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