feat: C控制程序对接KCP

ros-control-c/common/protocol.h

@@ -0,0 +1,26 @@
+#ifndef PROTOCOL_H
+#define PROTOCOL_H
+
+#include <stdint.h>
+
+#define DEFAULT_PORT    9870
+#define DEFAULT_IP      "127.0.0.1"
+#define SEND_RATE_HZ    20
+#define SEND_INTERVAL_US (1000000 / SEND_RATE_HZ)
+
+#pragma pack(push, 1)
+typedef struct {
+    float lx, ly, lz;  /* linear  velocity (m/s)   */
+    float ax, ay, az;   /* angular velocity (rad/s) */
+} twist_cmd_t;
+#pragma pack(pop)
+
+#define TWIST_CMD_SIZE sizeof(twist_cmd_t)  /* 24 bytes */
+
+static inline void twist_cmd_zero(twist_cmd_t *cmd)
+{
+    cmd->lx = cmd->ly = cmd->lz = 0.0f;
+    cmd->ax = cmd->ay = cmd->az = 0.0f;
+}
+
+#endif /* PROTOCOL_H */