refactor robstride code into multiple directories

actuator/robstride/src/can.rs

@@ -0,0 +1,239 @@
+use crate::types::MotorMode;
+use serde::{Deserialize, Serialize};
+use serialport::TTYPort;
+use std::io::{Read, Write};
+
+#[repr(u8)]
+#[derive(Copy, Clone, Debug, PartialEq, Serialize, Deserialize)]
+pub enum CanComMode {
+    AnnounceDevId = 0,
+    MotorCtrl,
+    MotorFeedback,
+    MotorIn,
+    MotorReset,
+    MotorCali,
+    MotorZero,
+    MotorId,
+    ParaWrite,
+    ParaRead,
+    ParaUpdate,
+    OtaStart,
+    OtaInfo,
+    OtaIng,
+    OtaEnd,
+    CaliIng,
+    CaliRst,
+    SdoRead,
+    SdoWrite,
+    ParaStrInfo,
+    MotorBrake,
+    FaultWarn,
+    ModeTotal,
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct ExId {
+    pub id: u8,
+    pub data: u16,
+    pub mode: CanComMode,
+    pub res: u8,
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+pub struct CanPack {
+    pub ex_id: ExId,
+    pub len: u8,
+    pub data: Vec<u8>,
+}
+
+#[derive(Debug, Default, Clone, Serialize, Deserialize)]
+pub struct MotorFeedbackRaw {
+    pub can_id: u8,
+    pub pos_int: u16,
+    pub vel_int: u16,
+    pub torque_int: u16,
+    pub mode: MotorMode,
+    pub faults: u16,
+}
+
+pub fn uint_to_float(x_int: u16, x_min: f32, x_max: f32, bits: u8) -> f32 {
+    let span = x_max - x_min;
+    let offset = x_min;
+    (x_int as f32) * span / ((1 << bits) - 1) as f32 + offset
+}
+
+pub fn float_to_uint(x: f32, x_min: f32, x_max: f32, bits: u8) -> u16 {
+    let span = x_max - x_min;
+    let offset = x_min;
+    ((x - offset) * ((1 << bits) - 1) as f32 / span) as u16
+}
+
+pub fn pack_bits(values: &[u32], bit_lengths: &[u8]) -> u32 {
+    let mut result: u32 = 0;
+    let mut current_shift = 0;
+
+    for (&value, &bits) in values.iter().zip(bit_lengths.iter()) {
+        let mask = (1 << bits) - 1;
+        result |= (value & mask) << current_shift;
+        current_shift += bits;
+    }
+
+    result
+}
+
+pub fn unpack_bits(value: u32, bit_lengths: &[u8]) -> Vec<u32> {
+    let mut result = Vec::new();
+    let mut current_value = value;
+
+    for &bits in bit_lengths.iter() {
+        let mask = (1 << bits) - 1;
+        result.push(current_value & mask);
+        current_value >>= bits;
+    }
+
+    result
+}
+
+pub fn pack_ex_id(ex_id: &ExId) -> [u8; 4] {
+    let addr = (pack_bits(
+        &[
+            ex_id.id as u32,
+            ex_id.data as u32,
+            ex_id.mode as u32,
+            ex_id.res as u32,
+        ],
+        &[8, 16, 5, 3],
+    ) << 3)
+        | 0x00000004;
+    addr.to_be_bytes()
+}
+
+pub fn unpack_ex_id(addr: [u8; 4]) -> ExId {
+    let addr = u32::from_be_bytes(addr);
+    let addr = unpack_bits(addr >> 3, &[8, 16, 5, 3]);
+    ExId {
+        id: addr[0] as u8,
+        data: addr[1] as u16,
+        mode: unsafe { std::mem::transmute(addr[2] as u8) },
+        res: addr[3] as u8,
+    }
+}
+
+pub fn unpack_raw_feedback(pack: &CanPack) -> MotorFeedbackRaw {
+    let can_id = (pack.ex_id.data & 0x00FF) as u8;
+    let faults = (pack.ex_id.data & 0x3F00) >> 8;
+    let mode = unsafe { std::mem::transmute(((pack.ex_id.data & 0xC000) >> 14) as u8) };
+
+    if pack.ex_id.mode != CanComMode::MotorFeedback {
+        return MotorFeedbackRaw {
+            can_id,
+            pos_int: 0,
+            vel_int: 0,
+            torque_int: 0,
+            mode,
+            faults,
+        };
+    }
+
+    let pos_int = u16::from_be_bytes([pack.data[0], pack.data[1]]);
+    let vel_int = u16::from_be_bytes([pack.data[2], pack.data[3]]);
+    let torque_int = u16::from_be_bytes([pack.data[4], pack.data[5]]);
+
+    MotorFeedbackRaw {
+        can_id,
+        pos_int,
+        vel_int,
+        torque_int,
+        mode,
+        faults,
+    }
+}
+
+pub fn tx_packs(
+    port: &mut TTYPort,
+    packs: &[CanPack],
+    verbose: bool,
+) -> Result<(), std::io::Error> {
+    let mut buffer = Vec::new();
+
+    for pack in packs {
+        buffer.extend_from_slice(b"AT");
+        buffer.extend_from_slice(&pack_ex_id(&pack.ex_id));
+        buffer.push(pack.len);
+        buffer.extend_from_slice(&pack.data[..pack.len as usize]);
+        buffer.extend_from_slice(b"\r\n");
+    }
+
+    if buffer.is_empty() {
+        return Err(std::io::Error::new(
+            std::io::ErrorKind::UnexpectedEof,
+            "Empty buffer",
+        ));
+    }
+
+    if verbose {
+        println!(
+            "TX: {}",
+            buffer
+                .iter()
+                .map(|b| format!("{:02X}", b))
+                .collect::<Vec<String>>()
+                .join(" ")
+        );
+    }
+
+    port.write_all(&buffer)?;
+    port.flush()?;
+
+    Ok(())
+}
+
+pub fn rx_unpack(port: &mut TTYPort, len: usize, verbose: bool) -> std::io::Result<Vec<CanPack>> {
+    let mut packs = Vec::new();
+    while packs.len() < len {
+        let mut buffer = [0u8; 17];
+        match port.read_exact(&mut buffer) {
+            Ok(_) => (),
+            Err(e)
+                if e.kind() == std::io::ErrorKind::TimedOut
+                    || e.kind() == std::io::ErrorKind::UnexpectedEof =>
+            {
+                break;
+            }
+            Err(e) => {
+                return Err(e);
+            }
+        }
+
+        if verbose {
+            println!(
+                "RX: {}",
+                buffer
+                    .iter()
+                    .map(|b| format!("{:02X}", b))
+                    .collect::<Vec<String>>()
+                    .join(" ")
+            );
+        }
+
+        if buffer.len() == 17 && buffer[0] == b'A' && buffer[1] == b'T' {
+            let ex_id = unpack_ex_id([buffer[2], buffer[3], buffer[4], buffer[5]]);
+            let len = buffer[6];
+
+            packs.push(CanPack {
+                ex_id,
+                len,
+                data: buffer[7..(7 + len as usize)].to_vec(),
+            });
+        } else {
+            return Err(std::io::Error::new(
+                std::io::ErrorKind::UnexpectedEof,
+                "Failed to read CAN packet",
+            ));
+        }
+    }
+
+    port.flush()?;
+
+    Ok(packs)
+}

actuator/robstride/src/config.rs

@@ -0,0 +1,118 @@
+use crate::types::MotorType;
+use lazy_static::lazy_static;
+use serde::{Deserialize, Serialize};
+use std::collections::HashMap;
+
+#[derive(Debug, Clone, Copy, Serialize, Deserialize)]
+pub struct MotorConfig {
+    pub p_min: f32,
+    pub p_max: f32,
+    pub v_min: f32,
+    pub v_max: f32,
+    pub kp_min: f32,
+    pub kp_max: f32,
+    pub kd_min: f32,
+    pub kd_max: f32,
+    pub t_min: f32,
+    pub t_max: f32,
+    pub zero_on_init: bool,
+    pub can_timeout_command: u16,
+    pub can_timeout_factor: f32,
+}
+
+lazy_static! {
+    pub static ref ROBSTRIDE_CONFIGS: HashMap<MotorType, MotorConfig> = {
+        let mut m = HashMap::new();
+        m.insert(
+            MotorType::Type00,
+            MotorConfig {
+                p_min: -12.5,
+                p_max: 12.5,
+                v_min: -33.0,
+                v_max: 33.0,
+                kp_min: 0.0,
+                kp_max: 500.0,
+                kd_min: 0.0,
+                kd_max: 5.0,
+                t_min: -14.0,
+                t_max: 14.0,
+                zero_on_init: false,
+                can_timeout_command: 0x200b, // Unchecked
+                can_timeout_factor: 12000.0, // Unchecked
+            },
+        );
+        m.insert(
+            MotorType::Type01,
+            MotorConfig {
+                p_min: -12.5,
+                p_max: 12.5,
+                v_min: -44.0,
+                v_max: 44.0,
+                kp_min: 0.0,
+                kp_max: 500.0,
+                kd_min: 0.0,
+                kd_max: 5.0,
+                t_min: -12.0,
+                t_max: 12.0,
+                zero_on_init: true, // Single encoder motor.
+                can_timeout_command: 0x200c,
+                can_timeout_factor: 12000.0,
+            },
+        );
+        m.insert(
+            MotorType::Type02,
+            MotorConfig {
+                p_min: -12.5,
+                p_max: 12.5,
+                v_min: -44.0,
+                v_max: 44.0,
+                kp_min: 0.0,
+                kp_max: 500.0,
+                kd_min: 0.0,
+                kd_max: 5.0,
+                t_min: -12.0,
+                t_max: 12.0,
+                zero_on_init: false,
+                can_timeout_command: 0x200b, // Unchecked
+                can_timeout_factor: 12000.0, // Unchecked
+            },
+        );
+        m.insert(
+            MotorType::Type03,
+            MotorConfig {
+                p_min: -12.5,
+                p_max: 12.5,
+                v_min: -20.0,
+                v_max: 20.0,
+                kp_min: 0.0,
+                kp_max: 5000.0,
+                kd_min: 0.0,
+                kd_max: 100.0,
+                t_min: -60.0,
+                t_max: 60.0,
+                zero_on_init: false,
+                can_timeout_command: 0x200b,
+                can_timeout_factor: 6000.0,
+            },
+        );
+        m.insert(
+            MotorType::Type04,
+            MotorConfig {
+                p_min: -12.5,
+                p_max: 12.5,
+                v_min: -15.0,
+                v_max: 15.0,
+                kp_min: 0.0,
+                kp_max: 5000.0,
+                kd_min: 0.0,
+                kd_max: 100.0,
+                t_min: -120.0,
+                t_max: 120.0,
+                zero_on_init: false,
+                can_timeout_command: 0x200b,
+                can_timeout_factor: 12000.0,
+            },
+        );
+        m
+    };
+}