diff --git a/rm_vt/CMakeLists.txt b/rm_vt/CMakeLists.txt new file mode 100644 index 00000000..b7d2b5b0 --- /dev/null +++ b/rm_vt/CMakeLists.txt @@ -0,0 +1,117 @@ +cmake_minimum_required(VERSION 3.0.2) +project(rm_vt) + +## Use C++14 +set(CMAKE_CXX_STANDARD 14) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + +## By adding -Wall and -Werror, the compiler does not ignore warnings anymore, +## enforcing cleaner code. +add_definitions(-Wall -Werror -Wno-address-of-packed-member) + +## Find catkin macros and libraries +find_package(serial REQUIRED) + +find_package(catkin REQUIRED + COMPONENTS + sensor_msgs + roscpp + rm_msgs + serial + rm_common + tf2_geometry_msgs + std_msgs + actionlib + nav_msgs +) + +## Find system libraries +#find_package(Eigen3 REQUIRED) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( + INCLUDE_DIRS + include + LIBRARIES + CATKIN_DEPENDS + roscpp + sensor_msgs + rm_msgs + rm_common + tf2_geometry_msgs + std_msgs + actionlib + nav_msgs + DEPENDS +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +## Declare cpp executables +FILE(GLOB ALL_SOURCES "src/*.cpp" "src/common/*.cpp" ) +add_executable(${PROJECT_NAME} ${ALL_SOURCES}) + +## Add dependencies to exported targets, like ROS msgs or srvs +add_dependencies(${PROJECT_NAME} + ${catkin_EXPORTED_TARGETS} +) + +## Specify libraries to link executable targets against +target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} +) + +############# +## Install ## +############# + +# Mark executables and/or libraries for installation +install( + TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +# Mark cpp header files for installation +install( + DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" +) + +## Mark other files for installation +install( + DIRECTORY launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + +############# +## Testing ## +############# + +#if (${CATKIN_ENABLE_TESTING}) +# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread") +# ## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test +# test/test_ros_package_template.cpp +# test/AlgorithmTest.cpp) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}_core) +#endif () diff --git a/rm_vt/include/rm_vt/common/data.h b/rm_vt/include/rm_vt/common/data.h new file mode 100644 index 00000000..ee97ba65 --- /dev/null +++ b/rm_vt/include/rm_vt/common/data.h @@ -0,0 +1,113 @@ +// +// Created by chen on 24-11-23. +// + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "std_msgs/UInt32.h" +#include "std_msgs/Float64MultiArray.h" +#include "rm_msgs/VisualizeStateData.h" + +#include "rm_vt/common/protocol.h" + +namespace rm_vt +{ +class Base +{ +public: + serial::Serial serial_; + bool video_tran_is_online_ = false; + + void initSerial() + { + serial::Timeout timeout = serial::Timeout::simpleTimeout(50); + serial_.setPort("/dev/usbImagetran"); + serial_.setBaudrate(115200); + serial_.setTimeout(timeout); + if (serial_.isOpen()) + return; + try + { + serial_.open(); + } + catch (serial::IOException& e) + { + ROS_ERROR("Cannot open image transmitter port"); + } + } + + // CRC check + uint8_t getCRC8CheckSum(unsigned char* pch_message, unsigned int dw_length, unsigned char uc_crc_8) + { + unsigned char uc_index; + while (dw_length--) + { + uc_index = uc_crc_8 ^ (*pch_message++); + uc_crc_8 = rm_vt::kCrc8Table[uc_index]; + } + return (uc_crc_8); + } + + uint32_t verifyCRC8CheckSum(unsigned char* pch_message, unsigned int dw_length) + { + unsigned char uc_expected; + if ((pch_message == nullptr) || (dw_length <= 2)) + return 0; + uc_expected = getCRC8CheckSum(pch_message, dw_length - 1, rm_vt::kCrc8Init); + return (uc_expected == pch_message[dw_length - 1]); + } + + void appendCRC8CheckSum(unsigned char* pch_message, unsigned int dw_length) + { + unsigned char uc_crc; + if ((pch_message == nullptr) || (dw_length <= 2)) + return; + uc_crc = getCRC8CheckSum((unsigned char*)pch_message, dw_length - 1, rm_vt::kCrc8Init); + pch_message[dw_length - 1] = uc_crc; + } + + uint16_t getCRC16CheckSum(uint8_t* pch_message, uint32_t dw_length, uint16_t w_crc) + { + uint8_t chData; + if (pch_message == nullptr) + return 0xFFFF; + while (dw_length--) + { + chData = *pch_message++; + (w_crc) = (static_cast(w_crc) >> 8) ^ + rm_vt::wCRC_table[(static_cast(w_crc) ^ static_cast(chData)) & 0x00ff]; + } + return w_crc; + } + + uint32_t verifyCRC16CheckSum(uint8_t* pch_message, uint32_t dw_length) + { + uint16_t w_expected; + if ((pch_message == nullptr) || (dw_length <= 2)) + return 0; + w_expected = getCRC16CheckSum(pch_message, dw_length - 2, rm_vt::kCrc16Init); + return ((w_expected & 0xff) == pch_message[dw_length - 2] && + ((w_expected >> 8) & 0xff) == pch_message[dw_length - 1]); + } + + void appendCRC16CheckSum(uint8_t* pch_message, uint32_t dw_length) + { + uint16_t wCRC; + if ((pch_message == nullptr) || (dw_length <= 2)) + return; + wCRC = getCRC16CheckSum(static_cast(pch_message), dw_length - 2, rm_vt::kCrc16Init); + pch_message[dw_length - 2] = static_cast((wCRC & 0x00ff)); + pch_message[dw_length - 1] = static_cast(((wCRC >> 8) & 0x00ff)); + } +}; +} // namespace rm_vt diff --git a/rm_vt/include/rm_vt/common/protocol.h b/rm_vt/include/rm_vt/common/protocol.h new file mode 100644 index 00000000..02c9b6a6 --- /dev/null +++ b/rm_vt/include/rm_vt/common/protocol.h @@ -0,0 +1,103 @@ +// +// Created by chen on 24-11-23. +// +#pragma once +#define __packed __attribute__((packed)) + +#include +namespace rm_vt +{ +typedef enum +{ + GAME_STATUS_CMD = 0x0001, + GAME_RESULT_CMD = 0x0002, + GAME_ROBOT_HP_CMD = 0x0003, + DART_STATUS_CMD = 0x0004, + ICRA_ZONE_STATUS_CMD = 0x0005, + FIELD_EVENTS_CMD = 0x0101, + SUPPLY_PROJECTILE_ACTION_CMD = 0x0102, + REFEREE_WARNING_CMD = 0x0104, + DART_REMAINING_CMD = 0x0105, + ROBOT_STATUS_CMD = 0x0201, + POWER_HEAT_DATA_CMD = 0x0202, + ROBOT_POS_CMD = 0x0203, + BUFF_CMD = 0x0204, + AERIAL_ROBOT_ENERGY_CMD = 0x0205, + ROBOT_HURT_CMD = 0x0206, + SHOOT_DATA_CMD = 0x0207, + BULLET_REMAINING_CMD = 0x0208, + ROBOT_RFID_STATUS_CMD = 0x0209, + DART_CLIENT_CMD = 0x020A, + ROBOTS_POS_CMD = 0X020B, + RADAR_MARK_CMD = 0X020C, + SENTRY_INFO_CMD = 0x020D, + RADAR_INFO_CMD = 0x020E, + INTERACTIVE_DATA_CMD = 0x0301, + CUSTOM_CONTROLLER_CMD = 0x0302, // controller + TARGET_POS_CMD = 0x0303, + ROBOT_COMMAND_CMD = 0x0304, // controller + CLIENT_MAP_CMD = 0x0305, + CUSTOM_CLIENT_CMD = 0x0306, // controller + MAP_SENTRY_CMD = 0x0307, // send sentry->aerial + CUSTOM_INFO_CMD = 0x0308, + POWER_MANAGEMENT_SAMPLE_AND_STATUS_DATA_CMD = 0X8301, + POWER_MANAGEMENT_INITIALIZATION_EXCEPTION_CMD = 0X8302, + POWER_MANAGEMENT_SYSTEM_EXCEPTION_CMD = 0X8303, + POWER_MANAGEMENT_PROCESS_STACK_OVERFLOW_CMD = 0X8304, + POWER_MANAGEMENT_UNKNOWN_EXCEPTION_CMD = 0X8305 +} RefereeCmdId; + +typedef struct +{ + uint8_t sof; + uint16_t data_length; + uint8_t seq; + uint8_t crc_8; +} __packed FrameHeader; + +typedef struct +{ + uint8_t data[30]; +} __packed CustomControllerData; + +/***********************Frame tail(CRC8_CRC16)********************************************/ +const uint8_t kCrc8Init = 0xff; +const uint8_t kCrc8Table[256] = { + 0x00, 0x5e, 0xbc, 0xe2, 0x61, 0x3f, 0xdd, 0x83, 0xc2, 0x9c, 0x7e, 0x20, 0xa3, 0xfd, 0x1f, 0x41, 0x9d, 0xc3, 0x21, + 0x7f, 0xfc, 0xa2, 0x40, 0x1e, 0x5f, 0x01, 0xe3, 0xbd, 0x3e, 0x60, 0x82, 0xdc, 0x23, 0x7d, 0x9f, 0xc1, 0x42, 0x1c, + 0xfe, 0xa0, 0xe1, 0xbf, 0x5d, 0x03, 0x80, 0xde, 0x3c, 0x62, 0xbe, 0xe0, 0x02, 0x5c, 0xdf, 0x81, 0x63, 0x3d, 0x7c, + 0x22, 0xc0, 0x9e, 0x1d, 0x43, 0xa1, 0xff, 0x46, 0x18, 0xfa, 0xa4, 0x27, 0x79, 0x9b, 0xc5, 0x84, 0xda, 0x38, 0x66, + 0xe5, 0xbb, 0x59, 0x07, 0xdb, 0x85, 0x67, 0x39, 0xba, 0xe4, 0x06, 0x58, 0x19, 0x47, 0xa5, 0xfb, 0x78, 0x26, 0xc4, + 0x9a, 0x65, 0x3b, 0xd9, 0x87, 0x04, 0x5a, 0xb8, 0xe6, 0xa7, 0xf9, 0x1b, 0x45, 0xc6, 0x98, 0x7a, 0x24, 0xf8, 0xa6, + 0x44, 0x1a, 0x99, 0xc7, 0x25, 0x7b, 0x3a, 0x64, 0x86, 0xd8, 0x5b, 0x05, 0xe7, 0xb9, 0x8c, 0xd2, 0x30, 0x6e, 0xed, + 0xb3, 0x51, 0x0f, 0x4e, 0x10, 0xf2, 0xac, 0x2f, 0x71, 0x93, 0xcd, 0x11, 0x4f, 0xad, 0xf3, 0x70, 0x2e, 0xcc, 0x92, + 0xd3, 0x8d, 0x6f, 0x31, 0xb2, 0xec, 0x0e, 0x50, 0xaf, 0xf1, 0x13, 0x4d, 0xce, 0x90, 0x72, 0x2c, 0x6d, 0x33, 0xd1, + 0x8f, 0x0c, 0x52, 0xb0, 0xee, 0x32, 0x6c, 0x8e, 0xd0, 0x53, 0x0d, 0xef, 0xb1, 0xf0, 0xae, 0x4c, 0x12, 0x91, 0xcf, + 0x2d, 0x73, 0xca, 0x94, 0x76, 0x28, 0xab, 0xf5, 0x17, 0x49, 0x08, 0x56, 0xb4, 0xea, 0x69, 0x37, 0xd5, 0x8b, 0x57, + 0x09, 0xeb, 0xb5, 0x36, 0x68, 0x8a, 0xd4, 0x95, 0xcb, 0x29, 0x77, 0xf4, 0xaa, 0x48, 0x16, 0xe9, 0xb7, 0x55, 0x0b, + 0x88, 0xd6, 0x34, 0x6a, 0x2b, 0x75, 0x97, 0xc9, 0x4a, 0x14, 0xf6, 0xa8, 0x74, 0x2a, 0xc8, 0x96, 0x15, 0x4b, 0xa9, + 0xf7, 0xb6, 0xe8, 0x0a, 0x54, 0xd7, 0x89, 0x6b, 0x35, +}; +const uint16_t kCrc16Init = 0xffff; +const uint16_t wCRC_table[256] = { + 0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, 0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, + 0xe97e, 0xf8f7, 0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e, 0x9cc9, 0x8d40, 0xbfdb, 0xae52, + 0xdaed, 0xcb64, 0xf9ff, 0xe876, 0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd, 0xad4a, 0xbcc3, + 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5, 0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c, + 0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974, 0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, + 0x2732, 0x36bb, 0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3, 0x5285, 0x430c, 0x7197, 0x601e, + 0x14a1, 0x0528, 0x37b3, 0x263a, 0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72, 0x6306, 0x728f, + 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9, 0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1, + 0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738, 0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, + 0x9af9, 0x8b70, 0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7, 0x0840, 0x19c9, 0x2b52, 0x3adb, + 0x4e64, 0x5fed, 0x6d76, 0x7cff, 0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036, 0x18c1, 0x0948, + 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e, 0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5, + 0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd, 0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, + 0xd0bd, 0xc134, 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c, 0xc60c, 0xd785, 0xe51e, 0xf497, + 0x8028, 0x91a1, 0xa33a, 0xb2b3, 0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb, 0xd68d, 0xc704, + 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232, 0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a, + 0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1, 0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, + 0x0e70, 0x1ff9, 0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330, 0x7bc7, 0x6a4e, 0x58d5, 0x495c, + 0x3de3, 0x2c6a, 0x1ef1, 0x0f78 +}; +} // namespace rm_vt diff --git a/rm_vt/include/rm_vt/video_tran.h b/rm_vt/include/rm_vt/video_tran.h new file mode 100644 index 00000000..11dbd882 --- /dev/null +++ b/rm_vt/include/rm_vt/video_tran.h @@ -0,0 +1,42 @@ +// +// Created by chen on 24-11-23. +// +#pragma once + +#include +#include + +#include "rm_vt/common/data.h" + +namespace rm_vt +{ +class VideoTran +{ +public: + explicit VideoTran(ros::NodeHandle& nh) : last_get_data_time_(ros::Time::now()) + { + ROS_INFO("Video transmission load."); + custom_controller_cmd_pub_ = nh.advertise("custom_controller_data", 1); + base_.initSerial(); + } + void read(); + void clearRxBuffer() + { + rx_buffer_.clear(); + rx_len_ = 0; + } + + ros::Publisher custom_controller_cmd_pub_; + + Base base_; + std::vector rx_buffer_; + int rx_len_; + +private: + int unpack(uint8_t* rx_data); + ros::Time last_get_data_time_; + const int k_frame_length_ = 128, k_header_length_ = 5, k_cmd_id_length_ = 2, k_tail_length_ = 2; + const int k_unpack_buffer_length_ = 256; + uint8_t unpack_buffer_[256]{}; +}; +} // namespace rm_vt diff --git a/rm_vt/launch/load.launch b/rm_vt/launch/load.launch new file mode 100644 index 00000000..ef2cd4c3 --- /dev/null +++ b/rm_vt/launch/load.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/rm_vt/package.xml b/rm_vt/package.xml new file mode 100644 index 00000000..e2d66325 --- /dev/null +++ b/rm_vt/package.xml @@ -0,0 +1,21 @@ + + + rm_vt + 0.0.0 + The rm_vt package + + BSD + chen + + catkin + + roscpp + sensor_msgs + rm_msgs + std_msgs + nav_msgs + actionlib + rm_common + tf2_geometry_msgs + serial + diff --git a/rm_vt/src/main.cpp b/rm_vt/src/main.cpp new file mode 100644 index 00000000..b25e3f8f --- /dev/null +++ b/rm_vt/src/main.cpp @@ -0,0 +1,18 @@ +// +// Created by chen on 24-11-23. +// +#include "rm_vt/video_tran.h" + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "rm_vt"); + ros::NodeHandle nh("~"); + rm_vt::VideoTran video_tran(nh); + ros::Rate loop_rate(100); + while (ros::ok()) + { + ros::spinOnce(); + video_tran.read(); + loop_rate.sleep(); + } +} diff --git a/rm_vt/src/video_tran.cpp b/rm_vt/src/video_tran.cpp new file mode 100644 index 00000000..9f7779fd --- /dev/null +++ b/rm_vt/src/video_tran.cpp @@ -0,0 +1,89 @@ +// +// Created by chen on 24-11-23. +// +#include "rm_vt/video_tran.h" + +namespace rm_vt +{ +void VideoTran::read() +{ + if (base_.serial_.available()) + { + rx_len_ = static_cast(base_.serial_.available()); + base_.serial_.read(rx_buffer_, rx_len_); + } + else + return; + uint8_t temp_buffer[256] = { 0 }; + int frame_len; + if (ros::Time::now() - last_get_data_time_ > ros::Duration(0.1)) + base_.video_tran_is_online_ = false; + if (rx_len_ < k_unpack_buffer_length_) + { + for (int k_i = 0; k_i < k_unpack_buffer_length_ - rx_len_; ++k_i) + temp_buffer[k_i] = unpack_buffer_[k_i + rx_len_]; + for (int k_i = 0; k_i < rx_len_; ++k_i) + temp_buffer[k_i + k_unpack_buffer_length_ - rx_len_] = rx_buffer_[k_i]; + for (int k_i = 0; k_i < k_unpack_buffer_length_; ++k_i) + unpack_buffer_[k_i] = temp_buffer[k_i]; + } + for (int k_i = 0; k_i < k_unpack_buffer_length_ - k_frame_length_; ++k_i) + { + if (unpack_buffer_[k_i] == 0xA5) + { + frame_len = unpack(&unpack_buffer_[k_i]); + if (frame_len != -1) + k_i += frame_len; + } + } + clearRxBuffer(); +} + +int VideoTran::unpack(uint8_t* rx_data) +{ + uint16_t cmd_id; + int frame_len; + rm_vt::FrameHeader frame_header; + + memcpy(&frame_header, rx_data, k_header_length_); + if (static_cast(base_.verifyCRC8CheckSum(rx_data, k_header_length_))) + { + if (frame_header.data_length > 256) // temporary and inaccurate value + { + ROS_INFO("discard possible wrong frames, data length: %d", frame_header.data_length); + return 0; + } + frame_len = frame_header.data_length + k_header_length_ + k_cmd_id_length_ + k_tail_length_; + if (base_.verifyCRC16CheckSum(rx_data, frame_len) == 1) + { + cmd_id = (rx_data[6] << 8 | rx_data[5]); + switch (cmd_id) + { + case rm_vt::CUSTOM_CONTROLLER_CMD: + { + rm_vt::CustomControllerData custom_controller_data; + std_msgs::Float64MultiArray custom_controller_joint_state; + memcpy(&custom_controller_data, rx_data + 7, sizeof(rm_vt::CustomControllerData)); + for (int i = 0; i < 5; i++) + { + custom_controller_joint_state.data.push_back((1.0 * ((uint16_t)(custom_controller_data.data[2 * i] << 8) | + (uint16_t)(custom_controller_data.data[2 * i + 1]))) / + 18000.0 * 3.14); + } + custom_controller_cmd_pub_.publish(custom_controller_joint_state); + break; + } + case rm_vt::ROBOT_COMMAND_CMD: + break; + default: + ROS_WARN("Referee command ID %d not found.", cmd_id); + break; + } + base_.video_tran_is_online_ = true; + last_get_data_time_ = ros::Time::now(); + return frame_len; + } + } + return -1; +} +} // namespace rm_vt