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YoujianWuYoujianWu
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Merge branch 'rm-controls:master' into reconnect
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‎rm_vt/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.0.2)
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project(rm_vt)
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## Use C++14
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set(CMAKE_CXX_STANDARD 14)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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## By adding -Wall and -Werror, the compiler does not ignore warnings anymore,
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## enforcing cleaner code.
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add_definitions(-Wall -Werror -Wno-address-of-packed-member)
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## Find catkin macros and libraries
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find_package(serial REQUIRED)
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find_package(catkin REQUIRED
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COMPONENTS
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sensor_msgs
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roscpp
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rm_msgs
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serial
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rm_common
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tf2_geometry_msgs
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std_msgs
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actionlib
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nav_msgs
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)
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## Find system libraries
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#find_package(Eigen3 REQUIRED)
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if your package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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INCLUDE_DIRS
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include
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LIBRARIES
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CATKIN_DEPENDS
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roscpp
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sensor_msgs
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rm_msgs
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rm_common
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tf2_geometry_msgs
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std_msgs
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actionlib
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nav_msgs
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DEPENDS
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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)
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## Declare cpp executables
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FILE(GLOB ALL_SOURCES "src/*.cpp" "src/common/*.cpp" )
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add_executable(${PROJECT_NAME} ${ALL_SOURCES})
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## Add dependencies to exported targets, like ROS msgs or srvs
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add_dependencies(${PROJECT_NAME}
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${catkin_EXPORTED_TARGETS}
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)
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## Specify libraries to link executable targets against
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target_link_libraries(${PROJECT_NAME}
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${catkin_LIBRARIES}
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)
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#############
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## Install ##
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#############
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# Mark executables and/or libraries for installation
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install(
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TARGETS ${PROJECT_NAME}
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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# Mark cpp header files for installation
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install(
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DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h"
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)
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## Mark other files for installation
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install(
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DIRECTORY launch
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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#############
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## Testing ##
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#############
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#if (${CATKIN_ENABLE_TESTING})
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# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")
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# ## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test
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# test/test_ros_package_template.cpp
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# test/AlgorithmTest.cpp)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}_core)
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#endif ()

‎rm_vt/include/rm_vt/common/data.h‎

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//
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// Created by chen on 24-11-23.
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//
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#pragma once
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#include <ros/ros.h>
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#include <unistd.h>
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#include <serial/serial.h>
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#include <nav_msgs/Odometry.h>
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#include <sensor_msgs/JointState.h>
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#include <std_msgs/Float64.h>
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#include <std_msgs/Int8MultiArray.h>
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#include <tf2_ros/buffer.h>
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#include <tf2_ros/transform_listener.h>
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#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
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#include "std_msgs/UInt32.h"
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#include "std_msgs/Float64MultiArray.h"
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#include "rm_msgs/VisualizeStateData.h"
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#include "rm_vt/common/protocol.h"
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namespace rm_vt
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{
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class Base
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{
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public:
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serial::Serial serial_;
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bool video_tran_is_online_ = false;
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void initSerial()
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{
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serial::Timeout timeout = serial::Timeout::simpleTimeout(50);
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serial_.setPort("/dev/usbImagetran");
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serial_.setBaudrate(115200);
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serial_.setTimeout(timeout);
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if (serial_.isOpen())
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return;
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try
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{
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serial_.open();
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}
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catch (serial::IOException& e)
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{
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ROS_ERROR("Cannot open image transmitter port");
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}
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}
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// CRC check
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uint8_t getCRC8CheckSum(unsigned char* pch_message, unsigned int dw_length, unsigned char uc_crc_8)
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{
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unsigned char uc_index;
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while (dw_length--)
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{
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uc_index = uc_crc_8 ^ (*pch_message++);
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uc_crc_8 = rm_vt::kCrc8Table[uc_index];
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}
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return (uc_crc_8);
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}
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uint32_t verifyCRC8CheckSum(unsigned char* pch_message, unsigned int dw_length)
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{
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unsigned char uc_expected;
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if ((pch_message == nullptr) || (dw_length <= 2))
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return 0;
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uc_expected = getCRC8CheckSum(pch_message, dw_length - 1, rm_vt::kCrc8Init);
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return (uc_expected == pch_message[dw_length - 1]);
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}
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void appendCRC8CheckSum(unsigned char* pch_message, unsigned int dw_length)
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{
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unsigned char uc_crc;
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if ((pch_message == nullptr) || (dw_length <= 2))
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return;
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uc_crc = getCRC8CheckSum((unsigned char*)pch_message, dw_length - 1, rm_vt::kCrc8Init);
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pch_message[dw_length - 1] = uc_crc;
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}
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uint16_t getCRC16CheckSum(uint8_t* pch_message, uint32_t dw_length, uint16_t w_crc)
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{
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uint8_t chData;
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if (pch_message == nullptr)
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return 0xFFFF;
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while (dw_length--)
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{
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chData = *pch_message++;
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(w_crc) = (static_cast<uint16_t>(w_crc) >> 8) ^
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rm_vt::wCRC_table[(static_cast<uint16_t>(w_crc) ^ static_cast<uint16_t>(chData)) & 0x00ff];
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}
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return w_crc;
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}
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uint32_t verifyCRC16CheckSum(uint8_t* pch_message, uint32_t dw_length)
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{
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uint16_t w_expected;
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if ((pch_message == nullptr) || (dw_length <= 2))
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return 0;
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w_expected = getCRC16CheckSum(pch_message, dw_length - 2, rm_vt::kCrc16Init);
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return ((w_expected & 0xff) == pch_message[dw_length - 2] &&
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((w_expected >> 8) & 0xff) == pch_message[dw_length - 1]);
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}
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void appendCRC16CheckSum(uint8_t* pch_message, uint32_t dw_length)
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{
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uint16_t wCRC;
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if ((pch_message == nullptr) || (dw_length <= 2))
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return;
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wCRC = getCRC16CheckSum(static_cast<uint8_t*>(pch_message), dw_length - 2, rm_vt::kCrc16Init);
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pch_message[dw_length - 2] = static_cast<uint8_t>((wCRC & 0x00ff));
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pch_message[dw_length - 1] = static_cast<uint8_t>(((wCRC >> 8) & 0x00ff));
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}
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};
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} // namespace rm_vt

‎rm_vt/include/rm_vt/common/protocol.h‎

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//
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// Created by chen on 24-11-23.
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//
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#pragma once
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#define __packed __attribute__((packed))
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#include <cstdint>
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namespace rm_vt
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{
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typedef enum
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{
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GAME_STATUS_CMD = 0x0001,
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GAME_RESULT_CMD = 0x0002,
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GAME_ROBOT_HP_CMD = 0x0003,
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DART_STATUS_CMD = 0x0004,
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ICRA_ZONE_STATUS_CMD = 0x0005,
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FIELD_EVENTS_CMD = 0x0101,
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SUPPLY_PROJECTILE_ACTION_CMD = 0x0102,
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REFEREE_WARNING_CMD = 0x0104,
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DART_REMAINING_CMD = 0x0105,
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ROBOT_STATUS_CMD = 0x0201,
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POWER_HEAT_DATA_CMD = 0x0202,
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ROBOT_POS_CMD = 0x0203,
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BUFF_CMD = 0x0204,
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AERIAL_ROBOT_ENERGY_CMD = 0x0205,
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ROBOT_HURT_CMD = 0x0206,
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SHOOT_DATA_CMD = 0x0207,
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BULLET_REMAINING_CMD = 0x0208,
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ROBOT_RFID_STATUS_CMD = 0x0209,
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DART_CLIENT_CMD = 0x020A,
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ROBOTS_POS_CMD = 0X020B,
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RADAR_MARK_CMD = 0X020C,
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SENTRY_INFO_CMD = 0x020D,
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RADAR_INFO_CMD = 0x020E,
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INTERACTIVE_DATA_CMD = 0x0301,
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CUSTOM_CONTROLLER_CMD = 0x0302, // controller
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TARGET_POS_CMD = 0x0303,
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ROBOT_COMMAND_CMD = 0x0304, // controller
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CLIENT_MAP_CMD = 0x0305,
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CUSTOM_CLIENT_CMD = 0x0306, // controller
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MAP_SENTRY_CMD = 0x0307, // send sentry->aerial
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CUSTOM_INFO_CMD = 0x0308,
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POWER_MANAGEMENT_SAMPLE_AND_STATUS_DATA_CMD = 0X8301,
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POWER_MANAGEMENT_INITIALIZATION_EXCEPTION_CMD = 0X8302,
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POWER_MANAGEMENT_SYSTEM_EXCEPTION_CMD = 0X8303,
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POWER_MANAGEMENT_PROCESS_STACK_OVERFLOW_CMD = 0X8304,
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POWER_MANAGEMENT_UNKNOWN_EXCEPTION_CMD = 0X8305
48+
} RefereeCmdId;
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typedef struct
51+
{
52+
uint8_t sof;
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uint16_t data_length;
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uint8_t seq;
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uint8_t crc_8;
56+
} __packed FrameHeader;
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typedef struct
59+
{
60+
uint8_t data[30];
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} __packed CustomControllerData;
62+
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/***********************Frame tail(CRC8_CRC16)********************************************/
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const uint8_t kCrc8Init = 0xff;
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const uint8_t kCrc8Table[256] = {
66+
0x00, 0x5e, 0xbc, 0xe2, 0x61, 0x3f, 0xdd, 0x83, 0xc2, 0x9c, 0x7e, 0x20, 0xa3, 0xfd, 0x1f, 0x41, 0x9d, 0xc3, 0x21,
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0x7f, 0xfc, 0xa2, 0x40, 0x1e, 0x5f, 0x01, 0xe3, 0xbd, 0x3e, 0x60, 0x82, 0xdc, 0x23, 0x7d, 0x9f, 0xc1, 0x42, 0x1c,
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0xfe, 0xa0, 0xe1, 0xbf, 0x5d, 0x03, 0x80, 0xde, 0x3c, 0x62, 0xbe, 0xe0, 0x02, 0x5c, 0xdf, 0x81, 0x63, 0x3d, 0x7c,
69+
0x22, 0xc0, 0x9e, 0x1d, 0x43, 0xa1, 0xff, 0x46, 0x18, 0xfa, 0xa4, 0x27, 0x79, 0x9b, 0xc5, 0x84, 0xda, 0x38, 0x66,
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0xe5, 0xbb, 0x59, 0x07, 0xdb, 0x85, 0x67, 0x39, 0xba, 0xe4, 0x06, 0x58, 0x19, 0x47, 0xa5, 0xfb, 0x78, 0x26, 0xc4,
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0x9a, 0x65, 0x3b, 0xd9, 0x87, 0x04, 0x5a, 0xb8, 0xe6, 0xa7, 0xf9, 0x1b, 0x45, 0xc6, 0x98, 0x7a, 0x24, 0xf8, 0xa6,
72+
0x44, 0x1a, 0x99, 0xc7, 0x25, 0x7b, 0x3a, 0x64, 0x86, 0xd8, 0x5b, 0x05, 0xe7, 0xb9, 0x8c, 0xd2, 0x30, 0x6e, 0xed,
73+
0xb3, 0x51, 0x0f, 0x4e, 0x10, 0xf2, 0xac, 0x2f, 0x71, 0x93, 0xcd, 0x11, 0x4f, 0xad, 0xf3, 0x70, 0x2e, 0xcc, 0x92,
74+
0xd3, 0x8d, 0x6f, 0x31, 0xb2, 0xec, 0x0e, 0x50, 0xaf, 0xf1, 0x13, 0x4d, 0xce, 0x90, 0x72, 0x2c, 0x6d, 0x33, 0xd1,
75+
0x8f, 0x0c, 0x52, 0xb0, 0xee, 0x32, 0x6c, 0x8e, 0xd0, 0x53, 0x0d, 0xef, 0xb1, 0xf0, 0xae, 0x4c, 0x12, 0x91, 0xcf,
76+
0x2d, 0x73, 0xca, 0x94, 0x76, 0x28, 0xab, 0xf5, 0x17, 0x49, 0x08, 0x56, 0xb4, 0xea, 0x69, 0x37, 0xd5, 0x8b, 0x57,
77+
0x09, 0xeb, 0xb5, 0x36, 0x68, 0x8a, 0xd4, 0x95, 0xcb, 0x29, 0x77, 0xf4, 0xaa, 0x48, 0x16, 0xe9, 0xb7, 0x55, 0x0b,
78+
0x88, 0xd6, 0x34, 0x6a, 0x2b, 0x75, 0x97, 0xc9, 0x4a, 0x14, 0xf6, 0xa8, 0x74, 0x2a, 0xc8, 0x96, 0x15, 0x4b, 0xa9,
79+
0xf7, 0xb6, 0xe8, 0x0a, 0x54, 0xd7, 0x89, 0x6b, 0x35,
80+
};
81+
const uint16_t kCrc16Init = 0xffff;
82+
const uint16_t wCRC_table[256] = {
83+
0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, 0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5,
84+
0xe97e, 0xf8f7, 0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e, 0x9cc9, 0x8d40, 0xbfdb, 0xae52,
85+
0xdaed, 0xcb64, 0xf9ff, 0xe876, 0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd, 0xad4a, 0xbcc3,
86+
0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5, 0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c,
87+
0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974, 0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9,
88+
0x2732, 0x36bb, 0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3, 0x5285, 0x430c, 0x7197, 0x601e,
89+
0x14a1, 0x0528, 0x37b3, 0x263a, 0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72, 0x6306, 0x728f,
90+
0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9, 0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1,
91+
0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738, 0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862,
92+
0x9af9, 0x8b70, 0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7, 0x0840, 0x19c9, 0x2b52, 0x3adb,
93+
0x4e64, 0x5fed, 0x6d76, 0x7cff, 0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036, 0x18c1, 0x0948,
94+
0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e, 0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
95+
0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd, 0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226,
96+
0xd0bd, 0xc134, 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c, 0xc60c, 0xd785, 0xe51e, 0xf497,
97+
0x8028, 0x91a1, 0xa33a, 0xb2b3, 0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb, 0xd68d, 0xc704,
98+
0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232, 0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a,
99+
0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1, 0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb,
100+
0x0e70, 0x1ff9, 0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330, 0x7bc7, 0x6a4e, 0x58d5, 0x495c,
101+
0x3de3, 0x2c6a, 0x1ef1, 0x0f78
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};
103+
} // namespace rm_vt

‎rm_vt/include/rm_vt/video_tran.h‎

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//
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// Created by chen on 24-11-23.
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//
4+
#pragma once
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#include <cstdint>
7+
#include <ros/ros.h>
8+
9+
#include "rm_vt/common/data.h"
10+
11+
namespace rm_vt
12+
{
13+
class VideoTran
14+
{
15+
public:
16+
explicit VideoTran(ros::NodeHandle& nh) : last_get_data_time_(ros::Time::now())
17+
{
18+
ROS_INFO("Video transmission load.");
19+
custom_controller_cmd_pub_ = nh.advertise<std_msgs::Float64MultiArray>("custom_controller_data", 1);
20+
base_.initSerial();
21+
}
22+
void read();
23+
void clearRxBuffer()
24+
{
25+
rx_buffer_.clear();
26+
rx_len_ = 0;
27+
}
28+
29+
ros::Publisher custom_controller_cmd_pub_;
30+
31+
Base base_;
32+
std::vector<uint8_t> rx_buffer_;
33+
int rx_len_;
34+
35+
private:
36+
int unpack(uint8_t* rx_data);
37+
ros::Time last_get_data_time_;
38+
const int k_frame_length_ = 128, k_header_length_ = 5, k_cmd_id_length_ = 2, k_tail_length_ = 2;
39+
const int k_unpack_buffer_length_ = 256;
40+
uint8_t unpack_buffer_[256]{};
41+
};
42+
} // namespace rm_vt

‎rm_vt/launch/load.launch‎

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<launch>
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<arg name="robot_type" default="$(env ROBOT_TYPE)" doc="Robot type [standard, hero, engineer]"/>
3+
4+
<node name="rm_vt" pkg="rm_vt" type="rm_vt" respawn="false"/>
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</launch>

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