Struct JointAccelConfigState

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pub struct JointAccelConfigState {
    pub last_update_hardware_timestamp_us: u64,
    pub last_update_system_timestamp_us: u64,
    pub max_acc_limits: [f64; 6],
    pub joint_update_hardware_timestamps: [u64; 6],
    pub joint_update_system_timestamps: [u64; 6],
    pub valid_mask: u8,
}

Expand description

关节加速度限制配置状态（冷数据）

更新频率：按需查询（需要查询6次，每个关节一次） CAN ID：0x47C（MotorMaxAccelFeedback）同步机制：RwLock（按需查询，更新频率极低）

注意：MotorMaxAccelFeedback.max_accel() 已经返回 rad/s²，无需转换。

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§last_update_hardware_timestamp_us: u64

最后更新时间戳（硬件时间戳，微秒）

§last_update_system_timestamp_us: u64

最后更新时间戳（系统时间戳，微秒）

§max_acc_limits: [f64; 6]

各关节最大加速度（rad/s²）[J1, J2, J3, J4, J5, J6]

§joint_update_hardware_timestamps: [u64; 6]

每个关节的硬件时间戳（微秒）[J1, J2, J3, J4, J5, J6]

§joint_update_system_timestamps: [u64; 6]

每个关节的系统接收时间戳（微秒）[J1, J2, J3, J4, J5, J6]

§valid_mask: u8

有效性掩码（Bit 0-5 对应 J1-J6）

1 表示该关节的配置已更新
0 表示该关节的配置未更新（可能未查询）

Implementations§

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impl JointAccelConfigState

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pub fn is_fully_valid(&self) -> bool

检查所有关节是否都已更新（valid_mask == 0x3F）

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pub fn missing_joints(&self) -> Vec<usize>

获取未更新的关节索引（用于调试）

Trait Implementations§

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impl Clone for JointAccelConfigState

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fn clone(&self) -> JointAccelConfigState

Returns a duplicate of the value. Read more

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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more

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impl Debug for JointAccelConfigState

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fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more

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impl Default for JointAccelConfigState

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fn default() -> JointAccelConfigState

Returns the “default value” for a type. Read more

Auto Trait Implementations§

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impl UnwindSafe for JointAccelConfigState

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impl<T> Any for T
where T: 'static + ?Sized,

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Gets the TypeId of self. Read more

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where T: ?Sized,

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impl<T> BorrowMut<T> for T
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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<T> CloneToUninit for T
where T: Clone,

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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fn instrument(self, span: Span) -> Instrumented<Self>

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where F: FnOnce(&Self) -> bool,

Converts self into a Left variant of Either<Self, Self> if into_left(&self) returns true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more

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