feat: 对接KCP-C

Deploy_Tienkung/udp_loopback/README_omnisocket.md

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+# OmniSocket Integration
+
+This repo now supports an OmniSocket-based control path alongside the original UDP loopback.
+
+## Files
+
+- `omnisocket_control.py`: binary control packet codec shared by sender/receiver.
+- `omnisocket_keyboard_sender.py`: keyboard -> OmniSocket sender.
+- `omnisocket_xbox_sender.py`: ROS2 `/xbox_data` -> OmniSocket sender.
+- `omnisocket_fsm_controller.py`: OmniSocket receiver that converts packets into `ControlFlag`.
+- `config/omnisocket_demo.yaml`: OmniSocket transport config template.
+
+## Main-node integration
+
+Set `control_tool: omnisocket_loopback` in `config/dex_config.yaml`, then run `rl_control_node.py` or `rl_control_node_sim.py`.
+
+The main node will instantiate `OmniSocketFSMController`, which receives binary control packets and maps them into the same FSM commands used by the UDP loopback path.
+
+## Sender usage
+
+Keyboard sender:
+
+```bash
+cd Deploy_Tienkung
+python3 udp_loopback/omnisocket_keyboard_sender.py
+```
+
+Xbox sender:
+
+```bash
+cd Deploy_Tienkung
+source /opt/ros/jazzy/setup.bash
+ros2 run joy joy_node --ros-args -r joy:=/xbox_data
+python3 udp_loopback/omnisocket_xbox_sender.py
+```
+
+## Notes
+
+- Install the `omnisocket` Python package before using this path.
+- `omnisocket_xbox_sender.py` still reuses `config/dex_config.yaml` for Xbox axis/button overrides so it stays aligned with the existing repo configuration.
+- The original UDP files remain unchanged, so you can switch back by restoring `control_tool: udp_loopback`.
+- OmniSocket keyboard/Xbox mappings are aligned with the cleaned walk-only FSM flow: `ZERO`, `STOP`, and `WALKAMP`.
+- Keyboard sender supports `4/5/6` for clearing `x/y/yaw` speed independently, and `r` still clears all three axes.