File size: 8,585 Bytes
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import cyclonedds
import cyclonedds.idl as idl
from .singleton import Singleton
from ..idl.unitree_go.msg.dds_ import LowCmd_
from ..idl.unitree_go.msg.dds_ import LowState_
from ..idl.unitree_hg.msg.dds_ import LowCmd_ as HGLowCmd_
from ..idl.unitree_hg.msg.dds_ import LowState_ as HGLowState_
import ctypes
import os
import platform
class CRC(Singleton):
def __init__(self):
#4 bytes aligned, little-endian format.
#size 812
self.__packFmtLowCmd = '<4B4IH2x' + 'B3x5f3I' * 20 + '4B' + '55Bx2I'
#size 1180
self.__packFmtLowState = '<4B4IH2x' + '13fb3x' + 'B3x7fb3x3I' * 20 + '4BiH4b15H' + '8hI41B3xf2b2x2f4h2I'
#size 1004
self.__packFmtHGLowCmd = '<2B2x' + 'B3x5fI' * 35 + '5I'
#size 2092
self.__packFmtHGLowState = '<2I2B2xI' + '13fh2x' + 'B3x4f2hf7I' * 35 + '40B5I'
script_dir = os.path.dirname(os.path.abspath(__file__))
self.platform = platform.system()
if self.platform == "Linux":
if platform.machine()=="x86_64":
self.crc_lib = ctypes.CDLL(script_dir + '/lib/crc_amd64.so')
elif platform.machine()=="aarch64":
self.crc_lib = ctypes.CDLL(script_dir + '/lib/crc_aarch64.so')
self.crc_lib.crc32_core.argtypes = (ctypes.POINTER(ctypes.c_uint32), ctypes.c_uint32)
self.crc_lib.crc32_core.restype = ctypes.c_uint32
def Crc(self, msg: idl.IdlStruct):
if msg.__idl_typename__ == 'unitree_go.msg.dds_.LowCmd_':
return self.__Crc32(self.__PackLowCmd(msg))
elif msg.__idl_typename__ == 'unitree_go.msg.dds_.LowState_':
return self.__Crc32(self.__PackLowState(msg))
if msg.__idl_typename__ == 'unitree_hg.msg.dds_.LowCmd_':
return self.__Crc32(self.__PackHGLowCmd(msg))
elif msg.__idl_typename__ == 'unitree_hg.msg.dds_.LowState_':
return self.__Crc32(self.__PackHGLowState(msg))
else:
raise TypeError('unknown IDL message type to crc')
def __PackLowCmd(self, cmd: LowCmd_):
origData = []
origData.extend(cmd.head)
origData.append(cmd.level_flag)
origData.append(cmd.frame_reserve)
origData.extend(cmd.sn)
origData.extend(cmd.version)
origData.append(cmd.bandwidth)
for i in range(20):
origData.append(cmd.motor_cmd[i].mode)
origData.append(cmd.motor_cmd[i].q)
origData.append(cmd.motor_cmd[i].dq)
origData.append(cmd.motor_cmd[i].tau)
origData.append(cmd.motor_cmd[i].kp)
origData.append(cmd.motor_cmd[i].kd)
origData.extend(cmd.motor_cmd[i].reserve)
origData.append(cmd.bms_cmd.off)
origData.extend(cmd.bms_cmd.reserve)
origData.extend(cmd.wireless_remote)
origData.extend(cmd.led)
origData.extend(cmd.fan)
origData.append(cmd.gpio)
origData.append(cmd.reserve)
origData.append(cmd.crc)
return self.__Trans(struct.pack(self.__packFmtLowCmd, *origData))
def __PackLowState(self, state: LowState_):
origData = []
origData.extend(state.head)
origData.append(state.level_flag)
origData.append(state.frame_reserve)
origData.extend(state.sn)
origData.extend(state.version)
origData.append(state.bandwidth)
origData.extend(state.imu_state.quaternion)
origData.extend(state.imu_state.gyroscope)
origData.extend(state.imu_state.accelerometer)
origData.extend(state.imu_state.rpy)
origData.append(state.imu_state.temperature)
for i in range(20):
origData.append(state.motor_state[i].mode)
origData.append(state.motor_state[i].q)
origData.append(state.motor_state[i].dq)
origData.append(state.motor_state[i].ddq)
origData.append(state.motor_state[i].tau_est)
origData.append(state.motor_state[i].q_raw)
origData.append(state.motor_state[i].dq_raw)
origData.append(state.motor_state[i].ddq_raw)
origData.append(state.motor_state[i].temperature)
origData.append(state.motor_state[i].lost)
origData.extend(state.motor_state[i].reserve)
origData.append(state.bms_state.version_high)
origData.append(state.bms_state.version_low)
origData.append(state.bms_state.status)
origData.append(state.bms_state.soc)
origData.append(state.bms_state.current)
origData.append(state.bms_state.cycle)
origData.extend(state.bms_state.bq_ntc)
origData.extend(state.bms_state.mcu_ntc)
origData.extend(state.bms_state.cell_vol)
origData.extend(state.foot_force)
origData.extend(state.foot_force_est)
origData.append(state.tick)
origData.extend(state.wireless_remote)
origData.append(state.bit_flag)
origData.append(state.adc_reel)
origData.append(state.temperature_ntc1)
origData.append(state.temperature_ntc2)
origData.append(state.power_v)
origData.append(state.power_a)
origData.extend(state.fan_frequency)
origData.append(state.reserve)
origData.append(state.crc)
return self.__Trans(struct.pack(self.__packFmtLowState, *origData))
def __PackHGLowCmd(self, cmd: HGLowCmd_):
origData = []
origData.append(cmd.mode_pr)
origData.append(cmd.mode_machine)
for i in range(35):
origData.append(cmd.motor_cmd[i].mode)
origData.append(cmd.motor_cmd[i].q)
origData.append(cmd.motor_cmd[i].dq)
origData.append(cmd.motor_cmd[i].tau)
origData.append(cmd.motor_cmd[i].kp)
origData.append(cmd.motor_cmd[i].kd)
origData.append(cmd.motor_cmd[i].reserve)
origData.extend(cmd.reserve)
origData.append(cmd.crc)
return self.__Trans(struct.pack(self.__packFmtHGLowCmd, *origData))
def __PackHGLowState(self, state: HGLowState_):
origData = []
origData.extend(state.version)
origData.append(state.mode_pr)
origData.append(state.mode_machine)
origData.append(state.tick)
origData.extend(state.imu_state.quaternion)
origData.extend(state.imu_state.gyroscope)
origData.extend(state.imu_state.accelerometer)
origData.extend(state.imu_state.rpy)
origData.append(state.imu_state.temperature)
for i in range(35):
origData.append(state.motor_state[i].mode)
origData.append(state.motor_state[i].q)
origData.append(state.motor_state[i].dq)
origData.append(state.motor_state[i].ddq)
origData.append(state.motor_state[i].tau_est)
origData.extend(state.motor_state[i].temperature)
origData.append(state.motor_state[i].vol)
origData.extend(state.motor_state[i].sensor)
origData.append(state.motor_state[i].motorstate)
origData.extend(state.motor_state[i].reserve)
origData.extend(state.wireless_remote)
origData.extend(state.reserve)
origData.append(state.crc)
return self.__Trans(struct.pack(self.__packFmtHGLowState, *origData))
def __Trans(self, packData):
calcData = []
calcLen = ((len(packData)>>2)-1)
for i in range(calcLen):
d = ((packData[i*4+3] << 24) | (packData[i*4+2] << 16) | (packData[i*4+1] << 8) | (packData[i*4]))
calcData.append(d)
return calcData
def _crc_py(self, data):
bit = 0
crc = 0xFFFFFFFF
polynomial = 0x04c11db7
for i in range(len(data)):
bit = 1 << 31
current = data[i]
for b in range(32):
if crc & 0x80000000:
crc = (crc << 1) & 0xFFFFFFFF
crc ^= polynomial
else:
crc = (crc << 1) & 0xFFFFFFFF
if current & bit:
crc ^= polynomial
bit >>= 1
return crc
def _crc_ctypes(self, data):
uint32_array = (ctypes.c_uint32 * len(data))(*data)
length = len(data)
crc=self.crc_lib.crc32_core(uint32_array, length)
return crc
def __Crc32(self, data):
if self.platform == "Linux":
return self._crc_ctypes(data)
else:
return self._crc_py(data)
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