First Commit

Deploy_Tienkung/udp_loopback/protocol.py

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+"""Protocol and state definitions for the standalone UDP loopback."""
+
+from __future__ import annotations
+
+from dataclasses import asdict, dataclass, field
+import json
+import time
+from typing import Any, Dict
+
+
+@dataclass
+class InputEnvelope:
+    """Small UDP payload carrying one encoded keyboard event."""
+
+    seq_id: int
+    event_code: str
+    key_name: str
+    sent_at: float = field(default_factory=time.time)
+    drive_value: float = 1.0
+    source_tag: str = "local_keys"
+
+    def encode(self) -> bytes:
+        return json.dumps(asdict(self), separators=(",", ":")).encode("utf-8")
+
+    @classmethod
+    def decode(cls, payload: bytes) -> "InputEnvelope":
+        data = json.loads(payload.decode("utf-8"))
+        return cls(
+            seq_id=int(data["seq_id"]),
+            event_code=str(data["event_code"]),
+            key_name=str(data["key_name"]),
+            sent_at=float(data.get("sent_at", time.time())),
+            drive_value=float(data.get("drive_value", 1.0)),
+            source_tag=str(data.get("source_tag", "unknown")),
+        )
+
+
+@dataclass
+class MotionFrame:
+    """Receiver-side motion targets computed from decoded events."""
+
+    mode_tag: str = "pose_home"
+    relay_on: bool = True
+    surge_goal: float = 0.0
+    sway_goal: float = 0.0
+    spin_goal: float = 0.0
+    lift_goal: float = 0.89
+    last_event_code: str = "boot"
+    last_rx_time: float = 0.0
+
+    def as_dict(self) -> Dict[str, Any]:
+        return asdict(self)
+
+
+def format_motion_frame(frame: MotionFrame) -> str:
+    return (
+        f"mode={frame.mode_tag} relay_on={frame.relay_on} "
+        f"surge={frame.surge_goal:.2f} sway={frame.sway_goal:.2f} "
+        f"spin={frame.spin_goal:.2f} lift={frame.lift_goal:.2f} "
+        f"event={frame.last_event_code}"
+    )