70 lines
1.6 KiB
C++
70 lines
1.6 KiB
C++
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// Copyright (c) 2022 ChenJun
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// Licensed under the MIT License.
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#ifndef RM_SERIAL_DRIVER__PACKET_HPP_
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#define RM_SERIAL_DRIVER__PACKET_HPP_
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#include <algorithm>
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#include <cstdint>
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#include <vector>
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namespace rm_serial
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{
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struct ReceivePacket
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{
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uint8_t header;
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uint8_t robot_color:1;
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uint8_t task_mode:2;
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uint8_t game_progress:3; //<2F><><EFBFBD><EFBFBD>״̬ 3 <20><><EFBFBD><EFBFBD><EFBFBD>Լ<EFBFBD> 4 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ 5 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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uint8_t reserved : 2;
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float body_joint_state;//lidar_link to base_link
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uint16_t outpost_hp;
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float target_x,target_y;
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uint16_t checksum = 0;
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} __attribute__((packed));
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struct SendPacket
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{
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// uint8_t header = 0xA5;
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// bool findEnemy : 1;
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// bool target_color : 1;
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// uint8_t task_mode : 2;
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// bool suggest_fire : 1;
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// uint8_t reserve : 3;
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// float pitch_cmd = 0;
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// float yaw_cmd = 0;
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// float cmd_vx= 0,cmd_vy= 0,cmd_wz= 0;
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uint8_t header = 0xA5;
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// bool tracking : 1;
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// bool target_color : 1;
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// uint8_t task_mode : 2;
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// bool suggest_fire : 1;
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uint8_t reserve ;
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float cmd_vx= 0,cmd_vy= 0,cmd_wz= 0;
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uint16_t checksum = 0;
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} __attribute__((packed));
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inline ReceivePacket fromVector(const std::vector<uint8_t> & data)
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{
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ReceivePacket packet;
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std::copy(data.begin(), data.end(), reinterpret_cast<uint8_t *>(&packet));
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return packet;
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}
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inline std::vector<uint8_t> toVector(const SendPacket & data)
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{
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std::vector<uint8_t> packet(sizeof(SendPacket));
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std::copy(
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reinterpret_cast<const uint8_t *>(&data),
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reinterpret_cast<const uint8_t *>(&data) + sizeof(SendPacket), packet.begin());
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return packet;
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}
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} // namespace rm_serial_driver
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#endif // RM_SERIAL_DRIVER__PACKET_HPP_
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