a/src/Robot/nano/kill.sh b/src/Robot/nano/kill.sh new file mode 100644 index 0000000..4bccc18 --- /dev/null +++ b/src/Robot/nano/kill.sh @@ -0,0 +1,6 @@ +#!/bin/sh + +ps -aux | grep point_cloud_node | awk '{print $2}' | xargs kill -9 +ps -aux | grep mqttControlNode | awk '{print $2}' | xargs kill -9 +ps -aux | grep live_human_pose | awk '{print $2}' | xargs kill -9 +ps -aux | grep example_point | awk '{print $2}' | xargs kill -9 diff --git a/src/Robot/nano/picture_processing.py b/src/Robot/nano/picture_processing.py new file mode 100644 index 0000000..0cf7496 --- /dev/null +++ b/src/Robot/nano/picture_processing.py @@ -0,0 +1,128 @@ +import cv2 +import numpy as np +# from capture import USBCamera + +# def saveFrame(): +# capture = USBCamera("/dev/video0") +# frame = capture.getFrame() +# cv2.imwrite('capture.png', frame) + + +# import numpy as np +# import glob +# size = [480,400] +# def get_K_and_D(checkerboard, imgsPath): +# CHECKERBOARD = checkerboard +# subpix_criteria = (cv2.TERM_CRITERIA_EPS+cv2.TERM_CRITERIA_MAX_ITER, 30, 0.1) +# calibration_flags = cv2.fisheye.CALIB_RECOMPUTE_EXTRINSIC+cv2.fisheye.CALIB_CHECK_COND+cv2.fisheye.CALIB_FIX_SKEW +# objp = np.zeros((1, CHECKERBOARD[0]*CHECKERBOARD[1], 3), np.float32) +# objp[0,:,:2] = np.mgrid[0:CHECKERBOARD[0], 0:CHECKERBOARD[1]].T.reshape(-1, 2) +# _img_shape = None +# objpoints = [] +# imgpoints = [] +# images = glob.glob(imgsPath + '/*.png') +# for fname in images: +# img = cv2.imread(fname) +# img = cv2.resize(img, size) +# if _img_shape == None: +# _img_shape = img.shape[:2] +# else: +# assert _img_shape == img.shape[:2], "All images must share the same size." + +# gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY) +# ret, corners = cv2.findChessboardCorners(gray, CHECKERBOARD,cv2.CALIB_CB_ADAPTIVE_THRESH+cv2.CALIB_CB_FAST_CHECK+cv2.CALIB_CB_NORMALIZE_IMAGE) +# if ret == True: +# objpoints.append(objp) +# cv2.cornerSubPix(gray,corners,(3,3),(-1,-1),subpix_criteria) +# imgpoints.append(corners) +# N_OK = len(objpoints) +# K = np.zeros((3, 3)) +# D = np.zeros((4, 1)) +# rvecs = [np.zeros((1, 1, 3), dtype=np.float64) for i in range(N_OK)] +# tvecs = [np.zeros((1, 1, 3), dtype=np.float64) for i in range(N_OK)] +# rms, _, _, _, _ = \ +# cv2.fisheye.calibrate( +# objpoints, +# imgpoints, +# gray.shape[::-1], +# K, +# D, +# rvecs, +# tvecs, +# calibration_flags, +# (cv2.TERM_CRITERIA_EPS+cv2.TERM_CRITERIA_MAX_ITER, 30, 1e-6) +# ) +# DIM = _img_shape[::-1] +# print("Found " + str(N_OK) + " valid images for calibration") +# print("DIM=" + str(_img_shape[::-1])) +# print("K=np.array(" + str(K.tolist()) + ")") +# print("D=np.array(" + str(D.tolist()) + ")") +# return DIM, K, D + + +# def OpenCVFisheyeImageUndistortion(img): + # cv::Mat img, undistortImg + # cv::Matx33d K, P + # cv::Vec4d D + # cv::Mat mapX, mapY + + # K(0, 0) = 348.52; K(0, 1) = 0; K(0, 2) = 640.19 + # K(1, 0) = 0; K(1, 1) = 348.52; K(1, 2) = 358.56 + # K(2, 0) = 0; K(2, 1) = 0; K(2, 2) = 1 + + # D(0) = 0.066258 + # D(1) = 0.039769 + # D(2) = -0.026906 + # D(3) = 0.003342 + + # P = K + # P(0, 0) /= 1.5 + # P(1, 1) /= 1.5 + + # K = [[348.52, 0, 640.19], + # [0, 348.52, 358.56], + # [0, 0, 1]] + # D = [0.066258, 0.039769, -0.026906, 0.003342] + # cv2.initUndistortRectifyMap(K, D, cv::Matx33d::eye(), P, cv::Size(img.cols, img.rows), CV_16SC2, mapX, mapY) + + # cv::remap(img, undistortImg, mapX, mapY, CV_INTER_LINEAR) + # cv::imshow("src", img) + # cv::imshow("corrected", undistortImg) + + + +# DIM = (480, 400) +# K = np.array([[122.87238744667862, 0.0, 220.28343964853087], +# [0.0, 120.60935347262523, 203.74634232157828], +# [0.0, 0.0, 1.0]]) +# D = np.array([[0.06701341388742599], [0.1906721369775406], [-0.2568929474339438], [0.09063021944980182]]) +DIM = (640,480) +K = np.array([[182.2034195269173, 0.0, 248.72241643510006], + [0.0, 200.88841301751464, 195.87207910703572], + [0.0, 0.0, 1.0]]) +D = np.array([[0.12236488620142214], [-0.053849293887633265], [0.03508527000849206], [-0.011661429257952398]]) + +def undistort(img, DIM=DIM, K=K, D=D): + # img = cv2.resize(img, DIM) + map1, map2 = cv2.fisheye.initUndistortRectifyMap(K, D, np.eye(3), K, DIM,cv2.CV_16SC2) + undistorted_img = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR,borderMode=cv2.BORDER_CONSTANT) + return undistorted_img + + +def get_img_middle(img, size=[640,480]): + top = int((img.shape[0] - size[1]) / 2) + bottom = top + size[1] + left = int((img.shape[1] - size[0]) / 2) + right = left + size[0] + return img[top:bottom, left:right] + + + + +if __name__ == "__main__": + capture = USBCamera("/dev/video0") + frame = capture.getFrame() + frame = cv2.resize(frame, DIM) + map1, map2 = cv2.fisheye.initUndistortRectifyMap(K, D, np.eye(3), K, DIM,cv2.CV_16SC2) + undistorted_img = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR,borderMode=cv2.BORDER_CONSTANT) + cv2.imwrite('unfisheyeImage.png', undistorted_img) \ No newline at end of file diff --git a/src/Robot/nano/start.sh b/src/Robot/nano/start.sh new file mode 100644 index 0000000..1ead534 --- /dev/null +++ b/src/Robot/nano/start.sh @@ -0,0 +1,9 @@ +#!/bin/sh + +ps -aux | grep point_cloud_node | awk '{print $2}' | xargs kill -9 +ps -aux | grep mqttControlNode | awk '{print $2}' | xargs kill -9 +ps -aux | grep live_human_pose | awk '{print $2}' | xargs kill -9 +ps -aux | grep example_point | awk '{print $2}' | xargs kill -9 + +python3 webcamera.py +# ./UnitreecameraSDK/bins/putimagetrans 2 diff --git a/src/Robot/nano/templates/index.html b/src/Robot/nano/templates/index.html new file mode 100644 index 0000000..44cc5ce --- /dev/null +++ b/src/Robot/nano/templates/index.html @@ -0,0 +1,13 @@ + + + + + Video Streaming + + + +
+ +
+ + diff --git a/src/Robot/nano/trans_rect_config_0.yaml b/src/Robot/nano/trans_rect_config_0.yaml new file mode 100644 index 0000000..36e1784 --- /dev/null +++ b/src/Robot/nano/trans_rect_config_0.yaml @@ -0,0 +1,78 @@ +%YAML:1.0 +--- +# unimportant +LogLevel: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 1. ] +# unimportant +Threshold: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 190. ] +# unimportant. It is recommended not to change +Algorithm: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [1. ] +#UDP address for image transfer 192.168.123.IpLastSegment +IpLastSegment: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 15. ] +#DeviceNode +DeviceNode: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 0. ] +#fov (perspective 60~140) +hFov: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 120. ] +#image size ([1856,800] or [928,400]) +FrameSize: !!opencv-matrix + rows: 1 + cols: 2 + dt: d + data: [ 928., 400. ] +# +RectifyFrameSize: !!opencv-matrix + rows: 1 + cols: 2 + dt: d + data: [ 928., 800. ] +#FrameRate +FrameRate: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 3e+01 ] +#0 ori img - right 1 ori img - stereo 2 rect img - right 3 rect img - stereo -1 不传图 +Transmode: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 2. ] +#Transmission rate +Transrate: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 3e+01 ] +# unimportant +Depthmode: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 1. ] +Reserved: !!opencv-matrix + rows: 3 + cols: 3 + dt: d diff --git a/src/Robot/nano/trans_rect_config_1.yaml b/src/Robot/nano/trans_rect_config_1.yaml new file mode 100644 index 0000000..8733c6e --- /dev/null +++ b/src/Robot/nano/trans_rect_config_1.yaml @@ -0,0 +1,78 @@ +%YAML:1.0 +--- +# unimportant +LogLevel: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 1. ] +# unimportant +Threshold: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 190. ] +# unimportant. It is recommended not to change +Algorithm: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [1. ] +#UDP address for image transfer 192.168.123.IpLastSegment +IpLastSegment: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 15. ] +#DeviceNode +DeviceNode: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 1. ] +#fov (perspective 60~140) +hFov: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 90. ] +#image size ([1856,800] or [928,400]) +FrameSize: !!opencv-matrix + rows: 1 + cols: 2 + dt: d + data: [ 1856., 800. ] +# +RectifyFrameSize: !!opencv-matrix + rows: 1 + cols: 2 + dt: d + data: [ 928., 800. ] +#FrameRate +FrameRate: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 2e+01 ] +#0 ori img - right 1 ori img - stereo 2 rect img - right 3 rect img - stereo -1 不传图 +Transmode: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 2. ] +#Transmission rate +Transrate: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 2e+01 ] +# unimportant +Depthmode: !!opencv-matrix + rows: 1 + cols: 1 + dt: d + data: [ 1. ] +Reserved: !!opencv-matrix + rows: 3 + cols: 3 + dt: d diff --git a/src/Robot/nano/webcamera.py b/src/Robot/nano/webcamera.py new file mode 100644 index 0000000..72afb23 --- /dev/null +++ b/src/Robot/nano/webcamera.py @@ -0,0 +1,65 @@ + +from flask import Flask, render_template, Response +import cv2 +from picture_processing import get_img_middle #, undistort + +raw_size = [928,800] +rect_size = [400,300] +rect_size_ = (640,480) +vid0 = cv2.VideoCapture("/dev/video0") +vid1 = cv2.VideoCapture("/dev/video1") +vid0.set(cv2.CAP_PROP_FRAME_WIDTH, raw_size[0]) +vid0.set(cv2.CAP_PROP_FRAME_HEIGHT, raw_size[1]) +vid1.set(cv2.CAP_PROP_FRAME_WIDTH, raw_size[0]) +vid1.set(cv2.CAP_PROP_FRAME_HEIGHT, raw_size[1]) + +def get_frame(n): + if n==0: + frame = vid0.read()[1] + # frame = undistort(frame) + frame = get_img_middle(frame, rect_size) + frame = cv2.resize(frame, rect_size_) + return frame + if n==1: + frame = vid1.read()[1] + # frame = undistort(frame) + frame = get_img_middle(frame, rect_size) + frame = cv2.resize(frame, rect_size_) + return frame + +def get_frame_byte(n): + img = get_frame(n) + return cv2.imencode('.jpg', img)[1].tobytes() + + +app = Flask(__name__) + +@app.route('/') +def index(): + """Video streaming home page.""" + return render_template('index.html') + + +def gen(n): + """Video streaming generator function.""" + yield b'--frame\r\n' + while True: + frame = get_frame_byte(n) + yield b'Content-Type: image/jpeg\r\n\r\n' + frame + b'\r\n--frame\r\n' + + +@app.route('/video1') +def video1(): + """Video streaming route. Put this in the src attribute of an img tag.""" + return Response(gen(1), + mimetype='multipart/x-mixed-replace; boundary=frame') + +@app.route('/video2') +def video2(): + """Video streaming route. Put this in the src attribute of an img tag.""" + return Response(gen(0), + mimetype='multipart/x-mixed-replace; boundary=frame') + + +if __name__ == '__main__': + app.run(host='192.168.123.13', port=5000, threaded=True) diff --git a/src/Robot/unilidar_sdk/.VSCodeCounter/2024-06-17_19-42-01/details.md b/src/Robot/unilidar_sdk/.VSCodeCounter/2024-06-17_19-42-01/details.md new file mode 100644 index 0000000..a238746 --- /dev/null +++ b/src/Robot/unilidar_sdk/.VSCodeCounter/2024-06-17_19-42-01/details.md @@ -0,0 +1,62 @@ +# Details + +Date : 2024-06-17 19:42:01 + +Directory d:\\Administrator\\Desktop\\unilidar_sdk + +Total : 47 files, 6250 codes, 1726 comments, 1144 blanks, all 9120 lines + +[Summary](results.md) / Details / [Diff Summary](diff.md) / [Diff Details](diff-details.md) + +## Files +| filename | language | code | comment | blank | total | +| :--- | :--- | ---: | ---: | ---: | ---: | +| [README.md](/README.md) | Markdown | 19 | 0 | 9 | 28 | +| [unitree_lidar_ros2/src/unitree_lidar_ros2/README.md](/unitree_lidar_ros2/src/unitree_lidar_ros2/README.md) | Markdown | 60 | 0 | 24 | 84 | +| [unitree_lidar_ros2/src/unitree_lidar_ros2/include/unitree_lidar_ros2.h](/unitree_lidar_ros2/src/unitree_lidar_ros2/include/unitree_lidar_ros2.h) | C++ | 113 | 16 | 44 | 173 | +| [unitree_lidar_ros2/src/unitree_lidar_ros2/launch/launch.py](/unitree_lidar_ros2/src/unitree_lidar_ros2/launch/launch.py) | Python | 24 | 13 | 4 | 41 | +| [unitree_lidar_ros2/src/unitree_lidar_ros2/package.xml](/unitree_lidar_ros2/src/unitree_lidar_ros2/package.xml) | XML | 20 | 0 | 5 | 25 | +| [unitree_lidar_ros2/src/unitree_lidar_ros2/rviz/view.rviz](/unitree_lidar_ros2/src/unitree_lidar_ros2/rviz/view.rviz) | YAML | 168 | 0 | 1 | 169 | +| [unitree_lidar_ros2/src/unitree_lidar_ros2/src/unitree_lidar_ros2_node.cpp](/unitree_lidar_ros2/src/unitree_lidar_ros2/src/unitree_lidar_ros2_node.cpp) | C++ | 9 | 3 | 2 | 14 | +| [unitree_lidar_ros/src/unitree_lidar_ros/README.md](/unitree_lidar_ros/src/unitree_lidar_ros/README.md) | Markdown | 58 | 0 | 24 | 82 | +| [unitree_lidar_ros/src/unitree_lidar_ros/config/config.yaml](/unitree_lidar_ros/src/unitree_lidar_ros/config/config.yaml) | YAML | 16 | 9 | 6 | 31 | +| [unitree_lidar_ros/src/unitree_lidar_ros/include/unitree_lidar_ros.h](/unitree_lidar_ros/src/unitree_lidar_ros/include/unitree_lidar_ros.h) | C++ | 123 | 27 | 36 | 186 | +| [unitree_lidar_ros/src/unitree_lidar_ros/launch/run.launch](/unitree_lidar_ros/src/unitree_lidar_ros/launch/run.launch) | XML | 6 | 0 | 5 | 11 | +| [unitree_lidar_ros/src/unitree_lidar_ros/launch/run_without_rviz.launch](/unitree_lidar_ros/src/unitree_lidar_ros/launch/run_without_rviz.launch) | XML | 5 | 1 | 5 | 11 | +| [unitree_lidar_ros/src/unitree_lidar_ros/package.xml](/unitree_lidar_ros/src/unitree_lidar_ros/package.xml) | XML | 34 | 0 | 11 | 45 | +| [unitree_lidar_ros/src/unitree_lidar_ros/rviz/view.rviz](/unitree_lidar_ros/src/unitree_lidar_ros/rviz/view.rviz) | YAML | 169 | 0 | 1 | 170 | +| [unitree_lidar_ros/src/unitree_lidar_ros/src/unitree_lidar_ros_node.cpp](/unitree_lidar_ros/src/unitree_lidar_ros/src/unitree_lidar_ros_node.cpp) | C++ | 14 | 6 | 6 | 26 | +| [unitree_lidar_sdk/HowToParsePointCloudAndIMUDataFromMavLinkMessages.md](/unitree_lidar_sdk/HowToParsePointCloudAndIMUDataFromMavLinkMessages.md) | Markdown | 147 | 0 | 27 | 174 | +| [unitree_lidar_sdk/README.md](/unitree_lidar_sdk/README.md) | Markdown | 148 | 0 | 47 | 195 | +| [unitree_lidar_sdk/examples/example_lidar.cpp](/unitree_lidar_sdk/examples/example_lidar.cpp) | C++ | 107 | 10 | 23 | 140 | +| [unitree_lidar_sdk/examples/example_lidar_udp.cpp](/unitree_lidar_sdk/examples/example_lidar_udp.cpp) | C++ | 120 | 10 | 27 | 157 | +| [unitree_lidar_sdk/examples/unilidar_publisher_udp.cpp](/unitree_lidar_sdk/examples/unilidar_publisher_udp.cpp) | C++ | 118 | 9 | 25 | 152 | +| [unitree_lidar_sdk/examples/unilidar_subcriber_udp.py](/unitree_lidar_sdk/examples/unilidar_subcriber_udp.py) | Python | 71 | 7 | 17 | 95 | +| [unitree_lidar_sdk/examples/unilidar_subscriber_udp.cpp](/unitree_lidar_sdk/examples/unilidar_subscriber_udp.cpp) | C++ | 84 | 4 | 15 | 103 | +| [unitree_lidar_sdk/include/mavlink/SysMavlink/SysMavlink.h](/unitree_lidar_sdk/include/mavlink/SysMavlink/SysMavlink.h) | C++ | 158 | 18 | 29 | 205 | +| [unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink.h](/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink.h) | C++ | 22 | 4 | 9 | 35 | +| [unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_config_led_ring_table_packet.h](/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_config_led_ring_table_packet.h) | C++ | 181 | 98 | 27 | 306 | +| [unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_config_lidar_working_mode.h](/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_config_lidar_working_mode.h) | C++ | 116 | 66 | 32 | 214 | +| [unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_device_command.h](/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_device_command.h) | C++ | 116 | 66 | 32 | 214 | +| [unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_device_request_data.h](/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_device_request_data.h) | C++ | 116 | 66 | 32 | 214 | +| [unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_ret_imu_attitude_data_packet.h](/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_ret_imu_attitude_data_packet.h) | C++ | 167 | 90 | 26 | 283 | +| [unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_ret_lidar_auxiliary_data_packet.h](/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_ret_lidar_auxiliary_data_packet.h) | C++ | 501 | 258 | 47 | 806 | +| [unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_ret_lidar_distance_data_packet.h](/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_ret_lidar_distance_data_packet.h) | C++ | 165 | 90 | 26 | 281 | +| [unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_ret_lidar_time_sync_data.h](/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_ret_lidar_time_sync_data.h) | C++ | 132 | 74 | 33 | 239 | +| [unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_ret_lidar_version.h](/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_ret_lidar_version.h) | C++ | 168 | 90 | 34 | 292 | +| [unitree_lidar_sdk/include/mavlink/SysMavlink/testsuite.h](/unitree_lidar_sdk/include/mavlink/SysMavlink/testsuite.h) | C++ | 877 | 19 | 131 | 1,027 | +| [unitree_lidar_sdk/include/mavlink/SysMavlink/version.h](/unitree_lidar_sdk/include/mavlink/SysMavlink/version.h) | C++ | 7 | 4 | 4 | 15 | +| [unitree_lidar_sdk/include/mavlink/checksum.h](/unitree_lidar_sdk/include/mavlink/checksum.h) | C++ | 44 | 37 | 15 | 96 | +| [unitree_lidar_sdk/include/mavlink/mavlink_conversions.h](/unitree_lidar_sdk/include/mavlink/mavlink_conversions.h) | C++ | 122 | 64 | 27 | 213 | +| [unitree_lidar_sdk/include/mavlink/mavlink_get_info.h](/unitree_lidar_sdk/include/mavlink/mavlink_get_info.h) | C++ | 60 | 17 | 7 | 84 | +| [unitree_lidar_sdk/include/mavlink/mavlink_helpers.h](/unitree_lidar_sdk/include/mavlink/mavlink_helpers.h) | C++ | 756 | 284 | 95 | 1,135 | +| [unitree_lidar_sdk/include/mavlink/mavlink_sha256.h](/unitree_lidar_sdk/include/mavlink/mavlink_sha256.h) | C++ | 163 | 46 | 27 | 236 | +| [unitree_lidar_sdk/include/mavlink/mavlink_types.h](/unitree_lidar_sdk/include/mavlink/mavlink_types.h) | C++ | 209 | 56 | 37 | 302 | +| [unitree_lidar_sdk/include/mavlink/protocol.h](/unitree_lidar_sdk/include/mavlink/protocol.h) | C++ | 273 | 21 | 41 | 335 | +| [unitree_lidar_sdk/include/parse_range_auxiliary_data_to_cloud.h](/unitree_lidar_sdk/include/parse_range_auxiliary_data_to_cloud.h) | C++ | 52 | 17 | 12 | 81 | +| [unitree_lidar_sdk/include/udp_handler.h](/unitree_lidar_sdk/include/udp_handler.h) | C++ | 30 | 12 | 9 | 51 | +| [unitree_lidar_sdk/include/unitree_lidar_sdk.h](/unitree_lidar_sdk/include/unitree_lidar_sdk.h) | C++ | 117 | 100 | 36 | 253 | +| [unitree_lidar_sdk/include/unitree_lidar_sdk_config.h](/unitree_lidar_sdk/include/unitree_lidar_sdk_config.h) | C++ | 4 | 0 | 1 | 5 | +| [unitree_lidar_sdk/include/unitree_lidar_sdk_pcl.h](/unitree_lidar_sdk/include/unitree_lidar_sdk_pcl.h) | C++ | 61 | 14 | 11 | 86 | + +[Summary](results.md) / Details / [Diff Summary](diff.md) / [Diff Details](diff-details.md) \ No newline at end of file diff --git a/src/Robot/unilidar_sdk/.VSCodeCounter/2024-06-17_19-42-01/diff-details.md b/src/Robot/unilidar_sdk/.VSCodeCounter/2024-06-17_19-42-01/diff-details.md new file mode 100644 index 0000000..736bce2 --- /dev/null +++ b/src/Robot/unilidar_sdk/.VSCodeCounter/2024-06-17_19-42-01/diff-details.md @@ -0,0 +1,15 @@ +# Diff Details + +Date : 2024-06-17 19:42:01 + +Directory d:\\Administrator\\Desktop\\unilidar_sdk + +Total : 0 files, 0 codes, 0 comments, 0 blanks, all 0 lines + +[Summary](results.md) / [Details](details.md) / [Diff Summary](diff.md) / Diff Details + +## Files +| filename | language | code | comment | blank | total | +| :--- | :--- | ---: | ---: | ---: | ---: | + +[Summary](results.md) / [Details](details.md) / [Diff Summary](diff.md) / Diff Details \ No newline at end of file diff --git a/src/Robot/unilidar_sdk/.VSCodeCounter/2024-06-17_19-42-01/diff.csv b/src/Robot/unilidar_sdk/.VSCodeCounter/2024-06-17_19-42-01/diff.csv new file mode 100644 index 0000000..b7d8d75 --- /dev/null +++ b/src/Robot/unilidar_sdk/.VSCodeCounter/2024-06-17_19-42-01/diff.csv @@ -0,0 +1,2 @@ +"filename", "language", "", "comment", "blank", "total" +"Total", "-", , 0, 0, 0 \ No 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++------+------------+------------+------------+------------+------------+ + +Files ++----------+----------+------------+------------+------------+------------+ +| filename | language | code | comment | blank | total | ++----------+----------+------------+------------+------------+------------+ +| Total | | 0 | 0 | 0 | 0 | ++----------+----------+------------+------------+------------+------------+ \ No newline at end of file diff --git a/src/Robot/unilidar_sdk/.VSCodeCounter/2024-06-17_19-42-01/results.csv b/src/Robot/unilidar_sdk/.VSCodeCounter/2024-06-17_19-42-01/results.csv new file mode 100644 index 0000000..810bb57 --- /dev/null +++ b/src/Robot/unilidar_sdk/.VSCodeCounter/2024-06-17_19-42-01/results.csv @@ -0,0 +1,49 @@ +"filename", "language", "C++", "Python", "Markdown", "XML", "YAML", "comment", "blank", "total" +"d:\Administrator\Desktop\unilidar_sdk\README.md", "Markdown", 0, 0, 19, 0, 0, 0, 9, 28 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\ No newline at end of file diff --git a/src/Robot/unilidar_sdk/.VSCodeCounter/2024-06-17_19-42-01/results.md b/src/Robot/unilidar_sdk/.VSCodeCounter/2024-06-17_19-42-01/results.md new file mode 100644 index 0000000..d5fc140 --- /dev/null +++ b/src/Robot/unilidar_sdk/.VSCodeCounter/2024-06-17_19-42-01/results.md @@ -0,0 +1,51 @@ +# Summary + +Date : 2024-06-17 19:42:01 + +Directory d:\\Administrator\\Desktop\\unilidar_sdk + +Total : 47 files, 6250 codes, 1726 comments, 1144 blanks, all 9120 lines + +Summary / [Details](details.md) / [Diff Summary](diff.md) / [Diff Details](diff-details.md) + +## Languages +| language | files | code | comment | blank | total | +| :--- | ---: | ---: | ---: | ---: | ---: | +| C++ | 33 | 5,305 | 1,696 | 958 | 7,959 | +| Markdown | 5 | 432 | 0 | 131 | 563 | +| YAML | 3 | 353 | 9 | 8 | 370 | +| Python | 2 | 95 | 20 | 21 | 136 | +| XML | 4 | 65 | 1 | 26 | 92 | + +## Directories +| path | files | code | comment | blank | total | +| :--- | ---: | ---: | ---: | ---: | ---: | +| . | 47 | 6,250 | 1,726 | 1,144 | 9,120 | +| . (Files) | 1 | 19 | 0 | 9 | 28 | +| unitree_lidar_ros | 8 | 425 | 43 | 94 | 562 | +| unitree_lidar_ros2 | 6 | 394 | 32 | 80 | 506 | +| unitree_lidar_ros2\\src | 6 | 394 | 32 | 80 | 506 | +| unitree_lidar_ros2\\src\\unitree_lidar_ros2 | 6 | 394 | 32 | 80 | 506 | +| unitree_lidar_ros2\\src\\unitree_lidar_ros2 (Files) | 2 | 80 | 0 | 29 | 109 | +| unitree_lidar_ros2\\src\\unitree_lidar_ros2\\include | 1 | 113 | 16 | 44 | 173 | +| unitree_lidar_ros2\\src\\unitree_lidar_ros2\\launch | 1 | 24 | 13 | 4 | 41 | +| unitree_lidar_ros2\\src\\unitree_lidar_ros2\\rviz | 1 | 168 | 0 | 1 | 169 | +| unitree_lidar_ros2\\src\\unitree_lidar_ros2\\src | 1 | 9 | 3 | 2 | 14 | +| unitree_lidar_ros\\src | 8 | 425 | 43 | 94 | 562 | +| unitree_lidar_ros\\src\\unitree_lidar_ros | 8 | 425 | 43 | 94 | 562 | +| unitree_lidar_ros\\src\\unitree_lidar_ros (Files) | 2 | 92 | 0 | 35 | 127 | +| unitree_lidar_ros\\src\\unitree_lidar_ros\\config | 1 | 16 | 9 | 6 | 31 | +| unitree_lidar_ros\\src\\unitree_lidar_ros\\include | 1 | 123 | 27 | 36 | 186 | +| unitree_lidar_ros\\src\\unitree_lidar_ros\\launch | 2 | 11 | 1 | 10 | 22 | +| unitree_lidar_ros\\src\\unitree_lidar_ros\\rviz | 1 | 169 | 0 | 1 | 170 | +| unitree_lidar_ros\\src\\unitree_lidar_ros\\src | 1 | 14 | 6 | 6 | 26 | +| unitree_lidar_sdk | 32 | 5,412 | 1,651 | 961 | 8,024 | +| unitree_lidar_sdk (Files) | 2 | 295 | 0 | 74 | 369 | +| unitree_lidar_sdk\\examples | 5 | 500 | 40 | 107 | 647 | +| unitree_lidar_sdk\\include | 25 | 4,617 | 1,611 | 780 | 7,008 | +| unitree_lidar_sdk\\include (Files) | 5 | 264 | 143 | 69 | 476 | +| unitree_lidar_sdk\\include\\mavlink | 20 | 4,353 | 1,468 | 711 | 6,532 | +| unitree_lidar_sdk\\include\\mavlink (Files) | 7 | 1,627 | 525 | 249 | 2,401 | +| unitree_lidar_sdk\\include\\mavlink\\SysMavlink | 13 | 2,726 | 943 | 462 | 4,131 | + +Summary / [Details](details.md) / [Diff Summary](diff.md) / [Diff Details](diff-details.md) \ No newline at end of file diff --git a/src/Robot/unilidar_sdk/.VSCodeCounter/2024-06-17_19-42-01/results.txt b/src/Robot/unilidar_sdk/.VSCodeCounter/2024-06-17_19-42-01/results.txt new file mode 100644 index 0000000..ff0e90a --- /dev/null +++ b/src/Robot/unilidar_sdk/.VSCodeCounter/2024-06-17_19-42-01/results.txt @@ -0,0 +1,101 @@ +Date : 2024-06-17 19:42:01 +Directory : d:\Administrator\Desktop\unilidar_sdk +Total : 47 files, 6250 codes, 1726 comments, 1144 blanks, all 9120 lines + +Languages ++----------+------------+------------+------------+------------+------------+ +| language | files | code | comment | blank | total | ++----------+------------+------------+------------+------------+------------+ +| C++ | 33 | 5,305 | 1,696 | 958 | 7,959 | +| Markdown | 5 | 432 | 0 | 131 | 563 | +| YAML | 3 | 353 | 9 | 8 | 370 | +| Python | 2 | 95 | 20 | 21 | 136 | +| XML | 4 | 65 | 1 | 26 | 92 | ++----------+------------+------------+------------+------------+------------+ + +Directories ++----------------------------------------------------------------------------------------------------------------------------------+------------+------------+------------+------------+------------+ +| path | files | code | comment | blank | total | ++----------------------------------------------------------------------------------------------------------------------------------+------------+------------+------------+------------+------------+ +| . | 47 | 6,250 | 1,726 | 1,144 | 9,120 | +| . (Files) | 1 | 19 | 0 | 9 | 28 | +| unitree_lidar_ros | 8 | 425 | 43 | 94 | 562 | +| unitree_lidar_ros2 | 6 | 394 | 32 | 80 | 506 | +| unitree_lidar_ros2\src | 6 | 394 | 32 | 80 | 506 | +| unitree_lidar_ros2\src\unitree_lidar_ros2 | 6 | 394 | 32 | 80 | 506 | +| unitree_lidar_ros2\src\unitree_lidar_ros2 (Files) | 2 | 80 | 0 | 29 | 109 | +| unitree_lidar_ros2\src\unitree_lidar_ros2\include | 1 | 113 | 16 | 44 | 173 | +| unitree_lidar_ros2\src\unitree_lidar_ros2\launch | 1 | 24 | 13 | 4 | 41 | +| unitree_lidar_ros2\src\unitree_lidar_ros2\rviz | 1 | 168 | 0 | 1 | 169 | +| unitree_lidar_ros2\src\unitree_lidar_ros2\src | 1 | 9 | 3 | 2 | 14 | +| unitree_lidar_ros\src | 8 | 425 | 43 | 94 | 562 | +| unitree_lidar_ros\src\unitree_lidar_ros | 8 | 425 | 43 | 94 | 562 | +| unitree_lidar_ros\src\unitree_lidar_ros (Files) | 2 | 92 | 0 | 35 | 127 | +| unitree_lidar_ros\src\unitree_lidar_ros\config | 1 | 16 | 9 | 6 | 31 | +| unitree_lidar_ros\src\unitree_lidar_ros\include | 1 | 123 | 27 | 36 | 186 | +| unitree_lidar_ros\src\unitree_lidar_ros\launch | 2 | 11 | 1 | 10 | 22 | +| unitree_lidar_ros\src\unitree_lidar_ros\rviz | 1 | 169 | 0 | 1 | 170 | +| unitree_lidar_ros\src\unitree_lidar_ros\src | 1 | 14 | 6 | 6 | 26 | +| unitree_lidar_sdk | 32 | 5,412 | 1,651 | 961 | 8,024 | +| unitree_lidar_sdk (Files) | 2 | 295 | 0 | 74 | 369 | +| unitree_lidar_sdk\examples | 5 | 500 | 40 | 107 | 647 | +| unitree_lidar_sdk\include | 25 | 4,617 | 1,611 | 780 | 7,008 | +| unitree_lidar_sdk\include (Files) | 5 | 264 | 143 | 69 | 476 | +| unitree_lidar_sdk\include\mavlink | 20 | 4,353 | 1,468 | 711 | 6,532 | +| unitree_lidar_sdk\include\mavlink (Files) | 7 | 1,627 | 525 | 249 | 2,401 | +| unitree_lidar_sdk\include\mavlink\SysMavlink | 13 | 2,726 | 943 | 462 | 4,131 | ++----------------------------------------------------------------------------------------------------------------------------------+------------+------------+------------+------------+------------+ + +Files ++----------------------------------------------------------------------------------------------------------------------------------+----------+------------+------------+------------+------------+ +| filename | language | code | comment | blank | total | ++----------------------------------------------------------------------------------------------------------------------------------+----------+------------+------------+------------+------------+ +| d:\Administrator\Desktop\unilidar_sdk\README.md | Markdown | 19 | 0 | 9 | 28 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_ros2\src\unitree_lidar_ros2\README.md | Markdown | 60 | 0 | 24 | 84 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_ros2\src\unitree_lidar_ros2\include\unitree_lidar_ros2.h | C++ | 113 | 16 | 44 | 173 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_ros2\src\unitree_lidar_ros2\launch\launch.py | Python | 24 | 13 | 4 | 41 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_ros2\src\unitree_lidar_ros2\package.xml | XML | 20 | 0 | 5 | 25 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_ros2\src\unitree_lidar_ros2\rviz\view.rviz | YAML | 168 | 0 | 1 | 169 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_ros2\src\unitree_lidar_ros2\src\unitree_lidar_ros2_node.cpp | C++ | 9 | 3 | 2 | 14 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_ros\src\unitree_lidar_ros\README.md | Markdown | 58 | 0 | 24 | 82 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_ros\src\unitree_lidar_ros\config\config.yaml | YAML | 16 | 9 | 6 | 31 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_ros\src\unitree_lidar_ros\include\unitree_lidar_ros.h | C++ | 123 | 27 | 36 | 186 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_ros\src\unitree_lidar_ros\launch\run.launch | XML | 6 | 0 | 5 | 11 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_ros\src\unitree_lidar_ros\launch\run_without_rviz.launch | XML | 5 | 1 | 5 | 11 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_ros\src\unitree_lidar_ros\package.xml | XML | 34 | 0 | 11 | 45 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_ros\src\unitree_lidar_ros\rviz\view.rviz | YAML | 169 | 0 | 1 | 170 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_ros\src\unitree_lidar_ros\src\unitree_lidar_ros_node.cpp | C++ | 14 | 6 | 6 | 26 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\HowToParsePointCloudAndIMUDataFromMavLinkMessages.md | Markdown | 147 | 0 | 27 | 174 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\README.md | Markdown | 148 | 0 | 47 | 195 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\examples\example_lidar.cpp | C++ | 107 | 10 | 23 | 140 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\examples\example_lidar_udp.cpp | C++ | 120 | 10 | 27 | 157 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\examples\unilidar_publisher_udp.cpp | C++ | 118 | 9 | 25 | 152 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\examples\unilidar_subcriber_udp.py | Python | 71 | 7 | 17 | 95 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\examples\unilidar_subscriber_udp.cpp | C++ | 84 | 4 | 15 | 103 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\include\mavlink\SysMavlink\SysMavlink.h | C++ | 158 | 18 | 29 | 205 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\include\mavlink\SysMavlink\mavlink.h | C++ | 22 | 4 | 9 | 35 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\include\mavlink\SysMavlink\mavlink_msg_config_led_ring_table_packet.h | C++ | 181 | 98 | 27 | 306 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\include\mavlink\SysMavlink\mavlink_msg_config_lidar_working_mode.h | C++ | 116 | 66 | 32 | 214 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\include\mavlink\SysMavlink\mavlink_msg_device_command.h | C++ | 116 | 66 | 32 | 214 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\include\mavlink\SysMavlink\mavlink_msg_device_request_data.h | C++ | 116 | 66 | 32 | 214 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\include\mavlink\SysMavlink\mavlink_msg_ret_imu_attitude_data_packet.h | C++ | 167 | 90 | 26 | 283 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\include\mavlink\SysMavlink\mavlink_msg_ret_lidar_auxiliary_data_packet.h | C++ | 501 | 258 | 47 | 806 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\include\mavlink\SysMavlink\mavlink_msg_ret_lidar_distance_data_packet.h | C++ | 165 | 90 | 26 | 281 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\include\mavlink\SysMavlink\mavlink_msg_ret_lidar_time_sync_data.h | C++ | 132 | 74 | 33 | 239 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\include\mavlink\SysMavlink\mavlink_msg_ret_lidar_version.h | C++ | 168 | 90 | 34 | 292 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\include\mavlink\SysMavlink\testsuite.h | C++ | 877 | 19 | 131 | 1,027 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\include\mavlink\SysMavlink\version.h | C++ | 7 | 4 | 4 | 15 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\include\mavlink\checksum.h | C++ | 44 | 37 | 15 | 96 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\include\mavlink\mavlink_conversions.h | C++ | 122 | 64 | 27 | 213 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\include\mavlink\mavlink_get_info.h | C++ | 60 | 17 | 7 | 84 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\include\mavlink\mavlink_helpers.h | C++ | 756 | 284 | 95 | 1,135 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\include\mavlink\mavlink_sha256.h | C++ | 163 | 46 | 27 | 236 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\include\mavlink\mavlink_types.h | C++ | 209 | 56 | 37 | 302 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\include\mavlink\protocol.h | C++ | 273 | 21 | 41 | 335 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\include\parse_range_auxiliary_data_to_cloud.h | C++ | 52 | 17 | 12 | 81 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\include\udp_handler.h | C++ | 30 | 12 | 9 | 51 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\include\unitree_lidar_sdk.h | C++ | 117 | 100 | 36 | 253 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\include\unitree_lidar_sdk_config.h | C++ | 4 | 0 | 1 | 5 | +| d:\Administrator\Desktop\unilidar_sdk\unitree_lidar_sdk\include\unitree_lidar_sdk_pcl.h | C++ | 61 | 14 | 11 | 86 | +| Total | | 6,250 | 1,726 | 1,144 | 9,120 | ++----------------------------------------------------------------------------------------------------------------------------------+----------+------------+------------+------------+------------+ \ No newline at end of file diff --git a/src/Robot/unilidar_sdk/.gitignore b/src/Robot/unilidar_sdk/.gitignore new file mode 100644 index 0000000..48f5967 --- /dev/null +++ b/src/Robot/unilidar_sdk/.gitignore @@ -0,0 +1,12 @@ +unitree_lidar_ros/build +unitree_lidar_ros/devel +unitree_lidar_ros/.catkin_workspace +unitree_lidar_ros/src/CMakeLists.txt + + +unitree_lidar_ros2/build +unitree_lidar_ros2/install +unitree_lidar_ros2/log + +unitree_lidar_sdk/bin +unitree_lidar_sdk/build \ No newline at end of file diff --git a/src/Robot/unilidar_sdk/LICENSE b/src/Robot/unilidar_sdk/LICENSE new file mode 100644 index 0000000..d1febdc --- /dev/null +++ b/src/Robot/unilidar_sdk/LICENSE @@ -0,0 +1,29 @@ +BSD 3-Clause License + +Copyright (c) 2016-2023 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics") +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/src/Robot/unilidar_sdk/README.md b/src/Robot/unilidar_sdk/README.md new file mode 100644 index 0000000..b3299b8 --- /dev/null +++ b/src/Robot/unilidar_sdk/README.md @@ -0,0 +1,28 @@ +# Unilidar SDK + +## Introduction +This repository is a SDK for [Unitree L1 LiDAR](https://www.unitree.com/LiDAR). + +You can use the code interfaces in this repository to obtain point cloud data and IMU data measured in our lidar, as well as configure related parameters. + +We provide three commonly used interfaces for our LiDAR: +- if you prefer to use the original **C++ SDK** directly, you can refer to [README.md](./unitree_lidar_sdk/README.md); +- if you want to use **ROS**, you can refer to [README.md](./unitree_lidar_ros/src/unitree_lidar_ros/README.md); +- if you are developing with the latest **ROS2**, you can refer to [README.md](./unitree_lidar_ros2/src/unitree_lidar_ros2/README.md). + + +## Coordinate System Definition +The reference frame definition is illustrated in the following figure, which satisfies the right-hand coordinate system definition. + +The origin of the lidar frame, which is used to represent coordinates of each point in a pointcloud, is located at the center of the bottom mounting surface of the lidar. +- Its +X axis is in the opposite direction of the outgoing cable. +- Its +Y axis is in the the direction obtained by rotating the +X axis counterclockwise by 90 degrees. +- And its +Z axis is vertically upward. + +The IMU frame's axes are aligned and parallel to the directions of the point cloud coordinate system. The XYZ coordinates of its origin in the lidar frame is [-0.007698, -0.014655, 0.00667] in meters. + +You can also go to our [official website](https://www.unitree.com/download) for further technical details of our lidar. + +
+ +
\ No newline at end of file diff --git a/src/Robot/unilidar_sdk/docs/lidar.png b/src/Robot/unilidar_sdk/docs/lidar.png new file mode 100644 index 0000000..09b2c73 Binary files /dev/null and b/src/Robot/unilidar_sdk/docs/lidar.png differ diff --git a/src/Robot/unilidar_sdk/docs/lidar_frame_definition.jpg b/src/Robot/unilidar_sdk/docs/lidar_frame_definition.jpg new file mode 100644 index 0000000..ea76da4 Binary files /dev/null and b/src/Robot/unilidar_sdk/docs/lidar_frame_definition.jpg differ diff --git a/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/CMakeLists.txt b/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/CMakeLists.txt new file mode 100644 index 0000000..a40fc8c --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/CMakeLists.txt @@ -0,0 +1,61 @@ +cmake_minimum_required(VERSION 2.8.3) +project(unitree_lidar_ros) + +set(CMAKE_BUILD_TYPE "Release") +set(CMAKE_CXX_FLAGS "-std=c++14") +set(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -O0 -Wall -g2 -ggdb -llz4") +set(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -O3 -Wall -DNDEBUG -llz4") + +find_package(PCL REQUIRED QUIET) + +find_package(catkin REQUIRED COMPONENTS + tf + roscpp + rospy + rosparam + pcl_conversions + std_msgs + sensor_msgs + geometry_msgs + nav_msgs + message_generation + visualization_msgs + roslib +) + +catkin_package( + INCLUDE_DIRS include + DEPENDS PCL + + CATKIN_DEPENDS + rosparam + std_msgs + nav_msgs + geometry_msgs + sensor_msgs + message_runtime + message_generation + visualization_msgs +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${PCL_INCLUDE_DIRS} + ../../../unitree_lidar_sdk/include +) + +link_directories( + lib + ${PCL_LIBRARY_DIRS} + ../../../unitree_lidar_sdk/lib/${CMAKE_SYSTEM_PROCESSOR} +) + +set(EXTRA_LIBS + ${catkin_LIBRARIES} + ${PCL_LIBRARIES} + libunitree_lidar_sdk.a +) + +add_executable(unitree_lidar_ros_node src/unitree_lidar_ros_node.cpp) +target_link_libraries(unitree_lidar_ros_node ${EXTRA_LIBS}) \ No newline at end of file diff --git a/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/README.md b/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/README.md new file mode 100644 index 0000000..7112c10 --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/README.md @@ -0,0 +1,82 @@ +# Unitree Lidar ROS + +## Introduction +This package is a ROS package, which is specially used for running Unitree LiDAR products. + + +The functions that this package can provide includes: +- Parse the raw data transmitted from the lidar hardware, and convert it into pointcloud and IMU data +- Publish the pointcloud data to a ROS topic +- Publish the IMU data to a ROS topic +- In addition, we provide a yaml file to configure the relevant parameters of the lidar. + +## Dependency +The dependencies include `PCL` and `ROS`. + +We have verified that this package can successfully run under this environment: +- `Ubuntu 20.04` +- `ROS noetic` +- `PCL-1.10` +- `unitree_lidar_sdk` + +You are suggested to configure an environment like this to run this package. + + +## Configuration + +Connect your lidar to your computer with a USB cable, then confirm your serial port name for lidar: +``` +$ ls /dev/ttyUSB* +/dev/ttyUSB0 +``` + +The default serial port name is `/dev/ttyUSB0`. +If it is not the default one, you need to modify the configuration in `unitree_lidar_ros/config/config.yaml` +and change the `port` name to yours. For example +``` +# Serial Port +port: "/dev/ttyYourUSBPortName" +``` + +You can leave other parameters in the configuration file with their default value. + +If you have special needs such as changing the cloud topic name or IMU topic name, you are allowed to configure them in the configuration file as well. + +The defalut cloud topic and its frame name is: +- topic: "unilidar/cloud" +- frame: "unilidar_lidar" + +The defalut IMU topic and its frame name is: +- topic: "unilidar/imu" +- frame: "unilidar_imu" + +## Build +You can just build this ROS package as follows: +- Clone the repository +``` +git clone https://github.com/unitreerobotics/unilidar_sdk.git +``` + +- Compile +``` +cd unilidar_sdk/unitree_lidar_ros + +catkin_make +``` + + +## Run +Then you need to source this ROS packege environment and then directly run the launch file: +``` +source devel/setup.bash + +roslaunch unitree_lidar_ros run.launch +``` + +In the Rviz window, you will see our lidar pointcloud like this: + +![img](./docs/cloud.png) + +You can change the `Fixed Frame` to the imu frame `unilidar_imu`, so that you can view the IMU quaternion vector: + +![img](./docs/imu.png) \ No newline at end of file diff --git a/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/config/config.yaml b/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/config/config.yaml new file mode 100644 index 0000000..f3c96f4 --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/config/config.yaml @@ -0,0 +1,31 @@ +#################################################### +# lidar sdk configuration +#################################################### + +# Initialization Type +initialize_type: 1 # 1-Serial, 2-UDP + +# Serial Port +port: "/dev/ttyUSB0" # default: "/dev/ttyUSB0" + +# UDP Port +lidar_port: 6101 +lidar_ip: "10.10.10.10" +local_port: 6201 +local_ip: "10.10.10.100" + +# Calibration +rotate_yaw_bias: 0 # default: 0 in degree +range_scale: 0.001 # default: 0.001 in meters +range_bias: 0 # default: 0 in meters +range_max: 50 # default: 50 in meters +range_min: 0.0 # default: 0 in meters + +# PointCloud +cloud_frame: "unilidar_lidar" # default: "unilidar_lidar" +cloud_topic: "unilidar/cloud" # default: "unilidar/cloud" +cloud_scan_num: 18 # default: 18 + +# IMU +imu_frame: "unilidar_imu" # default: "unilidar_imu" +imu_topic: "unilidar/imu" # default: "unilidar/imu" \ No newline at end of file diff --git a/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/docs/cloud.png b/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/docs/cloud.png new file mode 100644 index 0000000..b782037 Binary files /dev/null and b/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/docs/cloud.png differ diff --git a/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/docs/imu.png b/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/docs/imu.png new file mode 100644 index 0000000..345c29b Binary files /dev/null and b/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/docs/imu.png differ diff --git a/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/include/unitree_lidar_ros.h b/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/include/unitree_lidar_ros.h new file mode 100644 index 0000000..1dd9cda --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/include/unitree_lidar_ros.h @@ -0,0 +1,186 @@ +/********************************************************************** + Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved. +***********************************************************************/ + +#pragma once + +// ROS +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +// PCL +#include + +// Eigen +#include +#include + +#include "unitree_lidar_sdk_pcl.h" + +/** + * @brief Publish a pointcloud + * + * @param thisPub + * @param thisCloud + * @param thisStamp + * @param thisFrame + * @return sensor_msgs::PointCloud2 + */ +inline sensor_msgs::PointCloud2 publishCloud( + ros::Publisher *thisPub, + pcl::PointCloud::Ptr thisCloud, + ros::Time thisStamp, + std::string thisFrame) +{ + sensor_msgs::PointCloud2 tempCloud; + pcl::toROSMsg(*thisCloud, tempCloud); + tempCloud.header.stamp = thisStamp; + tempCloud.header.frame_id = thisFrame; + if (thisPub->getNumSubscribers() != 0) + thisPub->publish(tempCloud); + return tempCloud; +} + +/** + * @brief Unitree Lidar SDK Node + */ +class UnitreeLidarSDKNode{ +protected: + + // ROS + ros::NodeHandle nh_; + ros::Publisher pub_pointcloud_raw_; + ros::Publisher pub_imu_; + tf::TransformBroadcaster tfbc1_; + + // Unitree Lidar Reader + UnitreeLidarReader* lsdk_; + + // Config params + std::string port_; + + double rotate_yaw_bias_; + double range_scale_; + double range_bias_; + double range_max_; + double range_min_; + + std::string cloud_frame_; + std::string cloud_topic_; + int cloud_scan_num_; + + std::string imu_frame_; + std::string imu_topic_; + + int initialize_type_; + int local_port_; + std::string local_ip_; + int lidar_port_; + std::string lidar_ip_; + +public: + + UnitreeLidarSDKNode(ros::NodeHandle nh){ + + // Load config parameters + nh.param("/unitree_lidar_ros_node/initialize_type", initialize_type_, 1); + + nh.param("/unitree_lidar_ros_node/port", port_, std::string("/dev/ttyUSB0")); + + nh.param("/unitree_lidar_ros_node/lidar_port", lidar_port_, 6101); + nh.param("/unitree_lidar_ros_node/lidar_ip", lidar_ip_, std::string("10.10.10.10")); + nh.param("/unitree_lidar_ros_node/local_port", local_port_, 6201); + nh.param("/unitree_lidar_ros_node/local_ip", local_ip_, std::string("10.10.10.100")); + + nh.param("/unitree_lidar_ros_node/rotate_yaw_bias", rotate_yaw_bias_, 0.0); + nh.param("/unitree_lidar_ros_node/range_scale", range_scale_, 0.001); + nh.param("/unitree_lidar_ros_node/range_bias", range_bias_, 0.0); + nh.param("/unitree_lidar_ros_node/range_max", range_max_, 50.0); + nh.param("/unitree_lidar_ros_node/range_min", range_min_, 0.0); + + nh.param("/unitree_lidar_ros_node/cloud_frame", cloud_frame_, std::string("unilidar_lidar")); + nh.param("/unitree_lidar_ros_node/cloud_topic", cloud_topic_, std::string("unilidar/cloud")); + nh.param("/unitree_lidar_ros_node/cloud_scan_num", cloud_scan_num_, 18); + nh.param("/unitree_lidar_ros_node/imu_frame", imu_frame_, std::string("unilidar_imu")); + nh.param("/unitree_lidar_ros_node/imu_topic", imu_topic_, std::string("unilidar/imu")); + + // Initialize UnitreeLidarReader + lsdk_ = createUnitreeLidarReader(); + + if (initialize_type_ == 1){ + lsdk_->initialize(cloud_scan_num_, port_, 2000000, rotate_yaw_bias_, + range_scale_, range_bias_, range_max_, range_min_); + } + else if (initialize_type_ == 2){ + lsdk_->initializeUDP(cloud_scan_num_, lidar_port_, lidar_ip_, local_port_, local_ip_, + rotate_yaw_bias_, range_scale_, range_bias_, range_max_, range_min_); + } + + + lsdk_->setLidarWorkingMode(NORMAL); + + // ROS + nh_ = nh; + pub_pointcloud_raw_ = nh.advertise (cloud_topic_, 100); + pub_imu_ = nh.advertise (imu_topic_, 1000); + } + + ~UnitreeLidarSDKNode(){ + } + + /** + * @brief Run once + */ + bool run(){ + MessageType result = lsdk_->runParse(); + pcl::PointCloud::Ptr cloudOut( new pcl::PointCloud() ); + + if (result == IMU){ + auto & imu = lsdk_->getIMU(); + sensor_msgs::Imu imuMsg; + imuMsg.header.frame_id = imu_frame_; + imuMsg.header.stamp = ros::Time::now().fromSec(imu.stamp); + + imuMsg.orientation.x = imu.quaternion[0]; + imuMsg.orientation.y = imu.quaternion[1]; + imuMsg.orientation.z = imu.quaternion[2]; + imuMsg.orientation.w = imu.quaternion[3]; + + imuMsg.angular_velocity.x = imu.angular_velocity[0]; + imuMsg.angular_velocity.y = imu.angular_velocity[1]; + imuMsg.angular_velocity.z = imu.angular_velocity[2]; + + imuMsg.linear_acceleration.x = imu.linear_acceleration[0]; + imuMsg.linear_acceleration.y = imu.linear_acceleration[1]; + imuMsg.linear_acceleration.z = imu.linear_acceleration[2]; + + pub_imu_.publish(imuMsg); + + return true; + } + else if (result == POINTCLOUD){ + auto &cloud = lsdk_->getCloud(); + transformUnitreeCloudToPCL(cloud, cloudOut); + publishCloud(&pub_pointcloud_raw_, cloudOut, ros::Time::now().fromSec(cloud.stamp), cloud_frame_); + + return true; + }else{ + return false; + } + + } +}; \ No newline at end of file diff --git a/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/launch/run.launch b/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/launch/run.launch new file mode 100644 index 0000000..aab1954 --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/launch/run.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/launch/run_without_rviz.launch b/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/launch/run_without_rviz.launch new file mode 100644 index 0000000..d3be6f1 --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/launch/run_without_rviz.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/package.xml b/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/package.xml new file mode 100644 index 0000000..a5e90d3 --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/package.xml @@ -0,0 +1,44 @@ + + + unitree_lidar_ros + 1.0.0 + Unitree Lidar SDK for ROS + + Luke Meng + + TODO + + Luke Meng + + catkin + + roscpp + roscpp + rospy + rospy + rosparam + rosparam + + tf + tf + + pcl_conversions + pcl_conversions + + std_msgs + std_msgs + sensor_msgs + sensor_msgs + geometry_msgs + geometry_msgs + nav_msgs + nav_msgs + visualization_msgs + visualization_msgs + + message_generation + message_generation + message_runtime + message_runtime + + diff --git a/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/rviz/view.rviz b/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/rviz/view.rviz new file mode 100644 index 0000000..ab99a45 --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/rviz/view.rviz @@ -0,0 +1,169 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /PointCloud21 + - /PointCloud21/Autocompute Value Bounds1 + - /Imu1 + Splitter Ratio: 0.4941176474094391 + Tree Height: 787 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: PointCloud2 +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 50 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/Axes + Enabled: true + Length: 1 + Name: Axes + Radius: 0.05000000074505806 + Reference Frame: + Show Trail: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 3.2763965129852295 + Min Value: -9.93529056358966e-07 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 1 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 100 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: /unilidar/cloud + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Class: rviz_plugin_tutorials/Imu + Color: 204; 51; 204 + Enabled: true + History Length: 1 + Name: Imu + Queue Size: 10 + Topic: /unilidar/imu + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: unilidar_lidar + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 12.665559768676758 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: -0.04773467779159546 + Y: -0.033093128353357315 + Z: 0.6606433987617493 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.5697963237762451 + Target Frame: + Yaw: 3.135389804840088 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd0000000400000000000001560000039efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000039e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000021efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b0000021e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073e00000039fc0100000002fb0000000800540069006d006500000000000000073e000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000005e20000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1854 + X: 1986 + Y: 27 diff --git a/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/src/unitree_lidar_ros_node.cpp b/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/src/unitree_lidar_ros_node.cpp new file mode 100644 index 0000000..aa7f05a --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_ros/src/unitree_lidar_ros/src/unitree_lidar_ros_node.cpp @@ -0,0 +1,26 @@ +/********************************************************************** + Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved. +***********************************************************************/ + +#include "unitree_lidar_ros.h" + +using namespace unitree_lidar_sdk; + +int main(int argc, char **argv) +{ + // ROS + ros::init(argc, argv, "unitree_lidar"); + ros::NodeHandle nh; + + UnitreeLidarSDKNode node(nh); + // ros::Rate rate(2000); + + while (nh.ok()) + { + ros::spinOnce(); + node.run(); + // rate.sleep(); + } + + return 0; +} \ No newline at end of file diff --git a/src/Robot/unilidar_sdk/unitree_lidar_ros2/src/unitree_lidar_ros2/CMakeLists.txt b/src/Robot/unilidar_sdk/unitree_lidar_ros2/src/unitree_lidar_ros2/CMakeLists.txt new file mode 100644 index 0000000..55366de --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_ros2/src/unitree_lidar_ros2/CMakeLists.txt @@ -0,0 +1,63 @@ +cmake_minimum_required(VERSION 3.5) +project(unitree_lidar_ros2) + +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(std_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(pcl_conversions REQUIRED) +find_package(PCL REQUIRED) + +include_directories( + ${PCL_INCLUDE_DIRS} + include + ../../../unitree_lidar_sdk/include +) + +link_directories( + ${PCL_LIBRARY_DIRS} + ../../../unitree_lidar_sdk/lib/${CMAKE_SYSTEM_PROCESSOR} +) + +add_definitions(${PCL_DEFINITIONS}) + +add_executable(unitree_lidar_ros2_node src/unitree_lidar_ros2_node.cpp) + +target_link_libraries( unitree_lidar_ros2_node + ${Boost_SYSTEM_LIBRARY} + ${PCL_LIBRARIES} + libunitree_lidar_sdk.a +) + +ament_target_dependencies( + unitree_lidar_ros2_node + rclcpp std_msgs + sensor_msgs + pcl_conversions +) + +install(TARGETS +unitree_lidar_ros2_node + DESTINATION lib/${PROJECT_NAME} +) + +# install rviz file and launch file +install(FILES rviz/view.rviz launch/launch.py + DESTINATION share/${PROJECT_NAME} +) + +ament_package() diff --git a/src/Robot/unilidar_sdk/unitree_lidar_ros2/src/unitree_lidar_ros2/README.md b/src/Robot/unilidar_sdk/unitree_lidar_ros2/src/unitree_lidar_ros2/README.md new file mode 100644 index 0000000..602b018 --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_ros2/src/unitree_lidar_ros2/README.md @@ -0,0 +1,84 @@ +# Unitree Lidar ROS2 + +## Introduction +This package is a ROS2 package, which is specially used for running Unitree LiDAR products. + + +The functions that this package can provide includes: +- Parse the raw data transmitted from the lidar hardware, and convert it into pointcloud and IMU data +- Publish the pointcloud data to a ROS2 topic +- Publish the IMU data to a ROS2 topic +- In addition, you can configure the relevant parameters of the lidar in the `launch.py`. + +## Dependency +The dependencies include `PCL` and `ROS2`. + +We have verified that this package can successfully run under this environment: +- `Ubuntu 20.04` +- `ROS2 foxy` +- `PCL-1.10` +- `unitree_lidar_sdk` + +You are suggested to configure an environment like this to run this package. + +## Configuration + +Connect your lidar to your computer with a USB cable, then confirm your serial port name for lidar: +``` +$ ls /dev/ttyUSB* +/dev/ttyUSB0 +``` + +The default serial port name is `/dev/ttyUSB0`. +If it is not the default one, you need to modify the configuration in `unitree_lidar_ros2/launch/launch.py` +and change the `port` parameter to yours. For example +``` +{'port': '/dev/ttyUSB0'}, +``` + +You can leave other parameters in the configuration file with their default value. + +If you have special needs such as changing the cloud topic name or IMU topic name, you are allowed to configure them in the `launch.py` file as well. + +The defalut cloud topic and its frame name is: +- topic: "unilidar/cloud" +- frame: "unilidar_lidar" + +The defalut IMU topic and its frame name is: +- topic: "unilidar/imu" +- frame: "unilidar_imu" + +## Build + +You can just build this ROS2 package as follows: +- Download +``` +git clone https://github.com/unitreerobotics/unilidar_sdk.git +``` + +- Compile +``` +cd unilidar_sdk/unitree_lidar_ros2 + +colcon build +``` + +## Run + +Then you need to source this ROS packege environment and then directly run the launch.py file: +``` +source install/setup.bash + +ros2 launch unitree_lidar_ros2 launch.py +``` + +To visualize our cloud in Rviz2, you need to run: +``` +rviz2 -d src/unitree_lidar_ros2/rviz/view.rviz +``` + +In the Rviz window, you will see our lidar pointcloud like this: + +![img](./docs/cloud.png) + +You can change the `Fixed Frame` to the imu frame `unilidar_imu`, so that you can view the IMU quaternion vector. \ No newline at end of file diff --git a/src/Robot/unilidar_sdk/unitree_lidar_ros2/src/unitree_lidar_ros2/docs/cloud.png b/src/Robot/unilidar_sdk/unitree_lidar_ros2/src/unitree_lidar_ros2/docs/cloud.png new file mode 100644 index 0000000..faeb1c0 Binary files /dev/null and b/src/Robot/unilidar_sdk/unitree_lidar_ros2/src/unitree_lidar_ros2/docs/cloud.png differ diff --git a/src/Robot/unilidar_sdk/unitree_lidar_ros2/src/unitree_lidar_ros2/include/unitree_lidar_ros2.h b/src/Robot/unilidar_sdk/unitree_lidar_ros2/src/unitree_lidar_ros2/include/unitree_lidar_ros2.h new file mode 100644 index 0000000..4f05d61 --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_ros2/src/unitree_lidar_ros2/include/unitree_lidar_ros2.h @@ -0,0 +1,173 @@ +/********************************************************************** + Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved. +***********************************************************************/ + +#pragma once + +#define BOOST_BIND_NO_PLACEHOLDERS + +#include +#include "iostream" +#include +#include +#include +#include +#include + +#include +#include +#include + +#include "sensor_msgs/msg/point_cloud2.hpp" +#include "sensor_msgs/msg/imu.hpp" +#include "std_msgs/msg/header.hpp" + +#include "rclcpp/rclcpp.hpp" +#include "rclcpp/time.hpp" + +#include "unitree_lidar_sdk_pcl.h" + +using std::placeholders::_1; + +class UnitreeLidarSDKNode : public rclcpp::Node +{ +public: + + explicit UnitreeLidarSDKNode(const rclcpp::NodeOptions &options = rclcpp::NodeOptions()); + + ~UnitreeLidarSDKNode(){}; + + void timer_callback(); + +protected: + + // ROS + rclcpp::Publisher::SharedPtr pub_cloud_; + rclcpp::Publisher::SharedPtr pub_imu_; + rclcpp::TimerBase::SharedPtr timer_; + + // Unitree Lidar Reader + UnitreeLidarReader* lsdk_; + + // Config params + std::string port_; + + double rotate_yaw_bias_; + double range_scale_; + double range_bias_; + double range_max_; + double range_min_; + + std::string cloud_frame_; + std::string cloud_topic_; + int cloud_scan_num_; + + std::string imu_frame_; + std::string imu_topic_; +}; + +/////////////////////////////////////////////////////////////////// + +UnitreeLidarSDKNode::UnitreeLidarSDKNode(const rclcpp::NodeOptions& options) + : Node("unitre_lidar_sdk_node", options) +{ + // load config parameters + declare_parameter("port", "/dev/ttyUSB0"); + + declare_parameter("rotate_yaw_bias", 0); + declare_parameter("range_scale", 0.001); + declare_parameter("range_bias", 0); + declare_parameter("range_max", 50); + declare_parameter("range_min", 0); + + declare_parameter("cloud_frame", "unilidar_lidar"); + declare_parameter("cloud_topic", "unilidar/cloud"); + declare_parameter("cloud_scan_num", 18); + + declare_parameter("imu_frame", "unilidar_imu"); + declare_parameter("imu_topic", "unilidar/imu"); + + + port_ = get_parameter("port").as_string(); + + rotate_yaw_bias_ = get_parameter("rotate_yaw_bias").as_double(); + range_scale_ = get_parameter("range_scale").as_double(); + range_bias_ = get_parameter("range_bias").as_double(); + range_max_ = get_parameter("range_max").as_double(); + range_min_ = get_parameter("range_min").as_double(); + + cloud_frame_ = get_parameter("cloud_frame").as_string(); + cloud_topic_ = get_parameter("cloud_topic").as_string(); + cloud_scan_num_ = get_parameter("cloud_scan_num").as_int(); + + imu_frame_ = get_parameter("imu_frame").as_string(); + imu_topic_ = get_parameter("imu_topic").as_string(); + + // std::cout << "port_ = " << port_ + // << ", cloud_topic_ = " << cloud_topic_ + // << ", cloud_scan_num_ = " << cloud_scan_num_ + // << std::endl; + + // Initialize UnitreeLidarReader + lsdk_ = createUnitreeLidarReader(); + lsdk_->initialize(cloud_scan_num_, port_, 2000000, rotate_yaw_bias_, + range_scale_, range_bias_, range_max_, range_min_); + + // ROS2 + pub_cloud_ = this->create_publisher(cloud_topic_, 10); + pub_imu_ = this->create_publisher(imu_topic_, 10); + timer_ = this->create_wall_timer(std::chrono::milliseconds(1), std::bind(&UnitreeLidarSDKNode::timer_callback, this)); +} + +void UnitreeLidarSDKNode::timer_callback() +{ + MessageType result = lsdk_->runParse(); + static pcl::PointCloud::Ptr cloudOut(new pcl::PointCloud()); + + // RCLCPP_INFO(this->get_logger(), "result = %d", result); + + if (result == IMU) + { + auto &imu = lsdk_->getIMU(); + + rclcpp::Time timestamp( + static_cast(imu.stamp), + static_cast((imu.stamp - static_cast(imu.stamp) ) * 1e9)); + + sensor_msgs::msg::Imu imuMsg; + imuMsg.header.frame_id = imu_frame_; + imuMsg.header.stamp = timestamp; + + imuMsg.orientation.x = imu.quaternion[0]; + imuMsg.orientation.y = imu.quaternion[1]; + imuMsg.orientation.z = imu.quaternion[2]; + imuMsg.orientation.w = imu.quaternion[3]; + + imuMsg.angular_velocity.x = imu.angular_velocity[0]; + imuMsg.angular_velocity.y = imu.angular_velocity[1]; + imuMsg.angular_velocity.z = imu.angular_velocity[2]; + + imuMsg.linear_acceleration.x = imu.linear_acceleration[0]; + imuMsg.linear_acceleration.y = imu.linear_acceleration[1]; + imuMsg.linear_acceleration.z = imu.linear_acceleration[2]; + + pub_imu_->publish(imuMsg); + } + else if (result == POINTCLOUD) + { + // RCLCPP_INFO(this->get_logger(), "POINTCLOUD"); + auto &cloud = lsdk_->getCloud(); + transformUnitreeCloudToPCL(cloud, cloudOut); + + rclcpp::Time timestamp( + static_cast(cloud.stamp), + static_cast((cloud.stamp - static_cast(cloud.stamp) ) * 1e9)); + + sensor_msgs::msg::PointCloud2 cloud_msg; + pcl::toROSMsg(*cloudOut, cloud_msg); + cloud_msg.header.frame_id = cloud_frame_; + cloud_msg.header.stamp = timestamp; + + pub_cloud_->publish(cloud_msg); + } +} \ No newline at end of file diff --git a/src/Robot/unilidar_sdk/unitree_lidar_ros2/src/unitree_lidar_ros2/launch/__pycache__/launch.cpython-38.pyc b/src/Robot/unilidar_sdk/unitree_lidar_ros2/src/unitree_lidar_ros2/launch/__pycache__/launch.cpython-38.pyc new file mode 100644 index 0000000..1078e14 Binary files /dev/null and b/src/Robot/unilidar_sdk/unitree_lidar_ros2/src/unitree_lidar_ros2/launch/__pycache__/launch.cpython-38.pyc differ diff --git a/src/Robot/unilidar_sdk/unitree_lidar_ros2/src/unitree_lidar_ros2/launch/launch.py b/src/Robot/unilidar_sdk/unitree_lidar_ros2/src/unitree_lidar_ros2/launch/launch.py new file mode 100644 index 0000000..9d64163 --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_ros2/src/unitree_lidar_ros2/launch/launch.py @@ -0,0 +1,41 @@ +import os +import subprocess + +from launch import LaunchDescription +from launch_ros.actions import Node + +def generate_launch_description(): + # Run unitree lidar + node1 = Node( + package='unitree_lidar_ros2', + executable='unitree_lidar_ros2_node', + name='unitree_lidar_ros2_node', + output='screen', + parameters= [ + {'port': '/dev/ttyUSB0'}, + {'rotate_yaw_bias': 0.0}, + {'range_scale': 0.001}, + {'range_bias': 0.0}, + {'range_max': 50.0}, + {'range_min': 0.0}, + {'cloud_frame': "unilidar_lidar"}, + {'cloud_topic': "unilidar/cloud"}, + {'cloud_scan_num': 18}, + {'imu_frame': "unilidar_imu"}, + {'imu_topic': "unilidar/imu"}] + ) + + # # Run Rviz + # package_path = subprocess.check_output(['ros2', 'pkg', 'prefix', 'unitree_lidar_ros2']).decode('utf-8').rstrip() + # rviz_config_file = os.path.join(package_path, 'share', 'unitree_lidar_ros2', 'view.rviz') + # print("rviz_config_file = " + rviz_config_file) + # rviz_node = Node( + # package='rviz2', + # executable='rviz2', + # name='rviz2', + # arguments=['-d', rviz_config_file], + # output='log' + # ) + # return LaunchDescription([node1, rviz_node]) + + return LaunchDescription([node1]) \ No newline at end of file diff --git a/src/Robot/unilidar_sdk/unitree_lidar_ros2/src/unitree_lidar_ros2/package.xml b/src/Robot/unilidar_sdk/unitree_lidar_ros2/src/unitree_lidar_ros2/package.xml new file mode 100644 index 0000000..7520c2e --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_ros2/src/unitree_lidar_ros2/package.xml @@ -0,0 +1,24 @@ + + + + unitree_lidar_ros2 + 0.0.0 + unitree lidar ros2 + jo + GPLv3 + + ament_cmake + + ament_lint_auto + ament_lint_common + + rclcpp + std_msgs + sensor_msgs + pcl_conversions + pcl + + + ament_cmake + + diff --git a/src/Robot/unilidar_sdk/unitree_lidar_ros2/src/unitree_lidar_ros2/rviz/view.rviz b/src/Robot/unilidar_sdk/unitree_lidar_ros2/src/unitree_lidar_ros2/rviz/view.rviz new file mode 100644 index 0000000..571f304 --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_ros2/src/unitree_lidar_ros2/rviz/view.rviz @@ -0,0 +1,168 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /PointCloud21 + - /PointCloud21/Topic1 + Splitter Ratio: 0.5 + Tree Height: 787 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 20 + Reference Frame: + Value: true + - Class: rviz_default_plugins/Axes + Enabled: true + Length: 1 + Name: Axes + Radius: 0.10000000149011612 + Reference Frame: + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 3.1814634799957275 + Min Value: -1.352985577796062e-06 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 239; 41; 41 + Color Transformer: AxisColor + Decay Time: 1 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /unilidar/cloud + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: unilidar_lidar + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 11.65039348602295 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.5697963237762451 + Target Frame: map + Value: Orbit (rviz_default_plugins) + Yaw: 3.1399855613708496 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd0000000400000000000001560000039efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000039e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000005e20000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1854 + X: 1986 + Y: 27 diff --git a/src/Robot/unilidar_sdk/unitree_lidar_ros2/src/unitree_lidar_ros2/src/unitree_lidar_ros2_node.cpp b/src/Robot/unilidar_sdk/unitree_lidar_ros2/src/unitree_lidar_ros2/src/unitree_lidar_ros2_node.cpp new file mode 100644 index 0000000..cb5ab6c --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_ros2/src/unitree_lidar_ros2/src/unitree_lidar_ros2_node.cpp @@ -0,0 +1,14 @@ +/********************************************************************** + Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved. +***********************************************************************/ + +#include "unitree_lidar_ros2.h" + +int main(int argc, char *argv[]) +{ + const rclcpp::NodeOptions options; + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} \ No newline at end of file diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/CMakeLists.txt b/src/Robot/unilidar_sdk/unitree_lidar_sdk/CMakeLists.txt new file mode 100644 index 0000000..8f6158d --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_sdk/CMakeLists.txt @@ -0,0 +1,34 @@ +cmake_minimum_required(VERSION 3.0) +project(unitree_lidar_sdk) + +set(CMAKE_BUILD_TYPE "Release") +set(CMAKE_CXX_FLAGS "-std=c++14") +set(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -O0 -Wall -g2 -ggdb") +set(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -O3 -Wall -DNDEBUG") + +include_directories(include) + +link_directories(lib/${CMAKE_SYSTEM_PROCESSOR}) + +SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) +set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib/${CMAKE_SYSTEM_PROCESSOR}) + +add_executable(example_lidar + examples/example_lidar.cpp +) +target_link_libraries(example_lidar libunitree_lidar_sdk.a ) + +add_executable(example_lidar_udp + examples/example_lidar_udp.cpp +) +target_link_libraries(example_lidar_udp libunitree_lidar_sdk.a ) + +add_executable(unilidar_publisher_udp + examples/unilidar_publisher_udp.cpp +) +target_link_libraries(unilidar_publisher_udp libunitree_lidar_sdk.a ) + +add_executable(unilidar_subscriber_udp + examples/unilidar_subscriber_udp.cpp +) +target_link_libraries(unilidar_subscriber_udp libunitree_lidar_sdk.a ) \ No newline at end of file diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/HowToParsePointCloudAndIMUDataFromMavLinkMessages.md b/src/Robot/unilidar_sdk/unitree_lidar_sdk/HowToParsePointCloudAndIMUDataFromMavLinkMessages.md new file mode 100644 index 0000000..f3dcd83 --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_sdk/HowToParsePointCloudAndIMUDataFromMavLinkMessages.md @@ -0,0 +1,174 @@ +# How To Parse Cloud and IMU data from MavLink messages + +## MavLink Usage + +If you need to directly parse data from the serial port to obtain point cloud and IMU data, you need to parse the serial data byte-by-byte according to the MavLink protocol to obtain a complete message frame. + +For specific guidance, you can refer to the official examples provided by MavLink. +- https://mavlink.io/en/getting_started/ + +## Parsing IMU Data +The format of the IMU MavLink data structure is defined in the following file: +- `mavlink/SysMavlink/mavlink_msg_ret_imu_attitude_data_packet.h` + +The IMU data structure is defined as: +```c +typedef struct __mavlink_ret_imu_attitude_data_packet_t { + float quaternion[4]; /*< Quaternion Array.*/ + float angular_velocity[3]; /*< Three-axis angular velocity values.*/ + float linear_acceleration[3]; /*< Three-axis acceleration values.*/ + uint16_t packet_id; /*< Data packet ID.*/ +} mavlink_ret_imu_attitude_data_packet_t; +``` + +Where: +- `quaternion[4]` represents the quaternion of the IMU. +- `angular_velocity[3]` represents the angular velocity of the IMU along the xyz axes. +- `linear_acceleration[3]` represents the linear acceleration of the IMU along the xyz axes. +- `packet_id` is the ID of this frame of the message, which can be used to determine the continuity of message transmission. + + +## Parsing Cloud Data + +The message format definition related to point cloud parsing includes two files: +- `mavlink_msg_ret_lidar_auxiliary_data_packet.h` +- `mavlink_msg_ret_lidar_distance_data_packet.h` + +Among them, +- the former contains information about the reflectance of a laser beam, +- while the latter contains information about the range and angle of a laser beam. +- They are matched with each other based on whether their `packet_id` is equal. + +The data structure of auxiliary data is defined as: +```cpp +typedef struct __mavlink_ret_lidar_auxiliary_data_packet_t { + uint32_t lidar_sync_delay_time; /*< Delay time of upper computer communication(us).*/ + uint32_t time_stamp_s_step; /*< LiDAR operational timestamp in seconds.*/ + uint32_t time_stamp_us_step; /*< LiDAR operational timestamp in microsecond .*/ + uint32_t sys_rotation_period; /*< LiDAR low-speed motor rotation period in microsecond .*/ + uint32_t com_rotation_period; /*< LiDAR high-speed motor rotation period in microsecond .*/ + float com_horizontal_angle_start; /*< The first data in the current data packet is the horizontal angle,Distance data applicable to RET_LIDAR_DISTANCE_DATA_PACKET data packet and reflectivity data of RET_LIDAR_AUXILIARY_DATA_PACKET data packet.*/ + float com_horizontal_angle_step; /*< Angle interval between two adjacent data in the horizontal direction.*/ + float sys_vertical_angle_start; /*< The vertical angle of the first data in the current data packet.*/ + float sys_vertical_angle_span; /*< The angular span between adjacent data in the vertical direction of the current data packet.*/ + float apd_temperature; /*< APD temperature value*/ + float dirty_index; /*< Protective cover dirt detection index*/ + float imu_temperature; /*< IMU temperature value*/ + float up_optical_q; /*< Up optical communication quality.*/ + float down_optical_q; /*< Downlink optical communication quality.*/ + float apd_voltage; /*< APD voltage value.*/ + float imu_angle_x_offset; /*< IMU x-axis installation angle error.*/ + float imu_angle_y_offset; /*< IMU y-axis installation angle error.*/ + float imu_angle_z_offset; /*< IMU z-axis installation angle error.*/ + float b_axis_dist; /*< Laser calibration b distance compensation.*/ + float theta_angle; /*< Laser calibration theta angle compensation.*/ + float ksi_angle; /*< Laser calibration ksi angle compensation.*/ + uint16_t packet_id; /*< Data packet ID.*/ + uint16_t payload_size; /*< Data packet payload size.*/ + uint8_t lidar_work_status; /*< LiDAR operational state indicator.*/ + uint8_t reflect_data[120]; /*< reflectivity data*/ +} mavlink_ret_lidar_auxiliary_data_packet_t; +``` + +The data structure of distance data is defined as: +```cpp +typedef struct __mavlink_ret_lidar_distance_data_packet_t { + uint16_t packet_id; /*< Data packet ID.*/ + uint16_t packet_cnt; /*< Data packet count.*/ + uint16_t payload_size; /*< Data packet payload size.*/ + uint8_t point_data[240]; /*< Data packet distance data.*/ +} mavlink_ret_lidar_distance_data_packet_t; +``` + +Among them, +- The array, `reflect_data[120]`, stores the reflection intensity of 120 points accordingly. +- The array, `point_data[240]`, stores the distance information of 120 points on a laser beam: + - Each point's distance is represented in `uint16_t` format and occupies two bytes. + - For example, `point_data[0]` and `point_data[1]` represent the distance of the first point, where `point_data[0]` holds the lower byte, and `point_data[1]` holds the higher byte. + - If the distance of a point equals 0, that point is invalid and should be jumped. + +Assuming that we have parsed a frame of `mavlink_ret_lidar_auxiliary_data_packet_t` data and a matching frame of `mavlink_ret_lidar_distance_data_packet_t` message, we can obtain the point cloud's XYZ coordinates by parsing these two frames. Here is a C++ function example for reference: + +```c +/** + * @file parse_range_auxiliary_data_to_cloud.h + * @date 2023-07-27 + */ + +#pragma once +#include "mavlink/SysMavlink/mavlink.h" +#include +#include + +/** + * @brief Parse A Range And An Auxiliary Data To A Point Cloud + * + * @param auxiliaryData + * @param rangeData + * @param scanCloud Array elements are x, y, z, intensity respectively + * @return true + * @return false + */ +bool parseRangeAuxiliaryDataToCloud( + const mavlink_ret_lidar_auxiliary_data_packet_t &auxiliaryData, + const mavlink_ret_lidar_distance_data_packet_t &rangeData, + std::vector> &scanCloud + ){ + + // check packet id match + if (auxiliaryData.packet_id != rangeData.packet_id){ + return false; + } + + // parse data + float rotate_yaw_bias = 0; + float range_scale = 0.001; + float z_bias = 0.0445; + int points_num_of_scan = 120; + float bias_laser_beam_ = auxiliaryData.b_axis_dist / 1000; + + float sin_theta = sin(auxiliaryData.theta_angle); + float cos_theta = cos(auxiliaryData.theta_angle); + float sin_ksi = sin(auxiliaryData.ksi_angle); + float cos_ksi = cos(auxiliaryData.ksi_angle); + + float pitch_cur = auxiliaryData.sys_vertical_angle_start * M_PI / 180.0; + float pitch_step = auxiliaryData.sys_vertical_angle_span * M_PI / 180.0; + float yaw_cur = (auxiliaryData.com_horizontal_angle_start + rotate_yaw_bias) * M_PI / 180.0; + float yaw_step = auxiliaryData.com_horizontal_angle_step / points_num_of_scan * M_PI / 180.0; + + uint16_t range; + float range_float; + + std::array point; + for (int i = 0, j = 0; j < points_num_of_scan; + i += 2, j += 1, + pitch_cur += pitch_step, yaw_cur += yaw_step) + { + // Calculate point range in float type + range = (rangeData.point_data[i + 1] << 8); + range = range | rangeData.point_data[i]; + if (range == 0){ + continue; + } + range_float = range_scale * range; + + // Transform this point to XYZ coordinate + float&& sin_alpha = sin(pitch_cur); + float&& cos_alpha = cos(pitch_cur); + float&& sin_beta = sin(yaw_cur); + float&& cos_beta = cos(yaw_cur); + + float&& A = (-cos_theta * sin_ksi + sin_theta * sin_alpha * cos_ksi) * range_float + bias_laser_beam_; + float&& B = cos_alpha * cos_ksi * range_float; + + point[0] = cos_beta * A - sin_beta * B; // x + point[1] = sin_beta * A + cos_beta * B; // y + point[2] = (sin_theta * sin_ksi + cos_theta * sin_alpha * cos_ksi) * range_float + z_bias; // z + point[3] = auxiliaryData.reflect_data[j]; + scanCloud.push_back(point); + } + + return true; +} +``` \ No newline at end of file diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/README.md b/src/Robot/unilidar_sdk/unitree_lidar_sdk/README.md new file mode 100644 index 0000000..52c5041 --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_sdk/README.md @@ -0,0 +1,195 @@ +# Unitree Lidar SDK + +## Introduction +This package is a cmake package, which is specially used for running `Unitree LiDAR L1`. + +The functions that this package can provide includes: +- Parse the raw data transmitted from the lidar hardware, and convert it into pointcloud and IMU data +- Get the pointcloud data +- Get the IMU data + +The output pointcloud defaultly uses a self-defined data type so that this SDK doesn't rely too much on external dependencies. In other case, +- if you are used to use [Point Cloud Library](https://pointclouds.org/), you can use the header `unitree_lidar_sdk_pcl.h` to transform our pointcloud to PCL format; +- if you wish to directly use a [ROS](https://www.ros.org/) package, you are also able to utilize our ROS pacakge for this lidar. + +## Dependency +We have verified that this package can successfully run under this environment: +- `Ubuntu 20.04` + +This SDK hardly depends on any external dependencies. +But if you want to use PCL cloud format, you need to install one. + +## Configure + +Connect your lidar to your computer with a USB cable, then confirm your serial port name for lidar: +``` +$ ls /dev/ttyUSB* +/dev/ttyUSB0 +``` + +The default serial port name is `/dev/ttyUSB0`. +If it is not the default one, you need to modify the configuration parameter in `example_lidar.cpp`. + +## Build + +You can build this program as a cmake project: +``` +cd unitree_lidar_sdk + +mkdir build + +cd build + +cmake .. && make -j2 +``` + +## Run +Directly run the example: +``` +../bin/example_lidar +``` + +The output is like this: +``` +$ ../bin/example_lidar +lidar firmware version = 0.3.2+230511 +lidar sdk version = 1.0.3 + +Dirty Percentage = 5.145833 % +Dirty Percentage = 4.166667 % +Dirty Percentage = 4.166667 % + +Turn on all the LED lights ... +Turn off all the LED lights ... +Set LED mode to: FORWARD_SLOW ... +Set LED mode to: REVERSE_SLOW ... +Set LED mode to: SIXSTAGE_BREATHING ... + +Set Lidar working mode to: NORMAL_MODE ... + +An IMU msg is parsed! + stamp = 1683874160.559222, id = 729 + quaternion (x, y, z, w) = [0.0131, -0.0091, 0.6888, -0.7225] + +An IMU msg is parsed! + stamp = 1683874160.564979, id = 121 + quaternion (x, y, z, w) = [0.0102, -0.0093, 0.7099, -0.7018] + +An IMU msg is parsed! + stamp = 1683874160.568425, id = 122 + quaternion (x, y, z, w) = [0.0118, -0.0096, 0.7099, -0.7018] + +An IMU msg is parsed! + stamp = 1683874160.573472, id = 123 + quaternion (x, y, z, w) = [0.0126, -0.0093, 0.7098, -0.7018] + +An IMU msg is parsed! + stamp = 1683874160.577348, id = 124 + quaternion (x, y, z, w) = [0.0128, -0.0093, 0.7099, -0.7018] + +A Cloud msg is parsed! + stamp = 1683874145.535888, id = 1 + cloud size = 278 + first 10 points (x,y,z,intensity,time,ring) = + (-0.029885, -0.136897, 0.000448, 88.000000, 0.000000, 0) + (-0.035384, -0.171399, 0.005140, 91.000000, 0.000023, 0) + (-0.043000, -0.219542, 0.012437, 127.000000, 0.000046, 0) + (-0.054879, -0.294965, 0.024572, 132.000000, 0.000069, 0) + (-0.055288, -0.301204, 0.033170, 106.000000, 0.000093, 0) + (-0.054542, -0.300348, 0.041173, 101.000000, 0.000116, 0) + (-0.053764, -0.299285, 0.049148, 99.000000, 0.000139, 0) + (-0.056123, -0.318406, 0.060981, 92.000000, 0.000162, 0) + (-0.055230, -0.316827, 0.069422, 91.000000, 0.000185, 0) + (-0.051257, -0.294854, 0.072849, 128.000000, 0.000208, 0) + ... +``` + +Here, we print the first 10 points of the pointcloud message and the quaternion of the IMU message. + +**Notice**: +- In Ubuntu, accessing a serial port device requires the appropriate permissions. If your C++ program does not have sufficient permissions to access the serial port device, you will get a **"Permission denied"** error. +- To solve this error, you can use the following command to add the current user to the dialout group: +``` +sudo usermod -a -G dialout $USER +``` +- After adding the user to the dialout group, you need to log out and log back in for the changes to take effect. + + +## How To Parse Point Cloud From MavLink Messages + +If you want to parse point cloud from MavLink Messages which are acquired from serial directly, you can refer to this document. +- [HowToParsePointCloudAndIMUDataFromMavLinkMessages.md](./doc/HowToParsePointCloudAndIMUDataFromMavLinkMessages.md) + +## Version History + +### v1.0.0 (2023.05.04) +- Support firmware version: 0.3.1 + +### v1.0.1 (2023.05.05) +- Support firmware version: 0.3.1 +- Add support of setting lidar working mode, e.g. `NORMAL_MODE` and `STANDBY_MODE` +- Add support of LED lights + +### v1.0.2 (2023.05.11) +- Support firmware version: 0.3.2 + +### v1.0.3 (2023.05.12) +- Support firmware version: 0.3.2 +- Add support of getting the percentage of removed dirty points + +### v1.0.4 (2023.05.30) +- Support firmware version: 1.0.1 + +### v1.0.5 (2023.06.05) +- Support firmware version: 1.0.1 +- Update default `rotate_yaw_bias` to calibrated value `-38.5` degree. +- Update `README.md` with notice to solve the "Permission denied" error while opening serial port. + +### v1.0.6 (2023.06.19) +- Support firmware version: 1.0.1 +- Modify the `initialize()` function to check whether the specified serial port exist. If the serial port name does not exist, initialization fails and `return -1` rather than throw out an error unexpectedly。 +- Add z bias to lidar basis plane + +### v1.0.7 (2023.06.21) +- Support firmware version: 1.0.1 +- Add coordinate system definition in readme +- Modified readme of `unitree_lidar_ros` and `unitree_lidar_ros2` + +### v1.0.8 (2023.06.28) +- Support firmware version: 1.0.1 +- Solve the dependency problem --- `cannot find -llz4` +- Add mavlink headers for optional use + +### v1.0.9 (2023.06.30) +- Support firmware version: 1.0.1 +- Delete the date postfix of firmware version +- Improve support of setting lidar working mode, which can switch between `NORMAL_MODE` and `STANDBY_MODE` + +### v1.0.10 (2023.07.17) +- Support firmware version: 1.0.1 +- Add a UDP publisher written in C++, which can publish lidar data to a specified IP address and port +- Add a UDP subscriber example written in C++, which is able to subscibe scan and imu data mentioned above +- Add a UDP subscriber example written in Python, which is able to subscibe scan and imu data mentioned above +- Add a compiled install package for Windows user, though which you can acquire lidar data in windows. + +### v1.0.11 (2023.07.27) +- Add a instruction document for how to parse point cloud and imu data from mavlink messages directly. +- The document is `HowToParsePointCloudAndIMUDataFromMavLinkMessages.md` + +### v1.0.12 (2023.09.20) +- Add support of UDP interface, which can parse original bytes from a specified UDP port and send commands to lidar ip and port. +- Update `unitree_lidar_ros` + +### v1.0.13 (2023.10.09) +- Modify the serial port reading method in `unitree_lidar_sdk`. It will block when you call `runParse()` function, waiting for the serial port to have bytes and then reading the data once. +- Support Serial-to-UDP adapter board + +### v1.0.14 (2023.10.30) +- Repair occasional segmentation fault when using serial-to-udp board. + +### v1.0.15 (2024.01.04) +- Modify default lidar and local ip address in `example_lidar_udp.cpp` + +### v1.0.16 (2024.02.18) +- Add a function to close UDP connection +- Set the timeout to 1 second for `initializeUDP()` \ No newline at end of file diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/examples/example_lidar.cpp b/src/Robot/unilidar_sdk/unitree_lidar_sdk/examples/example_lidar.cpp new file mode 100644 index 0000000..a46aa1f --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_sdk/examples/example_lidar.cpp @@ -0,0 +1,140 @@ +/********************************************************************** + Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved. +***********************************************************************/ + +#include "unitree_lidar_sdk.h" + +using namespace unitree_lidar_sdk; + +int main(){ + + // Initialize Lidar Object + UnitreeLidarReader* lreader = createUnitreeLidarReader(); + int cloud_scan_num = 18; + std::string port_name = "/dev/ttyUSB0"; + + if ( lreader->initialize(cloud_scan_num, port_name) ){ + printf("Unilidar initialization failed! Exit here!\n"); + exit(-1); + }else{ + printf("Unilidar initialization succeed!\n"); + } + + // Set Lidar Working Mode + printf("Set Lidar working mode to: STANDBY ... \n"); + lreader->setLidarWorkingMode(STANDBY); + sleep(1); + + printf("Set Lidar working mode to: NORMAL ... \n"); + lreader->setLidarWorkingMode(NORMAL); + sleep(1); + + printf("\n"); + + // Print Lidar Version + while(true){ + if (lreader->runParse() == VERSION){ + printf("lidar firmware version = %s\n", lreader->getVersionOfFirmware().c_str() ); + break; + } + usleep(500); + } + printf("lidar sdk version = %s\n\n", lreader->getVersionOfSDK().c_str()); + sleep(2); + + // Check lidar dirty percentange + int count_percentage = 0; + while(true){ + if( lreader->runParse() == AUXILIARY){ + printf("Dirty Percentage = %f %%\n", lreader->getDirtyPercentage()); + if (++count_percentage > 2){ + break; + } + if (lreader->getDirtyPercentage() > 10){ + printf("The protection cover is too dirty! Please clean it right now! Exit here ...\n"); + exit(0); + } + } + usleep(500); + } + printf("\n"); + sleep(2); + + // Set LED + printf("Turn on all the LED lights ...\n"); + uint8_t led_table[45]; + for (int i=0; i < 45; i++){ + led_table[i] = 0xFF; + } + lreader->setLEDDisplayMode(led_table); + sleep(2); + + printf("Turn off all the LED lights ...\n"); + for (int i=0; i < 45; i++){ + led_table[i] = 0x00; + } + lreader->setLEDDisplayMode(led_table); + sleep(2); + + printf("Set LED mode to: FORWARD_SLOW ...\n"); + lreader->setLEDDisplayMode(FORWARD_SLOW); + sleep(2); + + printf("Set LED mode to: REVERSE_SLOW ...\n"); + lreader->setLEDDisplayMode(REVERSE_SLOW); + sleep(2); + + printf("Set LED mode to: SIXSTAGE_BREATHING ...\n"); + lreader->setLEDDisplayMode(SIXSTAGE_BREATHING); + + printf("\n"); + sleep(2); + + // Parse PointCloud and IMU data + MessageType result; + std::string version; + while (true) + { + result = lreader->runParse(); // You need to call this function at least 1500Hz + + switch (result) + { + case NONE: + break; + + case IMU: + printf("An IMU msg is parsed!\n"); + printf("\tstamp = %f, id = %d\n", lreader->getIMU().stamp, lreader->getIMU().id); + printf("\tquaternion (x, y, z, w) = [%.4f, %.4f, %.4f, %.4f]\n", + lreader->getIMU().quaternion[0], lreader->getIMU().quaternion[1], + lreader->getIMU().quaternion[2], lreader->getIMU().quaternion[3]); + printf("\ttimedelay (us) = %d\n\n", lreader->getTimeDelay()); + break; + + case POINTCLOUD: + printf("A Cloud msg is parsed! \n"); + printf("\tstamp = %f, id = %d\n", lreader->getCloud().stamp, lreader->getCloud().id); + printf("\tcloud size = %ld, ringNum = %d\n", lreader->getCloud().points.size(), lreader->getCloud().ringNum); + printf("\tfirst 10 points (x,y,z,intensity,time,ring) = \n"); + for (int i = 0; i< 10; i++){ // print the first 10 points + printf("\t (%f, %f, %f, %f, %f, %d)\n", + lreader->getCloud().points[i].x, + lreader->getCloud().points[i].y, + lreader->getCloud().points[i].z, + lreader->getCloud().points[i].intensity, + lreader->getCloud().points[i].time, + lreader->getCloud().points[i].ring); + } + printf("\t ...\n"); + printf("\ttimedelay (us) = %d\n\n", lreader->getTimeDelay()); + break; + + default: + break; + } + + // usleep(500); + } + + return 0; +} \ No newline at end of file diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/examples/example_lidar_udp.cpp b/src/Robot/unilidar_sdk/unitree_lidar_sdk/examples/example_lidar_udp.cpp new file mode 100644 index 0000000..5ca796c --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_sdk/examples/example_lidar_udp.cpp @@ -0,0 +1,157 @@ +/********************************************************************** + Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved. +***********************************************************************/ + +#include "unitree_lidar_sdk.h" + +using namespace unitree_lidar_sdk; + +int main(int argc, char *argv[]){ + + // Initialize Lidar Object + UnitreeLidarReader* lreader = createUnitreeLidarReader(); + + std::string lidar_ip = "192.168.1.62"; + std::string local_ip = "192.168.1.2"; + + unsigned short lidar_port = 6101; + unsigned short local_port = 6201; + + if (argc == 3) + { + lidar_port = std::atoi(argv[1]); + local_port = std::atoi(argv[2]); + }else{ + std::cout << "Usage: ./example_lidar_udp " << std::endl; + return 0; + } + + std::cout << "lidar_port = " << lidar_port << std::endl; + + if ( lreader->initializeUDP(18, lidar_port, lidar_ip, local_port, local_ip) ){ + printf("Unilidar initialization failed! Exit here!\n"); + exit(-1); + }else{ + printf("Unilidar initialization succeed!\n"); + } + + // Set Lidar Working Mode + printf("Set Lidar working mode to: STANDBY ... \n"); + lreader->setLidarWorkingMode(STANDBY); + sleep(1); + + printf("Set Lidar working mode to: NORMAL ... \n"); + lreader->setLidarWorkingMode(NORMAL); + sleep(1); + + printf("\n"); + + // Print Lidar Version + while(true){ + MessageType msgType = lreader->runParse(); + printf("msgType = %d\n", (int) msgType); + if (msgType == VERSION){ + printf("lidar firmware version = %s\n", lreader->getVersionOfFirmware().c_str() ); + break; + } + usleep(500); + } + printf("lidar sdk version = %s\n\n", lreader->getVersionOfSDK().c_str()); + sleep(2); + + // Check lidar dirty percentange + int count_percentage = 0; + while(true){ + if( lreader->runParse() == AUXILIARY){ + printf("Dirty Percentage = %f %%\n", lreader->getDirtyPercentage()); + if (++count_percentage > 2){ + break; + } + if (lreader->getDirtyPercentage() > 10){ + printf("The protection cover is too dirty! Please clean it right now! Exit here ...\n"); + exit(0); + } + } + usleep(500); + } + printf("\n"); + sleep(2); + + // Set LED + printf("Turn on all the LED lights ...\n"); + uint8_t led_table[45]; + for (int i=0; i < 45; i++){ + led_table[i] = 0xFF; + } + lreader->setLEDDisplayMode(led_table); + sleep(2); + + printf("Turn off all the LED lights ...\n"); + for (int i=0; i < 45; i++){ + led_table[i] = 0x00; + } + lreader->setLEDDisplayMode(led_table); + sleep(2); + + printf("Set LED mode to: FORWARD_SLOW ...\n"); + lreader->setLEDDisplayMode(FORWARD_SLOW); + sleep(2); + + printf("Set LED mode to: REVERSE_SLOW ...\n"); + lreader->setLEDDisplayMode(REVERSE_SLOW); + sleep(2); + + printf("Set LED mode to: SIXSTAGE_BREATHING ...\n"); + lreader->setLEDDisplayMode(SIXSTAGE_BREATHING); + + printf("\n"); + sleep(2); + + // Parse PointCloud and IMU data + MessageType result; + std::string version; + while (true) + { + result = lreader->runParse(); // You need to call this function at least 1500Hz + + switch (result) + { + case NONE: + break; + + case IMU: + printf("An IMU msg is parsed!\n"); + printf("\tstamp = %f, id = %d\n", lreader->getIMU().stamp, lreader->getIMU().id); + printf("\tquaternion (x, y, z, w) = [%.4f, %.4f, %.4f, %.4f]\n", + lreader->getIMU().quaternion[0], lreader->getIMU().quaternion[1], + lreader->getIMU().quaternion[2], lreader->getIMU().quaternion[3]); + printf("\ttimedelay (us) = %d\n\n", lreader->getTimeDelay()); + break; + + case POINTCLOUD: + printf("A Cloud msg is parsed! \n"); + printf("\tstamp = %f, id = %d\n", lreader->getCloud().stamp, lreader->getCloud().id); + printf("\tcloud size = %ld, ringNum = %d\n", lreader->getCloud().points.size(), lreader->getCloud().ringNum); + printf("\tfirst 10 points (x,y,z,intensity,time,ring) = \n"); + for (int i = 0; i< 10; i++){ // print the first 10 points + printf("\t (%f, %f, %f, %f, %f, %d)\n", + lreader->getCloud().points[i].x, + lreader->getCloud().points[i].y, + lreader->getCloud().points[i].z, + lreader->getCloud().points[i].intensity, + lreader->getCloud().points[i].time, + lreader->getCloud().points[i].ring); + } + printf("\t ...\n"); + printf("\ttimedelay (us) = %d\n\n", lreader->getTimeDelay()); + break; + + default: + break; + } + + // usleep(500); + } + + return 0; +} \ No newline at end of file diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/examples/unilidar_publisher_udp.cpp b/src/Robot/unilidar_sdk/unitree_lidar_sdk/examples/unilidar_publisher_udp.cpp new file mode 100644 index 0000000..aa1d872 --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_sdk/examples/unilidar_publisher_udp.cpp @@ -0,0 +1,151 @@ +/********************************************************************** + Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved. +***********************************************************************/ +#include +#include "unitree_lidar_sdk.h" +#include "udp_handler.h" +using namespace unitree_lidar_sdk; + +int main(int argc, char *argv[]) +{ + // Config from terminal + std::string serial_port; + std::string destination_ip; + unsigned short destination_port; + + if (argc == 2) + { + serial_port = argv[1]; + destination_ip = "127.0.0.1"; + destination_port = 12345; + } + else if (argc == 4) + { + serial_port = argv[1]; + destination_ip = argv[2]; + destination_port = std::atoi(argv[3]); + } + else + { + + std::cout << "usage 1: this_executable " << std::endl; + std::cout << "usage 2: this_executable " << std::endl; + std::cout << " where the default sever_ip = 127.0.0.1, = 12345" << std::endl; + + std::cout << "Input Serial Port: "; + std::cin >> serial_port; + + std::cout << "Input Destination IP: "; + std::cin >> destination_ip; + + std::cout << "Input Destination Port: "; + std::cin >> destination_port; + } + + std::cout << "Unilidar Configuration: " + << "\n\tserial_port = " << serial_port + << "\n\tdestination_ip = " << destination_ip + << "\n\tdestination_port = " << destination_port + << std::endl; + + // Initialize Lidar Object + UnitreeLidarReader *lreader = createUnitreeLidarReader(); + int cloud_scan_num = 1; + if (lreader->initialize(cloud_scan_num, serial_port)) + { + printf("Unilidar initialization failed! Exit here!\n"); + exit(-1); + } + else + { + printf("Unilidar initialization succeed!\n"); + } + + // Set Lidar Working Mode + printf("Set Lidar working mode to: NORMAL ... \n"); + lreader->setLidarWorkingMode(NORMAL); + + // Print Lidar Version + while (true) + { + if (lreader->runParse() == VERSION) + { + printf("lidar firmware version = %s\n", lreader->getVersionOfFirmware().c_str()); + break; + } + usleep(500); + } + printf("lidar sdk version = %s\n", lreader->getVersionOfSDK().c_str()); + + // UDP + UDPHandler client; + client.CreateSocket(); + + // Parse PointCloud and IMU data + MessageType result; + std::string version; + PointCloudUnitree cloudMsg; + ScanUnitree scanMsg; + char buffer[10000]; + uint32_t length = 0; + bool imuMsgSent = false; + bool scanMsgSent = false; + uint32_t imuMsgType = 101; + uint32_t scanMsgType = 102; + + printf("Data type size: \n"); + printf("\tsizeof(PointUnitree) = %ld\n", sizeof(PointUnitree)); + printf("\tsizeof(ScanUnitree) = %ld\n", sizeof(ScanUnitree)); + printf("\tsizeof(IMUUnitree) = %ld\n", sizeof(IMUUnitree)); + + while (true) + { + result = lreader->runParse(); // You need to call this function at least 1500Hz + + switch (result) + { + case NONE: + break; + + case IMU: + length = dataStructToUDPBuffer(lreader->getIMU(), imuMsgType, buffer); + client.Send(buffer, length, (char *)destination_ip.c_str(), destination_port); // 发送数据 + + if (imuMsgSent == false) + { + imuMsgSent = true; + printf("IMU message is sending!\n"); + printf("\tData format: | uint32_t msgType | uint32_t dataSize | IMUUnitree data |\n"); + printf("\tMsgType = %d, SentSize=%d, DataSize = %ld\n", imuMsgType, length, sizeof(IMUUnitree)); + } + + break; + + case POINTCLOUD: + cloudMsg = lreader->getCloud(); + scanMsg.id = cloudMsg.id; + scanMsg.stamp = cloudMsg.stamp; + scanMsg.validPointsNum = cloudMsg.points.size(); + memcpy(scanMsg.points, cloudMsg.points.data(), cloudMsg.points.size() * sizeof(PointUnitree)); + + length = dataStructToUDPBuffer(scanMsg, scanMsgType, buffer); + client.Send(buffer, length, (char *)destination_ip.c_str(), destination_port); // 发送数据 + + if (scanMsgSent == false) + { + scanMsgSent = true; + printf("Scan message is sending!\n"); + printf("\tData format: | uint32_t msgType| uint32_t dataSize | ScanUnitree data |\n"); + printf("\tMsgType = %d, SentSize=%d, DataSize = %ld\n", scanMsgType, length, sizeof(ScanUnitree)); + } + break; + + default: + break; + } + + usleep(500); + } + + return 0; +} diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/examples/unilidar_subcriber_udp.py b/src/Robot/unilidar_sdk/unitree_lidar_sdk/examples/unilidar_subcriber_udp.py new file mode 100644 index 0000000..c26fed0 --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_sdk/examples/unilidar_subcriber_udp.py @@ -0,0 +1,94 @@ +import socket +import struct + +# IP and Port +UDP_IP = "0.0.0.0" +UDP_PORT = 12345 + +# Point Type +class PointUnitree: + def __init__(self, x, y, z, intensity, time, ring): + self.x = x + self.y = y + self.z = z + self.intensity = intensity + self.time = time + self.ring = ring + +# Scan Type +class ScanUnitree: + def __init__(self, stamp, id, validPointsNum, points): + self.stamp = stamp + self.id = id + self.validPointsNum = validPointsNum + self.points = points + +# IMU Type +class IMUUnitree: + def __init__(self, stamp, id, quaternion, angular_velocity, linear_acceleration): + self.stamp = stamp + self.id = id + self.quaternion = quaternion + self.angular_velocity = angular_velocity + self.linear_acceleration = linear_acceleration + +# Create UDP socket +sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) +sock.bind((UDP_IP, UDP_PORT)) + +# Calculate Struct Sizes +imuDataStr = "=dI4f3f3f" +imuDataSize = struct.calcsize(imuDataStr) + +pointDataStr = "=fffffI" +pointSize = struct.calcsize(pointDataStr) + +scanDataStr = "=dII" + 120 * "fffffI" +scanDataSize = struct.calcsize(scanDataStr) + +print("pointSize = " +str(pointSize) + ", scanDataSize = " + str(scanDataSize) + ", imuDataSize = " + str(imuDataSize)) + +while True: + # Recv data + data, addr = sock.recvfrom(10000) + print(f"Received data from {addr[0]}:{addr[1]}") + + msgType = struct.unpack("=I", data[:4])[0] + print("msgType =", msgType) + + if msgType == 101: # IMU Message + length = struct.unpack("=I", data[4:8])[0] + imuData = struct.unpack(imuDataStr, data[8:8+imuDataSize]) + imuMsg = IMUUnitree(imuData[0], imuData[1], imuData[2:6], imuData[6:9], imuData[9:12]) + + print("An IMU msg is parsed!") + print("\tstamp =", imuMsg.stamp, "id =", imuMsg.id) + print("\tquaternion (x, y, z, w) =", imuMsg.quaternion) + print("\tangular velocity =", imuMsg.angular_velocity) + print("\tlinear acceleration =", imuMsg.linear_acceleration) + print("\n") + + elif msgType == 102: # Scan Message + length = struct.unpack("=I", data[4:8])[0] + stamp = struct.unpack("=d", data[8:16])[0] + id = struct.unpack("=I", data[16:20])[0] + validPointsNum = struct.unpack("=I", data[20:24])[0] + scanPoints = [] + pointStartAddr = 24 + for i in range(validPointsNum): + pointData = struct.unpack(pointDataStr, data[pointStartAddr: pointStartAddr+pointSize]) + pointStartAddr = pointStartAddr + pointSize + point = PointUnitree(*pointData) + scanPoints.append(point) + scanMsg = ScanUnitree(stamp, id, validPointsNum, scanPoints) + + print("A Scan msg is parsed!") + print("\tstamp =", scanMsg.stamp, "id =", scanMsg.id) + print("\tScan size =", scanMsg.validPointsNum) + print("\tfirst 10 points (x, y, z, intensity, time, ring) =") + for i in range(min(10, scanMsg.validPointsNum)): + point = scanMsg.points[i] + print("\t", point.x, point.y, point.z, point.intensity, point.time, point.ring) + print("\n") + +sock.close() diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/examples/unilidar_subscriber_udp.cpp b/src/Robot/unilidar_sdk/unitree_lidar_sdk/examples/unilidar_subscriber_udp.cpp new file mode 100644 index 0000000..ce7a358 --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_sdk/examples/unilidar_subscriber_udp.cpp @@ -0,0 +1,103 @@ +/********************************************************************** + Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved. +***********************************************************************/ + +#include "unitree_lidar_sdk.h" + +#include "udp_handler.h" +#include +#include +#include + +using namespace unitree_lidar_sdk; +using namespace std; + +int main(int argc, char *argv[]) +{ + // Config from terminal + unsigned short port; + + if (argc == 1){ + std::cout << "Usage: this_executable " << std::endl; + port = 12345; + sleep(1); + } + else if (argc == 2) + { + port = std::atoi(argv[1]); + } + else + { + std::cout << "Usage: this_executable " << std::endl; + std::cout << "Input UDP Port: "; + std::cin >> port; + } + + std::cout << "Unilidar Configuration: " + << "\n\tport = " << port + << std::endl; + + UDPHandler server(port); + server.CreateSocket(); + server.Bind(); + + char recv_buf[10000]; + sockaddr_in client_addr; + memset(&client_addr, 0, sizeof(client_addr)); + + ScanUnitree scanMsg; + IMUUnitree imuMsg; + uint32_t msgType; + uint32_t length; + while (true) + { + int len = server.Recv(recv_buf, sizeof(recv_buf), &client_addr); + if (len <= 0) + { + cout << "recv error" << endl; + break; + } + cout << "received data from " << inet_ntoa(client_addr.sin_addr) << ":" << ntohs(client_addr.sin_port) << endl; + + memcpy(&msgType, recv_buf, 4); + + cout << "msgType = " << msgType << endl; + + if (msgType == 101) + { + memcpy(&length, recv_buf + 4, 4); + memcpy(&imuMsg, recv_buf + 8, sizeof(IMUUnitree)); + + printf("An IMU msg is parsed!\n"); + printf("\tstamp = %f, id = %d\n", imuMsg.stamp, imuMsg.id); + printf("\tquaternion (x, y, z, w) = [%.4f, %.4f, %.4f, %.4f]\n", + imuMsg.quaternion[0], imuMsg.quaternion[1], + imuMsg.quaternion[2], imuMsg.quaternion[3]); + printf("\n"); + } + else if (msgType == 102) // 4+4+2896 bytes, which stands for [msgType, dataSize, data of ScanUnitree] + { + memcpy(&length, recv_buf + 4, 4); + memcpy(&scanMsg, recv_buf + 8, sizeof(ScanUnitree)); + + printf("A Scan msg is parsed! \n"); + printf("\tstamp = %f, id = %d\n", scanMsg.stamp, scanMsg.id); + printf("\tScan size = %d \n", scanMsg.validPointsNum); + printf("\tfirst 10 points (x,y,z,intensity,time,ring) = \n"); + for (int i = 0; i < 10; i++) + { // print the first 10 points + printf("\t (%f, %f, %f, %f, %f, %d)\n", + scanMsg.points[i].x, + scanMsg.points[i].y, + scanMsg.points[i].z, + scanMsg.points[i].intensity, + scanMsg.points[i].time, + scanMsg.points[i].ring); + } + printf("\n"); + } + } + + server.Close(); + return 0; +} \ No newline at end of file diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/SysMavlink.h b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/SysMavlink.h new file mode 100644 index 0000000..96858cd --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/SysMavlink.h @@ -0,0 +1,204 @@ +/** @file + * @brief MAVLink comm protocol generated from SysMavlink.xml + * @see http://mavlink.org + */ +#pragma once +#ifndef MAVLINK_SYSMAVLINK_H +#define MAVLINK_SYSMAVLINK_H + +#ifndef MAVLINK_H + #error Wrong include order: MAVLINK_SYSMAVLINK.H MUST NOT BE DIRECTLY USED. Include mavlink.h from the same directory instead or set ALL AND EVERY defines from MAVLINK.H manually accordingly, including the #define MAVLINK_H call. +#endif + +#undef MAVLINK_THIS_XML_HASH +#define MAVLINK_THIS_XML_HASH 2384190490983077020 + +#ifdef __cplusplus +extern "C" { +#endif + +// MESSAGE LENGTHS AND CRCS + +#ifndef MAVLINK_MESSAGE_LENGTHS +#define MAVLINK_MESSAGE_LENGTHS {} +#endif + +#ifndef MAVLINK_MESSAGE_CRCS +#define MAVLINK_MESSAGE_CRCS {{11, 106, 1, 1, 0, 0, 0}, {12, 204, 1, 1, 0, 0, 0}, {13, 62, 38, 38, 0, 0, 0}, {14, 84, 1, 1, 0, 0, 0}, {15, 236, 56, 56, 0, 0, 0}, {16, 74, 246, 246, 0, 0, 0}, {17, 99, 209, 209, 0, 0, 0}, {18, 12, 5, 5, 0, 0, 0}, {19, 110, 42, 42, 0, 0, 0}, {121, 228, 1, 1, 0, 0, 0}, {122, 151, 20, 20, 0, 0, 0}, {123, 10, 61, 61, 0, 0, 0}, {124, 68, 44, 44, 0, 0, 0}, {125, 149, 36, 36, 0, 0, 0}, {126, 25, 1, 1, 0, 0, 0}} +#endif + +#include "../protocol.h" + +#define MAVLINK_ENABLED_SYSMAVLINK + +// ENUM DEFINITIONS + + +/** @brief */ +#ifndef HAVE_ENUM_DEVICE_REQUEST_ANSWER_TYPE +#define HAVE_ENUM_DEVICE_REQUEST_ANSWER_TYPE +typedef enum DEVICE_REQUEST_ANSWER_TYPE +{ + PC2COM_OK=1, /* PC return ok to com board | */ + COM2PC_OK=2, /* Com board return ok to PC | */ + COM2SYS_OK=3, /* Com board return ok to sys board | */ + SYS2COM_OK=4, /* Sys board return ok to com board | */ + PC2SYS_OK=5, /* PC return ok to sys board | */ + SYS2PC_OK=6, /* Sys board return ok to PC | */ + DEVICE_REQUEST_ANSWER_TYPE_ENUM_END=7, /* | */ +} DEVICE_REQUEST_ANSWER_TYPE; +#endif + +/** @brief */ +#ifndef HAVE_ENUM_LIDAR_WORKING_MODE +#define HAVE_ENUM_LIDAR_WORKING_MODE +typedef enum LIDAR_WORKING_MODE +{ + NORMAL_MODE=1, /* Configure the LiDAR to operate in normal mode. | */ + STANDBY_MODE=2, /* Configure the LiDAR to enter standby mode. | */ + RAW_MODE=3, /* Configure the LiDAR to operate in raw mode. | */ + LIDAR_WORKING_MODE_ENUM_END=4, /* | */ +} LIDAR_WORKING_MODE; +#endif + +/** @brief */ +#ifndef HAVE_ENUM_LIDAR_WORKING_INTERNAL_MODE +#define HAVE_ENUM_LIDAR_WORKING_INTERNAL_MODE +typedef enum LIDAR_WORKING_INTERNAL_MODE +{ + INTERNAL_NORMAL_MODE=1, /* Configure the LiDAR to operate in normal mode. | */ + INTERNAL_RAW_MODE=2, /* Configure the LiDAR to operate in raw mode. | */ + INTERNAL_STANDBY_MODE=3, /* Configure the LiDAR to enter standby mode. | */ + INTERNAL_COM_MOTOR_STOP_MODE=4, /* Configure the LiDAR to enter 2D mode. | */ + INTERNAL_APD_DEBUG_MODE=5, /* Configure the LiDAR to enter APD test mode. | */ + INTERNAL_STRENGTH_DEBUG_MODE=6, /* Configure the LiDAR to strength test mode. | */ + INTERNAL_DISTANCE_DEBUG_MODE=7, /* Configure the LiDAR to distance test mode. | */ + INTERNAL_POINT_DEGUB_MODE=8, /* Configure the LiDAR to point test mode. | */ + INTERNAL_CONTINUE_POINT_DEGUB_MODE=9, /* Configure the LiDAR to continue point test mode. | */ + INTERNAL_LASER_TEST_MODE=10, /* Configure the LiDAR to laser 100KHZ test mode. | */ + INTERNAL_IMU_QUATERNION_MODE=11, /* Configure the LiDAR to IMU quaternion dispay mode. | */ + INTERNAL_IMU_ACC_GYRO_MODE=12, /* Configure the LiDAR to IMU riginion data test mode. | */ + LIDAR_WORKING_INTERNAL_MODE_ENUM_END=13, /* | */ +} LIDAR_WORKING_INTERNAL_MODE; +#endif + +/** @brief */ +#ifndef HAVE_ENUM_LIDAR_WORKING_STATUS +#define HAVE_ENUM_LIDAR_WORKING_STATUS +typedef enum LIDAR_WORKING_STATUS +{ + WORK_MODE_STA=1, /* Status of lidar work mode 0:Nomal mode 1:Raw mode | */ + LED_RING_LOST_RATE_STA=2, /* Status of led ring data lost status 0: lost rate ok 1:lost rate error | */ + POINT_LOST_RATE_STA=4, /* Status of point cloud lost rate 0: lost rate ok 1:lost rate error | */ + LED_RING_COMMAND_STA=8, /* Status of lidar command mode 0:LED command mode 1:other function work mode | */ + IMU_WORK_STA=16, /* Status of IMU 0: IMU work ok 1: IMU work error | */ + SYS_ENCODER_STA=32, /* Status of SYS encoder 0:encoder ok 1:encoder error | */ + COM_ENCODER_STA=64, /* Status of COM encoder 0:encoder ok 1:encoder error | */ + LIDAR_DATA_AVAILABLE=128, /* Status of lidar data available 0:Available 1:Not Available | */ + LIDAR_WORKING_STATUS_ENUM_END=129, /* | */ +} LIDAR_WORKING_STATUS; +#endif + +/** @brief */ +#ifndef HAVE_ENUM_DEVICE_REQUEST_INTERNAL_DATA_TYPE +#define HAVE_ENUM_DEVICE_REQUEST_INTERNAL_DATA_TYPE +typedef enum DEVICE_REQUEST_INTERNAL_DATA_TYPE +{ + INTERNAL_DATA_REQUEST_CLOCK_SYNC=1, /* Request for device state | */ + INTERNAL_CMD_LIDAR_VERSION=2, /* Request get firmware version | */ + INTERNAL_DATA_REQUEST_COM_FLASH_PARAMETER=3, /* Request for com flash paramteter | */ + INTERNAL_DATA_REQUEST_SYS_FLASH_PARAMETER=4, /* Request for sys flash paramteter | */ + DEVICE_REQUEST_INTERNAL_DATA_TYPE_ENUM_END=5, /* | */ +} DEVICE_REQUEST_INTERNAL_DATA_TYPE; +#endif + +/** @brief */ +#ifndef HAVE_ENUM_DEVICE_REQUEST_DATA_TYPE +#define HAVE_ENUM_DEVICE_REQUEST_DATA_TYPE +typedef enum DEVICE_REQUEST_DATA_TYPE +{ + DATA_REQUEST_CLOCK_SYNC=1, /* Request for device state | */ + CMD_LIDAR_VERSION=2, /* Request get firmware version | */ + DEVICE_REQUEST_DATA_TYPE_ENUM_END=3, /* | */ +} DEVICE_REQUEST_DATA_TYPE; +#endif + +/** @brief */ +#ifndef HAVE_ENUM_DEVICE_COMMAND_TYPE +#define HAVE_ENUM_DEVICE_COMMAND_TYPE +typedef enum DEVICE_COMMAND_TYPE +{ + CMD_LIDAR_SAVE_FLASH=1, /* Save lidar configuration to Flash memory | */ + CMD_LIDAR_REBOOT=2, /* Reboot lidar | */ + DEVICE_COMMAND_TYPE_ENUM_END=3, /* | */ +} DEVICE_COMMAND_TYPE; +#endif + +/** @brief */ +#ifndef HAVE_ENUM_SYNC_TIME_TYPE +#define HAVE_ENUM_SYNC_TIME_TYPE +typedef enum SYNC_TIME_TYPE +{ + CMD_SYNC_TIME_REQUEST=1, /* Lidar sync time request start | */ + CMD_SYNC_TIME_RESPONSE=2, /* Lidar sync time request response | */ + SYNC_TIME_TYPE_ENUM_END=3, /* | */ +} SYNC_TIME_TYPE; +#endif + +/** @brief */ +#ifndef HAVE_ENUM_LED_DISPLAY_MODE_SELECT +#define HAVE_ENUM_LED_DISPLAY_MODE_SELECT +typedef enum LED_DISPLAY_MODE_SELECT +{ + LED_RING_COMMAND_MODE=1, /* Command display mode. | */ + LED_RING_FUN_FORWARD_SLOW_MODE=2, /* Function mode forward at slow. | */ + LED_RING_FUN_FORWARD_FAST_MODE=3, /* Function mode forward at fast. | */ + LED_RING_FUN_REVERSE_SLOW_MODE=4, /* Function mode reverse at slow. | */ + LED_RING_FUN_REVERSE_FAST_MODE=5, /* Function mode reverse at fast. | */ + LED_RING_FUN_TRIPLE_FLIP_MODE=6, /* Function mode triple flip. | */ + LED_RING_FUN_TRIPLE_BREATHING_MODE=7, /* Function mode triple breathing. | */ + LED_RING_FUN_SIXSTAGE_BREATHING_MODE=8, /* Function mode six-stage breathing. | */ + LED_DISPLAY_MODE_SELECT_ENUM_END=9, /* | */ +} LED_DISPLAY_MODE_SELECT; +#endif + +// MAVLINK VERSION + +#ifndef MAVLINK_VERSION +#define MAVLINK_VERSION 34 +#endif + +#if (MAVLINK_VERSION == 0) +#undef MAVLINK_VERSION +#define MAVLINK_VERSION 34 +#endif + +// MESSAGE DEFINITIONS +#include "./mavlink_msg_device_request_data.h" +#include "./mavlink_msg_device_command.h" +#include "./mavlink_msg_ret_lidar_version.h" +#include "./mavlink_msg_config_lidar_working_mode.h" +#include "./mavlink_msg_config_led_ring_table_packet.h" +#include "./mavlink_msg_ret_lidar_distance_data_packet.h" +#include "./mavlink_msg_ret_lidar_auxiliary_data_packet.h" +#include "./mavlink_msg_ret_lidar_time_sync_data.h" +#include "./mavlink_msg_ret_imu_attitude_data_packet.h" + +// base include + + +#undef MAVLINK_THIS_XML_HASH +#define MAVLINK_THIS_XML_HASH 2384190490983077020 + +#if MAVLINK_THIS_XML_HASH == MAVLINK_PRIMARY_XML_HASH +# define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_DEVICE_REQUEST_DATA, MAVLINK_MESSAGE_INFO_DEVICE_COMMAND, MAVLINK_MESSAGE_INFO_RET_LIDAR_VERSION, MAVLINK_MESSAGE_INFO_CONFIG_LIDAR_WORKING_MODE, MAVLINK_MESSAGE_INFO_CONFIG_LED_RING_TABLE_PACKET, MAVLINK_MESSAGE_INFO_RET_LIDAR_DISTANCE_DATA_PACKET, MAVLINK_MESSAGE_INFO_RET_LIDAR_AUXILIARY_DATA_PACKET, MAVLINK_MESSAGE_INFO_RET_LIDAR_TIME_SYNC_DATA, MAVLINK_MESSAGE_INFO_RET_IMU_ATTITUDE_DATA_PACKET, MAVLINK_MESSAGE_INFO_DEVICE_REQUEST_ANSWER, MAVLINK_MESSAGE_INFO_DEVICE_DEBUG_MODE_PARAMS, MAVLINK_MESSAGE_INFO_SET_COM_NECESSARY_MEASURE_PARAMETER, MAVLINK_MESSAGE_INFO_SET_SYS_NECESSARY_MEASURE_PARAMETER, MAVLINK_MESSAGE_INFO_RET_TDC_POINT_DEBUG_PACKET, MAVLINK_MESSAGE_INFO_DEVICE_REQUEST_INTERNAL_DATA} +# define MAVLINK_MESSAGE_NAMES {{ "CONFIG_LED_RING_TABLE_PACKET", 15 }, { "CONFIG_LIDAR_WORKING_MODE", 14 }, { "DEVICE_COMMAND", 12 }, { "DEVICE_DEBUG_MODE_PARAMS", 122 }, { "DEVICE_REQUEST_ANSWER", 121 }, { "DEVICE_REQUEST_DATA", 11 }, { "DEVICE_REQUEST_INTERNAL_DATA", 126 }, { "RET_IMU_ATTITUDE_DATA_PACKET", 19 }, { "RET_LIDAR_AUXILIARY_DATA_PACKET", 17 }, { "RET_LIDAR_DISTANCE_DATA_PACKET", 16 }, { "RET_LIDAR_TIME_SYNC_DATA", 18 }, { "RET_LIDAR_VERSION", 13 }, { "RET_TDC_POINT_DEBUG_PACKET", 125 }, { "SET_COM_NECESSARY_MEASURE_PARAMETER", 123 }, { "SET_SYS_NECESSARY_MEASURE_PARAMETER", 124 }} +# if MAVLINK_COMMAND_24BIT +# include "../mavlink_get_info.h" +# endif +#endif + +#ifdef __cplusplus +} +#endif // __cplusplus +#endif // MAVLINK_SYSMAVLINK_H diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink.h b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink.h new file mode 100644 index 0000000..5f93538 --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink.h @@ -0,0 +1,34 @@ +/** @file + * @brief MAVLink comm protocol built from SysMavlink.xml + * @see http://mavlink.org + */ +#pragma once +#ifndef MAVLINK_H +#define MAVLINK_H + +#define MAVLINK_PRIMARY_XML_HASH 2384190490983077020 + +#ifndef MAVLINK_STX +#define MAVLINK_STX 253 +#endif + +#ifndef MAVLINK_ENDIAN +#define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN +#endif + +#ifndef MAVLINK_ALIGNED_FIELDS +#define MAVLINK_ALIGNED_FIELDS 1 +#endif + +#ifndef MAVLINK_CRC_EXTRA +#define MAVLINK_CRC_EXTRA 1 +#endif + +#ifndef MAVLINK_COMMAND_24BIT +#define MAVLINK_COMMAND_24BIT 1 +#endif + +#include "version.h" +#include "SysMavlink.h" + +#endif // MAVLINK_H diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_config_led_ring_table_packet.h b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_config_led_ring_table_packet.h new file mode 100644 index 0000000..00f97e7 --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_config_led_ring_table_packet.h @@ -0,0 +1,305 @@ +#pragma once +// MESSAGE CONFIG_LED_RING_TABLE_PACKET PACKING + +#define MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET 15 + + +typedef struct __mavlink_config_led_ring_table_packet_t { + uint32_t led_rotation_period; /*< Rotation period.*/ + uint32_t led_zero_point_offset; /*< Zero offset unit in milliseconds.*/ + uint16_t packet_id; /*< Data packet ID.*/ + uint8_t led_display_mode; /*< LED display mode selection.*/ + uint8_t led_table[45]; /*< LED display field data packet, 45 bytes represent the status of 360 LEDs bit by bit.*/ +} mavlink_config_led_ring_table_packet_t; + +#define MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_LEN 56 +#define MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_MIN_LEN 56 +#define MAVLINK_MSG_ID_15_LEN 56 +#define MAVLINK_MSG_ID_15_MIN_LEN 56 + +#define MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_CRC 236 +#define MAVLINK_MSG_ID_15_CRC 236 + +#define MAVLINK_MSG_CONFIG_LED_RING_TABLE_PACKET_FIELD_LED_TABLE_LEN 45 + +#if MAVLINK_COMMAND_24BIT +#define MAVLINK_MESSAGE_INFO_CONFIG_LED_RING_TABLE_PACKET { \ + 15, \ + "CONFIG_LED_RING_TABLE_PACKET", \ + 5, \ + { { "packet_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_config_led_ring_table_packet_t, packet_id) }, \ + { "led_rotation_period", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_config_led_ring_table_packet_t, led_rotation_period) }, \ + { "led_zero_point_offset", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_config_led_ring_table_packet_t, led_zero_point_offset) }, \ + { "led_display_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_config_led_ring_table_packet_t, led_display_mode) }, \ + { "led_table", NULL, MAVLINK_TYPE_UINT8_T, 45, 11, offsetof(mavlink_config_led_ring_table_packet_t, led_table) }, \ + } \ +} +#else +#define MAVLINK_MESSAGE_INFO_CONFIG_LED_RING_TABLE_PACKET { \ + "CONFIG_LED_RING_TABLE_PACKET", \ + 5, \ + { { "packet_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_config_led_ring_table_packet_t, packet_id) }, \ + { "led_rotation_period", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_config_led_ring_table_packet_t, led_rotation_period) }, \ + { "led_zero_point_offset", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_config_led_ring_table_packet_t, led_zero_point_offset) }, \ + { "led_display_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_config_led_ring_table_packet_t, led_display_mode) }, \ + { "led_table", NULL, MAVLINK_TYPE_UINT8_T, 45, 11, offsetof(mavlink_config_led_ring_table_packet_t, led_table) }, \ + } \ +} +#endif + +/** + * @brief Pack a config_led_ring_table_packet message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param packet_id Data packet ID. + * @param led_rotation_period Rotation period. + * @param led_zero_point_offset Zero offset unit in milliseconds. + * @param led_display_mode LED display mode selection. + * @param led_table LED display field data packet, 45 bytes represent the status of 360 LEDs bit by bit. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_config_led_ring_table_packet_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t packet_id, uint32_t led_rotation_period, uint32_t led_zero_point_offset, uint8_t led_display_mode, const uint8_t *led_table) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_LEN]; + _mav_put_uint32_t(buf, 0, led_rotation_period); + _mav_put_uint32_t(buf, 4, led_zero_point_offset); + _mav_put_uint16_t(buf, 8, packet_id); + _mav_put_uint8_t(buf, 10, led_display_mode); + _mav_put_uint8_t_array(buf, 11, led_table, 45); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_LEN); +#else + mavlink_config_led_ring_table_packet_t packet; + packet.led_rotation_period = led_rotation_period; + packet.led_zero_point_offset = led_zero_point_offset; + packet.packet_id = packet_id; + packet.led_display_mode = led_display_mode; + mav_array_memcpy(packet.led_table, led_table, sizeof(uint8_t)*45); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET; + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_MIN_LEN, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_LEN, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_CRC); +} + +/** + * @brief Pack a config_led_ring_table_packet message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param packet_id Data packet ID. + * @param led_rotation_period Rotation period. + * @param led_zero_point_offset Zero offset unit in milliseconds. + * @param led_display_mode LED display mode selection. + * @param led_table LED display field data packet, 45 bytes represent the status of 360 LEDs bit by bit. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_config_led_ring_table_packet_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t packet_id,uint32_t led_rotation_period,uint32_t led_zero_point_offset,uint8_t led_display_mode,const uint8_t *led_table) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_LEN]; + _mav_put_uint32_t(buf, 0, led_rotation_period); + _mav_put_uint32_t(buf, 4, led_zero_point_offset); + _mav_put_uint16_t(buf, 8, packet_id); + _mav_put_uint8_t(buf, 10, led_display_mode); + _mav_put_uint8_t_array(buf, 11, led_table, 45); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_LEN); +#else + mavlink_config_led_ring_table_packet_t packet; + packet.led_rotation_period = led_rotation_period; + packet.led_zero_point_offset = led_zero_point_offset; + packet.packet_id = packet_id; + packet.led_display_mode = led_display_mode; + mav_array_memcpy(packet.led_table, led_table, sizeof(uint8_t)*45); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_MIN_LEN, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_LEN, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_CRC); +} + +/** + * @brief Encode a config_led_ring_table_packet struct + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param config_led_ring_table_packet C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_config_led_ring_table_packet_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_config_led_ring_table_packet_t* config_led_ring_table_packet) +{ + return mavlink_msg_config_led_ring_table_packet_pack(system_id, component_id, msg, config_led_ring_table_packet->packet_id, config_led_ring_table_packet->led_rotation_period, config_led_ring_table_packet->led_zero_point_offset, config_led_ring_table_packet->led_display_mode, config_led_ring_table_packet->led_table); +} + +/** + * @brief Encode a config_led_ring_table_packet struct on a channel + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param config_led_ring_table_packet C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_config_led_ring_table_packet_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_config_led_ring_table_packet_t* config_led_ring_table_packet) +{ + return mavlink_msg_config_led_ring_table_packet_pack_chan(system_id, component_id, chan, msg, config_led_ring_table_packet->packet_id, config_led_ring_table_packet->led_rotation_period, config_led_ring_table_packet->led_zero_point_offset, config_led_ring_table_packet->led_display_mode, config_led_ring_table_packet->led_table); +} + +/** + * @brief Send a config_led_ring_table_packet message + * @param chan MAVLink channel to send the message + * + * @param packet_id Data packet ID. + * @param led_rotation_period Rotation period. + * @param led_zero_point_offset Zero offset unit in milliseconds. + * @param led_display_mode LED display mode selection. + * @param led_table LED display field data packet, 45 bytes represent the status of 360 LEDs bit by bit. + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_config_led_ring_table_packet_send(mavlink_channel_t chan, uint16_t packet_id, uint32_t led_rotation_period, uint32_t led_zero_point_offset, uint8_t led_display_mode, const uint8_t *led_table) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_LEN]; + _mav_put_uint32_t(buf, 0, led_rotation_period); + _mav_put_uint32_t(buf, 4, led_zero_point_offset); + _mav_put_uint16_t(buf, 8, packet_id); + _mav_put_uint8_t(buf, 10, led_display_mode); + _mav_put_uint8_t_array(buf, 11, led_table, 45); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET, buf, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_MIN_LEN, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_LEN, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_CRC); +#else + mavlink_config_led_ring_table_packet_t packet; + packet.led_rotation_period = led_rotation_period; + packet.led_zero_point_offset = led_zero_point_offset; + packet.packet_id = packet_id; + packet.led_display_mode = led_display_mode; + mav_array_memcpy(packet.led_table, led_table, sizeof(uint8_t)*45); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET, (const char *)&packet, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_MIN_LEN, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_LEN, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_CRC); +#endif +} + +/** + * @brief Send a config_led_ring_table_packet message + * @param chan MAVLink channel to send the message + * @param struct The MAVLink struct to serialize + */ +static inline void mavlink_msg_config_led_ring_table_packet_send_struct(mavlink_channel_t chan, const mavlink_config_led_ring_table_packet_t* config_led_ring_table_packet) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + mavlink_msg_config_led_ring_table_packet_send(chan, config_led_ring_table_packet->packet_id, config_led_ring_table_packet->led_rotation_period, config_led_ring_table_packet->led_zero_point_offset, config_led_ring_table_packet->led_display_mode, config_led_ring_table_packet->led_table); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET, (const char *)config_led_ring_table_packet, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_MIN_LEN, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_LEN, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_CRC); +#endif +} + +#if MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This variant of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_config_led_ring_table_packet_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t packet_id, uint32_t led_rotation_period, uint32_t led_zero_point_offset, uint8_t led_display_mode, const uint8_t *led_table) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, led_rotation_period); + _mav_put_uint32_t(buf, 4, led_zero_point_offset); + _mav_put_uint16_t(buf, 8, packet_id); + _mav_put_uint8_t(buf, 10, led_display_mode); + _mav_put_uint8_t_array(buf, 11, led_table, 45); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET, buf, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_MIN_LEN, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_LEN, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_CRC); +#else + mavlink_config_led_ring_table_packet_t *packet = (mavlink_config_led_ring_table_packet_t *)msgbuf; + packet->led_rotation_period = led_rotation_period; + packet->led_zero_point_offset = led_zero_point_offset; + packet->packet_id = packet_id; + packet->led_display_mode = led_display_mode; + mav_array_memcpy(packet->led_table, led_table, sizeof(uint8_t)*45); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET, (const char *)packet, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_MIN_LEN, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_LEN, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_CRC); +#endif +} +#endif + +#endif + +// MESSAGE CONFIG_LED_RING_TABLE_PACKET UNPACKING + + +/** + * @brief Get field packet_id from config_led_ring_table_packet message + * + * @return Data packet ID. + */ +static inline uint16_t mavlink_msg_config_led_ring_table_packet_get_packet_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 8); +} + +/** + * @brief Get field led_rotation_period from config_led_ring_table_packet message + * + * @return Rotation period. + */ +static inline uint32_t mavlink_msg_config_led_ring_table_packet_get_led_rotation_period(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + +/** + * @brief Get field led_zero_point_offset from config_led_ring_table_packet message + * + * @return Zero offset unit in milliseconds. + */ +static inline uint32_t mavlink_msg_config_led_ring_table_packet_get_led_zero_point_offset(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 4); +} + +/** + * @brief Get field led_display_mode from config_led_ring_table_packet message + * + * @return LED display mode selection. + */ +static inline uint8_t mavlink_msg_config_led_ring_table_packet_get_led_display_mode(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 10); +} + +/** + * @brief Get field led_table from config_led_ring_table_packet message + * + * @return LED display field data packet, 45 bytes represent the status of 360 LEDs bit by bit. + */ +static inline uint16_t mavlink_msg_config_led_ring_table_packet_get_led_table(const mavlink_message_t* msg, uint8_t *led_table) +{ + return _MAV_RETURN_uint8_t_array(msg, led_table, 45, 11); +} + +/** + * @brief Decode a config_led_ring_table_packet message into a struct + * + * @param msg The message to decode + * @param config_led_ring_table_packet C-struct to decode the message contents into + */ +static inline void mavlink_msg_config_led_ring_table_packet_decode(const mavlink_message_t* msg, mavlink_config_led_ring_table_packet_t* config_led_ring_table_packet) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + config_led_ring_table_packet->led_rotation_period = mavlink_msg_config_led_ring_table_packet_get_led_rotation_period(msg); + config_led_ring_table_packet->led_zero_point_offset = mavlink_msg_config_led_ring_table_packet_get_led_zero_point_offset(msg); + config_led_ring_table_packet->packet_id = mavlink_msg_config_led_ring_table_packet_get_packet_id(msg); + config_led_ring_table_packet->led_display_mode = mavlink_msg_config_led_ring_table_packet_get_led_display_mode(msg); + mavlink_msg_config_led_ring_table_packet_get_led_table(msg, config_led_ring_table_packet->led_table); +#else + uint8_t len = msg->len < MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_LEN? msg->len : MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_LEN; + memset(config_led_ring_table_packet, 0, MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_LEN); + memcpy(config_led_ring_table_packet, _MAV_PAYLOAD(msg), len); +#endif +} diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_config_lidar_working_mode.h b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_config_lidar_working_mode.h new file mode 100644 index 0000000..382d9c6 --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_config_lidar_working_mode.h @@ -0,0 +1,213 @@ +#pragma once +// MESSAGE CONFIG_LIDAR_WORKING_MODE PACKING + +#define MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE 14 + + +typedef struct __mavlink_config_lidar_working_mode_t { + uint8_t request_type; /*< Types of operating modes for LiDAR.*/ +} mavlink_config_lidar_working_mode_t; + +#define MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_LEN 1 +#define MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_MIN_LEN 1 +#define MAVLINK_MSG_ID_14_LEN 1 +#define MAVLINK_MSG_ID_14_MIN_LEN 1 + +#define MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_CRC 84 +#define MAVLINK_MSG_ID_14_CRC 84 + + + +#if MAVLINK_COMMAND_24BIT +#define MAVLINK_MESSAGE_INFO_CONFIG_LIDAR_WORKING_MODE { \ + 14, \ + "CONFIG_LIDAR_WORKING_MODE", \ + 1, \ + { { "request_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_config_lidar_working_mode_t, request_type) }, \ + } \ +} +#else +#define MAVLINK_MESSAGE_INFO_CONFIG_LIDAR_WORKING_MODE { \ + "CONFIG_LIDAR_WORKING_MODE", \ + 1, \ + { { "request_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_config_lidar_working_mode_t, request_type) }, \ + } \ +} +#endif + +/** + * @brief Pack a config_lidar_working_mode message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param request_type Types of operating modes for LiDAR. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_config_lidar_working_mode_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t request_type) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_LEN]; + _mav_put_uint8_t(buf, 0, request_type); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_LEN); +#else + mavlink_config_lidar_working_mode_t packet; + packet.request_type = request_type; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE; + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_MIN_LEN, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_LEN, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_CRC); +} + +/** + * @brief Pack a config_lidar_working_mode message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param request_type Types of operating modes for LiDAR. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_config_lidar_working_mode_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t request_type) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_LEN]; + _mav_put_uint8_t(buf, 0, request_type); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_LEN); +#else + mavlink_config_lidar_working_mode_t packet; + packet.request_type = request_type; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_MIN_LEN, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_LEN, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_CRC); +} + +/** + * @brief Encode a config_lidar_working_mode struct + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param config_lidar_working_mode C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_config_lidar_working_mode_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_config_lidar_working_mode_t* config_lidar_working_mode) +{ + return mavlink_msg_config_lidar_working_mode_pack(system_id, component_id, msg, config_lidar_working_mode->request_type); +} + +/** + * @brief Encode a config_lidar_working_mode struct on a channel + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param config_lidar_working_mode C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_config_lidar_working_mode_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_config_lidar_working_mode_t* config_lidar_working_mode) +{ + return mavlink_msg_config_lidar_working_mode_pack_chan(system_id, component_id, chan, msg, config_lidar_working_mode->request_type); +} + +/** + * @brief Send a config_lidar_working_mode message + * @param chan MAVLink channel to send the message + * + * @param request_type Types of operating modes for LiDAR. + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_config_lidar_working_mode_send(mavlink_channel_t chan, uint8_t request_type) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_LEN]; + _mav_put_uint8_t(buf, 0, request_type); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE, buf, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_MIN_LEN, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_LEN, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_CRC); +#else + mavlink_config_lidar_working_mode_t packet; + packet.request_type = request_type; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE, (const char *)&packet, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_MIN_LEN, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_LEN, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_CRC); +#endif +} + +/** + * @brief Send a config_lidar_working_mode message + * @param chan MAVLink channel to send the message + * @param struct The MAVLink struct to serialize + */ +static inline void mavlink_msg_config_lidar_working_mode_send_struct(mavlink_channel_t chan, const mavlink_config_lidar_working_mode_t* config_lidar_working_mode) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + mavlink_msg_config_lidar_working_mode_send(chan, config_lidar_working_mode->request_type); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE, (const char *)config_lidar_working_mode, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_MIN_LEN, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_LEN, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_CRC); +#endif +} + +#if MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This variant of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_config_lidar_working_mode_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t request_type) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint8_t(buf, 0, request_type); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE, buf, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_MIN_LEN, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_LEN, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_CRC); +#else + mavlink_config_lidar_working_mode_t *packet = (mavlink_config_lidar_working_mode_t *)msgbuf; + packet->request_type = request_type; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE, (const char *)packet, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_MIN_LEN, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_LEN, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_CRC); +#endif +} +#endif + +#endif + +// MESSAGE CONFIG_LIDAR_WORKING_MODE UNPACKING + + +/** + * @brief Get field request_type from config_lidar_working_mode message + * + * @return Types of operating modes for LiDAR. + */ +static inline uint8_t mavlink_msg_config_lidar_working_mode_get_request_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Decode a config_lidar_working_mode message into a struct + * + * @param msg The message to decode + * @param config_lidar_working_mode C-struct to decode the message contents into + */ +static inline void mavlink_msg_config_lidar_working_mode_decode(const mavlink_message_t* msg, mavlink_config_lidar_working_mode_t* config_lidar_working_mode) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + config_lidar_working_mode->request_type = mavlink_msg_config_lidar_working_mode_get_request_type(msg); +#else + uint8_t len = msg->len < MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_LEN? msg->len : MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_LEN; + memset(config_lidar_working_mode, 0, MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_LEN); + memcpy(config_lidar_working_mode, _MAV_PAYLOAD(msg), len); +#endif +} diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_device_command.h b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_device_command.h new file mode 100644 index 0000000..90d9ace --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_device_command.h @@ -0,0 +1,213 @@ +#pragma once +// MESSAGE DEVICE_COMMAND PACKING + +#define MAVLINK_MSG_ID_DEVICE_COMMAND 12 + + +typedef struct __mavlink_device_command_t { + uint8_t cmd_type; /*< Command*/ +} mavlink_device_command_t; + +#define MAVLINK_MSG_ID_DEVICE_COMMAND_LEN 1 +#define MAVLINK_MSG_ID_DEVICE_COMMAND_MIN_LEN 1 +#define MAVLINK_MSG_ID_12_LEN 1 +#define MAVLINK_MSG_ID_12_MIN_LEN 1 + +#define MAVLINK_MSG_ID_DEVICE_COMMAND_CRC 204 +#define MAVLINK_MSG_ID_12_CRC 204 + + + +#if MAVLINK_COMMAND_24BIT +#define MAVLINK_MESSAGE_INFO_DEVICE_COMMAND { \ + 12, \ + "DEVICE_COMMAND", \ + 1, \ + { { "cmd_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_device_command_t, cmd_type) }, \ + } \ +} +#else +#define MAVLINK_MESSAGE_INFO_DEVICE_COMMAND { \ + "DEVICE_COMMAND", \ + 1, \ + { { "cmd_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_device_command_t, cmd_type) }, \ + } \ +} +#endif + +/** + * @brief Pack a device_command message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param cmd_type Command + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_device_command_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t cmd_type) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_DEVICE_COMMAND_LEN]; + _mav_put_uint8_t(buf, 0, cmd_type); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DEVICE_COMMAND_LEN); +#else + mavlink_device_command_t packet; + packet.cmd_type = cmd_type; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DEVICE_COMMAND_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_DEVICE_COMMAND; + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DEVICE_COMMAND_MIN_LEN, MAVLINK_MSG_ID_DEVICE_COMMAND_LEN, MAVLINK_MSG_ID_DEVICE_COMMAND_CRC); +} + +/** + * @brief Pack a device_command message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param cmd_type Command + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_device_command_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t cmd_type) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_DEVICE_COMMAND_LEN]; + _mav_put_uint8_t(buf, 0, cmd_type); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DEVICE_COMMAND_LEN); +#else + mavlink_device_command_t packet; + packet.cmd_type = cmd_type; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DEVICE_COMMAND_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_DEVICE_COMMAND; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DEVICE_COMMAND_MIN_LEN, MAVLINK_MSG_ID_DEVICE_COMMAND_LEN, MAVLINK_MSG_ID_DEVICE_COMMAND_CRC); +} + +/** + * @brief Encode a device_command struct + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param device_command C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_device_command_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_device_command_t* device_command) +{ + return mavlink_msg_device_command_pack(system_id, component_id, msg, device_command->cmd_type); +} + +/** + * @brief Encode a device_command struct on a channel + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param device_command C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_device_command_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_device_command_t* device_command) +{ + return mavlink_msg_device_command_pack_chan(system_id, component_id, chan, msg, device_command->cmd_type); +} + +/** + * @brief Send a device_command message + * @param chan MAVLink channel to send the message + * + * @param cmd_type Command + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_device_command_send(mavlink_channel_t chan, uint8_t cmd_type) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_DEVICE_COMMAND_LEN]; + _mav_put_uint8_t(buf, 0, cmd_type); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEVICE_COMMAND, buf, MAVLINK_MSG_ID_DEVICE_COMMAND_MIN_LEN, MAVLINK_MSG_ID_DEVICE_COMMAND_LEN, MAVLINK_MSG_ID_DEVICE_COMMAND_CRC); +#else + mavlink_device_command_t packet; + packet.cmd_type = cmd_type; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEVICE_COMMAND, (const char *)&packet, MAVLINK_MSG_ID_DEVICE_COMMAND_MIN_LEN, MAVLINK_MSG_ID_DEVICE_COMMAND_LEN, MAVLINK_MSG_ID_DEVICE_COMMAND_CRC); +#endif +} + +/** + * @brief Send a device_command message + * @param chan MAVLink channel to send the message + * @param struct The MAVLink struct to serialize + */ +static inline void mavlink_msg_device_command_send_struct(mavlink_channel_t chan, const mavlink_device_command_t* device_command) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + mavlink_msg_device_command_send(chan, device_command->cmd_type); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEVICE_COMMAND, (const char *)device_command, MAVLINK_MSG_ID_DEVICE_COMMAND_MIN_LEN, MAVLINK_MSG_ID_DEVICE_COMMAND_LEN, MAVLINK_MSG_ID_DEVICE_COMMAND_CRC); +#endif +} + +#if MAVLINK_MSG_ID_DEVICE_COMMAND_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This variant of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_device_command_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t cmd_type) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint8_t(buf, 0, cmd_type); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEVICE_COMMAND, buf, MAVLINK_MSG_ID_DEVICE_COMMAND_MIN_LEN, MAVLINK_MSG_ID_DEVICE_COMMAND_LEN, MAVLINK_MSG_ID_DEVICE_COMMAND_CRC); +#else + mavlink_device_command_t *packet = (mavlink_device_command_t *)msgbuf; + packet->cmd_type = cmd_type; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEVICE_COMMAND, (const char *)packet, MAVLINK_MSG_ID_DEVICE_COMMAND_MIN_LEN, MAVLINK_MSG_ID_DEVICE_COMMAND_LEN, MAVLINK_MSG_ID_DEVICE_COMMAND_CRC); +#endif +} +#endif + +#endif + +// MESSAGE DEVICE_COMMAND UNPACKING + + +/** + * @brief Get field cmd_type from device_command message + * + * @return Command + */ +static inline uint8_t mavlink_msg_device_command_get_cmd_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Decode a device_command message into a struct + * + * @param msg The message to decode + * @param device_command C-struct to decode the message contents into + */ +static inline void mavlink_msg_device_command_decode(const mavlink_message_t* msg, mavlink_device_command_t* device_command) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + device_command->cmd_type = mavlink_msg_device_command_get_cmd_type(msg); +#else + uint8_t len = msg->len < MAVLINK_MSG_ID_DEVICE_COMMAND_LEN? msg->len : MAVLINK_MSG_ID_DEVICE_COMMAND_LEN; + memset(device_command, 0, MAVLINK_MSG_ID_DEVICE_COMMAND_LEN); + memcpy(device_command, _MAV_PAYLOAD(msg), len); +#endif +} diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_device_request_data.h b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_device_request_data.h new file mode 100644 index 0000000..c2a944c --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_device_request_data.h @@ -0,0 +1,213 @@ +#pragma once +// MESSAGE DEVICE_REQUEST_DATA PACKING + +#define MAVLINK_MSG_ID_DEVICE_REQUEST_DATA 11 + + +typedef struct __mavlink_device_request_data_t { + uint8_t request_type; /*< Type of the needed data*/ +} mavlink_device_request_data_t; + +#define MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_LEN 1 +#define MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_MIN_LEN 1 +#define MAVLINK_MSG_ID_11_LEN 1 +#define MAVLINK_MSG_ID_11_MIN_LEN 1 + +#define MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_CRC 106 +#define MAVLINK_MSG_ID_11_CRC 106 + + + +#if MAVLINK_COMMAND_24BIT +#define MAVLINK_MESSAGE_INFO_DEVICE_REQUEST_DATA { \ + 11, \ + "DEVICE_REQUEST_DATA", \ + 1, \ + { { "request_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_device_request_data_t, request_type) }, \ + } \ +} +#else +#define MAVLINK_MESSAGE_INFO_DEVICE_REQUEST_DATA { \ + "DEVICE_REQUEST_DATA", \ + 1, \ + { { "request_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_device_request_data_t, request_type) }, \ + } \ +} +#endif + +/** + * @brief Pack a device_request_data message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param request_type Type of the needed data + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_device_request_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t request_type) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_LEN]; + _mav_put_uint8_t(buf, 0, request_type); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_LEN); +#else + mavlink_device_request_data_t packet; + packet.request_type = request_type; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_DEVICE_REQUEST_DATA; + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_MIN_LEN, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_LEN, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_CRC); +} + +/** + * @brief Pack a device_request_data message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param request_type Type of the needed data + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_device_request_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t request_type) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_LEN]; + _mav_put_uint8_t(buf, 0, request_type); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_LEN); +#else + mavlink_device_request_data_t packet; + packet.request_type = request_type; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_DEVICE_REQUEST_DATA; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_MIN_LEN, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_LEN, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_CRC); +} + +/** + * @brief Encode a device_request_data struct + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param device_request_data C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_device_request_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_device_request_data_t* device_request_data) +{ + return mavlink_msg_device_request_data_pack(system_id, component_id, msg, device_request_data->request_type); +} + +/** + * @brief Encode a device_request_data struct on a channel + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param device_request_data C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_device_request_data_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_device_request_data_t* device_request_data) +{ + return mavlink_msg_device_request_data_pack_chan(system_id, component_id, chan, msg, device_request_data->request_type); +} + +/** + * @brief Send a device_request_data message + * @param chan MAVLink channel to send the message + * + * @param request_type Type of the needed data + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_device_request_data_send(mavlink_channel_t chan, uint8_t request_type) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_LEN]; + _mav_put_uint8_t(buf, 0, request_type); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA, buf, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_MIN_LEN, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_LEN, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_CRC); +#else + mavlink_device_request_data_t packet; + packet.request_type = request_type; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA, (const char *)&packet, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_MIN_LEN, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_LEN, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_CRC); +#endif +} + +/** + * @brief Send a device_request_data message + * @param chan MAVLink channel to send the message + * @param struct The MAVLink struct to serialize + */ +static inline void mavlink_msg_device_request_data_send_struct(mavlink_channel_t chan, const mavlink_device_request_data_t* device_request_data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + mavlink_msg_device_request_data_send(chan, device_request_data->request_type); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA, (const char *)device_request_data, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_MIN_LEN, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_LEN, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_CRC); +#endif +} + +#if MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This variant of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_device_request_data_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t request_type) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint8_t(buf, 0, request_type); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA, buf, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_MIN_LEN, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_LEN, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_CRC); +#else + mavlink_device_request_data_t *packet = (mavlink_device_request_data_t *)msgbuf; + packet->request_type = request_type; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA, (const char *)packet, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_MIN_LEN, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_LEN, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_CRC); +#endif +} +#endif + +#endif + +// MESSAGE DEVICE_REQUEST_DATA UNPACKING + + +/** + * @brief Get field request_type from device_request_data message + * + * @return Type of the needed data + */ +static inline uint8_t mavlink_msg_device_request_data_get_request_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 0); +} + +/** + * @brief Decode a device_request_data message into a struct + * + * @param msg The message to decode + * @param device_request_data C-struct to decode the message contents into + */ +static inline void mavlink_msg_device_request_data_decode(const mavlink_message_t* msg, mavlink_device_request_data_t* device_request_data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + device_request_data->request_type = mavlink_msg_device_request_data_get_request_type(msg); +#else + uint8_t len = msg->len < MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_LEN? msg->len : MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_LEN; + memset(device_request_data, 0, MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_LEN); + memcpy(device_request_data, _MAV_PAYLOAD(msg), len); +#endif +} diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_ret_imu_attitude_data_packet.h b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_ret_imu_attitude_data_packet.h new file mode 100644 index 0000000..dfbd067 --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_ret_imu_attitude_data_packet.h @@ -0,0 +1,282 @@ +#pragma once +// MESSAGE RET_IMU_ATTITUDE_DATA_PACKET PACKING + +#define MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET 19 + + +typedef struct __mavlink_ret_imu_attitude_data_packet_t { + float quaternion[4]; /*< Quaternion Array.*/ + float angular_velocity[3]; /*< Three-axis angular velocity values.*/ + float linear_acceleration[3]; /*< Three-axis acceleration values.*/ + uint16_t packet_id; /*< Data packet ID.*/ +} mavlink_ret_imu_attitude_data_packet_t; + +#define MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_LEN 42 +#define MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_MIN_LEN 42 +#define MAVLINK_MSG_ID_19_LEN 42 +#define MAVLINK_MSG_ID_19_MIN_LEN 42 + +#define MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_CRC 110 +#define MAVLINK_MSG_ID_19_CRC 110 + +#define MAVLINK_MSG_RET_IMU_ATTITUDE_DATA_PACKET_FIELD_QUATERNION_LEN 4 +#define MAVLINK_MSG_RET_IMU_ATTITUDE_DATA_PACKET_FIELD_ANGULAR_VELOCITY_LEN 3 +#define MAVLINK_MSG_RET_IMU_ATTITUDE_DATA_PACKET_FIELD_LINEAR_ACCELERATION_LEN 3 + +#if MAVLINK_COMMAND_24BIT +#define MAVLINK_MESSAGE_INFO_RET_IMU_ATTITUDE_DATA_PACKET { \ + 19, \ + "RET_IMU_ATTITUDE_DATA_PACKET", \ + 4, \ + { { "packet_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 40, offsetof(mavlink_ret_imu_attitude_data_packet_t, packet_id) }, \ + { "quaternion", NULL, MAVLINK_TYPE_FLOAT, 4, 0, offsetof(mavlink_ret_imu_attitude_data_packet_t, quaternion) }, \ + { "angular_velocity", NULL, MAVLINK_TYPE_FLOAT, 3, 16, offsetof(mavlink_ret_imu_attitude_data_packet_t, angular_velocity) }, \ + { "linear_acceleration", NULL, MAVLINK_TYPE_FLOAT, 3, 28, offsetof(mavlink_ret_imu_attitude_data_packet_t, linear_acceleration) }, \ + } \ +} +#else +#define MAVLINK_MESSAGE_INFO_RET_IMU_ATTITUDE_DATA_PACKET { \ + "RET_IMU_ATTITUDE_DATA_PACKET", \ + 4, \ + { { "packet_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 40, offsetof(mavlink_ret_imu_attitude_data_packet_t, packet_id) }, \ + { "quaternion", NULL, MAVLINK_TYPE_FLOAT, 4, 0, offsetof(mavlink_ret_imu_attitude_data_packet_t, quaternion) }, \ + { "angular_velocity", NULL, MAVLINK_TYPE_FLOAT, 3, 16, offsetof(mavlink_ret_imu_attitude_data_packet_t, angular_velocity) }, \ + { "linear_acceleration", NULL, MAVLINK_TYPE_FLOAT, 3, 28, offsetof(mavlink_ret_imu_attitude_data_packet_t, linear_acceleration) }, \ + } \ +} +#endif + +/** + * @brief Pack a ret_imu_attitude_data_packet message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param packet_id Data packet ID. + * @param quaternion Quaternion Array. + * @param angular_velocity Three-axis angular velocity values. + * @param linear_acceleration Three-axis acceleration values. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_ret_imu_attitude_data_packet_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t packet_id, const float *quaternion, const float *angular_velocity, const float *linear_acceleration) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_LEN]; + _mav_put_uint16_t(buf, 40, packet_id); + _mav_put_float_array(buf, 0, quaternion, 4); + _mav_put_float_array(buf, 16, angular_velocity, 3); + _mav_put_float_array(buf, 28, linear_acceleration, 3); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_LEN); +#else + mavlink_ret_imu_attitude_data_packet_t packet; + packet.packet_id = packet_id; + mav_array_memcpy(packet.quaternion, quaternion, sizeof(float)*4); + mav_array_memcpy(packet.angular_velocity, angular_velocity, sizeof(float)*3); + mav_array_memcpy(packet.linear_acceleration, linear_acceleration, sizeof(float)*3); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET; + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_MIN_LEN, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_LEN, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_CRC); +} + +/** + * @brief Pack a ret_imu_attitude_data_packet message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param packet_id Data packet ID. + * @param quaternion Quaternion Array. + * @param angular_velocity Three-axis angular velocity values. + * @param linear_acceleration Three-axis acceleration values. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_ret_imu_attitude_data_packet_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t packet_id,const float *quaternion,const float *angular_velocity,const float *linear_acceleration) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_LEN]; + _mav_put_uint16_t(buf, 40, packet_id); + _mav_put_float_array(buf, 0, quaternion, 4); + _mav_put_float_array(buf, 16, angular_velocity, 3); + _mav_put_float_array(buf, 28, linear_acceleration, 3); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_LEN); +#else + mavlink_ret_imu_attitude_data_packet_t packet; + packet.packet_id = packet_id; + mav_array_memcpy(packet.quaternion, quaternion, sizeof(float)*4); + mav_array_memcpy(packet.angular_velocity, angular_velocity, sizeof(float)*3); + mav_array_memcpy(packet.linear_acceleration, linear_acceleration, sizeof(float)*3); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_MIN_LEN, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_LEN, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_CRC); +} + +/** + * @brief Encode a ret_imu_attitude_data_packet struct + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param ret_imu_attitude_data_packet C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_ret_imu_attitude_data_packet_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ret_imu_attitude_data_packet_t* ret_imu_attitude_data_packet) +{ + return mavlink_msg_ret_imu_attitude_data_packet_pack(system_id, component_id, msg, ret_imu_attitude_data_packet->packet_id, ret_imu_attitude_data_packet->quaternion, ret_imu_attitude_data_packet->angular_velocity, ret_imu_attitude_data_packet->linear_acceleration); +} + +/** + * @brief Encode a ret_imu_attitude_data_packet struct on a channel + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param ret_imu_attitude_data_packet C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_ret_imu_attitude_data_packet_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ret_imu_attitude_data_packet_t* ret_imu_attitude_data_packet) +{ + return mavlink_msg_ret_imu_attitude_data_packet_pack_chan(system_id, component_id, chan, msg, ret_imu_attitude_data_packet->packet_id, ret_imu_attitude_data_packet->quaternion, ret_imu_attitude_data_packet->angular_velocity, ret_imu_attitude_data_packet->linear_acceleration); +} + +/** + * @brief Send a ret_imu_attitude_data_packet message + * @param chan MAVLink channel to send the message + * + * @param packet_id Data packet ID. + * @param quaternion Quaternion Array. + * @param angular_velocity Three-axis angular velocity values. + * @param linear_acceleration Three-axis acceleration values. + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_ret_imu_attitude_data_packet_send(mavlink_channel_t chan, uint16_t packet_id, const float *quaternion, const float *angular_velocity, const float *linear_acceleration) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_LEN]; + _mav_put_uint16_t(buf, 40, packet_id); + _mav_put_float_array(buf, 0, quaternion, 4); + _mav_put_float_array(buf, 16, angular_velocity, 3); + _mav_put_float_array(buf, 28, linear_acceleration, 3); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET, buf, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_MIN_LEN, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_LEN, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_CRC); +#else + mavlink_ret_imu_attitude_data_packet_t packet; + packet.packet_id = packet_id; + mav_array_memcpy(packet.quaternion, quaternion, sizeof(float)*4); + mav_array_memcpy(packet.angular_velocity, angular_velocity, sizeof(float)*3); + mav_array_memcpy(packet.linear_acceleration, linear_acceleration, sizeof(float)*3); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET, (const char *)&packet, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_MIN_LEN, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_LEN, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_CRC); +#endif +} + +/** + * @brief Send a ret_imu_attitude_data_packet message + * @param chan MAVLink channel to send the message + * @param struct The MAVLink struct to serialize + */ +static inline void mavlink_msg_ret_imu_attitude_data_packet_send_struct(mavlink_channel_t chan, const mavlink_ret_imu_attitude_data_packet_t* ret_imu_attitude_data_packet) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + mavlink_msg_ret_imu_attitude_data_packet_send(chan, ret_imu_attitude_data_packet->packet_id, ret_imu_attitude_data_packet->quaternion, ret_imu_attitude_data_packet->angular_velocity, ret_imu_attitude_data_packet->linear_acceleration); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET, (const char *)ret_imu_attitude_data_packet, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_MIN_LEN, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_LEN, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_CRC); +#endif +} + +#if MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This variant of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_ret_imu_attitude_data_packet_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t packet_id, const float *quaternion, const float *angular_velocity, const float *linear_acceleration) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint16_t(buf, 40, packet_id); + _mav_put_float_array(buf, 0, quaternion, 4); + _mav_put_float_array(buf, 16, angular_velocity, 3); + _mav_put_float_array(buf, 28, linear_acceleration, 3); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET, buf, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_MIN_LEN, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_LEN, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_CRC); +#else + mavlink_ret_imu_attitude_data_packet_t *packet = (mavlink_ret_imu_attitude_data_packet_t *)msgbuf; + packet->packet_id = packet_id; + mav_array_memcpy(packet->quaternion, quaternion, sizeof(float)*4); + mav_array_memcpy(packet->angular_velocity, angular_velocity, sizeof(float)*3); + mav_array_memcpy(packet->linear_acceleration, linear_acceleration, sizeof(float)*3); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET, (const char *)packet, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_MIN_LEN, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_LEN, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_CRC); +#endif +} +#endif + +#endif + +// MESSAGE RET_IMU_ATTITUDE_DATA_PACKET UNPACKING + + +/** + * @brief Get field packet_id from ret_imu_attitude_data_packet message + * + * @return Data packet ID. + */ +static inline uint16_t mavlink_msg_ret_imu_attitude_data_packet_get_packet_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 40); +} + +/** + * @brief Get field quaternion from ret_imu_attitude_data_packet message + * + * @return Quaternion Array. + */ +static inline uint16_t mavlink_msg_ret_imu_attitude_data_packet_get_quaternion(const mavlink_message_t* msg, float *quaternion) +{ + return _MAV_RETURN_float_array(msg, quaternion, 4, 0); +} + +/** + * @brief Get field angular_velocity from ret_imu_attitude_data_packet message + * + * @return Three-axis angular velocity values. + */ +static inline uint16_t mavlink_msg_ret_imu_attitude_data_packet_get_angular_velocity(const mavlink_message_t* msg, float *angular_velocity) +{ + return _MAV_RETURN_float_array(msg, angular_velocity, 3, 16); +} + +/** + * @brief Get field linear_acceleration from ret_imu_attitude_data_packet message + * + * @return Three-axis acceleration values. + */ +static inline uint16_t mavlink_msg_ret_imu_attitude_data_packet_get_linear_acceleration(const mavlink_message_t* msg, float *linear_acceleration) +{ + return _MAV_RETURN_float_array(msg, linear_acceleration, 3, 28); +} + +/** + * @brief Decode a ret_imu_attitude_data_packet message into a struct + * + * @param msg The message to decode + * @param ret_imu_attitude_data_packet C-struct to decode the message contents into + */ +static inline void mavlink_msg_ret_imu_attitude_data_packet_decode(const mavlink_message_t* msg, mavlink_ret_imu_attitude_data_packet_t* ret_imu_attitude_data_packet) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + mavlink_msg_ret_imu_attitude_data_packet_get_quaternion(msg, ret_imu_attitude_data_packet->quaternion); + mavlink_msg_ret_imu_attitude_data_packet_get_angular_velocity(msg, ret_imu_attitude_data_packet->angular_velocity); + mavlink_msg_ret_imu_attitude_data_packet_get_linear_acceleration(msg, ret_imu_attitude_data_packet->linear_acceleration); + ret_imu_attitude_data_packet->packet_id = mavlink_msg_ret_imu_attitude_data_packet_get_packet_id(msg); +#else + uint8_t len = msg->len < MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_LEN? msg->len : MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_LEN; + memset(ret_imu_attitude_data_packet, 0, MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_LEN); + memcpy(ret_imu_attitude_data_packet, _MAV_PAYLOAD(msg), len); +#endif +} diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_ret_lidar_auxiliary_data_packet.h b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_ret_lidar_auxiliary_data_packet.h new file mode 100644 index 0000000..4f67534 --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_ret_lidar_auxiliary_data_packet.h @@ -0,0 +1,805 @@ +#pragma once +// MESSAGE RET_LIDAR_AUXILIARY_DATA_PACKET PACKING + +#define MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET 17 + + +typedef struct __mavlink_ret_lidar_auxiliary_data_packet_t { + uint32_t lidar_sync_delay_time; /*< Delay time of upper computer communication(us).*/ + uint32_t time_stamp_s_step; /*< LiDAR operational timestamp in seconds.*/ + uint32_t time_stamp_us_step; /*< LiDAR operational timestamp in microsecond .*/ + uint32_t sys_rotation_period; /*< LiDAR low-speed motor rotation period in microsecond .*/ + uint32_t com_rotation_period; /*< LiDAR high-speed motor rotation period in microsecond .*/ + float com_horizontal_angle_start; /*< The first data in the current data packet is the horizontal angle,Distance data applicable to RET_LIDAR_DISTANCE_DATA_PACKET data packet and reflectivity data of RET_LIDAR_AUXILIARY_DATA_PACKET data packet.*/ + float com_horizontal_angle_step; /*< Angle interval between two adjacent data in the horizontal direction.*/ + float sys_vertical_angle_start; /*< The vertical angle of the first data in the current data packet.*/ + float sys_vertical_angle_span; /*< The angular span between adjacent data in the vertical direction of the current data packet.*/ + float apd_temperature; /*< APD temperature value*/ + float dirty_index; /*< Protective cover dirt detection index*/ + float imu_temperature; /*< IMU temperature value*/ + float up_optical_q; /*< Up optical communication quality.*/ + float down_optical_q; /*< Downlink optical communication quality.*/ + float apd_voltage; /*< APD voltage value.*/ + float imu_angle_x_offset; /*< IMU x-axis installation angle error.*/ + float imu_angle_y_offset; /*< IMU y-axis installation angle error.*/ + float imu_angle_z_offset; /*< IMU z-axis installation angle error.*/ + float b_axis_dist; /*< Laser calibration b distance compensation.*/ + float theta_angle; /*< Laser calibration theta angle compensation.*/ + float ksi_angle; /*< Laser calibration ksi angle compensation.*/ + uint16_t packet_id; /*< Data packet ID.*/ + uint16_t payload_size; /*< Data packet payload size.*/ + uint8_t lidar_work_status; /*< LiDAR operational state indicator.*/ + uint8_t reflect_data[120]; /*< reflectivity data*/ +} mavlink_ret_lidar_auxiliary_data_packet_t; + +#define MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_LEN 209 +#define MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_MIN_LEN 209 +#define MAVLINK_MSG_ID_17_LEN 209 +#define MAVLINK_MSG_ID_17_MIN_LEN 209 + +#define MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_CRC 99 +#define MAVLINK_MSG_ID_17_CRC 99 + +#define MAVLINK_MSG_RET_LIDAR_AUXILIARY_DATA_PACKET_FIELD_REFLECT_DATA_LEN 120 + +#if MAVLINK_COMMAND_24BIT +#define MAVLINK_MESSAGE_INFO_RET_LIDAR_AUXILIARY_DATA_PACKET { \ + 17, \ + "RET_LIDAR_AUXILIARY_DATA_PACKET", \ + 25, \ + { { "lidar_work_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 88, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, lidar_work_status) }, \ + { "packet_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 84, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, packet_id) }, \ + { "payload_size", NULL, MAVLINK_TYPE_UINT16_T, 0, 86, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, payload_size) }, \ + { "lidar_sync_delay_time", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, lidar_sync_delay_time) }, \ + { "time_stamp_s_step", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, time_stamp_s_step) }, \ + { "time_stamp_us_step", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, time_stamp_us_step) }, \ + { "sys_rotation_period", NULL, MAVLINK_TYPE_UINT32_T, 0, 12, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, sys_rotation_period) }, \ + { "com_rotation_period", NULL, MAVLINK_TYPE_UINT32_T, 0, 16, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, com_rotation_period) }, \ + { "com_horizontal_angle_start", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, com_horizontal_angle_start) }, \ + { "com_horizontal_angle_step", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, com_horizontal_angle_step) }, \ + { "sys_vertical_angle_start", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, sys_vertical_angle_start) }, \ + { "sys_vertical_angle_span", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, sys_vertical_angle_span) }, \ + { "apd_temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, apd_temperature) }, \ + { "dirty_index", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, dirty_index) }, \ + { "imu_temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, imu_temperature) }, \ + { "up_optical_q", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, up_optical_q) }, \ + { "down_optical_q", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, down_optical_q) }, \ + { "apd_voltage", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, apd_voltage) }, \ + { "imu_angle_x_offset", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, imu_angle_x_offset) }, \ + { "imu_angle_y_offset", NULL, MAVLINK_TYPE_FLOAT, 0, 64, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, imu_angle_y_offset) }, \ + { "imu_angle_z_offset", NULL, MAVLINK_TYPE_FLOAT, 0, 68, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, imu_angle_z_offset) }, \ + { "b_axis_dist", NULL, MAVLINK_TYPE_FLOAT, 0, 72, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, b_axis_dist) }, \ + { "theta_angle", NULL, MAVLINK_TYPE_FLOAT, 0, 76, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, theta_angle) }, \ + { "ksi_angle", NULL, MAVLINK_TYPE_FLOAT, 0, 80, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, ksi_angle) }, \ + { "reflect_data", NULL, MAVLINK_TYPE_UINT8_T, 120, 89, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, reflect_data) }, \ + } \ +} +#else +#define MAVLINK_MESSAGE_INFO_RET_LIDAR_AUXILIARY_DATA_PACKET { \ + "RET_LIDAR_AUXILIARY_DATA_PACKET", \ + 25, \ + { { "lidar_work_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 88, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, lidar_work_status) }, \ + { "packet_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 84, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, packet_id) }, \ + { "payload_size", NULL, MAVLINK_TYPE_UINT16_T, 0, 86, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, payload_size) }, \ + { "lidar_sync_delay_time", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, lidar_sync_delay_time) }, \ + { "time_stamp_s_step", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, time_stamp_s_step) }, \ + { "time_stamp_us_step", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, time_stamp_us_step) }, \ + { "sys_rotation_period", NULL, MAVLINK_TYPE_UINT32_T, 0, 12, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, sys_rotation_period) }, \ + { "com_rotation_period", NULL, MAVLINK_TYPE_UINT32_T, 0, 16, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, com_rotation_period) }, \ + { "com_horizontal_angle_start", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, com_horizontal_angle_start) }, \ + { "com_horizontal_angle_step", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, com_horizontal_angle_step) }, \ + { "sys_vertical_angle_start", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, sys_vertical_angle_start) }, \ + { "sys_vertical_angle_span", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, sys_vertical_angle_span) }, \ + { "apd_temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, apd_temperature) }, \ + { "dirty_index", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, dirty_index) }, \ + { "imu_temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, imu_temperature) }, \ + { "up_optical_q", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, up_optical_q) }, \ + { "down_optical_q", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, down_optical_q) }, \ + { "apd_voltage", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, apd_voltage) }, \ + { "imu_angle_x_offset", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, imu_angle_x_offset) }, \ + { "imu_angle_y_offset", NULL, MAVLINK_TYPE_FLOAT, 0, 64, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, imu_angle_y_offset) }, \ + { "imu_angle_z_offset", NULL, MAVLINK_TYPE_FLOAT, 0, 68, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, imu_angle_z_offset) }, \ + { "b_axis_dist", NULL, MAVLINK_TYPE_FLOAT, 0, 72, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, b_axis_dist) }, \ + { "theta_angle", NULL, MAVLINK_TYPE_FLOAT, 0, 76, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, theta_angle) }, \ + { "ksi_angle", NULL, MAVLINK_TYPE_FLOAT, 0, 80, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, ksi_angle) }, \ + { "reflect_data", NULL, MAVLINK_TYPE_UINT8_T, 120, 89, offsetof(mavlink_ret_lidar_auxiliary_data_packet_t, reflect_data) }, \ + } \ +} +#endif + +/** + * @brief Pack a ret_lidar_auxiliary_data_packet message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param lidar_work_status LiDAR operational state indicator. + * @param packet_id Data packet ID. + * @param payload_size Data packet payload size. + * @param lidar_sync_delay_time Delay time of upper computer communication(us). + * @param time_stamp_s_step LiDAR operational timestamp in seconds. + * @param time_stamp_us_step LiDAR operational timestamp in microsecond . + * @param sys_rotation_period LiDAR low-speed motor rotation period in microsecond . + * @param com_rotation_period LiDAR high-speed motor rotation period in microsecond . + * @param com_horizontal_angle_start The first data in the current data packet is the horizontal angle,Distance data applicable to RET_LIDAR_DISTANCE_DATA_PACKET data packet and reflectivity data of RET_LIDAR_AUXILIARY_DATA_PACKET data packet. + * @param com_horizontal_angle_step Angle interval between two adjacent data in the horizontal direction. + * @param sys_vertical_angle_start The vertical angle of the first data in the current data packet. + * @param sys_vertical_angle_span The angular span between adjacent data in the vertical direction of the current data packet. + * @param apd_temperature APD temperature value + * @param dirty_index Protective cover dirt detection index + * @param imu_temperature IMU temperature value + * @param up_optical_q Up optical communication quality. + * @param down_optical_q Downlink optical communication quality. + * @param apd_voltage APD voltage value. + * @param imu_angle_x_offset IMU x-axis installation angle error. + * @param imu_angle_y_offset IMU y-axis installation angle error. + * @param imu_angle_z_offset IMU z-axis installation angle error. + * @param b_axis_dist Laser calibration b distance compensation. + * @param theta_angle Laser calibration theta angle compensation. + * @param ksi_angle Laser calibration ksi angle compensation. + * @param reflect_data reflectivity data + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_ret_lidar_auxiliary_data_packet_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t lidar_work_status, uint16_t packet_id, uint16_t payload_size, uint32_t lidar_sync_delay_time, uint32_t time_stamp_s_step, uint32_t time_stamp_us_step, uint32_t sys_rotation_period, uint32_t com_rotation_period, float com_horizontal_angle_start, float com_horizontal_angle_step, float sys_vertical_angle_start, float sys_vertical_angle_span, float apd_temperature, float dirty_index, float imu_temperature, float up_optical_q, float down_optical_q, float apd_voltage, float imu_angle_x_offset, float imu_angle_y_offset, float imu_angle_z_offset, float b_axis_dist, float theta_angle, float ksi_angle, const uint8_t *reflect_data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_LEN]; + _mav_put_uint32_t(buf, 0, lidar_sync_delay_time); + _mav_put_uint32_t(buf, 4, time_stamp_s_step); + _mav_put_uint32_t(buf, 8, time_stamp_us_step); + _mav_put_uint32_t(buf, 12, sys_rotation_period); + _mav_put_uint32_t(buf, 16, com_rotation_period); + _mav_put_float(buf, 20, com_horizontal_angle_start); + _mav_put_float(buf, 24, com_horizontal_angle_step); + _mav_put_float(buf, 28, sys_vertical_angle_start); + _mav_put_float(buf, 32, sys_vertical_angle_span); + _mav_put_float(buf, 36, apd_temperature); + _mav_put_float(buf, 40, dirty_index); + _mav_put_float(buf, 44, imu_temperature); + _mav_put_float(buf, 48, up_optical_q); + _mav_put_float(buf, 52, down_optical_q); + _mav_put_float(buf, 56, apd_voltage); + _mav_put_float(buf, 60, imu_angle_x_offset); + _mav_put_float(buf, 64, imu_angle_y_offset); + _mav_put_float(buf, 68, imu_angle_z_offset); + _mav_put_float(buf, 72, b_axis_dist); + _mav_put_float(buf, 76, theta_angle); + _mav_put_float(buf, 80, ksi_angle); + _mav_put_uint16_t(buf, 84, packet_id); + _mav_put_uint16_t(buf, 86, payload_size); + _mav_put_uint8_t(buf, 88, lidar_work_status); + _mav_put_uint8_t_array(buf, 89, reflect_data, 120); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_LEN); +#else + mavlink_ret_lidar_auxiliary_data_packet_t packet; + packet.lidar_sync_delay_time = lidar_sync_delay_time; + packet.time_stamp_s_step = time_stamp_s_step; + packet.time_stamp_us_step = time_stamp_us_step; + packet.sys_rotation_period = sys_rotation_period; + packet.com_rotation_period = com_rotation_period; + packet.com_horizontal_angle_start = com_horizontal_angle_start; + packet.com_horizontal_angle_step = com_horizontal_angle_step; + packet.sys_vertical_angle_start = sys_vertical_angle_start; + packet.sys_vertical_angle_span = sys_vertical_angle_span; + packet.apd_temperature = apd_temperature; + packet.dirty_index = dirty_index; + packet.imu_temperature = imu_temperature; + packet.up_optical_q = up_optical_q; + packet.down_optical_q = down_optical_q; + packet.apd_voltage = apd_voltage; + packet.imu_angle_x_offset = imu_angle_x_offset; + packet.imu_angle_y_offset = imu_angle_y_offset; + packet.imu_angle_z_offset = imu_angle_z_offset; + packet.b_axis_dist = b_axis_dist; + packet.theta_angle = theta_angle; + packet.ksi_angle = ksi_angle; + packet.packet_id = packet_id; + packet.payload_size = payload_size; + packet.lidar_work_status = lidar_work_status; + mav_array_memcpy(packet.reflect_data, reflect_data, sizeof(uint8_t)*120); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET; + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_MIN_LEN, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_LEN, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_CRC); +} + +/** + * @brief Pack a ret_lidar_auxiliary_data_packet message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param lidar_work_status LiDAR operational state indicator. + * @param packet_id Data packet ID. + * @param payload_size Data packet payload size. + * @param lidar_sync_delay_time Delay time of upper computer communication(us). + * @param time_stamp_s_step LiDAR operational timestamp in seconds. + * @param time_stamp_us_step LiDAR operational timestamp in microsecond . + * @param sys_rotation_period LiDAR low-speed motor rotation period in microsecond . + * @param com_rotation_period LiDAR high-speed motor rotation period in microsecond . + * @param com_horizontal_angle_start The first data in the current data packet is the horizontal angle,Distance data applicable to RET_LIDAR_DISTANCE_DATA_PACKET data packet and reflectivity data of RET_LIDAR_AUXILIARY_DATA_PACKET data packet. + * @param com_horizontal_angle_step Angle interval between two adjacent data in the horizontal direction. + * @param sys_vertical_angle_start The vertical angle of the first data in the current data packet. + * @param sys_vertical_angle_span The angular span between adjacent data in the vertical direction of the current data packet. + * @param apd_temperature APD temperature value + * @param dirty_index Protective cover dirt detection index + * @param imu_temperature IMU temperature value + * @param up_optical_q Up optical communication quality. + * @param down_optical_q Downlink optical communication quality. + * @param apd_voltage APD voltage value. + * @param imu_angle_x_offset IMU x-axis installation angle error. + * @param imu_angle_y_offset IMU y-axis installation angle error. + * @param imu_angle_z_offset IMU z-axis installation angle error. + * @param b_axis_dist Laser calibration b distance compensation. + * @param theta_angle Laser calibration theta angle compensation. + * @param ksi_angle Laser calibration ksi angle compensation. + * @param reflect_data reflectivity data + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_ret_lidar_auxiliary_data_packet_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t lidar_work_status,uint16_t packet_id,uint16_t payload_size,uint32_t lidar_sync_delay_time,uint32_t time_stamp_s_step,uint32_t time_stamp_us_step,uint32_t sys_rotation_period,uint32_t com_rotation_period,float com_horizontal_angle_start,float com_horizontal_angle_step,float sys_vertical_angle_start,float sys_vertical_angle_span,float apd_temperature,float dirty_index,float imu_temperature,float up_optical_q,float down_optical_q,float apd_voltage,float imu_angle_x_offset,float imu_angle_y_offset,float imu_angle_z_offset,float b_axis_dist,float theta_angle,float ksi_angle,const uint8_t *reflect_data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_LEN]; + _mav_put_uint32_t(buf, 0, lidar_sync_delay_time); + _mav_put_uint32_t(buf, 4, time_stamp_s_step); + _mav_put_uint32_t(buf, 8, time_stamp_us_step); + _mav_put_uint32_t(buf, 12, sys_rotation_period); + _mav_put_uint32_t(buf, 16, com_rotation_period); + _mav_put_float(buf, 20, com_horizontal_angle_start); + _mav_put_float(buf, 24, com_horizontal_angle_step); + _mav_put_float(buf, 28, sys_vertical_angle_start); + _mav_put_float(buf, 32, sys_vertical_angle_span); + _mav_put_float(buf, 36, apd_temperature); + _mav_put_float(buf, 40, dirty_index); + _mav_put_float(buf, 44, imu_temperature); + _mav_put_float(buf, 48, up_optical_q); + _mav_put_float(buf, 52, down_optical_q); + _mav_put_float(buf, 56, apd_voltage); + _mav_put_float(buf, 60, imu_angle_x_offset); + _mav_put_float(buf, 64, imu_angle_y_offset); + _mav_put_float(buf, 68, imu_angle_z_offset); + _mav_put_float(buf, 72, b_axis_dist); + _mav_put_float(buf, 76, theta_angle); + _mav_put_float(buf, 80, ksi_angle); + _mav_put_uint16_t(buf, 84, packet_id); + _mav_put_uint16_t(buf, 86, payload_size); + _mav_put_uint8_t(buf, 88, lidar_work_status); + _mav_put_uint8_t_array(buf, 89, reflect_data, 120); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_LEN); +#else + mavlink_ret_lidar_auxiliary_data_packet_t packet; + packet.lidar_sync_delay_time = lidar_sync_delay_time; + packet.time_stamp_s_step = time_stamp_s_step; + packet.time_stamp_us_step = time_stamp_us_step; + packet.sys_rotation_period = sys_rotation_period; + packet.com_rotation_period = com_rotation_period; + packet.com_horizontal_angle_start = com_horizontal_angle_start; + packet.com_horizontal_angle_step = com_horizontal_angle_step; + packet.sys_vertical_angle_start = sys_vertical_angle_start; + packet.sys_vertical_angle_span = sys_vertical_angle_span; + packet.apd_temperature = apd_temperature; + packet.dirty_index = dirty_index; + packet.imu_temperature = imu_temperature; + packet.up_optical_q = up_optical_q; + packet.down_optical_q = down_optical_q; + packet.apd_voltage = apd_voltage; + packet.imu_angle_x_offset = imu_angle_x_offset; + packet.imu_angle_y_offset = imu_angle_y_offset; + packet.imu_angle_z_offset = imu_angle_z_offset; + packet.b_axis_dist = b_axis_dist; + packet.theta_angle = theta_angle; + packet.ksi_angle = ksi_angle; + packet.packet_id = packet_id; + packet.payload_size = payload_size; + packet.lidar_work_status = lidar_work_status; + mav_array_memcpy(packet.reflect_data, reflect_data, sizeof(uint8_t)*120); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_MIN_LEN, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_LEN, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_CRC); +} + +/** + * @brief Encode a ret_lidar_auxiliary_data_packet struct + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param ret_lidar_auxiliary_data_packet C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_ret_lidar_auxiliary_data_packet_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ret_lidar_auxiliary_data_packet_t* ret_lidar_auxiliary_data_packet) +{ + return mavlink_msg_ret_lidar_auxiliary_data_packet_pack(system_id, component_id, msg, ret_lidar_auxiliary_data_packet->lidar_work_status, ret_lidar_auxiliary_data_packet->packet_id, ret_lidar_auxiliary_data_packet->payload_size, ret_lidar_auxiliary_data_packet->lidar_sync_delay_time, ret_lidar_auxiliary_data_packet->time_stamp_s_step, ret_lidar_auxiliary_data_packet->time_stamp_us_step, ret_lidar_auxiliary_data_packet->sys_rotation_period, ret_lidar_auxiliary_data_packet->com_rotation_period, ret_lidar_auxiliary_data_packet->com_horizontal_angle_start, ret_lidar_auxiliary_data_packet->com_horizontal_angle_step, ret_lidar_auxiliary_data_packet->sys_vertical_angle_start, ret_lidar_auxiliary_data_packet->sys_vertical_angle_span, ret_lidar_auxiliary_data_packet->apd_temperature, ret_lidar_auxiliary_data_packet->dirty_index, ret_lidar_auxiliary_data_packet->imu_temperature, ret_lidar_auxiliary_data_packet->up_optical_q, ret_lidar_auxiliary_data_packet->down_optical_q, ret_lidar_auxiliary_data_packet->apd_voltage, ret_lidar_auxiliary_data_packet->imu_angle_x_offset, ret_lidar_auxiliary_data_packet->imu_angle_y_offset, ret_lidar_auxiliary_data_packet->imu_angle_z_offset, ret_lidar_auxiliary_data_packet->b_axis_dist, ret_lidar_auxiliary_data_packet->theta_angle, ret_lidar_auxiliary_data_packet->ksi_angle, ret_lidar_auxiliary_data_packet->reflect_data); +} + +/** + * @brief Encode a ret_lidar_auxiliary_data_packet struct on a channel + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param ret_lidar_auxiliary_data_packet C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_ret_lidar_auxiliary_data_packet_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ret_lidar_auxiliary_data_packet_t* ret_lidar_auxiliary_data_packet) +{ + return mavlink_msg_ret_lidar_auxiliary_data_packet_pack_chan(system_id, component_id, chan, msg, ret_lidar_auxiliary_data_packet->lidar_work_status, ret_lidar_auxiliary_data_packet->packet_id, ret_lidar_auxiliary_data_packet->payload_size, ret_lidar_auxiliary_data_packet->lidar_sync_delay_time, ret_lidar_auxiliary_data_packet->time_stamp_s_step, ret_lidar_auxiliary_data_packet->time_stamp_us_step, ret_lidar_auxiliary_data_packet->sys_rotation_period, ret_lidar_auxiliary_data_packet->com_rotation_period, ret_lidar_auxiliary_data_packet->com_horizontal_angle_start, ret_lidar_auxiliary_data_packet->com_horizontal_angle_step, ret_lidar_auxiliary_data_packet->sys_vertical_angle_start, ret_lidar_auxiliary_data_packet->sys_vertical_angle_span, ret_lidar_auxiliary_data_packet->apd_temperature, ret_lidar_auxiliary_data_packet->dirty_index, ret_lidar_auxiliary_data_packet->imu_temperature, ret_lidar_auxiliary_data_packet->up_optical_q, ret_lidar_auxiliary_data_packet->down_optical_q, ret_lidar_auxiliary_data_packet->apd_voltage, ret_lidar_auxiliary_data_packet->imu_angle_x_offset, ret_lidar_auxiliary_data_packet->imu_angle_y_offset, ret_lidar_auxiliary_data_packet->imu_angle_z_offset, ret_lidar_auxiliary_data_packet->b_axis_dist, ret_lidar_auxiliary_data_packet->theta_angle, ret_lidar_auxiliary_data_packet->ksi_angle, ret_lidar_auxiliary_data_packet->reflect_data); +} + +/** + * @brief Send a ret_lidar_auxiliary_data_packet message + * @param chan MAVLink channel to send the message + * + * @param lidar_work_status LiDAR operational state indicator. + * @param packet_id Data packet ID. + * @param payload_size Data packet payload size. + * @param lidar_sync_delay_time Delay time of upper computer communication(us). + * @param time_stamp_s_step LiDAR operational timestamp in seconds. + * @param time_stamp_us_step LiDAR operational timestamp in microsecond . + * @param sys_rotation_period LiDAR low-speed motor rotation period in microsecond . + * @param com_rotation_period LiDAR high-speed motor rotation period in microsecond . + * @param com_horizontal_angle_start The first data in the current data packet is the horizontal angle,Distance data applicable to RET_LIDAR_DISTANCE_DATA_PACKET data packet and reflectivity data of RET_LIDAR_AUXILIARY_DATA_PACKET data packet. + * @param com_horizontal_angle_step Angle interval between two adjacent data in the horizontal direction. + * @param sys_vertical_angle_start The vertical angle of the first data in the current data packet. + * @param sys_vertical_angle_span The angular span between adjacent data in the vertical direction of the current data packet. + * @param apd_temperature APD temperature value + * @param dirty_index Protective cover dirt detection index + * @param imu_temperature IMU temperature value + * @param up_optical_q Up optical communication quality. + * @param down_optical_q Downlink optical communication quality. + * @param apd_voltage APD voltage value. + * @param imu_angle_x_offset IMU x-axis installation angle error. + * @param imu_angle_y_offset IMU y-axis installation angle error. + * @param imu_angle_z_offset IMU z-axis installation angle error. + * @param b_axis_dist Laser calibration b distance compensation. + * @param theta_angle Laser calibration theta angle compensation. + * @param ksi_angle Laser calibration ksi angle compensation. + * @param reflect_data reflectivity data + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_ret_lidar_auxiliary_data_packet_send(mavlink_channel_t chan, uint8_t lidar_work_status, uint16_t packet_id, uint16_t payload_size, uint32_t lidar_sync_delay_time, uint32_t time_stamp_s_step, uint32_t time_stamp_us_step, uint32_t sys_rotation_period, uint32_t com_rotation_period, float com_horizontal_angle_start, float com_horizontal_angle_step, float sys_vertical_angle_start, float sys_vertical_angle_span, float apd_temperature, float dirty_index, float imu_temperature, float up_optical_q, float down_optical_q, float apd_voltage, float imu_angle_x_offset, float imu_angle_y_offset, float imu_angle_z_offset, float b_axis_dist, float theta_angle, float ksi_angle, const uint8_t *reflect_data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_LEN]; + _mav_put_uint32_t(buf, 0, lidar_sync_delay_time); + _mav_put_uint32_t(buf, 4, time_stamp_s_step); + _mav_put_uint32_t(buf, 8, time_stamp_us_step); + _mav_put_uint32_t(buf, 12, sys_rotation_period); + _mav_put_uint32_t(buf, 16, com_rotation_period); + _mav_put_float(buf, 20, com_horizontal_angle_start); + _mav_put_float(buf, 24, com_horizontal_angle_step); + _mav_put_float(buf, 28, sys_vertical_angle_start); + _mav_put_float(buf, 32, sys_vertical_angle_span); + _mav_put_float(buf, 36, apd_temperature); + _mav_put_float(buf, 40, dirty_index); + _mav_put_float(buf, 44, imu_temperature); + _mav_put_float(buf, 48, up_optical_q); + _mav_put_float(buf, 52, down_optical_q); + _mav_put_float(buf, 56, apd_voltage); + _mav_put_float(buf, 60, imu_angle_x_offset); + _mav_put_float(buf, 64, imu_angle_y_offset); + _mav_put_float(buf, 68, imu_angle_z_offset); + _mav_put_float(buf, 72, b_axis_dist); + _mav_put_float(buf, 76, theta_angle); + _mav_put_float(buf, 80, ksi_angle); + _mav_put_uint16_t(buf, 84, packet_id); + _mav_put_uint16_t(buf, 86, payload_size); + _mav_put_uint8_t(buf, 88, lidar_work_status); + _mav_put_uint8_t_array(buf, 89, reflect_data, 120); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET, buf, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_MIN_LEN, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_LEN, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_CRC); +#else + mavlink_ret_lidar_auxiliary_data_packet_t packet; + packet.lidar_sync_delay_time = lidar_sync_delay_time; + packet.time_stamp_s_step = time_stamp_s_step; + packet.time_stamp_us_step = time_stamp_us_step; + packet.sys_rotation_period = sys_rotation_period; + packet.com_rotation_period = com_rotation_period; + packet.com_horizontal_angle_start = com_horizontal_angle_start; + packet.com_horizontal_angle_step = com_horizontal_angle_step; + packet.sys_vertical_angle_start = sys_vertical_angle_start; + packet.sys_vertical_angle_span = sys_vertical_angle_span; + packet.apd_temperature = apd_temperature; + packet.dirty_index = dirty_index; + packet.imu_temperature = imu_temperature; + packet.up_optical_q = up_optical_q; + packet.down_optical_q = down_optical_q; + packet.apd_voltage = apd_voltage; + packet.imu_angle_x_offset = imu_angle_x_offset; + packet.imu_angle_y_offset = imu_angle_y_offset; + packet.imu_angle_z_offset = imu_angle_z_offset; + packet.b_axis_dist = b_axis_dist; + packet.theta_angle = theta_angle; + packet.ksi_angle = ksi_angle; + packet.packet_id = packet_id; + packet.payload_size = payload_size; + packet.lidar_work_status = lidar_work_status; + mav_array_memcpy(packet.reflect_data, reflect_data, sizeof(uint8_t)*120); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET, (const char *)&packet, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_MIN_LEN, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_LEN, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_CRC); +#endif +} + +/** + * @brief Send a ret_lidar_auxiliary_data_packet message + * @param chan MAVLink channel to send the message + * @param struct The MAVLink struct to serialize + */ +static inline void mavlink_msg_ret_lidar_auxiliary_data_packet_send_struct(mavlink_channel_t chan, const mavlink_ret_lidar_auxiliary_data_packet_t* ret_lidar_auxiliary_data_packet) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + mavlink_msg_ret_lidar_auxiliary_data_packet_send(chan, ret_lidar_auxiliary_data_packet->lidar_work_status, ret_lidar_auxiliary_data_packet->packet_id, ret_lidar_auxiliary_data_packet->payload_size, ret_lidar_auxiliary_data_packet->lidar_sync_delay_time, ret_lidar_auxiliary_data_packet->time_stamp_s_step, ret_lidar_auxiliary_data_packet->time_stamp_us_step, ret_lidar_auxiliary_data_packet->sys_rotation_period, ret_lidar_auxiliary_data_packet->com_rotation_period, ret_lidar_auxiliary_data_packet->com_horizontal_angle_start, ret_lidar_auxiliary_data_packet->com_horizontal_angle_step, ret_lidar_auxiliary_data_packet->sys_vertical_angle_start, ret_lidar_auxiliary_data_packet->sys_vertical_angle_span, ret_lidar_auxiliary_data_packet->apd_temperature, ret_lidar_auxiliary_data_packet->dirty_index, ret_lidar_auxiliary_data_packet->imu_temperature, ret_lidar_auxiliary_data_packet->up_optical_q, ret_lidar_auxiliary_data_packet->down_optical_q, ret_lidar_auxiliary_data_packet->apd_voltage, ret_lidar_auxiliary_data_packet->imu_angle_x_offset, ret_lidar_auxiliary_data_packet->imu_angle_y_offset, ret_lidar_auxiliary_data_packet->imu_angle_z_offset, ret_lidar_auxiliary_data_packet->b_axis_dist, ret_lidar_auxiliary_data_packet->theta_angle, ret_lidar_auxiliary_data_packet->ksi_angle, ret_lidar_auxiliary_data_packet->reflect_data); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET, (const char *)ret_lidar_auxiliary_data_packet, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_MIN_LEN, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_LEN, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_CRC); +#endif +} + +#if MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This variant of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_ret_lidar_auxiliary_data_packet_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t lidar_work_status, uint16_t packet_id, uint16_t payload_size, uint32_t lidar_sync_delay_time, uint32_t time_stamp_s_step, uint32_t time_stamp_us_step, uint32_t sys_rotation_period, uint32_t com_rotation_period, float com_horizontal_angle_start, float com_horizontal_angle_step, float sys_vertical_angle_start, float sys_vertical_angle_span, float apd_temperature, float dirty_index, float imu_temperature, float up_optical_q, float down_optical_q, float apd_voltage, float imu_angle_x_offset, float imu_angle_y_offset, float imu_angle_z_offset, float b_axis_dist, float theta_angle, float ksi_angle, const uint8_t *reflect_data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, lidar_sync_delay_time); + _mav_put_uint32_t(buf, 4, time_stamp_s_step); + _mav_put_uint32_t(buf, 8, time_stamp_us_step); + _mav_put_uint32_t(buf, 12, sys_rotation_period); + _mav_put_uint32_t(buf, 16, com_rotation_period); + _mav_put_float(buf, 20, com_horizontal_angle_start); + _mav_put_float(buf, 24, com_horizontal_angle_step); + _mav_put_float(buf, 28, sys_vertical_angle_start); + _mav_put_float(buf, 32, sys_vertical_angle_span); + _mav_put_float(buf, 36, apd_temperature); + _mav_put_float(buf, 40, dirty_index); + _mav_put_float(buf, 44, imu_temperature); + _mav_put_float(buf, 48, up_optical_q); + _mav_put_float(buf, 52, down_optical_q); + _mav_put_float(buf, 56, apd_voltage); + _mav_put_float(buf, 60, imu_angle_x_offset); + _mav_put_float(buf, 64, imu_angle_y_offset); + _mav_put_float(buf, 68, imu_angle_z_offset); + _mav_put_float(buf, 72, b_axis_dist); + _mav_put_float(buf, 76, theta_angle); + _mav_put_float(buf, 80, ksi_angle); + _mav_put_uint16_t(buf, 84, packet_id); + _mav_put_uint16_t(buf, 86, payload_size); + _mav_put_uint8_t(buf, 88, lidar_work_status); + _mav_put_uint8_t_array(buf, 89, reflect_data, 120); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET, buf, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_MIN_LEN, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_LEN, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_CRC); +#else + mavlink_ret_lidar_auxiliary_data_packet_t *packet = (mavlink_ret_lidar_auxiliary_data_packet_t *)msgbuf; + packet->lidar_sync_delay_time = lidar_sync_delay_time; + packet->time_stamp_s_step = time_stamp_s_step; + packet->time_stamp_us_step = time_stamp_us_step; + packet->sys_rotation_period = sys_rotation_period; + packet->com_rotation_period = com_rotation_period; + packet->com_horizontal_angle_start = com_horizontal_angle_start; + packet->com_horizontal_angle_step = com_horizontal_angle_step; + packet->sys_vertical_angle_start = sys_vertical_angle_start; + packet->sys_vertical_angle_span = sys_vertical_angle_span; + packet->apd_temperature = apd_temperature; + packet->dirty_index = dirty_index; + packet->imu_temperature = imu_temperature; + packet->up_optical_q = up_optical_q; + packet->down_optical_q = down_optical_q; + packet->apd_voltage = apd_voltage; + packet->imu_angle_x_offset = imu_angle_x_offset; + packet->imu_angle_y_offset = imu_angle_y_offset; + packet->imu_angle_z_offset = imu_angle_z_offset; + packet->b_axis_dist = b_axis_dist; + packet->theta_angle = theta_angle; + packet->ksi_angle = ksi_angle; + packet->packet_id = packet_id; + packet->payload_size = payload_size; + packet->lidar_work_status = lidar_work_status; + mav_array_memcpy(packet->reflect_data, reflect_data, sizeof(uint8_t)*120); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET, (const char *)packet, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_MIN_LEN, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_LEN, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_CRC); +#endif +} +#endif + +#endif + +// MESSAGE RET_LIDAR_AUXILIARY_DATA_PACKET UNPACKING + + +/** + * @brief Get field lidar_work_status from ret_lidar_auxiliary_data_packet message + * + * @return LiDAR operational state indicator. + */ +static inline uint8_t mavlink_msg_ret_lidar_auxiliary_data_packet_get_lidar_work_status(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 88); +} + +/** + * @brief Get field packet_id from ret_lidar_auxiliary_data_packet message + * + * @return Data packet ID. + */ +static inline uint16_t mavlink_msg_ret_lidar_auxiliary_data_packet_get_packet_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 84); +} + +/** + * @brief Get field payload_size from ret_lidar_auxiliary_data_packet message + * + * @return Data packet payload size. + */ +static inline uint16_t mavlink_msg_ret_lidar_auxiliary_data_packet_get_payload_size(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 86); +} + +/** + * @brief Get field lidar_sync_delay_time from ret_lidar_auxiliary_data_packet message + * + * @return Delay time of upper computer communication(us). + */ +static inline uint32_t mavlink_msg_ret_lidar_auxiliary_data_packet_get_lidar_sync_delay_time(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + +/** + * @brief Get field time_stamp_s_step from ret_lidar_auxiliary_data_packet message + * + * @return LiDAR operational timestamp in seconds. + */ +static inline uint32_t mavlink_msg_ret_lidar_auxiliary_data_packet_get_time_stamp_s_step(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 4); +} + +/** + * @brief Get field time_stamp_us_step from ret_lidar_auxiliary_data_packet message + * + * @return LiDAR operational timestamp in microsecond . + */ +static inline uint32_t mavlink_msg_ret_lidar_auxiliary_data_packet_get_time_stamp_us_step(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 8); +} + +/** + * @brief Get field sys_rotation_period from ret_lidar_auxiliary_data_packet message + * + * @return LiDAR low-speed motor rotation period in microsecond . + */ +static inline uint32_t mavlink_msg_ret_lidar_auxiliary_data_packet_get_sys_rotation_period(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 12); +} + +/** + * @brief Get field com_rotation_period from ret_lidar_auxiliary_data_packet message + * + * @return LiDAR high-speed motor rotation period in microsecond . + */ +static inline uint32_t mavlink_msg_ret_lidar_auxiliary_data_packet_get_com_rotation_period(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 16); +} + +/** + * @brief Get field com_horizontal_angle_start from ret_lidar_auxiliary_data_packet message + * + * @return The first data in the current data packet is the horizontal angle,Distance data applicable to RET_LIDAR_DISTANCE_DATA_PACKET data packet and reflectivity data of RET_LIDAR_AUXILIARY_DATA_PACKET data packet. + */ +static inline float mavlink_msg_ret_lidar_auxiliary_data_packet_get_com_horizontal_angle_start(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field com_horizontal_angle_step from ret_lidar_auxiliary_data_packet message + * + * @return Angle interval between two adjacent data in the horizontal direction. + */ +static inline float mavlink_msg_ret_lidar_auxiliary_data_packet_get_com_horizontal_angle_step(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Get field sys_vertical_angle_start from ret_lidar_auxiliary_data_packet message + * + * @return The vertical angle of the first data in the current data packet. + */ +static inline float mavlink_msg_ret_lidar_auxiliary_data_packet_get_sys_vertical_angle_start(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 28); +} + +/** + * @brief Get field sys_vertical_angle_span from ret_lidar_auxiliary_data_packet message + * + * @return The angular span between adjacent data in the vertical direction of the current data packet. + */ +static inline float mavlink_msg_ret_lidar_auxiliary_data_packet_get_sys_vertical_angle_span(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 32); +} + +/** + * @brief Get field apd_temperature from ret_lidar_auxiliary_data_packet message + * + * @return APD temperature value + */ +static inline float mavlink_msg_ret_lidar_auxiliary_data_packet_get_apd_temperature(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 36); +} + +/** + * @brief Get field dirty_index from ret_lidar_auxiliary_data_packet message + * + * @return Protective cover dirt detection index + */ +static inline float mavlink_msg_ret_lidar_auxiliary_data_packet_get_dirty_index(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 40); +} + +/** + * @brief Get field imu_temperature from ret_lidar_auxiliary_data_packet message + * + * @return IMU temperature value + */ +static inline float mavlink_msg_ret_lidar_auxiliary_data_packet_get_imu_temperature(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 44); +} + +/** + * @brief Get field up_optical_q from ret_lidar_auxiliary_data_packet message + * + * @return Up optical communication quality. + */ +static inline float mavlink_msg_ret_lidar_auxiliary_data_packet_get_up_optical_q(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 48); +} + +/** + * @brief Get field down_optical_q from ret_lidar_auxiliary_data_packet message + * + * @return Downlink optical communication quality. + */ +static inline float mavlink_msg_ret_lidar_auxiliary_data_packet_get_down_optical_q(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 52); +} + +/** + * @brief Get field apd_voltage from ret_lidar_auxiliary_data_packet message + * + * @return APD voltage value. + */ +static inline float mavlink_msg_ret_lidar_auxiliary_data_packet_get_apd_voltage(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 56); +} + +/** + * @brief Get field imu_angle_x_offset from ret_lidar_auxiliary_data_packet message + * + * @return IMU x-axis installation angle error. + */ +static inline float mavlink_msg_ret_lidar_auxiliary_data_packet_get_imu_angle_x_offset(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 60); +} + +/** + * @brief Get field imu_angle_y_offset from ret_lidar_auxiliary_data_packet message + * + * @return IMU y-axis installation angle error. + */ +static inline float mavlink_msg_ret_lidar_auxiliary_data_packet_get_imu_angle_y_offset(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 64); +} + +/** + * @brief Get field imu_angle_z_offset from ret_lidar_auxiliary_data_packet message + * + * @return IMU z-axis installation angle error. + */ +static inline float mavlink_msg_ret_lidar_auxiliary_data_packet_get_imu_angle_z_offset(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 68); +} + +/** + * @brief Get field b_axis_dist from ret_lidar_auxiliary_data_packet message + * + * @return Laser calibration b distance compensation. + */ +static inline float mavlink_msg_ret_lidar_auxiliary_data_packet_get_b_axis_dist(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 72); +} + +/** + * @brief Get field theta_angle from ret_lidar_auxiliary_data_packet message + * + * @return Laser calibration theta angle compensation. + */ +static inline float mavlink_msg_ret_lidar_auxiliary_data_packet_get_theta_angle(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 76); +} + +/** + * @brief Get field ksi_angle from ret_lidar_auxiliary_data_packet message + * + * @return Laser calibration ksi angle compensation. + */ +static inline float mavlink_msg_ret_lidar_auxiliary_data_packet_get_ksi_angle(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 80); +} + +/** + * @brief Get field reflect_data from ret_lidar_auxiliary_data_packet message + * + * @return reflectivity data + */ +static inline uint16_t mavlink_msg_ret_lidar_auxiliary_data_packet_get_reflect_data(const mavlink_message_t* msg, uint8_t *reflect_data) +{ + return _MAV_RETURN_uint8_t_array(msg, reflect_data, 120, 89); +} + +/** + * @brief Decode a ret_lidar_auxiliary_data_packet message into a struct + * + * @param msg The message to decode + * @param ret_lidar_auxiliary_data_packet C-struct to decode the message contents into + */ +static inline void mavlink_msg_ret_lidar_auxiliary_data_packet_decode(const mavlink_message_t* msg, mavlink_ret_lidar_auxiliary_data_packet_t* ret_lidar_auxiliary_data_packet) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + ret_lidar_auxiliary_data_packet->lidar_sync_delay_time = mavlink_msg_ret_lidar_auxiliary_data_packet_get_lidar_sync_delay_time(msg); + ret_lidar_auxiliary_data_packet->time_stamp_s_step = mavlink_msg_ret_lidar_auxiliary_data_packet_get_time_stamp_s_step(msg); + ret_lidar_auxiliary_data_packet->time_stamp_us_step = mavlink_msg_ret_lidar_auxiliary_data_packet_get_time_stamp_us_step(msg); + ret_lidar_auxiliary_data_packet->sys_rotation_period = mavlink_msg_ret_lidar_auxiliary_data_packet_get_sys_rotation_period(msg); + ret_lidar_auxiliary_data_packet->com_rotation_period = mavlink_msg_ret_lidar_auxiliary_data_packet_get_com_rotation_period(msg); + ret_lidar_auxiliary_data_packet->com_horizontal_angle_start = mavlink_msg_ret_lidar_auxiliary_data_packet_get_com_horizontal_angle_start(msg); + ret_lidar_auxiliary_data_packet->com_horizontal_angle_step = mavlink_msg_ret_lidar_auxiliary_data_packet_get_com_horizontal_angle_step(msg); + ret_lidar_auxiliary_data_packet->sys_vertical_angle_start = mavlink_msg_ret_lidar_auxiliary_data_packet_get_sys_vertical_angle_start(msg); + ret_lidar_auxiliary_data_packet->sys_vertical_angle_span = mavlink_msg_ret_lidar_auxiliary_data_packet_get_sys_vertical_angle_span(msg); + ret_lidar_auxiliary_data_packet->apd_temperature = mavlink_msg_ret_lidar_auxiliary_data_packet_get_apd_temperature(msg); + ret_lidar_auxiliary_data_packet->dirty_index = mavlink_msg_ret_lidar_auxiliary_data_packet_get_dirty_index(msg); + ret_lidar_auxiliary_data_packet->imu_temperature = mavlink_msg_ret_lidar_auxiliary_data_packet_get_imu_temperature(msg); + ret_lidar_auxiliary_data_packet->up_optical_q = mavlink_msg_ret_lidar_auxiliary_data_packet_get_up_optical_q(msg); + ret_lidar_auxiliary_data_packet->down_optical_q = mavlink_msg_ret_lidar_auxiliary_data_packet_get_down_optical_q(msg); + ret_lidar_auxiliary_data_packet->apd_voltage = mavlink_msg_ret_lidar_auxiliary_data_packet_get_apd_voltage(msg); + ret_lidar_auxiliary_data_packet->imu_angle_x_offset = mavlink_msg_ret_lidar_auxiliary_data_packet_get_imu_angle_x_offset(msg); + ret_lidar_auxiliary_data_packet->imu_angle_y_offset = mavlink_msg_ret_lidar_auxiliary_data_packet_get_imu_angle_y_offset(msg); + ret_lidar_auxiliary_data_packet->imu_angle_z_offset = mavlink_msg_ret_lidar_auxiliary_data_packet_get_imu_angle_z_offset(msg); + ret_lidar_auxiliary_data_packet->b_axis_dist = mavlink_msg_ret_lidar_auxiliary_data_packet_get_b_axis_dist(msg); + ret_lidar_auxiliary_data_packet->theta_angle = mavlink_msg_ret_lidar_auxiliary_data_packet_get_theta_angle(msg); + ret_lidar_auxiliary_data_packet->ksi_angle = mavlink_msg_ret_lidar_auxiliary_data_packet_get_ksi_angle(msg); + ret_lidar_auxiliary_data_packet->packet_id = mavlink_msg_ret_lidar_auxiliary_data_packet_get_packet_id(msg); + ret_lidar_auxiliary_data_packet->payload_size = mavlink_msg_ret_lidar_auxiliary_data_packet_get_payload_size(msg); + ret_lidar_auxiliary_data_packet->lidar_work_status = mavlink_msg_ret_lidar_auxiliary_data_packet_get_lidar_work_status(msg); + mavlink_msg_ret_lidar_auxiliary_data_packet_get_reflect_data(msg, ret_lidar_auxiliary_data_packet->reflect_data); +#else + uint8_t len = msg->len < MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_LEN? msg->len : MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_LEN; + memset(ret_lidar_auxiliary_data_packet, 0, MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_LEN); + memcpy(ret_lidar_auxiliary_data_packet, _MAV_PAYLOAD(msg), len); +#endif +} diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_ret_lidar_distance_data_packet.h b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_ret_lidar_distance_data_packet.h new file mode 100644 index 0000000..c94a10e --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_ret_lidar_distance_data_packet.h @@ -0,0 +1,280 @@ +#pragma once +// MESSAGE RET_LIDAR_DISTANCE_DATA_PACKET PACKING + +#define MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET 16 + + +typedef struct __mavlink_ret_lidar_distance_data_packet_t { + uint16_t packet_id; /*< Data packet ID.*/ + uint16_t packet_cnt; /*< Data packet count.*/ + uint16_t payload_size; /*< Data packet payload size.*/ + uint8_t point_data[240]; /*< Data packet distance data.*/ +} mavlink_ret_lidar_distance_data_packet_t; + +#define MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_LEN 246 +#define MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_MIN_LEN 246 +#define MAVLINK_MSG_ID_16_LEN 246 +#define MAVLINK_MSG_ID_16_MIN_LEN 246 + +#define MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_CRC 74 +#define MAVLINK_MSG_ID_16_CRC 74 + +#define MAVLINK_MSG_RET_LIDAR_DISTANCE_DATA_PACKET_FIELD_POINT_DATA_LEN 240 + +#if MAVLINK_COMMAND_24BIT +#define MAVLINK_MESSAGE_INFO_RET_LIDAR_DISTANCE_DATA_PACKET { \ + 16, \ + "RET_LIDAR_DISTANCE_DATA_PACKET", \ + 4, \ + { { "packet_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_ret_lidar_distance_data_packet_t, packet_id) }, \ + { "packet_cnt", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_ret_lidar_distance_data_packet_t, packet_cnt) }, \ + { "payload_size", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_ret_lidar_distance_data_packet_t, payload_size) }, \ + { "point_data", NULL, MAVLINK_TYPE_UINT8_T, 240, 6, offsetof(mavlink_ret_lidar_distance_data_packet_t, point_data) }, \ + } \ +} +#else +#define MAVLINK_MESSAGE_INFO_RET_LIDAR_DISTANCE_DATA_PACKET { \ + "RET_LIDAR_DISTANCE_DATA_PACKET", \ + 4, \ + { { "packet_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 0, offsetof(mavlink_ret_lidar_distance_data_packet_t, packet_id) }, \ + { "packet_cnt", NULL, MAVLINK_TYPE_UINT16_T, 0, 2, offsetof(mavlink_ret_lidar_distance_data_packet_t, packet_cnt) }, \ + { "payload_size", NULL, MAVLINK_TYPE_UINT16_T, 0, 4, offsetof(mavlink_ret_lidar_distance_data_packet_t, payload_size) }, \ + { "point_data", NULL, MAVLINK_TYPE_UINT8_T, 240, 6, offsetof(mavlink_ret_lidar_distance_data_packet_t, point_data) }, \ + } \ +} +#endif + +/** + * @brief Pack a ret_lidar_distance_data_packet message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param packet_id Data packet ID. + * @param packet_cnt Data packet count. + * @param payload_size Data packet payload size. + * @param point_data Data packet distance data. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_ret_lidar_distance_data_packet_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t packet_id, uint16_t packet_cnt, uint16_t payload_size, const uint8_t *point_data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_LEN]; + _mav_put_uint16_t(buf, 0, packet_id); + _mav_put_uint16_t(buf, 2, packet_cnt); + _mav_put_uint16_t(buf, 4, payload_size); + _mav_put_uint8_t_array(buf, 6, point_data, 240); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_LEN); +#else + mavlink_ret_lidar_distance_data_packet_t packet; + packet.packet_id = packet_id; + packet.packet_cnt = packet_cnt; + packet.payload_size = payload_size; + mav_array_memcpy(packet.point_data, point_data, sizeof(uint8_t)*240); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET; + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_MIN_LEN, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_LEN, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_CRC); +} + +/** + * @brief Pack a ret_lidar_distance_data_packet message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param packet_id Data packet ID. + * @param packet_cnt Data packet count. + * @param payload_size Data packet payload size. + * @param point_data Data packet distance data. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_ret_lidar_distance_data_packet_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t packet_id,uint16_t packet_cnt,uint16_t payload_size,const uint8_t *point_data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_LEN]; + _mav_put_uint16_t(buf, 0, packet_id); + _mav_put_uint16_t(buf, 2, packet_cnt); + _mav_put_uint16_t(buf, 4, payload_size); + _mav_put_uint8_t_array(buf, 6, point_data, 240); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_LEN); +#else + mavlink_ret_lidar_distance_data_packet_t packet; + packet.packet_id = packet_id; + packet.packet_cnt = packet_cnt; + packet.payload_size = payload_size; + mav_array_memcpy(packet.point_data, point_data, sizeof(uint8_t)*240); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_MIN_LEN, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_LEN, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_CRC); +} + +/** + * @brief Encode a ret_lidar_distance_data_packet struct + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param ret_lidar_distance_data_packet C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_ret_lidar_distance_data_packet_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ret_lidar_distance_data_packet_t* ret_lidar_distance_data_packet) +{ + return mavlink_msg_ret_lidar_distance_data_packet_pack(system_id, component_id, msg, ret_lidar_distance_data_packet->packet_id, ret_lidar_distance_data_packet->packet_cnt, ret_lidar_distance_data_packet->payload_size, ret_lidar_distance_data_packet->point_data); +} + +/** + * @brief Encode a ret_lidar_distance_data_packet struct on a channel + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param ret_lidar_distance_data_packet C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_ret_lidar_distance_data_packet_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ret_lidar_distance_data_packet_t* ret_lidar_distance_data_packet) +{ + return mavlink_msg_ret_lidar_distance_data_packet_pack_chan(system_id, component_id, chan, msg, ret_lidar_distance_data_packet->packet_id, ret_lidar_distance_data_packet->packet_cnt, ret_lidar_distance_data_packet->payload_size, ret_lidar_distance_data_packet->point_data); +} + +/** + * @brief Send a ret_lidar_distance_data_packet message + * @param chan MAVLink channel to send the message + * + * @param packet_id Data packet ID. + * @param packet_cnt Data packet count. + * @param payload_size Data packet payload size. + * @param point_data Data packet distance data. + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_ret_lidar_distance_data_packet_send(mavlink_channel_t chan, uint16_t packet_id, uint16_t packet_cnt, uint16_t payload_size, const uint8_t *point_data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_LEN]; + _mav_put_uint16_t(buf, 0, packet_id); + _mav_put_uint16_t(buf, 2, packet_cnt); + _mav_put_uint16_t(buf, 4, payload_size); + _mav_put_uint8_t_array(buf, 6, point_data, 240); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET, buf, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_MIN_LEN, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_LEN, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_CRC); +#else + mavlink_ret_lidar_distance_data_packet_t packet; + packet.packet_id = packet_id; + packet.packet_cnt = packet_cnt; + packet.payload_size = payload_size; + mav_array_memcpy(packet.point_data, point_data, sizeof(uint8_t)*240); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET, (const char *)&packet, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_MIN_LEN, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_LEN, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_CRC); +#endif +} + +/** + * @brief Send a ret_lidar_distance_data_packet message + * @param chan MAVLink channel to send the message + * @param struct The MAVLink struct to serialize + */ +static inline void mavlink_msg_ret_lidar_distance_data_packet_send_struct(mavlink_channel_t chan, const mavlink_ret_lidar_distance_data_packet_t* ret_lidar_distance_data_packet) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + mavlink_msg_ret_lidar_distance_data_packet_send(chan, ret_lidar_distance_data_packet->packet_id, ret_lidar_distance_data_packet->packet_cnt, ret_lidar_distance_data_packet->payload_size, ret_lidar_distance_data_packet->point_data); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET, (const char *)ret_lidar_distance_data_packet, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_MIN_LEN, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_LEN, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_CRC); +#endif +} + +#if MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This variant of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_ret_lidar_distance_data_packet_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t packet_id, uint16_t packet_cnt, uint16_t payload_size, const uint8_t *point_data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint16_t(buf, 0, packet_id); + _mav_put_uint16_t(buf, 2, packet_cnt); + _mav_put_uint16_t(buf, 4, payload_size); + _mav_put_uint8_t_array(buf, 6, point_data, 240); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET, buf, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_MIN_LEN, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_LEN, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_CRC); +#else + mavlink_ret_lidar_distance_data_packet_t *packet = (mavlink_ret_lidar_distance_data_packet_t *)msgbuf; + packet->packet_id = packet_id; + packet->packet_cnt = packet_cnt; + packet->payload_size = payload_size; + mav_array_memcpy(packet->point_data, point_data, sizeof(uint8_t)*240); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET, (const char *)packet, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_MIN_LEN, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_LEN, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_CRC); +#endif +} +#endif + +#endif + +// MESSAGE RET_LIDAR_DISTANCE_DATA_PACKET UNPACKING + + +/** + * @brief Get field packet_id from ret_lidar_distance_data_packet message + * + * @return Data packet ID. + */ +static inline uint16_t mavlink_msg_ret_lidar_distance_data_packet_get_packet_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 0); +} + +/** + * @brief Get field packet_cnt from ret_lidar_distance_data_packet message + * + * @return Data packet count. + */ +static inline uint16_t mavlink_msg_ret_lidar_distance_data_packet_get_packet_cnt(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 2); +} + +/** + * @brief Get field payload_size from ret_lidar_distance_data_packet message + * + * @return Data packet payload size. + */ +static inline uint16_t mavlink_msg_ret_lidar_distance_data_packet_get_payload_size(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 4); +} + +/** + * @brief Get field point_data from ret_lidar_distance_data_packet message + * + * @return Data packet distance data. + */ +static inline uint16_t mavlink_msg_ret_lidar_distance_data_packet_get_point_data(const mavlink_message_t* msg, uint8_t *point_data) +{ + return _MAV_RETURN_uint8_t_array(msg, point_data, 240, 6); +} + +/** + * @brief Decode a ret_lidar_distance_data_packet message into a struct + * + * @param msg The message to decode + * @param ret_lidar_distance_data_packet C-struct to decode the message contents into + */ +static inline void mavlink_msg_ret_lidar_distance_data_packet_decode(const mavlink_message_t* msg, mavlink_ret_lidar_distance_data_packet_t* ret_lidar_distance_data_packet) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + ret_lidar_distance_data_packet->packet_id = mavlink_msg_ret_lidar_distance_data_packet_get_packet_id(msg); + ret_lidar_distance_data_packet->packet_cnt = mavlink_msg_ret_lidar_distance_data_packet_get_packet_cnt(msg); + ret_lidar_distance_data_packet->payload_size = mavlink_msg_ret_lidar_distance_data_packet_get_payload_size(msg); + mavlink_msg_ret_lidar_distance_data_packet_get_point_data(msg, ret_lidar_distance_data_packet->point_data); +#else + uint8_t len = msg->len < MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_LEN? msg->len : MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_LEN; + memset(ret_lidar_distance_data_packet, 0, MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_LEN); + memcpy(ret_lidar_distance_data_packet, _MAV_PAYLOAD(msg), len); +#endif +} diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_ret_lidar_time_sync_data.h b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_ret_lidar_time_sync_data.h new file mode 100644 index 0000000..2fd466f --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_ret_lidar_time_sync_data.h @@ -0,0 +1,238 @@ +#pragma once +// MESSAGE RET_LIDAR_TIME_SYNC_DATA PACKING + +#define MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA 18 + + +typedef struct __mavlink_ret_lidar_time_sync_data_t { + uint32_t lidar_sync_count; /*< Time synchronization packet count.*/ + uint8_t lidar_sync_type; /*< Time synchronization packet type.*/ +} mavlink_ret_lidar_time_sync_data_t; + +#define MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_LEN 5 +#define MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_MIN_LEN 5 +#define MAVLINK_MSG_ID_18_LEN 5 +#define MAVLINK_MSG_ID_18_MIN_LEN 5 + +#define MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_CRC 12 +#define MAVLINK_MSG_ID_18_CRC 12 + + + +#if MAVLINK_COMMAND_24BIT +#define MAVLINK_MESSAGE_INFO_RET_LIDAR_TIME_SYNC_DATA { \ + 18, \ + "RET_LIDAR_TIME_SYNC_DATA", \ + 2, \ + { { "lidar_sync_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_ret_lidar_time_sync_data_t, lidar_sync_type) }, \ + { "lidar_sync_count", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_ret_lidar_time_sync_data_t, lidar_sync_count) }, \ + } \ +} +#else +#define MAVLINK_MESSAGE_INFO_RET_LIDAR_TIME_SYNC_DATA { \ + "RET_LIDAR_TIME_SYNC_DATA", \ + 2, \ + { { "lidar_sync_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_ret_lidar_time_sync_data_t, lidar_sync_type) }, \ + { "lidar_sync_count", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_ret_lidar_time_sync_data_t, lidar_sync_count) }, \ + } \ +} +#endif + +/** + * @brief Pack a ret_lidar_time_sync_data message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param lidar_sync_type Time synchronization packet type. + * @param lidar_sync_count Time synchronization packet count. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_ret_lidar_time_sync_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint8_t lidar_sync_type, uint32_t lidar_sync_count) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_LEN]; + _mav_put_uint32_t(buf, 0, lidar_sync_count); + _mav_put_uint8_t(buf, 4, lidar_sync_type); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_LEN); +#else + mavlink_ret_lidar_time_sync_data_t packet; + packet.lidar_sync_count = lidar_sync_count; + packet.lidar_sync_type = lidar_sync_type; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA; + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_MIN_LEN, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_LEN, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_CRC); +} + +/** + * @brief Pack a ret_lidar_time_sync_data message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param lidar_sync_type Time synchronization packet type. + * @param lidar_sync_count Time synchronization packet count. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_ret_lidar_time_sync_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint8_t lidar_sync_type,uint32_t lidar_sync_count) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_LEN]; + _mav_put_uint32_t(buf, 0, lidar_sync_count); + _mav_put_uint8_t(buf, 4, lidar_sync_type); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_LEN); +#else + mavlink_ret_lidar_time_sync_data_t packet; + packet.lidar_sync_count = lidar_sync_count; + packet.lidar_sync_type = lidar_sync_type; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_MIN_LEN, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_LEN, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_CRC); +} + +/** + * @brief Encode a ret_lidar_time_sync_data struct + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param ret_lidar_time_sync_data C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_ret_lidar_time_sync_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ret_lidar_time_sync_data_t* ret_lidar_time_sync_data) +{ + return mavlink_msg_ret_lidar_time_sync_data_pack(system_id, component_id, msg, ret_lidar_time_sync_data->lidar_sync_type, ret_lidar_time_sync_data->lidar_sync_count); +} + +/** + * @brief Encode a ret_lidar_time_sync_data struct on a channel + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param ret_lidar_time_sync_data C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_ret_lidar_time_sync_data_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ret_lidar_time_sync_data_t* ret_lidar_time_sync_data) +{ + return mavlink_msg_ret_lidar_time_sync_data_pack_chan(system_id, component_id, chan, msg, ret_lidar_time_sync_data->lidar_sync_type, ret_lidar_time_sync_data->lidar_sync_count); +} + +/** + * @brief Send a ret_lidar_time_sync_data message + * @param chan MAVLink channel to send the message + * + * @param lidar_sync_type Time synchronization packet type. + * @param lidar_sync_count Time synchronization packet count. + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_ret_lidar_time_sync_data_send(mavlink_channel_t chan, uint8_t lidar_sync_type, uint32_t lidar_sync_count) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_LEN]; + _mav_put_uint32_t(buf, 0, lidar_sync_count); + _mav_put_uint8_t(buf, 4, lidar_sync_type); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA, buf, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_MIN_LEN, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_LEN, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_CRC); +#else + mavlink_ret_lidar_time_sync_data_t packet; + packet.lidar_sync_count = lidar_sync_count; + packet.lidar_sync_type = lidar_sync_type; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA, (const char *)&packet, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_MIN_LEN, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_LEN, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_CRC); +#endif +} + +/** + * @brief Send a ret_lidar_time_sync_data message + * @param chan MAVLink channel to send the message + * @param struct The MAVLink struct to serialize + */ +static inline void mavlink_msg_ret_lidar_time_sync_data_send_struct(mavlink_channel_t chan, const mavlink_ret_lidar_time_sync_data_t* ret_lidar_time_sync_data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + mavlink_msg_ret_lidar_time_sync_data_send(chan, ret_lidar_time_sync_data->lidar_sync_type, ret_lidar_time_sync_data->lidar_sync_count); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA, (const char *)ret_lidar_time_sync_data, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_MIN_LEN, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_LEN, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_CRC); +#endif +} + +#if MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This variant of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_ret_lidar_time_sync_data_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t lidar_sync_type, uint32_t lidar_sync_count) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, lidar_sync_count); + _mav_put_uint8_t(buf, 4, lidar_sync_type); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA, buf, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_MIN_LEN, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_LEN, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_CRC); +#else + mavlink_ret_lidar_time_sync_data_t *packet = (mavlink_ret_lidar_time_sync_data_t *)msgbuf; + packet->lidar_sync_count = lidar_sync_count; + packet->lidar_sync_type = lidar_sync_type; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA, (const char *)packet, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_MIN_LEN, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_LEN, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_CRC); +#endif +} +#endif + +#endif + +// MESSAGE RET_LIDAR_TIME_SYNC_DATA UNPACKING + + +/** + * @brief Get field lidar_sync_type from ret_lidar_time_sync_data message + * + * @return Time synchronization packet type. + */ +static inline uint8_t mavlink_msg_ret_lidar_time_sync_data_get_lidar_sync_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 4); +} + +/** + * @brief Get field lidar_sync_count from ret_lidar_time_sync_data message + * + * @return Time synchronization packet count. + */ +static inline uint32_t mavlink_msg_ret_lidar_time_sync_data_get_lidar_sync_count(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + +/** + * @brief Decode a ret_lidar_time_sync_data message into a struct + * + * @param msg The message to decode + * @param ret_lidar_time_sync_data C-struct to decode the message contents into + */ +static inline void mavlink_msg_ret_lidar_time_sync_data_decode(const mavlink_message_t* msg, mavlink_ret_lidar_time_sync_data_t* ret_lidar_time_sync_data) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + ret_lidar_time_sync_data->lidar_sync_count = mavlink_msg_ret_lidar_time_sync_data_get_lidar_sync_count(msg); + ret_lidar_time_sync_data->lidar_sync_type = mavlink_msg_ret_lidar_time_sync_data_get_lidar_sync_type(msg); +#else + uint8_t len = msg->len < MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_LEN? msg->len : MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_LEN; + memset(ret_lidar_time_sync_data, 0, MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_LEN); + memcpy(ret_lidar_time_sync_data, _MAV_PAYLOAD(msg), len); +#endif +} diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_ret_lidar_version.h b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_ret_lidar_version.h new file mode 100644 index 0000000..9ab8565 --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/mavlink_msg_ret_lidar_version.h @@ -0,0 +1,291 @@ +#pragma once +// MESSAGE RET_LIDAR_VERSION PACKING + +#define MAVLINK_MSG_ID_RET_LIDAR_VERSION 13 + + +typedef struct __mavlink_ret_lidar_version_t { + uint8_t sys_soft_version[13]; /*< SYS board soft version.*/ + uint8_t com_soft_version[13]; /*< COM board soft version.*/ + uint8_t sys_hard_version[6]; /*< SYS board hard version.*/ + uint8_t com_hard_version[6]; /*< COM board hard version.*/ +} mavlink_ret_lidar_version_t; + +#define MAVLINK_MSG_ID_RET_LIDAR_VERSION_LEN 38 +#define MAVLINK_MSG_ID_RET_LIDAR_VERSION_MIN_LEN 38 +#define MAVLINK_MSG_ID_13_LEN 38 +#define MAVLINK_MSG_ID_13_MIN_LEN 38 + +#define MAVLINK_MSG_ID_RET_LIDAR_VERSION_CRC 62 +#define MAVLINK_MSG_ID_13_CRC 62 + +#define MAVLINK_MSG_RET_LIDAR_VERSION_FIELD_SYS_SOFT_VERSION_LEN 13 +#define MAVLINK_MSG_RET_LIDAR_VERSION_FIELD_COM_SOFT_VERSION_LEN 13 +#define MAVLINK_MSG_RET_LIDAR_VERSION_FIELD_SYS_HARD_VERSION_LEN 6 +#define MAVLINK_MSG_RET_LIDAR_VERSION_FIELD_COM_HARD_VERSION_LEN 6 + +#if MAVLINK_COMMAND_24BIT +#define MAVLINK_MESSAGE_INFO_RET_LIDAR_VERSION { \ + 13, \ + "RET_LIDAR_VERSION", \ + 4, \ + { { "sys_soft_version", NULL, MAVLINK_TYPE_UINT8_T, 13, 0, offsetof(mavlink_ret_lidar_version_t, sys_soft_version) }, \ + { "com_soft_version", NULL, MAVLINK_TYPE_UINT8_T, 13, 13, offsetof(mavlink_ret_lidar_version_t, com_soft_version) }, \ + { "sys_hard_version", NULL, MAVLINK_TYPE_UINT8_T, 6, 26, offsetof(mavlink_ret_lidar_version_t, sys_hard_version) }, \ + { "com_hard_version", NULL, MAVLINK_TYPE_UINT8_T, 6, 32, offsetof(mavlink_ret_lidar_version_t, com_hard_version) }, \ + } \ +} +#else +#define MAVLINK_MESSAGE_INFO_RET_LIDAR_VERSION { \ + "RET_LIDAR_VERSION", \ + 4, \ + { { "sys_soft_version", NULL, MAVLINK_TYPE_UINT8_T, 13, 0, offsetof(mavlink_ret_lidar_version_t, sys_soft_version) }, \ + { "com_soft_version", NULL, MAVLINK_TYPE_UINT8_T, 13, 13, offsetof(mavlink_ret_lidar_version_t, com_soft_version) }, \ + { "sys_hard_version", NULL, MAVLINK_TYPE_UINT8_T, 6, 26, offsetof(mavlink_ret_lidar_version_t, sys_hard_version) }, \ + { "com_hard_version", NULL, MAVLINK_TYPE_UINT8_T, 6, 32, offsetof(mavlink_ret_lidar_version_t, com_hard_version) }, \ + } \ +} +#endif + +/** + * @brief Pack a ret_lidar_version message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param sys_soft_version SYS board soft version. + * @param com_soft_version COM board soft version. + * @param sys_hard_version SYS board hard version. + * @param com_hard_version COM board hard version. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_ret_lidar_version_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + const uint8_t *sys_soft_version, const uint8_t *com_soft_version, const uint8_t *sys_hard_version, const uint8_t *com_hard_version) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_RET_LIDAR_VERSION_LEN]; + + _mav_put_uint8_t_array(buf, 0, sys_soft_version, 13); + _mav_put_uint8_t_array(buf, 13, com_soft_version, 13); + _mav_put_uint8_t_array(buf, 26, sys_hard_version, 6); + _mav_put_uint8_t_array(buf, 32, com_hard_version, 6); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RET_LIDAR_VERSION_LEN); +#else + mavlink_ret_lidar_version_t packet; + + mav_array_memcpy(packet.sys_soft_version, sys_soft_version, sizeof(uint8_t)*13); + mav_array_memcpy(packet.com_soft_version, com_soft_version, sizeof(uint8_t)*13); + mav_array_memcpy(packet.sys_hard_version, sys_hard_version, sizeof(uint8_t)*6); + mav_array_memcpy(packet.com_hard_version, com_hard_version, sizeof(uint8_t)*6); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RET_LIDAR_VERSION_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_RET_LIDAR_VERSION; + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RET_LIDAR_VERSION_MIN_LEN, MAVLINK_MSG_ID_RET_LIDAR_VERSION_LEN, MAVLINK_MSG_ID_RET_LIDAR_VERSION_CRC); +} + +/** + * @brief Pack a ret_lidar_version message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param sys_soft_version SYS board soft version. + * @param com_soft_version COM board soft version. + * @param sys_hard_version SYS board hard version. + * @param com_hard_version COM board hard version. + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_ret_lidar_version_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + const uint8_t *sys_soft_version,const uint8_t *com_soft_version,const uint8_t *sys_hard_version,const uint8_t *com_hard_version) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_RET_LIDAR_VERSION_LEN]; + + _mav_put_uint8_t_array(buf, 0, sys_soft_version, 13); + _mav_put_uint8_t_array(buf, 13, com_soft_version, 13); + _mav_put_uint8_t_array(buf, 26, sys_hard_version, 6); + _mav_put_uint8_t_array(buf, 32, com_hard_version, 6); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RET_LIDAR_VERSION_LEN); +#else + mavlink_ret_lidar_version_t packet; + + mav_array_memcpy(packet.sys_soft_version, sys_soft_version, sizeof(uint8_t)*13); + mav_array_memcpy(packet.com_soft_version, com_soft_version, sizeof(uint8_t)*13); + mav_array_memcpy(packet.sys_hard_version, sys_hard_version, sizeof(uint8_t)*6); + mav_array_memcpy(packet.com_hard_version, com_hard_version, sizeof(uint8_t)*6); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RET_LIDAR_VERSION_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_RET_LIDAR_VERSION; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RET_LIDAR_VERSION_MIN_LEN, MAVLINK_MSG_ID_RET_LIDAR_VERSION_LEN, MAVLINK_MSG_ID_RET_LIDAR_VERSION_CRC); +} + +/** + * @brief Encode a ret_lidar_version struct + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param ret_lidar_version C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_ret_lidar_version_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ret_lidar_version_t* ret_lidar_version) +{ + return mavlink_msg_ret_lidar_version_pack(system_id, component_id, msg, ret_lidar_version->sys_soft_version, ret_lidar_version->com_soft_version, ret_lidar_version->sys_hard_version, ret_lidar_version->com_hard_version); +} + +/** + * @brief Encode a ret_lidar_version struct on a channel + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param ret_lidar_version C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_ret_lidar_version_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ret_lidar_version_t* ret_lidar_version) +{ + return mavlink_msg_ret_lidar_version_pack_chan(system_id, component_id, chan, msg, ret_lidar_version->sys_soft_version, ret_lidar_version->com_soft_version, ret_lidar_version->sys_hard_version, ret_lidar_version->com_hard_version); +} + +/** + * @brief Send a ret_lidar_version message + * @param chan MAVLink channel to send the message + * + * @param sys_soft_version SYS board soft version. + * @param com_soft_version COM board soft version. + * @param sys_hard_version SYS board hard version. + * @param com_hard_version COM board hard version. + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_ret_lidar_version_send(mavlink_channel_t chan, const uint8_t *sys_soft_version, const uint8_t *com_soft_version, const uint8_t *sys_hard_version, const uint8_t *com_hard_version) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_RET_LIDAR_VERSION_LEN]; + + _mav_put_uint8_t_array(buf, 0, sys_soft_version, 13); + _mav_put_uint8_t_array(buf, 13, com_soft_version, 13); + _mav_put_uint8_t_array(buf, 26, sys_hard_version, 6); + _mav_put_uint8_t_array(buf, 32, com_hard_version, 6); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RET_LIDAR_VERSION, buf, MAVLINK_MSG_ID_RET_LIDAR_VERSION_MIN_LEN, MAVLINK_MSG_ID_RET_LIDAR_VERSION_LEN, MAVLINK_MSG_ID_RET_LIDAR_VERSION_CRC); +#else + mavlink_ret_lidar_version_t packet; + + mav_array_memcpy(packet.sys_soft_version, sys_soft_version, sizeof(uint8_t)*13); + mav_array_memcpy(packet.com_soft_version, com_soft_version, sizeof(uint8_t)*13); + mav_array_memcpy(packet.sys_hard_version, sys_hard_version, sizeof(uint8_t)*6); + mav_array_memcpy(packet.com_hard_version, com_hard_version, sizeof(uint8_t)*6); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RET_LIDAR_VERSION, (const char *)&packet, MAVLINK_MSG_ID_RET_LIDAR_VERSION_MIN_LEN, MAVLINK_MSG_ID_RET_LIDAR_VERSION_LEN, MAVLINK_MSG_ID_RET_LIDAR_VERSION_CRC); +#endif +} + +/** + * @brief Send a ret_lidar_version message + * @param chan MAVLink channel to send the message + * @param struct The MAVLink struct to serialize + */ +static inline void mavlink_msg_ret_lidar_version_send_struct(mavlink_channel_t chan, const mavlink_ret_lidar_version_t* ret_lidar_version) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + mavlink_msg_ret_lidar_version_send(chan, ret_lidar_version->sys_soft_version, ret_lidar_version->com_soft_version, ret_lidar_version->sys_hard_version, ret_lidar_version->com_hard_version); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RET_LIDAR_VERSION, (const char *)ret_lidar_version, MAVLINK_MSG_ID_RET_LIDAR_VERSION_MIN_LEN, MAVLINK_MSG_ID_RET_LIDAR_VERSION_LEN, MAVLINK_MSG_ID_RET_LIDAR_VERSION_CRC); +#endif +} + +#if MAVLINK_MSG_ID_RET_LIDAR_VERSION_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This variant of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_ret_lidar_version_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, const uint8_t *sys_soft_version, const uint8_t *com_soft_version, const uint8_t *sys_hard_version, const uint8_t *com_hard_version) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + + _mav_put_uint8_t_array(buf, 0, sys_soft_version, 13); + _mav_put_uint8_t_array(buf, 13, com_soft_version, 13); + _mav_put_uint8_t_array(buf, 26, sys_hard_version, 6); + _mav_put_uint8_t_array(buf, 32, com_hard_version, 6); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RET_LIDAR_VERSION, buf, MAVLINK_MSG_ID_RET_LIDAR_VERSION_MIN_LEN, MAVLINK_MSG_ID_RET_LIDAR_VERSION_LEN, MAVLINK_MSG_ID_RET_LIDAR_VERSION_CRC); +#else + mavlink_ret_lidar_version_t *packet = (mavlink_ret_lidar_version_t *)msgbuf; + + mav_array_memcpy(packet->sys_soft_version, sys_soft_version, sizeof(uint8_t)*13); + mav_array_memcpy(packet->com_soft_version, com_soft_version, sizeof(uint8_t)*13); + mav_array_memcpy(packet->sys_hard_version, sys_hard_version, sizeof(uint8_t)*6); + mav_array_memcpy(packet->com_hard_version, com_hard_version, sizeof(uint8_t)*6); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RET_LIDAR_VERSION, (const char *)packet, MAVLINK_MSG_ID_RET_LIDAR_VERSION_MIN_LEN, MAVLINK_MSG_ID_RET_LIDAR_VERSION_LEN, MAVLINK_MSG_ID_RET_LIDAR_VERSION_CRC); +#endif +} +#endif + +#endif + +// MESSAGE RET_LIDAR_VERSION UNPACKING + + +/** + * @brief Get field sys_soft_version from ret_lidar_version message + * + * @return SYS board soft version. + */ +static inline uint16_t mavlink_msg_ret_lidar_version_get_sys_soft_version(const mavlink_message_t* msg, uint8_t *sys_soft_version) +{ + return _MAV_RETURN_uint8_t_array(msg, sys_soft_version, 13, 0); +} + +/** + * @brief Get field com_soft_version from ret_lidar_version message + * + * @return COM board soft version. + */ +static inline uint16_t mavlink_msg_ret_lidar_version_get_com_soft_version(const mavlink_message_t* msg, uint8_t *com_soft_version) +{ + return _MAV_RETURN_uint8_t_array(msg, com_soft_version, 13, 13); +} + +/** + * @brief Get field sys_hard_version from ret_lidar_version message + * + * @return SYS board hard version. + */ +static inline uint16_t mavlink_msg_ret_lidar_version_get_sys_hard_version(const mavlink_message_t* msg, uint8_t *sys_hard_version) +{ + return _MAV_RETURN_uint8_t_array(msg, sys_hard_version, 6, 26); +} + +/** + * @brief Get field com_hard_version from ret_lidar_version message + * + * @return COM board hard version. + */ +static inline uint16_t mavlink_msg_ret_lidar_version_get_com_hard_version(const mavlink_message_t* msg, uint8_t *com_hard_version) +{ + return _MAV_RETURN_uint8_t_array(msg, com_hard_version, 6, 32); +} + +/** + * @brief Decode a ret_lidar_version message into a struct + * + * @param msg The message to decode + * @param ret_lidar_version C-struct to decode the message contents into + */ +static inline void mavlink_msg_ret_lidar_version_decode(const mavlink_message_t* msg, mavlink_ret_lidar_version_t* ret_lidar_version) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + mavlink_msg_ret_lidar_version_get_sys_soft_version(msg, ret_lidar_version->sys_soft_version); + mavlink_msg_ret_lidar_version_get_com_soft_version(msg, ret_lidar_version->com_soft_version); + mavlink_msg_ret_lidar_version_get_sys_hard_version(msg, ret_lidar_version->sys_hard_version); + mavlink_msg_ret_lidar_version_get_com_hard_version(msg, ret_lidar_version->com_hard_version); +#else + uint8_t len = msg->len < MAVLINK_MSG_ID_RET_LIDAR_VERSION_LEN? msg->len : MAVLINK_MSG_ID_RET_LIDAR_VERSION_LEN; + memset(ret_lidar_version, 0, MAVLINK_MSG_ID_RET_LIDAR_VERSION_LEN); + memcpy(ret_lidar_version, _MAV_PAYLOAD(msg), len); +#endif +} diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/testsuite.h b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/testsuite.h new file mode 100644 index 0000000..3010d8b --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/SysMavlink/testsuite.h @@ -0,0 +1,1026 @@ +/** @file + * @brief MAVLink comm protocol testsuite generated from SysMavlink.xml + * @see https://mavlink.io/en/ + */ +#pragma once +#ifndef SYSMAVLINK_TESTSUITE_H +#define SYSMAVLINK_TESTSUITE_H + +#ifdef __cplusplus +extern "C" { +#endif + +#ifndef MAVLINK_TEST_ALL +#define MAVLINK_TEST_ALL + +static void mavlink_test_SysMavlink(uint8_t, uint8_t, mavlink_message_t *last_msg); + +static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ + + mavlink_test_SysMavlink(system_id, component_id, last_msg); +} +#endif + + + + +static void mavlink_test_device_request_answer(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ +#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1 + mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0); + if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_DEVICE_REQUEST_ANSWER >= 256) { + return; + } +#endif + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_device_request_answer_t packet_in = { + 5 + }; + mavlink_device_request_answer_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.command_return_ok = packet_in.command_return_ok; + + +#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1 + if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) { + // cope with extensions + memset(MAVLINK_MSG_ID_DEVICE_REQUEST_ANSWER_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_DEVICE_REQUEST_ANSWER_MIN_LEN); + } +#endif + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_device_request_answer_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_device_request_answer_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_device_request_answer_pack(system_id, component_id, &msg , packet1.command_return_ok ); + mavlink_msg_device_request_answer_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_device_request_answer_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.command_return_ok ); + mavlink_msg_device_request_answer_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; iflags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_DEVICE_DEBUG_MODE_PARAMS >= 256) { + return; + } +#endif + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_device_debug_mode_params_t packet_in = { + 17.0,45.0,17651,17755,17859,17963,53,120,187,254 + }; + mavlink_device_debug_mode_params_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.debug_param_value = packet_in.debug_param_value; + packet1.debug_float_reserve = packet_in.debug_float_reserve; + packet1.debug_pos = packet_in.debug_pos; + packet1.debug_count = packet_in.debug_count; + packet1.debug_laser_cycle = packet_in.debug_laser_cycle; + packet1.debug_uin16_t_reserve = packet_in.debug_uin16_t_reserve; + packet1.debug_mode = packet_in.debug_mode; + packet1.debug_needed = packet_in.debug_needed; + packet1.debug_first_test_flag = packet_in.debug_first_test_flag; + packet1.debug_uin8_t_reserve = packet_in.debug_uin8_t_reserve; + + +#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1 + if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) { + // cope with extensions + memset(MAVLINK_MSG_ID_DEVICE_DEBUG_MODE_PARAMS_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_DEVICE_DEBUG_MODE_PARAMS_MIN_LEN); + } +#endif + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_device_debug_mode_params_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_device_debug_mode_params_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_device_debug_mode_params_pack(system_id, component_id, &msg , packet1.debug_mode , packet1.debug_needed , packet1.debug_first_test_flag , packet1.debug_uin8_t_reserve , packet1.debug_pos , packet1.debug_count , packet1.debug_laser_cycle , packet1.debug_uin16_t_reserve , packet1.debug_param_value , packet1.debug_float_reserve ); + mavlink_msg_device_debug_mode_params_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_device_debug_mode_params_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.debug_mode , packet1.debug_needed , packet1.debug_first_test_flag , packet1.debug_uin8_t_reserve , packet1.debug_pos , packet1.debug_count , packet1.debug_laser_cycle , packet1.debug_uin16_t_reserve , packet1.debug_param_value , packet1.debug_float_reserve ); + mavlink_msg_device_debug_mode_params_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; iflags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_SET_COM_NECESSARY_MEASURE_PARAMETER >= 256) { + return; + } +#endif + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_set_com_necessary_measure_parameter_t packet_in = { + 17.0,45.0,73.0,101.0,129.0,157.0,185.0,963498920,963499128,963499336,963499544,963499752,963499960,19939,20043,20147,20251,185 + }; + mavlink_set_com_necessary_measure_parameter_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.moto_target_speed = packet_in.moto_target_speed; + packet1.moto_control_coef = packet_in.moto_control_coef; + packet1.moto_speed_threshold = packet_in.moto_speed_threshold; + packet1.imu_target_tempe = packet_in.imu_target_tempe; + packet1.imu_x_axis_error = packet_in.imu_x_axis_error; + packet1.imu_y_axis_error = packet_in.imu_y_axis_error; + packet1.imu_z_axis_error = packet_in.imu_z_axis_error; + packet1.imu_acc_bias_x = packet_in.imu_acc_bias_x; + packet1.imu_acc_bias_y = packet_in.imu_acc_bias_y; + packet1.imu_acc_bias_z = packet_in.imu_acc_bias_z; + packet1.imu_gyro_bias_x = packet_in.imu_gyro_bias_x; + packet1.imu_gyro_bias_y = packet_in.imu_gyro_bias_y; + packet1.imu_gyro_bias_z = packet_in.imu_gyro_bias_z; + packet1.flash_ok_flag = packet_in.flash_ok_flag; + packet1.led_mode_config = packet_in.led_mode_config; + packet1.imu_work_mode_select = packet_in.imu_work_mode_select; + packet1.moto_pwm_duty = packet_in.moto_pwm_duty; + packet1.factory_mode_en = packet_in.factory_mode_en; + + +#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1 + if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) { + // cope with extensions + memset(MAVLINK_MSG_ID_SET_COM_NECESSARY_MEASURE_PARAMETER_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_SET_COM_NECESSARY_MEASURE_PARAMETER_MIN_LEN); + } +#endif + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_set_com_necessary_measure_parameter_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_set_com_necessary_measure_parameter_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_set_com_necessary_measure_parameter_pack(system_id, component_id, &msg , packet1.factory_mode_en , packet1.flash_ok_flag , packet1.led_mode_config , packet1.imu_work_mode_select , packet1.moto_pwm_duty , packet1.moto_target_speed , packet1.moto_control_coef , packet1.moto_speed_threshold , packet1.imu_target_tempe , packet1.imu_x_axis_error , packet1.imu_y_axis_error , packet1.imu_z_axis_error , packet1.imu_acc_bias_x , packet1.imu_acc_bias_y , packet1.imu_acc_bias_z , packet1.imu_gyro_bias_x , packet1.imu_gyro_bias_y , packet1.imu_gyro_bias_z ); + mavlink_msg_set_com_necessary_measure_parameter_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_set_com_necessary_measure_parameter_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.factory_mode_en , packet1.flash_ok_flag , packet1.led_mode_config , packet1.imu_work_mode_select , packet1.moto_pwm_duty , packet1.moto_target_speed , packet1.moto_control_coef , packet1.moto_speed_threshold , packet1.imu_target_tempe , packet1.imu_x_axis_error , packet1.imu_y_axis_error , packet1.imu_z_axis_error , packet1.imu_acc_bias_x , packet1.imu_acc_bias_y , packet1.imu_acc_bias_z , packet1.imu_gyro_bias_x , packet1.imu_gyro_bias_y , packet1.imu_gyro_bias_z ); + mavlink_msg_set_com_necessary_measure_parameter_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; iflags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_SET_SYS_NECESSARY_MEASURE_PARAMETER >= 256) { + return; + } +#endif + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_set_sys_necessary_measure_parameter_t packet_in = { + 17.0,45.0,73.0,101.0,129.0,157.0,185.0,213.0,241.0,19107,19211,19315,3,70 + }; + mavlink_set_sys_necessary_measure_parameter_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.tdc_bin_length = packet_in.tdc_bin_length; + packet1.apd_temp_param = packet_in.apd_temp_param; + packet1.gray_param_a = packet_in.gray_param_a; + packet1.gray_param_b = packet_in.gray_param_b; + packet1.gray_param_c = packet_in.gray_param_c; + packet1.reflect_param = packet_in.reflect_param; + packet1.b_axis_dist = packet_in.b_axis_dist; + packet1.theta_angle = packet_in.theta_angle; + packet1.ksi_angle = packet_in.ksi_angle; + packet1.comparator_voltage = packet_in.comparator_voltage; + packet1.zero_offset_bin = packet_in.zero_offset_bin; + packet1.flash_ok_flag = packet_in.flash_ok_flag; + packet1.start_offset = packet_in.start_offset; + packet1.gray_calibration_en = packet_in.gray_calibration_en; + + +#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1 + if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) { + // cope with extensions + memset(MAVLINK_MSG_ID_SET_SYS_NECESSARY_MEASURE_PARAMETER_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_SET_SYS_NECESSARY_MEASURE_PARAMETER_MIN_LEN); + } +#endif + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_set_sys_necessary_measure_parameter_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_set_sys_necessary_measure_parameter_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_set_sys_necessary_measure_parameter_pack(system_id, component_id, &msg , packet1.start_offset , packet1.gray_calibration_en , packet1.comparator_voltage , packet1.zero_offset_bin , packet1.flash_ok_flag , packet1.tdc_bin_length , packet1.apd_temp_param , packet1.gray_param_a , packet1.gray_param_b , packet1.gray_param_c , packet1.reflect_param , packet1.b_axis_dist , packet1.theta_angle , packet1.ksi_angle ); + mavlink_msg_set_sys_necessary_measure_parameter_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_set_sys_necessary_measure_parameter_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.start_offset , packet1.gray_calibration_en , packet1.comparator_voltage , packet1.zero_offset_bin , packet1.flash_ok_flag , packet1.tdc_bin_length , packet1.apd_temp_param , packet1.gray_param_a , packet1.gray_param_b , packet1.gray_param_c , packet1.reflect_param , packet1.b_axis_dist , packet1.theta_angle , packet1.ksi_angle ); + mavlink_msg_set_sys_necessary_measure_parameter_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; iflags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_RET_TDC_POINT_DEBUG_PACKET >= 256) { + return; + } +#endif + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_ret_tdc_point_debug_packet_t packet_in = { + 17.0,45.0,73.0,101.0,18067,18171,18275,18379,18483,18587,18691,18795,18899,235,46 + }; + mavlink_ret_tdc_point_debug_packet_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.width_correction_diff = packet_in.width_correction_diff; + packet1.apd_temperature = packet_in.apd_temperature; + packet1.imu_temperature = packet_in.imu_temperature; + packet1.apd_voltage = packet_in.apd_voltage; + packet1.start = packet_in.start; + packet1.width = packet_in.width; + packet1.spec_start = packet_in.spec_start; + packet1.spec_width = packet_in.spec_width; + packet1.dist = packet_in.dist; + packet1.point_index = packet_in.point_index; + packet1.reserve_2 = packet_in.reserve_2; + packet1.reserve_3 = packet_in.reserve_3; + packet1.reserve_4 = packet_in.reserve_4; + packet1.spec_reflectivity = packet_in.spec_reflectivity; + packet1.packet_index = packet_in.packet_index; + + +#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1 + if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) { + // cope with extensions + memset(MAVLINK_MSG_ID_RET_TDC_POINT_DEBUG_PACKET_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_RET_TDC_POINT_DEBUG_PACKET_MIN_LEN); + } +#endif + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_ret_tdc_point_debug_packet_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_ret_tdc_point_debug_packet_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_ret_tdc_point_debug_packet_pack(system_id, component_id, &msg , packet1.spec_reflectivity , packet1.packet_index , packet1.start , packet1.width , packet1.spec_start , packet1.spec_width , packet1.dist , packet1.point_index , packet1.reserve_2 , packet1.reserve_3 , packet1.reserve_4 , packet1.width_correction_diff , packet1.apd_temperature , packet1.imu_temperature , packet1.apd_voltage ); + mavlink_msg_ret_tdc_point_debug_packet_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_ret_tdc_point_debug_packet_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.spec_reflectivity , packet1.packet_index , packet1.start , packet1.width , packet1.spec_start , packet1.spec_width , packet1.dist , packet1.point_index , packet1.reserve_2 , packet1.reserve_3 , packet1.reserve_4 , packet1.width_correction_diff , packet1.apd_temperature , packet1.imu_temperature , packet1.apd_voltage ); + mavlink_msg_ret_tdc_point_debug_packet_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; iflags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_DEVICE_REQUEST_INTERNAL_DATA >= 256) { + return; + } +#endif + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_device_request_internal_data_t packet_in = { + 5 + }; + mavlink_device_request_internal_data_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.request_type = packet_in.request_type; + + +#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1 + if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) { + // cope with extensions + memset(MAVLINK_MSG_ID_DEVICE_REQUEST_INTERNAL_DATA_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_DEVICE_REQUEST_INTERNAL_DATA_MIN_LEN); + } +#endif + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_device_request_internal_data_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_device_request_internal_data_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_device_request_internal_data_pack(system_id, component_id, &msg , packet1.request_type ); + mavlink_msg_device_request_internal_data_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_device_request_internal_data_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.request_type ); + mavlink_msg_device_request_internal_data_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; iflags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_DEVICE_REQUEST_DATA >= 256) { + return; + } +#endif + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_device_request_data_t packet_in = { + 5 + }; + mavlink_device_request_data_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.request_type = packet_in.request_type; + + +#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1 + if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) { + // cope with extensions + memset(MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_DEVICE_REQUEST_DATA_MIN_LEN); + } +#endif + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_device_request_data_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_device_request_data_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_device_request_data_pack(system_id, component_id, &msg , packet1.request_type ); + mavlink_msg_device_request_data_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_device_request_data_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.request_type ); + mavlink_msg_device_request_data_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; iflags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_DEVICE_COMMAND >= 256) { + return; + } +#endif + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_device_command_t packet_in = { + 5 + }; + mavlink_device_command_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.cmd_type = packet_in.cmd_type; + + +#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1 + if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) { + // cope with extensions + memset(MAVLINK_MSG_ID_DEVICE_COMMAND_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_DEVICE_COMMAND_MIN_LEN); + } +#endif + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_device_command_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_device_command_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_device_command_pack(system_id, component_id, &msg , packet1.cmd_type ); + mavlink_msg_device_command_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_device_command_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.cmd_type ); + mavlink_msg_device_command_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; iflags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_RET_LIDAR_VERSION >= 256) { + return; + } +#endif + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_ret_lidar_version_t packet_in = { + { 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17 },{ 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120 },{ 211, 212, 213, 214, 215, 216 },{ 101, 102, 103, 104, 105, 106 } + }; + mavlink_ret_lidar_version_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + + mav_array_memcpy(packet1.sys_soft_version, packet_in.sys_soft_version, sizeof(uint8_t)*13); + mav_array_memcpy(packet1.com_soft_version, packet_in.com_soft_version, sizeof(uint8_t)*13); + mav_array_memcpy(packet1.sys_hard_version, packet_in.sys_hard_version, sizeof(uint8_t)*6); + mav_array_memcpy(packet1.com_hard_version, packet_in.com_hard_version, sizeof(uint8_t)*6); + +#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1 + if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) { + // cope with extensions + memset(MAVLINK_MSG_ID_RET_LIDAR_VERSION_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_RET_LIDAR_VERSION_MIN_LEN); + } +#endif + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_ret_lidar_version_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_ret_lidar_version_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_ret_lidar_version_pack(system_id, component_id, &msg , packet1.sys_soft_version , packet1.com_soft_version , packet1.sys_hard_version , packet1.com_hard_version ); + mavlink_msg_ret_lidar_version_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_ret_lidar_version_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.sys_soft_version , packet1.com_soft_version , packet1.sys_hard_version , packet1.com_hard_version ); + mavlink_msg_ret_lidar_version_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; iflags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE >= 256) { + return; + } +#endif + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_config_lidar_working_mode_t packet_in = { + 5 + }; + mavlink_config_lidar_working_mode_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.request_type = packet_in.request_type; + + +#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1 + if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) { + // cope with extensions + memset(MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_CONFIG_LIDAR_WORKING_MODE_MIN_LEN); + } +#endif + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_config_lidar_working_mode_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_config_lidar_working_mode_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_config_lidar_working_mode_pack(system_id, component_id, &msg , packet1.request_type ); + mavlink_msg_config_lidar_working_mode_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_config_lidar_working_mode_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.request_type ); + mavlink_msg_config_lidar_working_mode_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; iflags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET >= 256) { + return; + } +#endif + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_config_led_ring_table_packet_t packet_in = { + 963497464,963497672,17651,163,{ 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18 } + }; + mavlink_config_led_ring_table_packet_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.led_rotation_period = packet_in.led_rotation_period; + packet1.led_zero_point_offset = packet_in.led_zero_point_offset; + packet1.packet_id = packet_in.packet_id; + packet1.led_display_mode = packet_in.led_display_mode; + + mav_array_memcpy(packet1.led_table, packet_in.led_table, sizeof(uint8_t)*45); + +#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1 + if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) { + // cope with extensions + memset(MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_CONFIG_LED_RING_TABLE_PACKET_MIN_LEN); + } +#endif + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_config_led_ring_table_packet_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_config_led_ring_table_packet_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_config_led_ring_table_packet_pack(system_id, component_id, &msg , packet1.packet_id , packet1.led_rotation_period , packet1.led_zero_point_offset , packet1.led_display_mode , packet1.led_table ); + mavlink_msg_config_led_ring_table_packet_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_config_led_ring_table_packet_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.packet_id , packet1.led_rotation_period , packet1.led_zero_point_offset , packet1.led_display_mode , packet1.led_table ); + mavlink_msg_config_led_ring_table_packet_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; iflags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET >= 256) { + return; + } +#endif + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_ret_lidar_distance_data_packet_t packet_in = { + 17235,17339,17443,{ 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134 } + }; + mavlink_ret_lidar_distance_data_packet_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.packet_id = packet_in.packet_id; + packet1.packet_cnt = packet_in.packet_cnt; + packet1.payload_size = packet_in.payload_size; + + mav_array_memcpy(packet1.point_data, packet_in.point_data, sizeof(uint8_t)*240); + +#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1 + if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) { + // cope with extensions + memset(MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_RET_LIDAR_DISTANCE_DATA_PACKET_MIN_LEN); + } +#endif + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_ret_lidar_distance_data_packet_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_ret_lidar_distance_data_packet_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_ret_lidar_distance_data_packet_pack(system_id, component_id, &msg , packet1.packet_id , packet1.packet_cnt , packet1.payload_size , packet1.point_data ); + mavlink_msg_ret_lidar_distance_data_packet_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_ret_lidar_distance_data_packet_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.packet_id , packet1.packet_cnt , packet1.payload_size , packet1.point_data ); + mavlink_msg_ret_lidar_distance_data_packet_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; iflags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET >= 256) { + return; + } +#endif + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_ret_lidar_auxiliary_data_packet_t packet_in = { + 963497464,963497672,963497880,963498088,963498296,157.0,185.0,213.0,241.0,269.0,297.0,325.0,353.0,381.0,409.0,437.0,465.0,493.0,521.0,549.0,577.0,21603,21707,13,{ 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199 } + }; + mavlink_ret_lidar_auxiliary_data_packet_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.lidar_sync_delay_time = packet_in.lidar_sync_delay_time; + packet1.time_stamp_s_step = packet_in.time_stamp_s_step; + packet1.time_stamp_us_step = packet_in.time_stamp_us_step; + packet1.sys_rotation_period = packet_in.sys_rotation_period; + packet1.com_rotation_period = packet_in.com_rotation_period; + packet1.com_horizontal_angle_start = packet_in.com_horizontal_angle_start; + packet1.com_horizontal_angle_step = packet_in.com_horizontal_angle_step; + packet1.sys_vertical_angle_start = packet_in.sys_vertical_angle_start; + packet1.sys_vertical_angle_span = packet_in.sys_vertical_angle_span; + packet1.apd_temperature = packet_in.apd_temperature; + packet1.dirty_index = packet_in.dirty_index; + packet1.imu_temperature = packet_in.imu_temperature; + packet1.up_optical_q = packet_in.up_optical_q; + packet1.down_optical_q = packet_in.down_optical_q; + packet1.apd_voltage = packet_in.apd_voltage; + packet1.imu_angle_x_offset = packet_in.imu_angle_x_offset; + packet1.imu_angle_y_offset = packet_in.imu_angle_y_offset; + packet1.imu_angle_z_offset = packet_in.imu_angle_z_offset; + packet1.b_axis_dist = packet_in.b_axis_dist; + packet1.theta_angle = packet_in.theta_angle; + packet1.ksi_angle = packet_in.ksi_angle; + packet1.packet_id = packet_in.packet_id; + packet1.payload_size = packet_in.payload_size; + packet1.lidar_work_status = packet_in.lidar_work_status; + + mav_array_memcpy(packet1.reflect_data, packet_in.reflect_data, sizeof(uint8_t)*120); + +#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1 + if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) { + // cope with extensions + memset(MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_RET_LIDAR_AUXILIARY_DATA_PACKET_MIN_LEN); + } +#endif + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_ret_lidar_auxiliary_data_packet_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_ret_lidar_auxiliary_data_packet_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_ret_lidar_auxiliary_data_packet_pack(system_id, component_id, &msg , packet1.lidar_work_status , packet1.packet_id , packet1.payload_size , packet1.lidar_sync_delay_time , packet1.time_stamp_s_step , packet1.time_stamp_us_step , packet1.sys_rotation_period , packet1.com_rotation_period , packet1.com_horizontal_angle_start , packet1.com_horizontal_angle_step , packet1.sys_vertical_angle_start , packet1.sys_vertical_angle_span , packet1.apd_temperature , packet1.dirty_index , packet1.imu_temperature , packet1.up_optical_q , packet1.down_optical_q , packet1.apd_voltage , packet1.imu_angle_x_offset , packet1.imu_angle_y_offset , packet1.imu_angle_z_offset , packet1.b_axis_dist , packet1.theta_angle , packet1.ksi_angle , packet1.reflect_data ); + mavlink_msg_ret_lidar_auxiliary_data_packet_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_ret_lidar_auxiliary_data_packet_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.lidar_work_status , packet1.packet_id , packet1.payload_size , packet1.lidar_sync_delay_time , packet1.time_stamp_s_step , packet1.time_stamp_us_step , packet1.sys_rotation_period , packet1.com_rotation_period , packet1.com_horizontal_angle_start , packet1.com_horizontal_angle_step , packet1.sys_vertical_angle_start , packet1.sys_vertical_angle_span , packet1.apd_temperature , packet1.dirty_index , packet1.imu_temperature , packet1.up_optical_q , packet1.down_optical_q , packet1.apd_voltage , packet1.imu_angle_x_offset , packet1.imu_angle_y_offset , packet1.imu_angle_z_offset , packet1.b_axis_dist , packet1.theta_angle , packet1.ksi_angle , packet1.reflect_data ); + mavlink_msg_ret_lidar_auxiliary_data_packet_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; iflags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA >= 256) { + return; + } +#endif + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_ret_lidar_time_sync_data_t packet_in = { + 963497464,17 + }; + mavlink_ret_lidar_time_sync_data_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.lidar_sync_count = packet_in.lidar_sync_count; + packet1.lidar_sync_type = packet_in.lidar_sync_type; + + +#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1 + if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) { + // cope with extensions + memset(MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_RET_LIDAR_TIME_SYNC_DATA_MIN_LEN); + } +#endif + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_ret_lidar_time_sync_data_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_ret_lidar_time_sync_data_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_ret_lidar_time_sync_data_pack(system_id, component_id, &msg , packet1.lidar_sync_type , packet1.lidar_sync_count ); + mavlink_msg_ret_lidar_time_sync_data_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_ret_lidar_time_sync_data_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.lidar_sync_type , packet1.lidar_sync_count ); + mavlink_msg_ret_lidar_time_sync_data_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; iflags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET >= 256) { + return; + } +#endif + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_ret_imu_attitude_data_packet_t packet_in = { + { 17.0, 18.0, 19.0, 20.0 },{ 129.0, 130.0, 131.0 },{ 213.0, 214.0, 215.0 },19315 + }; + mavlink_ret_imu_attitude_data_packet_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.packet_id = packet_in.packet_id; + + mav_array_memcpy(packet1.quaternion, packet_in.quaternion, sizeof(float)*4); + mav_array_memcpy(packet1.angular_velocity, packet_in.angular_velocity, sizeof(float)*3); + mav_array_memcpy(packet1.linear_acceleration, packet_in.linear_acceleration, sizeof(float)*3); + +#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1 + if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) { + // cope with extensions + memset(MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_RET_IMU_ATTITUDE_DATA_PACKET_MIN_LEN); + } +#endif + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_ret_imu_attitude_data_packet_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_ret_imu_attitude_data_packet_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_ret_imu_attitude_data_packet_pack(system_id, component_id, &msg , packet1.packet_id , packet1.quaternion , packet1.angular_velocity , packet1.linear_acceleration ); + mavlink_msg_ret_imu_attitude_data_packet_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_ret_imu_attitude_data_packet_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.packet_id , packet1.quaternion , packet1.angular_velocity , packet1.linear_acceleration ); + mavlink_msg_ret_imu_attitude_data_packet_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; i + +/** + * + * CALCULATE THE CHECKSUM + * + */ + +#define X25_INIT_CRC 0xffff +#define X25_VALIDATE_CRC 0xf0b8 + +#ifndef HAVE_CRC_ACCUMULATE +/** + * @brief Accumulate the CRC16_MCRF4XX checksum by adding one char at a time. + * + * The checksum function adds the hash of one char at a time to the + * 16 bit checksum (uint16_t). + * + * @param data new char to hash + * @param crcAccum the already accumulated checksum + **/ +static inline void crc_accumulate(uint8_t data, uint16_t *crcAccum) +{ + /*Accumulate one byte of data into the CRC*/ + uint8_t tmp; + + tmp = data ^ (uint8_t)(*crcAccum &0xff); + tmp ^= (tmp<<4); + *crcAccum = (*crcAccum>>8) ^ (tmp<<8) ^ (tmp <<3) ^ (tmp>>4); +} +#endif + + +/** + * @brief Initialize the buffer for the MCRF4XX CRC16 + * + * @param crcAccum the 16 bit MCRF4XX CRC16 + */ +static inline void crc_init(uint16_t* crcAccum) +{ + *crcAccum = X25_INIT_CRC; +} + + +/** + * @brief Calculates the CRC16_MCRF4XX checksum on a byte buffer + * + * @param pBuffer buffer containing the byte array to hash + * @param length length of the byte array + * @return the checksum over the buffer bytes + **/ +static inline uint16_t crc_calculate(const uint8_t* pBuffer, uint16_t length) +{ + uint16_t crcTmp; + crc_init(&crcTmp); + while (length--) { + crc_accumulate(*pBuffer++, &crcTmp); + } + return crcTmp; +} + + +/** + * @brief Accumulate the MCRF4XX CRC16 by adding an array of bytes + * + * The checksum function adds the hash of one char at a time to the + * 16 bit checksum (uint16_t). + * + * @param data new bytes to hash + * @param crcAccum the already accumulated checksum + **/ +static inline void crc_accumulate_buffer(uint16_t *crcAccum, const char *pBuffer, uint16_t length) +{ + const uint8_t *p = (const uint8_t *)pBuffer; + while (length--) { + crc_accumulate(*p++, crcAccum); + } +} + +#if defined(MAVLINK_USE_CXX_NAMESPACE) || defined(__cplusplus) +} +#endif diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/mavlink_conversions.h b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/mavlink_conversions.h new file mode 100644 index 0000000..85a79d3 --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/mavlink_conversions.h @@ -0,0 +1,212 @@ +#pragma once + +#ifndef MAVLINK_NO_CONVERSION_HELPERS + +/* enable math defines on Windows */ +#ifdef _MSC_VER +#ifndef _USE_MATH_DEFINES +#define _USE_MATH_DEFINES +#endif +#endif +#include + +#ifndef M_PI_2 + #define M_PI_2 ((float)asin(1)) +#endif + +/** + * @file mavlink_conversions.h + * + * These conversion functions follow the NASA rotation standards definition file + * available online. + * + * Their intent is to lower the barrier for MAVLink adopters to use gimbal-lock free + * (both rotation matrices, sometimes called DCM, and quaternions are gimbal-lock free) + * rotation representations. Euler angles (roll, pitch, yaw) will be phased out of the + * protocol as widely as possible. + * + * @author James Goppert + * @author Thomas Gubler + */ + + +/** + * Converts a quaternion to a rotation matrix + * + * @param quaternion a [w, x, y, z] ordered quaternion (null-rotation being 1 0 0 0) + * @param dcm a 3x3 rotation matrix + */ +MAVLINK_HELPER void mavlink_quaternion_to_dcm(const float quaternion[4], float dcm[3][3]) +{ + double a = (double)quaternion[0]; + double b = (double)quaternion[1]; + double c = (double)quaternion[2]; + double d = (double)quaternion[3]; + double aSq = a * a; + double bSq = b * b; + double cSq = c * c; + double dSq = d * d; + dcm[0][0] = aSq + bSq - cSq - dSq; + dcm[0][1] = 2 * (b * c - a * d); + dcm[0][2] = 2 * (a * c + b * d); + dcm[1][0] = 2 * (b * c + a * d); + dcm[1][1] = aSq - bSq + cSq - dSq; + dcm[1][2] = 2 * (c * d - a * b); + dcm[2][0] = 2 * (b * d - a * c); + dcm[2][1] = 2 * (a * b + c * d); + dcm[2][2] = aSq - bSq - cSq + dSq; +} + + +/** + * Converts a rotation matrix to euler angles + * + * @param dcm a 3x3 rotation matrix + * @param roll the roll angle in radians + * @param pitch the pitch angle in radians + * @param yaw the yaw angle in radians + */ +MAVLINK_HELPER void mavlink_dcm_to_euler(const float dcm[3][3], float* roll, float* pitch, float* yaw) +{ + float phi, theta, psi; + theta = asinf(-dcm[2][0]); + + if (fabsf(theta - (float)M_PI_2) < 1.0e-3f) { + phi = 0.0f; + psi = (atan2f(dcm[1][2] - dcm[0][1], + dcm[0][2] + dcm[1][1]) + phi); + + } else if (fabsf(theta + (float)M_PI_2) < 1.0e-3f) { + phi = 0.0f; + psi = atan2f(dcm[1][2] - dcm[0][1], + dcm[0][2] + dcm[1][1] - phi); + + } else { + phi = atan2f(dcm[2][1], dcm[2][2]); + psi = atan2f(dcm[1][0], dcm[0][0]); + } + + *roll = phi; + *pitch = theta; + *yaw = psi; +} + + +/** + * Converts a quaternion to euler angles + * + * @param quaternion a [w, x, y, z] ordered quaternion (null-rotation being 1 0 0 0) + * @param roll the roll angle in radians + * @param pitch the pitch angle in radians + * @param yaw the yaw angle in radians + */ +MAVLINK_HELPER void mavlink_quaternion_to_euler(const float quaternion[4], float* roll, float* pitch, float* yaw) +{ + float dcm[3][3]; + mavlink_quaternion_to_dcm(quaternion, dcm); + mavlink_dcm_to_euler((const float(*)[3])dcm, roll, pitch, yaw); +} + + +/** + * Converts euler angles to a quaternion + * + * @param roll the roll angle in radians + * @param pitch the pitch angle in radians + * @param yaw the yaw angle in radians + * @param quaternion a [w, x, y, z] ordered quaternion (null-rotation being 1 0 0 0) + */ +MAVLINK_HELPER void mavlink_euler_to_quaternion(float roll, float pitch, float yaw, float quaternion[4]) +{ + float cosPhi_2 = cosf(roll / 2); + float sinPhi_2 = sinf(roll / 2); + float cosTheta_2 = cosf(pitch / 2); + float sinTheta_2 = sinf(pitch / 2); + float cosPsi_2 = cosf(yaw / 2); + float sinPsi_2 = sinf(yaw / 2); + quaternion[0] = (cosPhi_2 * cosTheta_2 * cosPsi_2 + + sinPhi_2 * sinTheta_2 * sinPsi_2); + quaternion[1] = (sinPhi_2 * cosTheta_2 * cosPsi_2 - + cosPhi_2 * sinTheta_2 * sinPsi_2); + quaternion[2] = (cosPhi_2 * sinTheta_2 * cosPsi_2 + + sinPhi_2 * cosTheta_2 * sinPsi_2); + quaternion[3] = (cosPhi_2 * cosTheta_2 * sinPsi_2 - + sinPhi_2 * sinTheta_2 * cosPsi_2); +} + + +/** + * Converts a rotation matrix to a quaternion + * Reference: + * - Shoemake, Quaternions, + * http://www.cs.ucr.edu/~vbz/resources/quatut.pdf + * + * @param dcm a 3x3 rotation matrix + * @param quaternion a [w, x, y, z] ordered quaternion (null-rotation being 1 0 0 0) + */ +MAVLINK_HELPER void mavlink_dcm_to_quaternion(const float dcm[3][3], float quaternion[4]) +{ + float tr = dcm[0][0] + dcm[1][1] + dcm[2][2]; + if (tr > 0.0f) { + float s = sqrtf(tr + 1.0f); + quaternion[0] = s * 0.5f; + s = 0.5f / s; + quaternion[1] = (dcm[2][1] - dcm[1][2]) * s; + quaternion[2] = (dcm[0][2] - dcm[2][0]) * s; + quaternion[3] = (dcm[1][0] - dcm[0][1]) * s; + } else { + /* Find maximum diagonal element in dcm + * store index in dcm_i */ + int dcm_i = 0; + int i; + for (i = 1; i < 3; i++) { + if (dcm[i][i] > dcm[dcm_i][dcm_i]) { + dcm_i = i; + } + } + + int dcm_j = (dcm_i + 1) % 3; + int dcm_k = (dcm_i + 2) % 3; + + float s = sqrtf((dcm[dcm_i][dcm_i] - dcm[dcm_j][dcm_j] - + dcm[dcm_k][dcm_k]) + 1.0f); + quaternion[dcm_i + 1] = s * 0.5f; + s = 0.5f / s; + quaternion[dcm_j + 1] = (dcm[dcm_i][dcm_j] + dcm[dcm_j][dcm_i]) * s; + quaternion[dcm_k + 1] = (dcm[dcm_k][dcm_i] + dcm[dcm_i][dcm_k]) * s; + quaternion[0] = (dcm[dcm_k][dcm_j] - dcm[dcm_j][dcm_k]) * s; + } +} + + +/** + * Converts euler angles to a rotation matrix + * + * @param roll the roll angle in radians + * @param pitch the pitch angle in radians + * @param yaw the yaw angle in radians + * @param dcm a 3x3 rotation matrix + */ +MAVLINK_HELPER void mavlink_euler_to_dcm(float roll, float pitch, float yaw, float dcm[3][3]) +{ + float cosPhi = cosf(roll); + float sinPhi = sinf(roll); + float cosThe = cosf(pitch); + float sinThe = sinf(pitch); + float cosPsi = cosf(yaw); + float sinPsi = sinf(yaw); + + dcm[0][0] = cosThe * cosPsi; + dcm[0][1] = -cosPhi * sinPsi + sinPhi * sinThe * cosPsi; + dcm[0][2] = sinPhi * sinPsi + cosPhi * sinThe * cosPsi; + + dcm[1][0] = cosThe * sinPsi; + dcm[1][1] = cosPhi * cosPsi + sinPhi * sinThe * sinPsi; + dcm[1][2] = -sinPhi * cosPsi + cosPhi * sinThe * sinPsi; + + dcm[2][0] = -sinThe; + dcm[2][1] = sinPhi * cosThe; + dcm[2][2] = cosPhi * cosThe; +} + +#endif // MAVLINK_NO_CONVERSION_HELPERS diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/mavlink_get_info.h b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/mavlink_get_info.h new file mode 100644 index 0000000..302ec8b --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/mavlink_get_info.h @@ -0,0 +1,83 @@ +#pragma once + +#ifdef MAVLINK_USE_MESSAGE_INFO +#define MAVLINK_HAVE_GET_MESSAGE_INFO + +/* + return the message_info struct for a message +*/ +MAVLINK_HELPER const mavlink_message_info_t *mavlink_get_message_info_by_id(uint32_t msgid) +{ + static const mavlink_message_info_t mavlink_message_info[] = MAVLINK_MESSAGE_INFO; + /* + use a bisection search to find the right entry. A perfect hash may be better + Note that this assumes the table is sorted with primary key msgid + */ + const uint32_t count = sizeof(mavlink_message_info)/sizeof(mavlink_message_info[0]); + if (count == 0) { + return NULL; + } + uint32_t low=0, high=count-1; + while (low < high) { + uint32_t mid = (low+high)/2; + if (msgid < mavlink_message_info[mid].msgid) { + high = mid; + continue; + } + if (msgid > mavlink_message_info[mid].msgid) { + low = mid+1; + continue; + } + return &mavlink_message_info[mid]; + } + if (mavlink_message_info[low].msgid == msgid) { + return &mavlink_message_info[low]; + } + return NULL; +} + +/* + return the message_info struct for a message +*/ +MAVLINK_HELPER const mavlink_message_info_t *mavlink_get_message_info(const mavlink_message_t *msg) +{ + return mavlink_get_message_info_by_id(msg->msgid); +} + +/* + return the message_info struct for a message +*/ +MAVLINK_HELPER const mavlink_message_info_t *mavlink_get_message_info_by_name(const char *name) +{ + static const struct { const char *name; uint32_t msgid; } mavlink_message_names[] = MAVLINK_MESSAGE_NAMES; + /* + use a bisection search to find the right entry. A perfect hash may be better + Note that this assumes the table is sorted with primary key name + */ + const uint32_t count = sizeof(mavlink_message_names)/sizeof(mavlink_message_names[0]); + if (count == 0) { + return NULL; + } + uint32_t low=0, high=count-1; + while (low < high) { + uint32_t mid = (low+high)/2; + int cmp = strcmp(mavlink_message_names[mid].name, name); + if (cmp > 0) { + high = mid; + continue; + } + if (cmp < 0) { + low = mid+1; + continue; + } + low = mid; + break; + } + if (strcmp(mavlink_message_names[low].name, name) == 0) { + return mavlink_get_message_info_by_id(mavlink_message_names[low].msgid); + } + return NULL; +} +#endif // MAVLINK_USE_MESSAGE_INFO + + diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/mavlink_helpers.h b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/mavlink_helpers.h new file mode 100644 index 0000000..ffc6a01 --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/mavlink_helpers.h @@ -0,0 +1,1134 @@ +#pragma once + +#include "string.h" +#include "checksum.h" +#include "mavlink_types.h" +#include "mavlink_conversions.h" +#include + +#ifndef MAVLINK_HELPER +#define MAVLINK_HELPER +#endif + +#include "mavlink_sha256.h" + +#ifdef MAVLINK_USE_CXX_NAMESPACE +namespace mavlink { +#endif + +/* + * Internal function to give access to the channel status for each channel + */ +#ifndef MAVLINK_GET_CHANNEL_STATUS +MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan) +{ +#ifdef MAVLINK_EXTERNAL_RX_STATUS + // No m_mavlink_status array defined in function, + // has to be defined externally +#else + static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS]; +#endif + return &m_mavlink_status[chan]; +} +#endif + +/* + * Internal function to give access to the channel buffer for each channel + */ +#ifndef MAVLINK_GET_CHANNEL_BUFFER +MAVLINK_HELPER mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan) +{ + +#ifdef MAVLINK_EXTERNAL_RX_BUFFER + // No m_mavlink_buffer array defined in function, + // has to be defined externally +#else + static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS]; +#endif + return &m_mavlink_buffer[chan]; +} +#endif // MAVLINK_GET_CHANNEL_BUFFER + +/* Enable this option to check the length of each message. + This allows invalid messages to be caught much sooner. Use if the transmission + medium is prone to missing (or extra) characters (e.g. a radio that fades in + and out). Only use if the channel will only contain messages types listed in + the headers. +*/ +//#define MAVLINK_CHECK_MESSAGE_LENGTH + +/** + * @brief Reset the status of a channel. + */ +MAVLINK_HELPER void mavlink_reset_channel_status(uint8_t chan) +{ + mavlink_status_t *status = mavlink_get_channel_status(chan); + status->parse_state = MAVLINK_PARSE_STATE_IDLE; +} + +/** + * @brief create a signature block for a packet + */ +MAVLINK_HELPER uint8_t mavlink_sign_packet(mavlink_signing_t *signing, + uint8_t signature[MAVLINK_SIGNATURE_BLOCK_LEN], + const uint8_t *header, uint8_t header_len, + const uint8_t *packet, uint8_t packet_len, + const uint8_t crc[2]) +{ + mavlink_sha256_ctx ctx; + union { + uint64_t t64; + uint8_t t8[8]; + } tstamp; + if (signing == NULL || !(signing->flags & MAVLINK_SIGNING_FLAG_SIGN_OUTGOING)) { + return 0; + } + signature[0] = signing->link_id; + tstamp.t64 = signing->timestamp; + memcpy(&signature[1], tstamp.t8, 6); + signing->timestamp++; + + mavlink_sha256_init(&ctx); + mavlink_sha256_update(&ctx, signing->secret_key, sizeof(signing->secret_key)); + mavlink_sha256_update(&ctx, header, header_len); + mavlink_sha256_update(&ctx, packet, packet_len); + mavlink_sha256_update(&ctx, crc, 2); + mavlink_sha256_update(&ctx, signature, 7); + mavlink_sha256_final_48(&ctx, &signature[7]); + + return MAVLINK_SIGNATURE_BLOCK_LEN; +} + +/** + * @brief Trim payload of any trailing zero-populated bytes (MAVLink 2 only). + * + * @param payload Serialised payload buffer. + * @param length Length of full-width payload buffer. + * @return Length of payload after zero-filled bytes are trimmed. + */ +MAVLINK_HELPER uint8_t _mav_trim_payload(const char *payload, uint8_t length) +{ + while (length > 1 && payload[length-1] == 0) { + length--; + } + return length; +} + +/** + * @brief check a signature block for a packet + */ +MAVLINK_HELPER bool mavlink_signature_check(mavlink_signing_t *signing, + mavlink_signing_streams_t *signing_streams, + const mavlink_message_t *msg) +{ + if (signing == NULL) { + return true; + } + const uint8_t *p = (const uint8_t *)&msg->magic; + const uint8_t *psig = msg->signature; + const uint8_t *incoming_signature = psig+7; + mavlink_sha256_ctx ctx; + uint8_t signature[6]; + uint16_t i; + + mavlink_sha256_init(&ctx); + mavlink_sha256_update(&ctx, signing->secret_key, sizeof(signing->secret_key)); + mavlink_sha256_update(&ctx, p, MAVLINK_NUM_HEADER_BYTES); + mavlink_sha256_update(&ctx, _MAV_PAYLOAD(msg), msg->len); + mavlink_sha256_update(&ctx, msg->ck, 2); + mavlink_sha256_update(&ctx, psig, 1+6); + mavlink_sha256_final_48(&ctx, signature); + if (memcmp(signature, incoming_signature, 6) != 0) { + return false; + } + + // now check timestamp + union tstamp { + uint64_t t64; + uint8_t t8[8]; + } tstamp; + uint8_t link_id = psig[0]; + tstamp.t64 = 0; + memcpy(tstamp.t8, psig+1, 6); + + if (signing_streams == NULL) { + return false; + } + + // find stream + for (i=0; inum_signing_streams; i++) { + if (msg->sysid == signing_streams->stream[i].sysid && + msg->compid == signing_streams->stream[i].compid && + link_id == signing_streams->stream[i].link_id) { + break; + } + } + if (i == signing_streams->num_signing_streams) { + if (signing_streams->num_signing_streams >= MAVLINK_MAX_SIGNING_STREAMS) { + // over max number of streams + return false; + } + // new stream. Only accept if timestamp is not more than 1 minute old + if (tstamp.t64 + 6000*1000UL < signing->timestamp) { + return false; + } + // add new stream + signing_streams->stream[i].sysid = msg->sysid; + signing_streams->stream[i].compid = msg->compid; + signing_streams->stream[i].link_id = link_id; + signing_streams->num_signing_streams++; + } else { + union tstamp last_tstamp; + last_tstamp.t64 = 0; + memcpy(last_tstamp.t8, signing_streams->stream[i].timestamp_bytes, 6); + if (tstamp.t64 <= last_tstamp.t64) { + // repeating old timestamp + return false; + } + } + + // remember last timestamp + memcpy(signing_streams->stream[i].timestamp_bytes, psig+1, 6); + + // our next timestamp must be at least this timestamp + if (tstamp.t64 > signing->timestamp) { + signing->timestamp = tstamp.t64; + } + return true; +} + + +/** + * @brief Finalize a MAVLink message with channel assignment + * + * This function calculates the checksum and sets length and aircraft id correctly. + * It assumes that the message id and the payload are already correctly set. This function + * can also be used if the message header has already been written before (as in mavlink_msg_xxx_pack + * instead of mavlink_msg_xxx_pack_headerless), it just introduces little extra overhead. + * + * @param msg Message to finalize + * @param system_id Id of the sending (this) system, 1-127 + * @param length Message length + */ +MAVLINK_HELPER uint16_t mavlink_finalize_message_buffer(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + mavlink_status_t* status, uint8_t min_length, uint8_t length, uint8_t crc_extra) +{ + bool mavlink1 = (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) != 0; + bool signing = (!mavlink1) && status->signing && (status->signing->flags & MAVLINK_SIGNING_FLAG_SIGN_OUTGOING); + uint8_t signature_len = signing? MAVLINK_SIGNATURE_BLOCK_LEN : 0; + uint8_t header_len = MAVLINK_CORE_HEADER_LEN+1; + uint8_t buf[MAVLINK_CORE_HEADER_LEN+1]; + if (mavlink1) { + msg->magic = MAVLINK_STX_MAVLINK1; + header_len = MAVLINK_CORE_HEADER_MAVLINK1_LEN+1; + } else { + msg->magic = MAVLINK_STX; + } + msg->len = mavlink1?min_length:_mav_trim_payload(_MAV_PAYLOAD(msg), length); + msg->sysid = system_id; + msg->compid = component_id; + msg->incompat_flags = 0; + if (signing) { + msg->incompat_flags |= MAVLINK_IFLAG_SIGNED; + } + msg->compat_flags = 0; + msg->seq = status->current_tx_seq; + status->current_tx_seq = status->current_tx_seq + 1; + + // form the header as a byte array for the crc + buf[0] = msg->magic; + buf[1] = msg->len; + if (mavlink1) { + buf[2] = msg->seq; + buf[3] = msg->sysid; + buf[4] = msg->compid; + buf[5] = msg->msgid & 0xFF; + } else { + buf[2] = msg->incompat_flags; + buf[3] = msg->compat_flags; + buf[4] = msg->seq; + buf[5] = msg->sysid; + buf[6] = msg->compid; + buf[7] = msg->msgid & 0xFF; + buf[8] = (msg->msgid >> 8) & 0xFF; + buf[9] = (msg->msgid >> 16) & 0xFF; + } + + uint16_t checksum = crc_calculate(&buf[1], header_len-1); + crc_accumulate_buffer(&checksum, _MAV_PAYLOAD(msg), msg->len); + crc_accumulate(crc_extra, &checksum); + mavlink_ck_a(msg) = (uint8_t)(checksum & 0xFF); + mavlink_ck_b(msg) = (uint8_t)(checksum >> 8); + + msg->checksum = checksum; + + if (signing) { + mavlink_sign_packet(status->signing, + msg->signature, + (const uint8_t *)buf, header_len, + (const uint8_t *)_MAV_PAYLOAD(msg), msg->len, + (const uint8_t *)_MAV_PAYLOAD(msg)+(uint16_t)msg->len); + } + + return msg->len + header_len + 2 + signature_len; +} + +MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t chan, uint8_t min_length, uint8_t length, uint8_t crc_extra) +{ + mavlink_status_t *status = mavlink_get_channel_status(chan); + return mavlink_finalize_message_buffer(msg, system_id, component_id, status, min_length, length, crc_extra); +} + +/** + * @brief Finalize a MAVLink message with MAVLINK_COMM_0 as default channel + */ +MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t min_length, uint8_t length, uint8_t crc_extra) +{ + return mavlink_finalize_message_chan(msg, system_id, component_id, MAVLINK_COMM_0, min_length, length, crc_extra); +} + +static inline void _mav_parse_error(mavlink_status_t *status) +{ + status->parse_error++; +} + +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS +MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len); + +/** + * @brief Finalize a MAVLink message with channel assignment and send + */ +MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint32_t msgid, + const char *packet, + uint8_t min_length, uint8_t length, uint8_t crc_extra) +{ + uint16_t checksum; + uint8_t buf[MAVLINK_NUM_HEADER_BYTES]; + uint8_t ck[2]; + mavlink_status_t *status = mavlink_get_channel_status(chan); + uint8_t header_len = MAVLINK_CORE_HEADER_LEN; + uint8_t signature_len = 0; + uint8_t signature[MAVLINK_SIGNATURE_BLOCK_LEN]; + bool mavlink1 = (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) != 0; + bool signing = (!mavlink1) && status->signing && (status->signing->flags & MAVLINK_SIGNING_FLAG_SIGN_OUTGOING); + + if (mavlink1) { + length = min_length; + if (msgid > 255) { + // can't send 16 bit messages + _mav_parse_error(status); + return; + } + header_len = MAVLINK_CORE_HEADER_MAVLINK1_LEN; + buf[0] = MAVLINK_STX_MAVLINK1; + buf[1] = length; + buf[2] = status->current_tx_seq; + buf[3] = mavlink_system.sysid; + buf[4] = mavlink_system.compid; + buf[5] = msgid & 0xFF; + } else { + uint8_t incompat_flags = 0; + if (signing) { + incompat_flags |= MAVLINK_IFLAG_SIGNED; + } + length = _mav_trim_payload(packet, length); + buf[0] = MAVLINK_STX; + buf[1] = length; + buf[2] = incompat_flags; + buf[3] = 0; // compat_flags + buf[4] = status->current_tx_seq; + buf[5] = mavlink_system.sysid; + buf[6] = mavlink_system.compid; + buf[7] = msgid & 0xFF; + buf[8] = (msgid >> 8) & 0xFF; + buf[9] = (msgid >> 16) & 0xFF; + } + status->current_tx_seq++; + checksum = crc_calculate((const uint8_t*)&buf[1], header_len); + crc_accumulate_buffer(&checksum, packet, length); + crc_accumulate(crc_extra, &checksum); + ck[0] = (uint8_t)(checksum & 0xFF); + ck[1] = (uint8_t)(checksum >> 8); + + if (signing) { + // possibly add a signature + signature_len = mavlink_sign_packet(status->signing, signature, buf, header_len+1, + (const uint8_t *)packet, length, ck); + } + + MAVLINK_START_UART_SEND(chan, header_len + 3 + (uint16_t)length + (uint16_t)signature_len); + _mavlink_send_uart(chan, (const char *)buf, header_len+1); + _mavlink_send_uart(chan, packet, length); + _mavlink_send_uart(chan, (const char *)ck, 2); + if (signature_len != 0) { + _mavlink_send_uart(chan, (const char *)signature, signature_len); + } + MAVLINK_END_UART_SEND(chan, header_len + 3 + (uint16_t)length + (uint16_t)signature_len); +} + +/** + * @brief re-send a message over a uart channel + * this is more stack efficient than re-marshalling the message + * If the message is signed then the original signature is also sent + */ +MAVLINK_HELPER void _mavlink_resend_uart(mavlink_channel_t chan, const mavlink_message_t *msg) +{ + uint8_t ck[2]; + + ck[0] = (uint8_t)(msg->checksum & 0xFF); + ck[1] = (uint8_t)(msg->checksum >> 8); + // XXX use the right sequence here + + uint8_t header_len; + uint8_t signature_len; + + if (msg->magic == MAVLINK_STX_MAVLINK1) { + header_len = MAVLINK_CORE_HEADER_MAVLINK1_LEN + 1; + signature_len = 0; + MAVLINK_START_UART_SEND(chan, header_len + msg->len + 2 + signature_len); + // we can't send the structure directly as it has extra mavlink2 elements in it + uint8_t buf[MAVLINK_CORE_HEADER_MAVLINK1_LEN + 1]; + buf[0] = msg->magic; + buf[1] = msg->len; + buf[2] = msg->seq; + buf[3] = msg->sysid; + buf[4] = msg->compid; + buf[5] = msg->msgid & 0xFF; + _mavlink_send_uart(chan, (const char*)buf, header_len); + } else { + header_len = MAVLINK_CORE_HEADER_LEN + 1; + signature_len = (msg->incompat_flags & MAVLINK_IFLAG_SIGNED)?MAVLINK_SIGNATURE_BLOCK_LEN:0; + MAVLINK_START_UART_SEND(chan, header_len + msg->len + 2 + signature_len); + uint8_t buf[MAVLINK_CORE_HEADER_LEN + 1]; + buf[0] = msg->magic; + buf[1] = msg->len; + buf[2] = msg->incompat_flags; + buf[3] = msg->compat_flags; + buf[4] = msg->seq; + buf[5] = msg->sysid; + buf[6] = msg->compid; + buf[7] = msg->msgid & 0xFF; + buf[8] = (msg->msgid >> 8) & 0xFF; + buf[9] = (msg->msgid >> 16) & 0xFF; + _mavlink_send_uart(chan, (const char *)buf, header_len); + } + _mavlink_send_uart(chan, _MAV_PAYLOAD(msg), msg->len); + _mavlink_send_uart(chan, (const char *)ck, 2); + if (signature_len != 0) { + _mavlink_send_uart(chan, (const char *)msg->signature, MAVLINK_SIGNATURE_BLOCK_LEN); + } + MAVLINK_END_UART_SEND(chan, header_len + msg->len + 2 + signature_len); +} +#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS + +/** + * @brief Pack a message to send it over a serial byte stream + */ +MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buf, const mavlink_message_t *msg) +{ + uint8_t signature_len, header_len; + uint8_t *ck; + uint8_t length = msg->len; + + if (msg->magic == MAVLINK_STX_MAVLINK1) { + signature_len = 0; + header_len = MAVLINK_CORE_HEADER_MAVLINK1_LEN; + buf[0] = msg->magic; + buf[1] = length; + buf[2] = msg->seq; + buf[3] = msg->sysid; + buf[4] = msg->compid; + buf[5] = msg->msgid & 0xFF; + memcpy(&buf[6], _MAV_PAYLOAD(msg), msg->len); + ck = buf + header_len + 1 + (uint16_t)msg->len; + } else { + length = _mav_trim_payload(_MAV_PAYLOAD(msg), length); + header_len = MAVLINK_CORE_HEADER_LEN; + buf[0] = msg->magic; + buf[1] = length; + buf[2] = msg->incompat_flags; + buf[3] = msg->compat_flags; + buf[4] = msg->seq; + buf[5] = msg->sysid; + buf[6] = msg->compid; + buf[7] = msg->msgid & 0xFF; + buf[8] = (msg->msgid >> 8) & 0xFF; + buf[9] = (msg->msgid >> 16) & 0xFF; + memcpy(&buf[10], _MAV_PAYLOAD(msg), length); + ck = buf + header_len + 1 + (uint16_t)length; + signature_len = (msg->incompat_flags & MAVLINK_IFLAG_SIGNED)?MAVLINK_SIGNATURE_BLOCK_LEN:0; + } + ck[0] = (uint8_t)(msg->checksum & 0xFF); + ck[1] = (uint8_t)(msg->checksum >> 8); + if (signature_len > 0) { + memcpy(&ck[2], msg->signature, signature_len); + } + + return header_len + 1 + 2 + (uint16_t)length + (uint16_t)signature_len; +} + +union __mavlink_bitfield { + uint8_t uint8; + int8_t int8; + uint16_t uint16; + int16_t int16; + uint32_t uint32; + int32_t int32; +}; + + +MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg) +{ + uint16_t crcTmp = 0; + crc_init(&crcTmp); + msg->checksum = crcTmp; +} + +MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c) +{ + uint16_t checksum = msg->checksum; + crc_accumulate(c, &checksum); + msg->checksum = checksum; +} + +/* + return the crc_entry value for a msgid +*/ +#ifndef MAVLINK_GET_MSG_ENTRY +MAVLINK_HELPER const mavlink_msg_entry_t *mavlink_get_msg_entry(uint32_t msgid) +{ + static const mavlink_msg_entry_t mavlink_message_crcs[] = MAVLINK_MESSAGE_CRCS; + /* + use a bisection search to find the right entry. A perfect hash may be better + Note that this assumes the table is sorted by msgid + */ + uint32_t low=0, high=sizeof(mavlink_message_crcs)/sizeof(mavlink_message_crcs[0]) - 1; + while (low < high) { + uint32_t mid = (low+1+high)/2; + if (msgid < mavlink_message_crcs[mid].msgid) { + high = mid-1; + continue; + } + if (msgid > mavlink_message_crcs[mid].msgid) { + low = mid; + continue; + } + low = mid; + break; + } + if (mavlink_message_crcs[low].msgid != msgid) { + // msgid is not in the table + return NULL; + } + return &mavlink_message_crcs[low]; +} +#endif // MAVLINK_GET_MSG_ENTRY + +/* + return the crc_extra value for a message +*/ +MAVLINK_HELPER uint8_t mavlink_get_crc_extra(const mavlink_message_t *msg) +{ + const mavlink_msg_entry_t *e = mavlink_get_msg_entry(msg->msgid); + return e?e->crc_extra:0; +} + +/* + return the min message length +*/ +#define MAVLINK_HAVE_MIN_MESSAGE_LENGTH +MAVLINK_HELPER uint8_t mavlink_min_message_length(const mavlink_message_t *msg) +{ + const mavlink_msg_entry_t *e = mavlink_get_msg_entry(msg->msgid); + return e?e->min_msg_len:0; +} + +/* + return the max message length (including extensions) +*/ +#define MAVLINK_HAVE_MAX_MESSAGE_LENGTH +MAVLINK_HELPER uint8_t mavlink_max_message_length(const mavlink_message_t *msg) +{ + const mavlink_msg_entry_t *e = mavlink_get_msg_entry(msg->msgid); + return e?e->max_msg_len:0; +} + +/** + * This is a variant of mavlink_frame_char() but with caller supplied + * parsing buffers. It is useful when you want to create a MAVLink + * parser in a library that doesn't use any global variables + * + * @param rxmsg parsing message buffer + * @param status parsing status buffer + * @param c The char to parse + * + * @param r_message NULL if no message could be decoded, otherwise the message data + * @param r_mavlink_status if a message was decoded, this is filled with the channel's stats + * @return 0 if no message could be decoded, 1 on good message and CRC, 2 on bad CRC + * + */ +MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg, + mavlink_status_t* status, + uint8_t c, + mavlink_message_t* r_message, + mavlink_status_t* r_mavlink_status) +{ + int bufferIndex = 0; + + status->msg_received = MAVLINK_FRAMING_INCOMPLETE; + + switch (status->parse_state) + { + case MAVLINK_PARSE_STATE_UNINIT: + case MAVLINK_PARSE_STATE_IDLE: + if (c == MAVLINK_STX) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_STX; + rxmsg->len = 0; + rxmsg->magic = c; + status->flags &= ~MAVLINK_STATUS_FLAG_IN_MAVLINK1; + mavlink_start_checksum(rxmsg); + } else if (c == MAVLINK_STX_MAVLINK1) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_STX; + rxmsg->len = 0; + rxmsg->magic = c; + status->flags |= MAVLINK_STATUS_FLAG_IN_MAVLINK1; + mavlink_start_checksum(rxmsg); + } + break; + + case MAVLINK_PARSE_STATE_GOT_STX: + if (status->msg_received +/* Support shorter buffers than the + default maximum packet size */ +#if (MAVLINK_MAX_PAYLOAD_LEN < 255) + || c > MAVLINK_MAX_PAYLOAD_LEN +#endif + ) + { + status->buffer_overrun++; + _mav_parse_error(status); + status->msg_received = 0; + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + } + else + { + // NOT counting STX, LENGTH, SEQ, SYSID, COMPID, MSGID, CRC1 and CRC2 + rxmsg->len = c; + status->packet_idx = 0; + mavlink_update_checksum(rxmsg, c); + if (status->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1) { + rxmsg->incompat_flags = 0; + rxmsg->compat_flags = 0; + status->parse_state = MAVLINK_PARSE_STATE_GOT_COMPAT_FLAGS; + } else { + status->parse_state = MAVLINK_PARSE_STATE_GOT_LENGTH; + } + } + break; + + case MAVLINK_PARSE_STATE_GOT_LENGTH: + rxmsg->incompat_flags = c; + if ((rxmsg->incompat_flags & ~MAVLINK_IFLAG_MASK) != 0) { + // message includes an incompatible feature flag + _mav_parse_error(status); + status->msg_received = 0; + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + break; + } + mavlink_update_checksum(rxmsg, c); + status->parse_state = MAVLINK_PARSE_STATE_GOT_INCOMPAT_FLAGS; + break; + + case MAVLINK_PARSE_STATE_GOT_INCOMPAT_FLAGS: + rxmsg->compat_flags = c; + mavlink_update_checksum(rxmsg, c); + status->parse_state = MAVLINK_PARSE_STATE_GOT_COMPAT_FLAGS; + break; + + case MAVLINK_PARSE_STATE_GOT_COMPAT_FLAGS: + rxmsg->seq = c; + mavlink_update_checksum(rxmsg, c); + status->parse_state = MAVLINK_PARSE_STATE_GOT_SEQ; + break; + + case MAVLINK_PARSE_STATE_GOT_SEQ: + rxmsg->sysid = c; + mavlink_update_checksum(rxmsg, c); + status->parse_state = MAVLINK_PARSE_STATE_GOT_SYSID; + break; + + case MAVLINK_PARSE_STATE_GOT_SYSID: + rxmsg->compid = c; + mavlink_update_checksum(rxmsg, c); + status->parse_state = MAVLINK_PARSE_STATE_GOT_COMPID; + break; + + case MAVLINK_PARSE_STATE_GOT_COMPID: + rxmsg->msgid = c; + mavlink_update_checksum(rxmsg, c); + if (status->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1) { + if(rxmsg->len > 0) { + status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID3; + } else { + status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD; + } +#ifdef MAVLINK_CHECK_MESSAGE_LENGTH + if (rxmsg->len < mavlink_min_message_length(rxmsg) || + rxmsg->len > mavlink_max_message_length(rxmsg)) { + _mav_parse_error(status); + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + break; + } +#endif + } else { + status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID1; + } + break; + + case MAVLINK_PARSE_STATE_GOT_MSGID1: + rxmsg->msgid |= c<<8; + mavlink_update_checksum(rxmsg, c); + status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID2; + break; + + case MAVLINK_PARSE_STATE_GOT_MSGID2: + rxmsg->msgid |= ((uint32_t)c)<<16; + mavlink_update_checksum(rxmsg, c); + if(rxmsg->len > 0){ + status->parse_state = MAVLINK_PARSE_STATE_GOT_MSGID3; + } else { + status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD; + } +#ifdef MAVLINK_CHECK_MESSAGE_LENGTH + if (rxmsg->len < mavlink_min_message_length(rxmsg) || + rxmsg->len > mavlink_max_message_length(rxmsg)) + { + _mav_parse_error(status); + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + break; + } +#endif + break; + + case MAVLINK_PARSE_STATE_GOT_MSGID3: + _MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx++] = (char)c; + mavlink_update_checksum(rxmsg, c); + if (status->packet_idx == rxmsg->len) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_PAYLOAD; + } + break; + + case MAVLINK_PARSE_STATE_GOT_PAYLOAD: { + const mavlink_msg_entry_t *e = mavlink_get_msg_entry(rxmsg->msgid); + uint8_t crc_extra = e?e->crc_extra:0; + mavlink_update_checksum(rxmsg, crc_extra); + if (c != (rxmsg->checksum & 0xFF)) { + status->parse_state = MAVLINK_PARSE_STATE_GOT_BAD_CRC1; + } else { + status->parse_state = MAVLINK_PARSE_STATE_GOT_CRC1; + } + rxmsg->ck[0] = c; + + // zero-fill the packet to cope with short incoming packets + if (e && status->packet_idx < e->max_msg_len) { + memset(&_MAV_PAYLOAD_NON_CONST(rxmsg)[status->packet_idx], 0, e->max_msg_len - status->packet_idx); + } + break; + } + + case MAVLINK_PARSE_STATE_GOT_CRC1: + case MAVLINK_PARSE_STATE_GOT_BAD_CRC1: + if (status->parse_state == MAVLINK_PARSE_STATE_GOT_BAD_CRC1 || c != (rxmsg->checksum >> 8)) { + // got a bad CRC message + status->msg_received = MAVLINK_FRAMING_BAD_CRC; + } else { + // Successfully got message + status->msg_received = MAVLINK_FRAMING_OK; + } + rxmsg->ck[1] = c; + + if (rxmsg->incompat_flags & MAVLINK_IFLAG_SIGNED) { + status->parse_state = MAVLINK_PARSE_STATE_SIGNATURE_WAIT; + status->signature_wait = MAVLINK_SIGNATURE_BLOCK_LEN; + + // If the CRC is already wrong, don't overwrite msg_received, + // otherwise we can end up with garbage flagged as valid. + if (status->msg_received != MAVLINK_FRAMING_BAD_CRC) { + status->msg_received = MAVLINK_FRAMING_INCOMPLETE; + } + } else { + if (status->signing && + (status->signing->accept_unsigned_callback == NULL || + !status->signing->accept_unsigned_callback(status, rxmsg->msgid))) { + + // If the CRC is already wrong, don't overwrite msg_received. + if (status->msg_received != MAVLINK_FRAMING_BAD_CRC) { + status->msg_received = MAVLINK_FRAMING_BAD_SIGNATURE; + } + } + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + if (r_message != NULL) { + memcpy(r_message, rxmsg, sizeof(mavlink_message_t)); + } + } + break; + case MAVLINK_PARSE_STATE_SIGNATURE_WAIT: + rxmsg->signature[MAVLINK_SIGNATURE_BLOCK_LEN-status->signature_wait] = c; + status->signature_wait--; + if (status->signature_wait == 0) { + // we have the whole signature, check it is OK + bool sig_ok = mavlink_signature_check(status->signing, status->signing_streams, rxmsg); + if (!sig_ok && + (status->signing->accept_unsigned_callback && + status->signing->accept_unsigned_callback(status, rxmsg->msgid))) { + // accepted via application level override + sig_ok = true; + } + if (sig_ok) { + status->msg_received = MAVLINK_FRAMING_OK; + } else { + status->msg_received = MAVLINK_FRAMING_BAD_SIGNATURE; + } + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + if (r_message !=NULL) { + memcpy(r_message, rxmsg, sizeof(mavlink_message_t)); + } + } + break; + } + + bufferIndex++; + // If a message has been successfully decoded, check index + if (status->msg_received == MAVLINK_FRAMING_OK) + { + //while(status->current_seq != rxmsg->seq) + //{ + // status->packet_rx_drop_count++; + // status->current_seq++; + //} + status->current_rx_seq = rxmsg->seq; + // Initial condition: If no packet has been received so far, drop count is undefined + if (status->packet_rx_success_count == 0) status->packet_rx_drop_count = 0; + // Count this packet as received + status->packet_rx_success_count++; + } + + if (r_message != NULL) { + r_message->len = rxmsg->len; // Provide visibility on how far we are into current msg + } + if (r_mavlink_status != NULL) { + r_mavlink_status->parse_state = status->parse_state; + r_mavlink_status->packet_idx = status->packet_idx; + r_mavlink_status->current_rx_seq = status->current_rx_seq+1; + r_mavlink_status->packet_rx_success_count = status->packet_rx_success_count; + r_mavlink_status->packet_rx_drop_count = status->parse_error; + r_mavlink_status->flags = status->flags; + } + status->parse_error = 0; + + if (status->msg_received == MAVLINK_FRAMING_BAD_CRC) { + /* + the CRC came out wrong. We now need to overwrite the + msg CRC with the one on the wire so that if the + caller decides to forward the message anyway that + mavlink_msg_to_send_buffer() won't overwrite the + checksum + */ + if (r_message != NULL) { + r_message->checksum = rxmsg->ck[0] | (rxmsg->ck[1]<<8); + } + } + + return status->msg_received; +} + +/** + * This is a convenience function which handles the complete MAVLink parsing. + * the function will parse one byte at a time and return the complete packet once + * it could be successfully decoded. This function will return 0, 1 or + * 2 (MAVLINK_FRAMING_INCOMPLETE, MAVLINK_FRAMING_OK or MAVLINK_FRAMING_BAD_CRC) + * + * Messages are parsed into an internal buffer (one for each channel). When a complete + * message is received it is copies into *r_message and the channel's status is + * copied into *r_mavlink_status. + * + * @param chan ID of the channel to be parsed. + * A channel is not a physical message channel like a serial port, but a logical partition of + * the communication streams. COMM_NB is the limit for the number of channels + * on MCU (e.g. ARM7), while COMM_NB_HIGH is the limit for the number of channels in Linux/Windows + * @param c The char to parse + * + * @param r_message NULL if no message could be decoded, otherwise the message data + * @param r_mavlink_status if a message was decoded, this is filled with the channel's stats + * @return 0 if no message could be decoded, 1 on good message and CRC, 2 on bad CRC + * + * A typical use scenario of this function call is: + * + * @code + * #include + * + * mavlink_status_t status; + * mavlink_message_t msg; + * int chan = 0; + * + * + * while(serial.bytesAvailable > 0) + * { + * uint8_t byte = serial.getNextByte(); + * if (mavlink_frame_char(chan, byte, &msg, &status) != MAVLINK_FRAMING_INCOMPLETE) + * { + * printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid); + * } + * } + * + * + * @endcode + */ +MAVLINK_HELPER uint8_t mavlink_frame_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status) +{ + return mavlink_frame_char_buffer(mavlink_get_channel_buffer(chan), + mavlink_get_channel_status(chan), + c, + r_message, + r_mavlink_status); +} + +/** + * Set the protocol version + */ +MAVLINK_HELPER void mavlink_set_proto_version(uint8_t chan, unsigned int version) +{ + mavlink_status_t *status = mavlink_get_channel_status(chan); + if (version > 1) { + status->flags &= ~(MAVLINK_STATUS_FLAG_OUT_MAVLINK1); + } else { + status->flags |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1; + } +} + +/** + * Get the protocol version + * + * @return 1 for v1, 2 for v2 + */ +MAVLINK_HELPER unsigned int mavlink_get_proto_version(uint8_t chan) +{ + mavlink_status_t *status = mavlink_get_channel_status(chan); + if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) > 0) { + return 1; + } else { + return 2; + } +} + +/** + * This is a convenience function which handles the complete MAVLink parsing. + * the function will parse one byte at a time and return the complete packet once + * it could be successfully decoded. This function will return 0 or 1. + * + * Messages are parsed into an internal buffer (one for each channel). When a complete + * message is received it is copies into *r_message and the channel's status is + * copied into *r_mavlink_status. + * + * @param chan ID of the channel to be parsed. + * A channel is not a physical message channel like a serial port, but a logical partition of + * the communication streams. COMM_NB is the limit for the number of channels + * on MCU (e.g. ARM7), while COMM_NB_HIGH is the limit for the number of channels in Linux/Windows + * @param c The char to parse + * + * @param r_message NULL if no message could be decoded, otherwise the message data + * @param r_mavlink_status if a message was decoded, this is filled with the channel's stats + * @return 0 if no message could be decoded or bad CRC, 1 on good message and CRC + * + * A typical use scenario of this function call is: + * + * @code + * #include + * + * mavlink_status_t status; + * mavlink_message_t msg; + * int chan = 0; + * + * + * while(serial.bytesAvailable > 0) + * { + * uint8_t byte = serial.getNextByte(); + * if (mavlink_parse_char(chan, byte, &msg, &status)) + * { + * printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid); + * } + * } + * + * + * @endcode + */ +MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status) +{ + uint8_t msg_received = mavlink_frame_char(chan, c, r_message, r_mavlink_status); + if (msg_received == MAVLINK_FRAMING_BAD_CRC || + msg_received == MAVLINK_FRAMING_BAD_SIGNATURE) { + // we got a bad CRC. Treat as a parse failure + mavlink_message_t* rxmsg = mavlink_get_channel_buffer(chan); + mavlink_status_t* status = mavlink_get_channel_status(chan); + _mav_parse_error(status); + status->msg_received = MAVLINK_FRAMING_INCOMPLETE; + status->parse_state = MAVLINK_PARSE_STATE_IDLE; + if (c == MAVLINK_STX) + { + status->parse_state = MAVLINK_PARSE_STATE_GOT_STX; + rxmsg->len = 0; + mavlink_start_checksum(rxmsg); + } + return 0; + } + return msg_received; +} + +/** + * @brief Put a bitfield of length 1-32 bit into the buffer + * + * @param b the value to add, will be encoded in the bitfield + * @param bits number of bits to use to encode b, e.g. 1 for boolean, 2, 3, etc. + * @param packet_index the position in the packet (the index of the first byte to use) + * @param bit_index the position in the byte (the index of the first bit to use) + * @param buffer packet buffer to write into + * @return new position of the last used byte in the buffer + */ +MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, uint8_t* r_bit_index, uint8_t* buffer) +{ + uint16_t bits_remain = bits; + // Transform number into network order + int32_t v; + uint8_t i_bit_index, i_byte_index, curr_bits_n; +#if MAVLINK_NEED_BYTE_SWAP + union { + int32_t i; + uint8_t b[4]; + } bin, bout; + bin.i = b; + bout.b[0] = bin.b[3]; + bout.b[1] = bin.b[2]; + bout.b[2] = bin.b[1]; + bout.b[3] = bin.b[0]; + v = bout.i; +#else + v = b; +#endif + + // buffer in + // 01100000 01000000 00000000 11110001 + // buffer out + // 11110001 00000000 01000000 01100000 + + // Existing partly filled byte (four free slots) + // 0111xxxx + + // Mask n free bits + // 00001111 = 2^0 + 2^1 + 2^2 + 2^3 = 2^n - 1 + // = ((uint32_t)(1 << n)) - 1; // = 2^n - 1 + + // Shift n bits into the right position + // out = in >> n; + + // Mask and shift bytes + i_bit_index = bit_index; + i_byte_index = packet_index; + if (bit_index > 0) + { + // If bits were available at start, they were available + // in the byte before the current index + i_byte_index--; + } + + // While bits have not been packed yet + while (bits_remain > 0) + { + // Bits still have to be packed + // there can be more than 8 bits, so + // we might have to pack them into more than one byte + + // First pack everything we can into the current 'open' byte + //curr_bits_n = bits_remain << 3; // Equals bits_remain mod 8 + //FIXME + if (bits_remain <= (uint8_t)(8 - i_bit_index)) + { + // Enough space + curr_bits_n = (uint8_t)bits_remain; + } + else + { + curr_bits_n = (8 - i_bit_index); + } + + // Pack these n bits into the current byte + // Mask out whatever was at that position with ones (xxx11111) + buffer[i_byte_index] &= (0xFF >> (8 - curr_bits_n)); + // Put content to this position, by masking out the non-used part + buffer[i_byte_index] |= ((0x00 << curr_bits_n) & v); + + // Increment the bit index + i_bit_index += curr_bits_n; + + // Now proceed to the next byte, if necessary + bits_remain -= curr_bits_n; + if (bits_remain > 0) + { + // Offer another 8 bits / one byte + i_byte_index++; + i_bit_index = 0; + } + } + + *r_bit_index = i_bit_index; + // If a partly filled byte is present, mark this as consumed + if (i_bit_index != 7) i_byte_index++; + return i_byte_index - packet_index; +} + +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +// To make MAVLink work on your MCU, define comm_send_ch() if you wish +// to send 1 byte at a time, or MAVLINK_SEND_UART_BYTES() to send a +// whole packet at a time + +/* + +#include "mavlink_types.h" + +void comm_send_ch(mavlink_channel_t chan, uint8_t ch) +{ + if (chan == MAVLINK_COMM_0) + { + uart0_transmit(ch); + } + if (chan == MAVLINK_COMM_1) + { + uart1_transmit(ch); + } +} + */ + +MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len) +{ +#ifdef MAVLINK_SEND_UART_BYTES + /* this is the more efficient approach, if the platform + defines it */ + MAVLINK_SEND_UART_BYTES(chan, (const uint8_t *)buf, len); +#else + /* fallback to one byte at a time */ + uint16_t i; + for (i = 0; i < len; i++) { + comm_send_ch(chan, (uint8_t)buf[i]); + } +#endif +} +#endif // MAVLINK_USE_CONVENIENCE_FUNCTIONS + +#ifdef MAVLINK_USE_CXX_NAMESPACE +} // namespace mavlink +#endif diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/mavlink_sha256.h b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/mavlink_sha256.h new file mode 100644 index 0000000..7accd03 --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/mavlink_sha256.h @@ -0,0 +1,235 @@ +#pragma once + +/* + sha-256 implementation for MAVLink based on Heimdal sources, with + modifications to suit mavlink headers + */ +/* + * Copyright (c) 1995 - 2001 Kungliga Tekniska Högskolan + * (Royal Institute of Technology, Stockholm, Sweden). + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * 3. Neither the name of the Institute nor the names of its contributors + * may be used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS + * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) + * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY + * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF + * SUCH DAMAGE. + */ + +/* + allow implementation to provide their own sha256 with the same API +*/ +#ifndef HAVE_MAVLINK_SHA256 + +#ifdef MAVLINK_USE_CXX_NAMESPACE +namespace mavlink { +#endif + +#ifndef MAVLINK_HELPER +#define MAVLINK_HELPER +#endif + +typedef struct { + uint32_t sz[2]; + uint32_t counter[8]; + union { + unsigned char save_bytes[64]; + uint32_t save_u32[16]; + } u; +} mavlink_sha256_ctx; + +#define Ch(x,y,z) (((x) & (y)) ^ ((~(x)) & (z))) +#define Maj(x,y,z) (((x) & (y)) ^ ((x) & (z)) ^ ((y) & (z))) + +#define ROTR(x,n) (((x)>>(n)) | ((x) << (32 - (n)))) + +#define Sigma0(x) (ROTR(x,2) ^ ROTR(x,13) ^ ROTR(x,22)) +#define Sigma1(x) (ROTR(x,6) ^ ROTR(x,11) ^ ROTR(x,25)) +#define sigma0(x) (ROTR(x,7) ^ ROTR(x,18) ^ ((x)>>3)) +#define sigma1(x) (ROTR(x,17) ^ ROTR(x,19) ^ ((x)>>10)) + +static const uint32_t mavlink_sha256_constant_256[64] = { + 0x428a2f98, 0x71374491, 0xb5c0fbcf, 0xe9b5dba5, + 0x3956c25b, 0x59f111f1, 0x923f82a4, 0xab1c5ed5, + 0xd807aa98, 0x12835b01, 0x243185be, 0x550c7dc3, + 0x72be5d74, 0x80deb1fe, 0x9bdc06a7, 0xc19bf174, + 0xe49b69c1, 0xefbe4786, 0x0fc19dc6, 0x240ca1cc, + 0x2de92c6f, 0x4a7484aa, 0x5cb0a9dc, 0x76f988da, + 0x983e5152, 0xa831c66d, 0xb00327c8, 0xbf597fc7, + 0xc6e00bf3, 0xd5a79147, 0x06ca6351, 0x14292967, + 0x27b70a85, 0x2e1b2138, 0x4d2c6dfc, 0x53380d13, + 0x650a7354, 0x766a0abb, 0x81c2c92e, 0x92722c85, + 0xa2bfe8a1, 0xa81a664b, 0xc24b8b70, 0xc76c51a3, + 0xd192e819, 0xd6990624, 0xf40e3585, 0x106aa070, + 0x19a4c116, 0x1e376c08, 0x2748774c, 0x34b0bcb5, + 0x391c0cb3, 0x4ed8aa4a, 0x5b9cca4f, 0x682e6ff3, + 0x748f82ee, 0x78a5636f, 0x84c87814, 0x8cc70208, + 0x90befffa, 0xa4506ceb, 0xbef9a3f7, 0xc67178f2 +}; + +MAVLINK_HELPER void mavlink_sha256_init(mavlink_sha256_ctx *m) +{ + m->sz[0] = 0; + m->sz[1] = 0; + m->counter[0] = 0x6a09e667; + m->counter[1] = 0xbb67ae85; + m->counter[2] = 0x3c6ef372; + m->counter[3] = 0xa54ff53a; + m->counter[4] = 0x510e527f; + m->counter[5] = 0x9b05688c; + m->counter[6] = 0x1f83d9ab; + m->counter[7] = 0x5be0cd19; +} + +static inline void mavlink_sha256_calc(mavlink_sha256_ctx *m, uint32_t *in) +{ + uint32_t AA, BB, CC, DD, EE, FF, GG, HH; + uint32_t data[64]; + int i; + + AA = m->counter[0]; + BB = m->counter[1]; + CC = m->counter[2]; + DD = m->counter[3]; + EE = m->counter[4]; + FF = m->counter[5]; + GG = m->counter[6]; + HH = m->counter[7]; + + for (i = 0; i < 16; ++i) + data[i] = in[i]; + for (i = 16; i < 64; ++i) + data[i] = sigma1(data[i-2]) + data[i-7] + + sigma0(data[i-15]) + data[i - 16]; + + for (i = 0; i < 64; i++) { + uint32_t T1, T2; + + T1 = HH + Sigma1(EE) + Ch(EE, FF, GG) + mavlink_sha256_constant_256[i] + data[i]; + T2 = Sigma0(AA) + Maj(AA,BB,CC); + + HH = GG; + GG = FF; + FF = EE; + EE = DD + T1; + DD = CC; + CC = BB; + BB = AA; + AA = T1 + T2; + } + + m->counter[0] += AA; + m->counter[1] += BB; + m->counter[2] += CC; + m->counter[3] += DD; + m->counter[4] += EE; + m->counter[5] += FF; + m->counter[6] += GG; + m->counter[7] += HH; +} + +MAVLINK_HELPER void mavlink_sha256_update(mavlink_sha256_ctx *m, const void *v, uint32_t len) +{ + const unsigned char *p = (const unsigned char *)v; + uint32_t old_sz = m->sz[0]; + uint32_t offset; + + m->sz[0] += len * 8; + if (m->sz[0] < old_sz) + ++m->sz[1]; + offset = (old_sz / 8) % 64; + while(len > 0){ + uint32_t l = 64 - offset; + if (len < l) { + l = len; + } + memcpy(m->u.save_bytes + offset, p, l); + offset += l; + p += l; + len -= l; + if(offset == 64){ + int i; + uint32_t current[16]; + const uint32_t *u = m->u.save_u32; + for (i = 0; i < 16; i++){ + const uint8_t *p1 = (const uint8_t *)&u[i]; + uint8_t *p2 = (uint8_t *)¤t[i]; + p2[0] = p1[3]; + p2[1] = p1[2]; + p2[2] = p1[1]; + p2[3] = p1[0]; + } + mavlink_sha256_calc(m, current); + offset = 0; + } + } +} + +/* + get first 48 bits of final sha256 hash + */ +MAVLINK_HELPER void mavlink_sha256_final_48(mavlink_sha256_ctx *m, uint8_t result[6]) +{ + unsigned char zeros[72]; + unsigned offset = (m->sz[0] / 8) % 64; + unsigned int dstart = (120 - offset - 1) % 64 + 1; + uint8_t *p = (uint8_t *)&m->counter[0]; + + *zeros = 0x80; + memset (zeros + 1, 0, sizeof(zeros) - 1); + zeros[dstart+7] = (m->sz[0] >> 0) & 0xff; + zeros[dstart+6] = (m->sz[0] >> 8) & 0xff; + zeros[dstart+5] = (m->sz[0] >> 16) & 0xff; + zeros[dstart+4] = (m->sz[0] >> 24) & 0xff; + zeros[dstart+3] = (m->sz[1] >> 0) & 0xff; + zeros[dstart+2] = (m->sz[1] >> 8) & 0xff; + zeros[dstart+1] = (m->sz[1] >> 16) & 0xff; + zeros[dstart+0] = (m->sz[1] >> 24) & 0xff; + + mavlink_sha256_update(m, zeros, dstart + 8); + + // this ordering makes the result consistent with taking the first + // 6 bytes of more conventional sha256 functions. It assumes + // little-endian ordering of m->counter + result[0] = p[3]; + result[1] = p[2]; + result[2] = p[1]; + result[3] = p[0]; + result[4] = p[7]; + result[5] = p[6]; +} + +// prevent conflicts with users of the header +#undef Ch +#undef ROTR +#undef Sigma0 +#undef Sigma1 +#undef sigma0 +#undef sigma1 + +#ifdef MAVLINK_USE_CXX_NAMESPACE +} // namespace mavlink +#endif + +#endif // HAVE_MAVLINK_SHA256 diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/mavlink_types.h b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/mavlink_types.h new file mode 100644 index 0000000..8bdf0b5 --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/mavlink_types.h @@ -0,0 +1,301 @@ +#pragma once + +// Visual Studio versions before 2010 don't have stdint.h, so we just error out. +#if (defined _MSC_VER) && (_MSC_VER < 1600) +#error "The C-MAVLink implementation requires Visual Studio 2010 or greater" +#endif + +#include +#include + +#ifdef MAVLINK_USE_CXX_NAMESPACE +namespace mavlink { +#endif + +// Macro to define packed structures +#ifdef __GNUC__ + #define MAVPACKED( __Declaration__ ) __Declaration__ __attribute__((packed)) +#else + #define MAVPACKED( __Declaration__ ) __pragma( pack(push, 1) ) __Declaration__ __pragma( pack(pop) ) +#endif + +#ifndef MAVLINK_MAX_PAYLOAD_LEN +// it is possible to override this, but be careful! +#define MAVLINK_MAX_PAYLOAD_LEN 255 ///< Maximum payload length +#endif + +#define MAVLINK_CORE_HEADER_LEN 9 ///< Length of core header (of the comm. layer) +#define MAVLINK_CORE_HEADER_MAVLINK1_LEN 5 ///< Length of MAVLink1 core header (of the comm. layer) +#define MAVLINK_NUM_HEADER_BYTES (MAVLINK_CORE_HEADER_LEN + 1) ///< Length of all header bytes, including core and stx +#define MAVLINK_NUM_CHECKSUM_BYTES 2 +#define MAVLINK_NUM_NON_PAYLOAD_BYTES (MAVLINK_NUM_HEADER_BYTES + MAVLINK_NUM_CHECKSUM_BYTES) + +#define MAVLINK_SIGNATURE_BLOCK_LEN 13 + +#define MAVLINK_MAX_PACKET_LEN (MAVLINK_MAX_PAYLOAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES + MAVLINK_SIGNATURE_BLOCK_LEN) ///< Maximum packet length + +/** + * Old-style 4 byte param union + * + * This struct is the data format to be used when sending + * parameters. The parameter should be copied to the native + * type (without type conversion) + * and re-instanted on the receiving side using the + * native type as well. + */ +MAVPACKED( +typedef struct param_union { + union { + float param_float; + int32_t param_int32; + uint32_t param_uint32; + int16_t param_int16; + uint16_t param_uint16; + int8_t param_int8; + uint8_t param_uint8; + uint8_t bytes[4]; + }; + uint8_t type; +}) mavlink_param_union_t; + + +/** + * New-style 8 byte param union + * mavlink_param_union_double_t will be 8 bytes long, and treated as needing 8 byte alignment for the purposes of MAVLink 1.0 field ordering. + * The mavlink_param_union_double_t will be treated as a little-endian structure. + * + * If is_double is 1 then the type is a double, and the remaining 63 bits are the double, with the lowest bit of the mantissa zero. + * The intention is that by replacing the is_double bit with 0 the type can be directly used as a double (as the is_double bit corresponds to the + * lowest mantissa bit of a double). If is_double is 0 then mavlink_type gives the type in the union. + * The mavlink_types.h header will also need to have shifts/masks to define the bit boundaries in the above, + * as bitfield ordering isn't consistent between platforms. The above is intended to be for gcc on x86, + * which should be the same as gcc on little-endian arm. When using shifts/masks the value will be treated as a 64 bit unsigned number, + * and the bits pulled out using the shifts/masks. +*/ +MAVPACKED( +typedef struct param_union_extended { + union { + struct { + uint8_t is_double:1; + uint8_t mavlink_type:7; + union { + char c; + uint8_t uint8; + int8_t int8; + uint16_t uint16; + int16_t int16; + uint32_t uint32; + int32_t int32; + float f; + uint8_t align[7]; + }; + }; + uint8_t data[8]; + }; +}) mavlink_param_union_double_t; + +/** + * This structure is required to make the mavlink_send_xxx convenience functions + * work, as it tells the library what the current system and component ID are. + */ +MAVPACKED( +typedef struct __mavlink_system { + uint8_t sysid; ///< Used by the MAVLink message_xx_send() convenience function + uint8_t compid; ///< Used by the MAVLink message_xx_send() convenience function +}) mavlink_system_t; + +MAVPACKED( +typedef struct __mavlink_message { + uint16_t checksum; ///< sent at end of packet + uint8_t magic; ///< protocol magic marker + uint8_t len; ///< Length of payload + uint8_t incompat_flags; ///< flags that must be understood + uint8_t compat_flags; ///< flags that can be ignored if not understood + uint8_t seq; ///< Sequence of packet + uint8_t sysid; ///< ID of message sender system/aircraft + uint8_t compid; ///< ID of the message sender component + uint32_t msgid:24; ///< ID of message in payload + uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8]; + uint8_t ck[2]; ///< incoming checksum bytes + uint8_t signature[MAVLINK_SIGNATURE_BLOCK_LEN]; +}) mavlink_message_t; + +typedef enum { + MAVLINK_TYPE_CHAR = 0, + MAVLINK_TYPE_UINT8_T = 1, + MAVLINK_TYPE_INT8_T = 2, + MAVLINK_TYPE_UINT16_T = 3, + MAVLINK_TYPE_INT16_T = 4, + MAVLINK_TYPE_UINT32_T = 5, + MAVLINK_TYPE_INT32_T = 6, + MAVLINK_TYPE_UINT64_T = 7, + MAVLINK_TYPE_INT64_T = 8, + MAVLINK_TYPE_FLOAT = 9, + MAVLINK_TYPE_DOUBLE = 10 +} mavlink_message_type_t; + +#define MAVLINK_MAX_FIELDS 64 + +typedef struct __mavlink_field_info { + const char *name; // name of this field + const char *print_format; // printing format hint, or NULL + mavlink_message_type_t type; // type of this field + unsigned int array_length; // if non-zero, field is an array + unsigned int wire_offset; // offset of each field in the payload + unsigned int structure_offset; // offset in a C structure +} mavlink_field_info_t; + +// note that in this structure the order of fields is the order +// in the XML file, not necessary the wire order +typedef struct __mavlink_message_info { + uint32_t msgid; // message ID + const char *name; // name of the message + unsigned num_fields; // how many fields in this message + mavlink_field_info_t fields[MAVLINK_MAX_FIELDS]; // field information +} mavlink_message_info_t; + +#define _MAV_PAYLOAD(msg) ((const char *)(&((msg)->payload64[0]))) +#define _MAV_PAYLOAD_NON_CONST(msg) ((char *)(&((msg)->payload64[0]))) + +// checksum is immediately after the payload bytes +#define mavlink_ck_a(msg) *((msg)->len + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg)) +#define mavlink_ck_b(msg) *(((msg)->len+(uint16_t)1) + (uint8_t *)_MAV_PAYLOAD_NON_CONST(msg)) + +#ifndef HAVE_MAVLINK_CHANNEL_T +typedef enum { + MAVLINK_COMM_0, + MAVLINK_COMM_1, + MAVLINK_COMM_2, + MAVLINK_COMM_3 +} mavlink_channel_t; +#endif + +/* + * applications can set MAVLINK_COMM_NUM_BUFFERS to the maximum number + * of buffers they will use. If more are used, then the result will be + * a stack overrun + */ +#ifndef MAVLINK_COMM_NUM_BUFFERS +#if (defined linux) | (defined __linux) | (defined __MACH__) | (defined _WIN32) +# define MAVLINK_COMM_NUM_BUFFERS 16 +#else +# define MAVLINK_COMM_NUM_BUFFERS 4 +#endif +#endif + +typedef enum { + MAVLINK_PARSE_STATE_UNINIT=0, + MAVLINK_PARSE_STATE_IDLE, + MAVLINK_PARSE_STATE_GOT_STX, + MAVLINK_PARSE_STATE_GOT_LENGTH, + MAVLINK_PARSE_STATE_GOT_INCOMPAT_FLAGS, + MAVLINK_PARSE_STATE_GOT_COMPAT_FLAGS, + MAVLINK_PARSE_STATE_GOT_SEQ, + MAVLINK_PARSE_STATE_GOT_SYSID, + MAVLINK_PARSE_STATE_GOT_COMPID, + MAVLINK_PARSE_STATE_GOT_MSGID1, + MAVLINK_PARSE_STATE_GOT_MSGID2, + MAVLINK_PARSE_STATE_GOT_MSGID3, + MAVLINK_PARSE_STATE_GOT_PAYLOAD, + MAVLINK_PARSE_STATE_GOT_CRC1, + MAVLINK_PARSE_STATE_GOT_BAD_CRC1, + MAVLINK_PARSE_STATE_SIGNATURE_WAIT +} mavlink_parse_state_t; ///< The state machine for the comm parser + +typedef enum { + MAVLINK_FRAMING_INCOMPLETE=0, + MAVLINK_FRAMING_OK=1, + MAVLINK_FRAMING_BAD_CRC=2, + MAVLINK_FRAMING_BAD_SIGNATURE=3 +} mavlink_framing_t; + +#define MAVLINK_STATUS_FLAG_IN_MAVLINK1 1 // last incoming packet was MAVLink1 +#define MAVLINK_STATUS_FLAG_OUT_MAVLINK1 2 // generate MAVLink1 by default +#define MAVLINK_STATUS_FLAG_IN_SIGNED 4 // last incoming packet was signed and validated +#define MAVLINK_STATUS_FLAG_IN_BADSIG 8 // last incoming packet had a bad signature + +#define MAVLINK_STX_MAVLINK1 0xFE // marker for old protocol + +typedef struct __mavlink_status { + uint8_t msg_received; ///< Number of received messages + uint8_t buffer_overrun; ///< Number of buffer overruns + uint8_t parse_error; ///< Number of parse errors + mavlink_parse_state_t parse_state; ///< Parsing state machine + uint8_t packet_idx; ///< Index in current packet + uint8_t current_rx_seq; ///< Sequence number of last packet received + uint8_t current_tx_seq; ///< Sequence number of last packet sent + uint16_t packet_rx_success_count; ///< Received packets + uint16_t packet_rx_drop_count; ///< Number of packet drops + uint8_t flags; ///< MAVLINK_STATUS_FLAG_* + uint8_t signature_wait; ///< number of signature bytes left to receive + struct __mavlink_signing *signing; ///< optional signing state + struct __mavlink_signing_streams *signing_streams; ///< global record of stream timestamps +} mavlink_status_t; + +/* + a callback function to allow for accepting unsigned packets + */ +typedef bool (*mavlink_accept_unsigned_t)(const mavlink_status_t *status, uint32_t msgid); + +/* + flags controlling signing + */ +#define MAVLINK_SIGNING_FLAG_SIGN_OUTGOING 1 ///< Enable outgoing signing + +/* + state of MAVLink signing for this channel + */ +typedef struct __mavlink_signing { + uint8_t flags; ///< MAVLINK_SIGNING_FLAG_* + uint8_t link_id; ///< Same as MAVLINK_CHANNEL + uint64_t timestamp; ///< Timestamp, in microseconds since UNIX epoch GMT + uint8_t secret_key[32]; + mavlink_accept_unsigned_t accept_unsigned_callback; +} mavlink_signing_t; + +/* + timestamp state of each logical signing stream. This needs to be the same structure for all + connections in order to be secure + */ +#ifndef MAVLINK_MAX_SIGNING_STREAMS +#define MAVLINK_MAX_SIGNING_STREAMS 16 +#endif +typedef struct __mavlink_signing_streams { + uint16_t num_signing_streams; + struct __mavlink_signing_stream { + uint8_t link_id; ///< ID of the link (MAVLINK_CHANNEL) + uint8_t sysid; ///< Remote system ID + uint8_t compid; ///< Remote component ID + uint8_t timestamp_bytes[6]; ///< Timestamp, in microseconds since UNIX epoch GMT + } stream[MAVLINK_MAX_SIGNING_STREAMS]; +} mavlink_signing_streams_t; + + +#define MAVLINK_BIG_ENDIAN 0 +#define MAVLINK_LITTLE_ENDIAN 1 + +#define MAV_MSG_ENTRY_FLAG_HAVE_TARGET_SYSTEM 1 +#define MAV_MSG_ENTRY_FLAG_HAVE_TARGET_COMPONENT 2 + +/* + entry in table of information about each message type + */ +typedef struct __mavlink_msg_entry { + uint32_t msgid; + uint8_t crc_extra; + uint8_t min_msg_len; // minimum message length + uint8_t max_msg_len; // maximum message length (e.g. including mavlink2 extensions) + uint8_t flags; // MAV_MSG_ENTRY_FLAG_* + uint8_t target_system_ofs; // payload offset to target_system, or 0 + uint8_t target_component_ofs; // payload offset to target_component, or 0 +} mavlink_msg_entry_t; + +/* + incompat_flags bits + */ +#define MAVLINK_IFLAG_SIGNED 0x01 +#define MAVLINK_IFLAG_MASK 0x01 // mask of all understood bits + +#ifdef MAVLINK_USE_CXX_NAMESPACE +} // namespace mavlink +#endif diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/protocol.h b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/protocol.h new file mode 100644 index 0000000..d922730 --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/mavlink/protocol.h @@ -0,0 +1,334 @@ +#pragma once + +#include "string.h" +#include "mavlink_types.h" + +/* + If you want MAVLink on a system that is native big-endian, + you need to define NATIVE_BIG_ENDIAN +*/ +#ifdef NATIVE_BIG_ENDIAN +# define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN == MAVLINK_LITTLE_ENDIAN) +#else +# define MAVLINK_NEED_BYTE_SWAP (MAVLINK_ENDIAN != MAVLINK_LITTLE_ENDIAN) +#endif + +#ifndef MAVLINK_STACK_BUFFER +#define MAVLINK_STACK_BUFFER 0 +#endif + +#ifndef MAVLINK_AVOID_GCC_STACK_BUG +# define MAVLINK_AVOID_GCC_STACK_BUG defined(__GNUC__) +#endif + +#ifndef MAVLINK_ASSERT +#define MAVLINK_ASSERT(x) +#endif + +#ifndef MAVLINK_START_UART_SEND +#define MAVLINK_START_UART_SEND(chan, length) +#endif + +#ifndef MAVLINK_END_UART_SEND +#define MAVLINK_END_UART_SEND(chan, length) +#endif + +/* option to provide alternative implementation of mavlink_helpers.h */ +#ifdef MAVLINK_SEPARATE_HELPERS + + #define MAVLINK_HELPER + + /* decls in sync with those in mavlink_helpers.h */ + #ifndef MAVLINK_GET_CHANNEL_STATUS + MAVLINK_HELPER mavlink_status_t* mavlink_get_channel_status(uint8_t chan); + #endif + MAVLINK_HELPER void mavlink_reset_channel_status(uint8_t chan); + MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t chan, uint8_t min_length, uint8_t length, uint8_t crc_extra); + MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, + uint8_t min_length, uint8_t length, uint8_t crc_extra); + #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint32_t msgid, const char *packet, + uint8_t min_length, uint8_t length, uint8_t crc_extra); + #endif + MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg); + MAVLINK_HELPER void mavlink_start_checksum(mavlink_message_t* msg); + MAVLINK_HELPER void mavlink_update_checksum(mavlink_message_t* msg, uint8_t c); + MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg, + mavlink_status_t* status, + uint8_t c, + mavlink_message_t* r_message, + mavlink_status_t* r_mavlink_status); + MAVLINK_HELPER uint8_t mavlink_frame_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status); + MAVLINK_HELPER uint8_t mavlink_parse_char(uint8_t chan, uint8_t c, mavlink_message_t* r_message, mavlink_status_t* r_mavlink_status); + MAVLINK_HELPER uint8_t put_bitfield_n_by_index(int32_t b, uint8_t bits, uint8_t packet_index, uint8_t bit_index, + uint8_t* r_bit_index, uint8_t* buffer); + MAVLINK_HELPER const mavlink_msg_entry_t *mavlink_get_msg_entry(uint32_t msgid); + #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + MAVLINK_HELPER void _mavlink_send_uart(mavlink_channel_t chan, const char *buf, uint16_t len); + MAVLINK_HELPER void _mavlink_resend_uart(mavlink_channel_t chan, const mavlink_message_t *msg); + #endif + +#else + + #define MAVLINK_HELPER static inline + #include "mavlink_helpers.h" + +#endif // MAVLINK_SEPARATE_HELPERS + + +/** + * @brief Get the required buffer size for this message + */ +static inline uint16_t mavlink_msg_get_send_buffer_length(const mavlink_message_t* msg) +{ + if (msg->magic == MAVLINK_STX_MAVLINK1) { + return msg->len + MAVLINK_CORE_HEADER_MAVLINK1_LEN+1 + 2; + } + uint16_t signature_len = (msg->incompat_flags & MAVLINK_IFLAG_SIGNED)?MAVLINK_SIGNATURE_BLOCK_LEN:0; + return msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES + signature_len; +} + +#if MAVLINK_NEED_BYTE_SWAP +static inline void byte_swap_2(char *dst, const char *src) +{ + dst[0] = src[1]; + dst[1] = src[0]; +} +static inline void byte_swap_4(char *dst, const char *src) +{ + dst[0] = src[3]; + dst[1] = src[2]; + dst[2] = src[1]; + dst[3] = src[0]; +} +static inline void byte_swap_8(char *dst, const char *src) +{ + dst[0] = src[7]; + dst[1] = src[6]; + dst[2] = src[5]; + dst[3] = src[4]; + dst[4] = src[3]; + dst[5] = src[2]; + dst[6] = src[1]; + dst[7] = src[0]; +} +#elif !MAVLINK_ALIGNED_FIELDS +static inline void byte_copy_2(char *dst, const char *src) +{ + dst[0] = src[0]; + dst[1] = src[1]; +} +static inline void byte_copy_4(char *dst, const char *src) +{ + dst[0] = src[0]; + dst[1] = src[1]; + dst[2] = src[2]; + dst[3] = src[3]; +} +static inline void byte_copy_8(char *dst, const char *src) +{ + memcpy(dst, src, 8); +} +#endif + +#define _mav_put_uint8_t(buf, wire_offset, b) buf[wire_offset] = (uint8_t)b +#define _mav_put_int8_t(buf, wire_offset, b) buf[wire_offset] = (int8_t)b +#define _mav_put_char(buf, wire_offset, b) buf[wire_offset] = b + +#if MAVLINK_NEED_BYTE_SWAP +#define _mav_put_uint16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b) +#define _mav_put_int16_t(buf, wire_offset, b) byte_swap_2(&buf[wire_offset], (const char *)&b) +#define _mav_put_uint32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b) +#define _mav_put_int32_t(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b) +#define _mav_put_uint64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b) +#define _mav_put_int64_t(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b) +#define _mav_put_float(buf, wire_offset, b) byte_swap_4(&buf[wire_offset], (const char *)&b) +#define _mav_put_double(buf, wire_offset, b) byte_swap_8(&buf[wire_offset], (const char *)&b) +#elif !MAVLINK_ALIGNED_FIELDS +#define _mav_put_uint16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b) +#define _mav_put_int16_t(buf, wire_offset, b) byte_copy_2(&buf[wire_offset], (const char *)&b) +#define _mav_put_uint32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b) +#define _mav_put_int32_t(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b) +#define _mav_put_uint64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b) +#define _mav_put_int64_t(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b) +#define _mav_put_float(buf, wire_offset, b) byte_copy_4(&buf[wire_offset], (const char *)&b) +#define _mav_put_double(buf, wire_offset, b) byte_copy_8(&buf[wire_offset], (const char *)&b) +#else +#define _mav_put_uint16_t(buf, wire_offset, b) *(uint16_t *)&buf[wire_offset] = b +#define _mav_put_int16_t(buf, wire_offset, b) *(int16_t *)&buf[wire_offset] = b +#define _mav_put_uint32_t(buf, wire_offset, b) *(uint32_t *)&buf[wire_offset] = b +#define _mav_put_int32_t(buf, wire_offset, b) *(int32_t *)&buf[wire_offset] = b +#define _mav_put_uint64_t(buf, wire_offset, b) *(uint64_t *)&buf[wire_offset] = b +#define _mav_put_int64_t(buf, wire_offset, b) *(int64_t *)&buf[wire_offset] = b +#define _mav_put_float(buf, wire_offset, b) *(float *)&buf[wire_offset] = b +#define _mav_put_double(buf, wire_offset, b) *(double *)&buf[wire_offset] = b +#endif + +/* + like memcpy(), but if src is NULL, do a memset to zero +*/ +static inline void mav_array_memcpy(void *dest, const void *src, size_t n) +{ + if (src == NULL) { + memset(dest, 0, n); + } else { + memcpy(dest, src, n); + } +} + +/* + * Place a char array into a buffer + */ +static inline void _mav_put_char_array(char *buf, uint8_t wire_offset, const char *b, uint8_t array_length) +{ + mav_array_memcpy(&buf[wire_offset], b, array_length); + +} + +/* + * Place a uint8_t array into a buffer + */ +static inline void _mav_put_uint8_t_array(char *buf, uint8_t wire_offset, const uint8_t *b, uint8_t array_length) +{ + mav_array_memcpy(&buf[wire_offset], b, array_length); + +} + +/* + * Place a int8_t array into a buffer + */ +static inline void _mav_put_int8_t_array(char *buf, uint8_t wire_offset, const int8_t *b, uint8_t array_length) +{ + mav_array_memcpy(&buf[wire_offset], b, array_length); + +} + +#if MAVLINK_NEED_BYTE_SWAP +#define _MAV_PUT_ARRAY(TYPE, V) \ +static inline void _mav_put_ ## TYPE ##_array(char *buf, uint8_t wire_offset, const TYPE *b, uint8_t array_length) \ +{ \ + if (b == NULL) { \ + memset(&buf[wire_offset], 0, array_length*sizeof(TYPE)); \ + } else { \ + uint16_t i; \ + for (i=0; i +#include + +/** + * @brief Parse A Range And An Auxiliary Data To A Point Cloud + * + * @param auxiliaryData + * @param rangeData + * @param scanCloud Array elements are x, y, z, intensity respectively + * @return true + * @return false + */ +bool parseRangeAuxiliaryDataToCloud( + const mavlink_ret_lidar_auxiliary_data_packet_t &auxiliaryData, + const mavlink_ret_lidar_distance_data_packet_t &rangeData, + std::vector> &scanCloud + ){ + + // check packet id match + if (auxiliaryData.packet_id != rangeData.packet_id){ + return false; + } + + // parse data + float rotate_yaw_bias = 0; + float range_scale = 0.001; + float z_bias = 0.0445; + int points_num_of_scan = 120; + float bias_laser_beam_ = auxiliaryData.b_axis_dist / 1000; + + float sin_theta = sin(auxiliaryData.theta_angle); + float cos_theta = cos(auxiliaryData.theta_angle); + float sin_ksi = sin(auxiliaryData.ksi_angle); + float cos_ksi = cos(auxiliaryData.ksi_angle); + + float pitch_cur = auxiliaryData.sys_vertical_angle_start * M_PI / 180.0; + float pitch_step = auxiliaryData.sys_vertical_angle_span * M_PI / 180.0; + float yaw_cur = (auxiliaryData.com_horizontal_angle_start + rotate_yaw_bias) * M_PI / 180.0; + float yaw_step = auxiliaryData.com_horizontal_angle_step / points_num_of_scan * M_PI / 180.0; + + uint16_t range; + float range_float; + + std::array point; + for (int i = 0, j = 0; j < points_num_of_scan; + i += 2, j += 1, + pitch_cur += pitch_step, yaw_cur += yaw_step) + { + // Calculate point range in float type + range = (rangeData.point_data[i + 1] << 8); + range = range | rangeData.point_data[i]; + if (range == 0){ + continue; + } + range_float = range_scale * range; + + // Transform this point to XYZ coordinate + float&& sin_alpha = sin(pitch_cur); + float&& cos_alpha = cos(pitch_cur); + float&& sin_beta = sin(yaw_cur); + float&& cos_beta = cos(yaw_cur); + + float&& A = (-cos_theta * sin_ksi + sin_theta * sin_alpha * cos_ksi) * range_float + bias_laser_beam_; + float&& B = cos_alpha * cos_ksi * range_float; + + point[0] = cos_beta * A - sin_beta * B; // x + point[1] = sin_beta * A + cos_beta * B; // y + point[2] = (sin_theta * sin_ksi + cos_theta * sin_alpha * cos_ksi) * range_float + z_bias; // z + point[3] = auxiliaryData.reflect_data[j]; + scanCloud.push_back(point); + } + + return true; +} \ No newline at end of file diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/udp_handler.h b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/udp_handler.h new file mode 100644 index 0000000..7269fe3 --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/udp_handler.h @@ -0,0 +1,51 @@ +#pragma once + +#ifdef _WIN32 + #include + #define socklen_t int + typedef unsigned int uint32_t; +#else + #include + #include + # define closesocket close +#endif + +#include +#include + +/** + * @brief UDP Handler + */ +class UDPHandler +{ +public: + UDPHandler(unsigned short port = 9000); + virtual ~UDPHandler(); + + int CreateSocket(); + void Close(); + bool Bind(); + + int Send(const char *buf, int size, char *ip, unsigned short port); + int Recv(char *buf, int bufsize, sockaddr_in *from); + + int SetRecvTimeout(int sec); + int SetSendTimeout(int sec); + +private: + int sockfd_ = 0; + unsigned short udp_port_ = 0; +}; + + +/** + * @brief Transform a Data Struct to UDP buffer + * + * @tparam DataStruct an IMUUnitree or ScanUnitree + * @param data + * @param buffer + * @param msgType + * @return uint32_t the total bytes sent through udp + */ +template +uint32_t dataStructToUDPBuffer(const DataStruct &data, uint32_t msgType, char *buffer); \ No newline at end of file diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/unitree_lidar_sdk.h b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/unitree_lidar_sdk.h new file mode 100644 index 0000000..0984a6d --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/unitree_lidar_sdk.h @@ -0,0 +1,253 @@ +/********************************************************************** + Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved. +***********************************************************************/ + +#pragma once + +#if defined(_WIN32) && !defined(__MINGW32__) + typedef signed char int8_t; + typedef unsigned char uint8_t; + typedef short int16_t; // NOLINT + typedef unsigned short uint16_t; // NOLINT + typedef int int32_t; + typedef unsigned int uint32_t; + typedef __int64 int64_t; + typedef unsigned __int64 uint64_t; + // intptr_t and friends are defined in crtdefs.h through stdio.h. +#else + #include +#endif + +#include +#include +#include +#include +#include +#include + +#include "unitree_lidar_sdk_config.h" + +namespace unitree_lidar_sdk{ + +// const float DEGREE_TO_RADIAN = M_PI / 180.0; +// const float RADIAN_TO_DEGREE = 180.0 / M_PI; + +const float PI_UNITEE = 3.14159265358979323846; +const float DEGREE_TO_RADIAN = PI_UNITEE / 180.0; +const float RADIAN_TO_DEGREE = 180.0 / PI_UNITEE; + +/** + * @brief Get the system timestamp in seconds. + */ +double get_system_timestamp(); + +/** + * @brief Point Type + */ +typedef struct +{ + float x; + float y; + float z; + float intensity; + float time; // relative time of this point from cloud stamp + uint32_t ring; // ring +}PointUnitree; + +/** + * @brief Cloud Type + */ +typedef struct{ + double stamp; // cloud timestamp + uint32_t id; // sequence id + uint32_t ringNum; + std::vector points; +}PointCloudUnitree; + +/** + * @brief Scan Type + */ +typedef struct{ + double stamp; // cloud timestamp + uint32_t id; // sequence id + uint32_t validPointsNum; // first validPointsNum points are valid + PointUnitree points[120]; +}ScanUnitree; + + +/** + * @brief IMU Type + */ +typedef struct{ + double stamp; // imu timestamp + uint32_t id; // sequence id + float quaternion[4]; // quaternion: [x,y,z,w] + float angular_velocity[3]; // three-axis angular velocity values. + float linear_acceleration[3]; // three-axis acceleration values. +}IMUUnitree; + +/** + * @brief Returned message type after one parse + */ +enum MessageType{ + NONE = 0, // No valid message + IMU = 1, // An IMU message + POINTCLOUD = 2, // A cached PointCloud message + RANGE = 3, // A Range message + AUXILIARY = 4, // An Auxiliary message + VERSION = 5, // A Version info + TIMESYNC = 6 // A time sync info +}; + +/** + * @brief Lidar Woking Mode + */ +enum LidarWorkingMode +{ + NORMAL=1, // Configure the LiDAR to operate in normal mode. + STANDBY=2 // Configure the LiDAR to enter standby mode. +}; + +/** + * @brief LED display mode + */ +enum LEDDisplayMode +{ + FORWARD_SLOW=2, /* Function mode forward at slow. | */ + FORWARD_FAST=3, /* Function mode forward at fast. | */ + REVERSE_SLOW=4, /* Function mode reverse at slow. | */ + REVERSE_FAST=5, /* Function mode reverse at fast. | */ + TRIPLE_FLIP=6, /* Function mode triple flip. | */ + TRIPLE_BREATHING=7, /* Function mode triple breathing. | */ + SIXSTAGE_BREATHING=8 /* Function mode six-stage breathing. | */ +}; + +/** + * @brief Unitree Lidar Reader + */ +class UnitreeLidarReader{ + +public: + + /** + * @brief Initialize + * @return Return 0 if the serial port is opened successfully; + * return -1 if we failed to open the serial port. + */ + virtual int initialize( + uint16_t cloud_scan_num = 18, + std::string port = "/dev/ttyUSB0", + uint32_t baudrate = 2000000, + float rotate_yaw_bias = 0, + float range_scale = 0.001, + float range_bias = 0, + float range_max = 50, + float range_min = 0 + ) = 0; + + /** + * @brief Initialize for UDP board + */ + virtual int initializeUDP( + uint16_t cloud_scan_num = 18, + unsigned short lidar_port = 5001, + std::string lidar_ip = "10.10.10.10", + unsigned short local_port = 5000, + std::string local_ip = "10.10.10.100", + float rotate_yaw_bias = 0, + float range_scale = 0.001, + float range_bias = 0, + float range_max = 50, + float range_min = 0 + ) = 0; + + /** + * @brief Close UDP connection + */ + virtual bool closeUDP() = 0; + + /** + * @brief Try to parse a message from the serial buffer once. + * @note This is the main entrance of this class + * @return + * NONE if no valid message parsed. + * IMU if a new imu message is parsed. + * POINTCLOUD if a new cloud is cached. + */ + virtual MessageType runParse() = 0; + + /** + * @brief Reset lidar + */ + virtual void reset() = 0; + + /** + * @brief Get point cloud data + */ + virtual const PointCloudUnitree& getCloud() const = 0; + + /** + * @brief Get IMU data + */ + virtual const IMUUnitree& getIMU() const = 0; + + /** + * @brief Get Version of lidar firmware + */ + virtual std::string getVersionOfFirmware() const = 0; + + /** + * @brief Get the Version of Lidar SDK + */ + virtual std::string getVersionOfSDK() const = 0; + + /** + * @brief Get time delay of one-way data transmission in us. + */ + virtual uint32_t getTimeDelay() const = 0; + + /** + * @brief Get the removal percentage of points due to the dirt on the protection cover + * @return the percentage of removed dirty points + */ + virtual float getDirtyPercentage() const = 0; + + /** + * @brief Set the Lidar Working Mode + * @param mode + */ + virtual void setLidarWorkingMode(LidarWorkingMode mode) = 0; + + /** + * @brief Set LED display mode with each LED light on/off + * @param led_table 45 bytes represent the status of 360 LEDs bit by bit + */ + virtual void setLEDDisplayMode(uint8_t led_table[45]) = 0; + + /** + * @brief Ser LEF display mode with default pattern + * @param mode + * LED_RING_FUN_FORWARD_SLOW_MODE=2, Function mode forward at slow. + * LED_RING_FUN_FORWARD_FAST_MODE=3, Function mode forward at fast. + * LED_RING_FUN_REVERSE_SLOW_MODE=4, Function mode reverse at slow. + * LED_RING_FUN_REVERSE_FAST_MODE=5, Function mode reverse at fast. + * LED_RING_FUN_TRIPLE_FLIP_MODE=6, Function mode triple flip. + * LED_RING_FUN_TRIPLE_BREATHING_MODE=7, Function mode triple breathing. + * LED_RING_FUN_SIXSTAGE_BREATHING_MODE=8, Function mode six-stage breathing. + */ + virtual void setLEDDisplayMode(LEDDisplayMode mode) = 0; + + /** + * @brief Print configuration parameters + */ + virtual void printConfig() = 0; +}; + + +/** + * @brief Create a Unitree Lidar Reader object + * @return UnitreeLidarReader* + */ +UnitreeLidarReader* createUnitreeLidarReader(); + +} // end of namespace unitree_lidar_sdk \ No newline at end of file diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/unitree_lidar_sdk_config.h b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/unitree_lidar_sdk_config.h new file mode 100644 index 0000000..e0f2e6f --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/unitree_lidar_sdk_config.h @@ -0,0 +1,4 @@ +#define unitree_lidar_sdk_VERSION "1.0.16" +#define unitree_lidar_sdk_VERSION_MAJOR 1 +#define unitree_lidar_sdk_VERSION_MINOR 0 +#define unitree_lidar_sdk_VERSION_PATCH 16 diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/unitree_lidar_sdk_pcl.h b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/unitree_lidar_sdk_pcl.h new file mode 100644 index 0000000..f6c3592 --- /dev/null +++ b/src/Robot/unilidar_sdk/unitree_lidar_sdk/include/unitree_lidar_sdk_pcl.h @@ -0,0 +1,86 @@ +/********************************************************************** + Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved. +***********************************************************************/ + +#pragma once + +#ifndef PCL_NO_PRECOMPILE +#define PCL_NO_PRECOMPILE +#endif + +// PCL +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +// Eigen +#include +#include + +#include "unitree_lidar_sdk.h" + +using namespace unitree_lidar_sdk; + +/** + * @brief PCL Point Type + */ +struct PointType +{ + PCL_ADD_POINT4D + PCL_ADD_INTENSITY + std::uint16_t ring; + float time; + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +} EIGEN_ALIGN16; +POINT_CLOUD_REGISTER_POINT_STRUCT(PointType, + (float, x, x)(float, y, y)(float, z, z) + (float, intensity, intensity) + (std::uint16_t, ring, ring) + (float, time, time) +) + +PCL_INSTANTIATE(VoxelGrid, PointType) +PCL_INSTANTIATE(KdTree, PointType) +PCL_INSTANTIATE(RadiusOutlierRemoval, PointType) + +/** + * @brief Transform a Unitree cloud to PCL cloud + * + * @param cloudIn + * @param cloudOut + */ +void transformUnitreeCloudToPCL(const PointCloudUnitree& cloudIn, pcl::PointCloud::Ptr cloudOut){ + cloudOut->clear(); + PointType pt; + for (size_t i = 0; i < cloudIn.points.size(); i ++){ + pt.x = cloudIn.points[i].x; + pt.y = cloudIn.points[i].y; + pt.z = cloudIn.points[i].z; + pt.intensity = cloudIn.points[i].intensity; + pt.time = cloudIn.points[i].time; + pt.ring = cloudIn.points[i].ring; + cloudOut->push_back(pt); + } +} \ No newline at end of file diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/lib/aarch64/libunitree_lidar_sdk.a b/src/Robot/unilidar_sdk/unitree_lidar_sdk/lib/aarch64/libunitree_lidar_sdk.a new file mode 100644 index 0000000..207b54d Binary files /dev/null and b/src/Robot/unilidar_sdk/unitree_lidar_sdk/lib/aarch64/libunitree_lidar_sdk.a differ diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/lib/x86_64/libunitree_lidar_sdk.a b/src/Robot/unilidar_sdk/unitree_lidar_sdk/lib/x86_64/libunitree_lidar_sdk.a new file mode 100644 index 0000000..5cf766e Binary files /dev/null and b/src/Robot/unilidar_sdk/unitree_lidar_sdk/lib/x86_64/libunitree_lidar_sdk.a differ diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/win64/libgcc_s_seh-1.dll b/src/Robot/unilidar_sdk/unitree_lidar_sdk/win64/libgcc_s_seh-1.dll new file mode 100644 index 0000000..ff403c9 Binary files /dev/null and b/src/Robot/unilidar_sdk/unitree_lidar_sdk/win64/libgcc_s_seh-1.dll differ diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/win64/libstdc++-6.dll b/src/Robot/unilidar_sdk/unitree_lidar_sdk/win64/libstdc++-6.dll new file mode 100644 index 0000000..7bdd098 Binary files /dev/null and b/src/Robot/unilidar_sdk/unitree_lidar_sdk/win64/libstdc++-6.dll differ diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/win64/libwinpthread-1.dll b/src/Robot/unilidar_sdk/unitree_lidar_sdk/win64/libwinpthread-1.dll new file mode 100644 index 0000000..7bfba0e Binary files /dev/null and b/src/Robot/unilidar_sdk/unitree_lidar_sdk/win64/libwinpthread-1.dll differ diff --git a/src/Robot/unilidar_sdk/unitree_lidar_sdk/win64/unitree_lidar_sdk-1.0.10-win64.exe b/src/Robot/unilidar_sdk/unitree_lidar_sdk/win64/unitree_lidar_sdk-1.0.10-win64.exe new file mode 100644 index 0000000..0387d63 Binary files /dev/null and b/src/Robot/unilidar_sdk/unitree_lidar_sdk/win64/unitree_lidar_sdk-1.0.10-win64.exe differ