Diff: Hyfliers_robot_eth_msgs.h

Revision:

6:584653235830

diff -r 362759e42070 -r 584653235830 Hyfliers_robot_eth_msgs.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Hyfliers_robot_eth_msgs.h	Tue Sep 14 11:18:35 2021 +0000
@@ -0,0 +1,299 @@
+//Communication messages for ethernet protocol
+ 
+enum RobotCmd {
+    IDLE_STATE,
+    DISABLE_MOTORS,
+    ENABLE_ROVER,
+    ENABLE_ARM,
+    ENABLE_TOOL,
+    ARM_JOINT_CONTROL,
+    ARM_KINEMATIC_CONTROL_FIRST_ORDER,
+    ARM_KINEMATIC_CONTROL_SECOND_ORDER,
+    CALIBRATE_ROVER_IMU,
+    CALIBRATE_ROVER_LASERS,
+    CALIBRATE_ARM_LASERS,
+    GET_CURRENT_ROBOT_STATE,
+    RESTART_BOARD,
+    STOP_ALL
+};
+
+
+enum Status {
+    ETH_CONNECTED,
+    ETH_SRV_ACCEPTED,
+    ETH_LOST_CONNECTION,
+    ETH_WRONG_RECV_SIZE,
+    ETH_CHECKSUM_ERROR,
+    ETH_NEW_CNF,
+    ETH_NEW_CMD,
+    ETH_NEW_CMD_CURRENT_VAL_REQUEST,
+    ETH_ERROR_SENDING_DATA,
+    ETH_IDLE,
+    ROBOT_SAFETY_MODE
+};
+
+
+enum ControlMode {
+    IDLE_MODE,
+    GET_ROBOT_STATE_MODE,
+    JOINT_CONTROL_MODE,
+    KINEMATIC_CONTROL_FIRST_ORDER_MODE,
+    KINEMATIC_CONTROL_SECOND_ORDER_MODE,
+    ADMITTANCE_CONTROL_MODE,
+    HYBRID_CONTROL_MODE,
+    HYBRID_ADMITTANCE_CONTROL_MODE,
+    SAFETY_MODE
+};
+
+enum PacketId {
+    ID_config,
+    ID_receive_command_send_prec_val,
+    ID_receive_command_send_current_val
+};
+
+
+struct DebugVector 
+{
+    float d1;
+    float d2;
+    float d3;
+    float d4;
+    float d5;
+    float d6;
+    float d7;
+    float d8;
+    float d9;
+    float d10;
+    float d11;
+    float d12;
+    float d13;
+    float d14;
+    float d15;
+    float d16;
+    float d17;
+    float d18;
+    float d19;
+    float d20;
+    float d21;
+    float d22;
+    float d23;
+    float d24;
+
+}; 
+
+struct DataToTheBoard
+{
+    float roverForwardVel;
+    float roverZVel; //speed around z axis (used to correct the rover orientation on the pipe)
+    float roverFrontJointAngle;
+    float roverRetroJointAngle;
+    //Arm position in base frame
+    float armX;
+    float armY;
+    float armZ;
+    //Arm oriantation in base frame
+    float armQ0;
+    float armQ1;
+    float armQ2;
+    float armQ3;
+    
+    float drone_roll;
+    float drone_pitch;
+    
+    float jointPos1;
+    float jointPos2;
+    float jointPos3;
+    float jointPos4;
+    float jointPos5;
+    float toolOrientAroundPipeAxis;
+    float roverLongitudinalPosition;
+    bool toolEmatClose;
+
+};
+
+
+struct ConfigDataToTheBoard
+{
+    float wdTime;
+
+    bool debug;
+    
+    float dtBoard;
+    float r_frontWheel;
+    float r_retroWheel;
+    float pipeCurve_I;
+    float pipeCurve_E;
+    float pipeCurve_M;
+    float retroFrontCentralDistance;
+    float wheelsCntactPointDistanceFromPipeCenter;
+    float pipeRadious;
+    float Kp_stabilization;
+    float Kd_stabilization;
+    
+        
+    float Kp_zero_torque;
+    float Ki_zero_torque;
+
+    float wheelsAcceleration;
+    
+    float jacobianInversionWeight1;
+    float jacobianInversionWeight2;
+    float jacobianInversionWeight3;
+    float jacobianInversionWeight4;
+    float jacobianInversionWeight5;
+    float jacobianInversionWeight6;
+    float jacobianInversionWeight7;
+    float jacobianInversionWeight8;
+    
+    
+        // arm DH
+    float a3;
+    float a4;
+    float a5;
+    float a5i;
+    float a6;
+    float d7;
+    // drone distances
+    float x_0_r2;
+    float y_0_r2;
+    float z_0_r2;
+    
+    float massr; 
+    float mpxr ;  
+    float mpyr ; 
+    float mpzr ; 
+    float mass1; 
+    float mpx1 ;  
+    float mpy1 ; 
+    float mpz1 ; 
+    float mass2; 
+    float mpx2 ;
+    float mpy2 ;
+    float mpz2 ;
+    float mass3; 
+    float mpx3 ;
+    float mpy3 ;
+    float mpz3 ;
+    float mass4; 
+    float mpx4 ;
+    float mpy4 ;
+    float mpz4 ;
+    float mass5; 
+    float mpx5 ;
+    float mpy5 ;
+    float mpz5 ;
+    float mass6; 
+    float mpx6 ;
+    float mpy6 ;
+    float mpz6 ;
+    
+    float mass_battery;
+    float mpx_battery;
+    float mpz_battery;
+       
+    float  kp_first_order;
+    float  ko_first_order;
+    float  kp_second_order;
+    float  ko_second_order;
+    float  dp_second_order;
+    float  do_second_order;
+    
+    float  jointsMaxVel;
+    float  jointsMaxAcc;
+    float  jointsFilterOmega;
+    float  jointsFilterZita;
+    float  velAccSafetyFactor;
+        
+    float maxCartPos_x;
+    float maxCartPos_y;
+    float maxCartPos_z;
+
+    float minCartPos_x;
+    float minCartPos_y;
+    float minCartPos_z;
+
+    
+
+};
+
+struct DataFromTheBoard
+{
+    float roverForwardVel;
+    float roverStabVel;
+    float roverZVel; //speed around z axis (used to correct the rover orientation on the pipe)
+    float roverPitchAngle;
+    float roverOdom;
+    float roverLaserFrontDx;
+    float roverLaserFrontSx;
+    float roverLaserRetroDx;
+    float roverLaserRetroSx;
+    
+   //Arm position in base frame
+    float misTebX;
+    float misTebY;
+    float misTebZ;
+    //Arm oriantation in base frame
+    float misTebQ0;
+    float misTebQ1;
+    float misTebQ2;
+    float misTebQ3;
+    
+    float cmdJointPos1;
+    float cmdJointPos2;
+    float cmdJointPos3;
+    float cmdJointPos4;
+    float cmdJointPos5;
+    float cmdJointPos6;
+    
+    float estRoverJointPos1;
+    float estRoverJointPos2;
+    
+    float misArmJointPos1;
+    float misArmJointPos2;
+    float misArmJointPos3;
+    float misArmJointPos4;
+    float misArmJointPos5;
+    float misArmJointPos6;
+    
+    float droneFx;
+    float droneFy;
+    float droneFz;
+    float droneTx;
+    float droneTy;
+    float droneTz;
+    
+    float toolOrientAroundPipeAxis;
+    
+    float toolLaserFrontDx;
+    float toolLaserFrontSx;
+    float toolLaserRetroDx;
+    float toolLaserRetroSx;
+  
+}; 
+
+struct ComandMsg 
+{
+    int pId;
+    RobotCmd Cmd;
+    DataToTheBoard Data;
+    uint8_t Checksum;
+};
+
+struct ConfigMsg 
+{   
+    int pId;
+    ConfigDataToTheBoard Data;
+    uint8_t Checksum;
+};
+
+
+struct ResponseMsg 
+{
+    int StatusData;
+    int ControlModeData;
+    DataFromTheBoard Data;
+    DebugVector Dbv;
+
+}; 
+
+