protocol.h

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//
// Created by ch on 24-11-23.
//
#pragma once
#define __packed __attribute__((packed))
 
#include <cstdint>
namespace rm_vt
{
typedef enum
{
  CUSTOM_CONTROLLER_CMD = 0x0302,  // custom_controller
  ROBOT_COMMAND_CMD = 0x0304,      // keyboard_data
  ROBOT_TO_CUSTOM_CMD = 0x0309
} VideoTransmissionCmdId;
 
typedef struct
{
  uint8_t sof;
  uint16_t data_length;
  uint8_t seq;
  uint8_t crc_8;
} __packed FrameHeader;
 
typedef struct
{
  uint8_t encoder1_data[2];
  uint8_t encoder2_data[2];
  uint8_t encoder3_data[2];
  uint8_t encoder4_data[2];
  uint8_t encoder5_data[2];
  uint8_t encoder6_data[2];
  uint8_t joystick_l_y_data[2];
  uint8_t joystick_l_x_data[2];
  uint8_t joystick_r_y_data[2];
  uint8_t joystick_r_x_data[2];
  uint8_t button1_data : 1;
  uint8_t button2_data : 1;
  uint8_t button3_data : 1;
  uint8_t button4_data : 1;
  uint8_t unused_button_data : 4;
  uint8_t unused_data_1;
  uint8_t unused_data_2;
  uint8_t unused_data_3;
  uint8_t unused_data_4;
  uint8_t unused_data_5;
  uint8_t unused_data_6;
  uint8_t unused_data_7;
  uint8_t unused_data_8;
  uint8_t unused_data_9;
} __packed CustomControllerData;
 
typedef struct
{
  uint8_t data[30];
} __packed RobotToCustomData;
 
typedef struct
{
  int16_t mouse_x;
  int16_t mouse_y;
  int16_t mouse_z;
  int8_t left_button_down;
  int8_t right_button_down;
  uint16_t key_w : 1;
  uint16_t key_s : 1;
  uint16_t key_a : 1;
  uint16_t key_d : 1;
  uint16_t key_shift : 1;
  uint16_t key_ctrl : 1;
  uint16_t key_q : 1;
  uint16_t key_e : 1;
  uint16_t key_r : 1;
  uint16_t key_f : 1;
  uint16_t key_g : 1;
  uint16_t key_z : 1;
  uint16_t key_x : 1;
  uint16_t key_c : 1;
  uint16_t key_v : 1;
  uint16_t key_b : 1;
  uint16_t reserved;
} __packed KeyboardMouseData;
 
typedef struct
{
  uint16_t joystick_r_x : 11;
  uint16_t joystick_r_y : 11;
  uint16_t joystick_l_y : 11;
  uint16_t joystick_l_x : 11;
  uint8_t mode_switch : 2;
  uint8_t pause_button : 1;
  uint8_t custom_button_l : 1;
  uint8_t custom_button_r : 1;
  uint16_t wheel : 11;
  uint8_t trigger : 1;
  uint8_t unused_1 : 3;
  // mouse
  int16_t mouse_x;
  int16_t mouse_y;
  int16_t mouse_wheel;
  uint8_t mouse_left_down : 2;
  uint8_t mouse_right_down : 2;
  uint8_t mouse_mid_down : 2;
  uint8_t unused_2 : 2;
  // keyboard
  uint16_t key_w : 1;
  uint16_t key_s : 1;
  uint16_t key_a : 1;
  uint16_t key_d : 1;
  uint16_t key_shift : 1;
  uint16_t key_ctrl : 1;
  uint16_t key_q : 1;
  uint16_t key_e : 1;
  uint16_t key_r : 1;
  uint16_t key_f : 1;
  uint16_t key_g : 1;
  uint16_t key_z : 1;
  uint16_t key_x : 1;
  uint16_t key_c : 1;
  uint16_t key_v : 1;
  uint16_t key_b : 1;
} __packed ControlData;
/***********************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