Struct JointDriverLowSpeedState

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pub struct JointDriverLowSpeedState {Show 17 fields
    pub hardware_timestamp_us: u64,
    pub system_timestamp_us: u64,
    pub motor_temps: [f32; 6],
    pub driver_temps: [f32; 6],
    pub joint_voltage: [f32; 6],
    pub joint_bus_current: [f32; 6],
    pub driver_voltage_low_mask: u8,
    pub driver_motor_over_temp_mask: u8,
    pub driver_over_current_mask: u8,
    pub driver_over_temp_mask: u8,
    pub driver_collision_protection_mask: u8,
    pub driver_error_mask: u8,
    pub driver_enabled_mask: u8,
    pub driver_stall_protection_mask: u8,
    pub hardware_timestamps: [u64; 6],
    pub system_timestamps: [u64; 6],
    pub valid_mask: u8,
}

Expand description

关节驱动器低速反馈状态

更新频率：~40Hz CAN ID：0x261-0x266（每个关节一个CAN ID）同步机制：ArcSwap（Wait-Free，适合高频读）

优化：使用位掩码而非 [bool; 6]，节省内存并提高Cache Locality

Fields§

§hardware_timestamp_us: u64

硬件时间戳（微秒，来自最新一帧）

§system_timestamp_us: u64

系统接收时间戳（微秒）

§motor_temps: [f32; 6]

电机温度（°C）[J1, J2, J3, J4, J5, J6]

§driver_temps: [f32; 6]

驱动器温度（°C）[J1, J2, J3, J4, J5, J6]

§joint_voltage: [f32; 6]

各关节电压（V）[J1, J2, J3, J4, J5, J6]

§joint_bus_current: [f32; 6]

各关节母线电流（A）[J1, J2, J3, J4, J5, J6]

§driver_voltage_low_mask: u8

驱动器状态：电压过低（位掩码，Bit 0-5 对应 J1-J6）

§driver_motor_over_temp_mask: u8

驱动器状态：电机过温（位掩码，Bit 0-5 对应 J1-J6）

§driver_over_current_mask: u8

驱动器状态：过流（位掩码，Bit 0-5 对应 J1-J6）

§driver_over_temp_mask: u8

驱动器状态：驱动器过温（位掩码，Bit 0-5 对应 J1-J6）

§driver_collision_protection_mask: u8

驱动器状态：碰撞保护触发（位掩码，Bit 0-5 对应 J1-J6）

§driver_error_mask: u8

驱动器状态：驱动器错误（位掩码，Bit 0-5 对应 J1-J6）

§driver_enabled_mask: u8

驱动器状态：使能状态（位掩码，Bit 0-5 对应 J1-J6）

§driver_stall_protection_mask: u8

驱动器状态：堵转保护触发（位掩码，Bit 0-5 对应 J1-J6）

§hardware_timestamps: [u64; 6]

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

§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 表示本周期内已更新
0 表示未更新（可能是丢帧）

Implementations§

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impl JointDriverLowSpeedState

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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）

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pub fn is_voltage_low(&self, joint_index: usize) -> bool

检查指定关节是否电压过低

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pub fn is_motor_over_temp(&self, joint_index: usize) -> bool

检查指定关节是否电机过温

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pub fn is_over_current(&self, joint_index: usize) -> bool

检查指定关节是否过流

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pub fn is_driver_over_temp(&self, joint_index: usize) -> bool

检查指定关节是否驱动器过温

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pub fn is_collision_protection(&self, joint_index: usize) -> bool

检查指定关节是否碰撞保护触发

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pub fn is_driver_error(&self, joint_index: usize) -> bool

检查指定关节是否驱动器错误

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pub fn is_enabled(&self, joint_index: usize) -> bool

检查指定关节是否使能

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pub fn is_stall_protection(&self, joint_index: usize) -> bool

检查指定关节是否堵转保护触发

Trait Implementations§

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impl Clone for JointDriverLowSpeedState

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fn clone(&self) -> JointDriverLowSpeedState

Returns a duplicate of the value. Read more

1.0.0 · Source§

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

Performs copy-assignment from source. Read more

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impl Debug for JointDriverLowSpeedState

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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 JointDriverLowSpeedState

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fn default() -> JointDriverLowSpeedState

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

Auto Trait Implementations§

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impl UnwindSafe for JointDriverLowSpeedState

Blanket Implementations§

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

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T
where T: ?Sized,

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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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impl<T> Instrument for T

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

Instruments this type with the provided Span, returning an Instrumented wrapper. Read more

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fn in_current_span(self) -> Instrumented<Self>

Instruments this type with the current Span, returning an Instrumented wrapper. Read more

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impl<T, U> Into for T
where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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fn into_either(self, into_left: bool) -> Either<Self, Self>

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

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fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
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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impl<T> ToOwned for T
where T: Clone,

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type Owned = T

The resulting type after obtaining ownership.

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fn to_owned(&self) -> T

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Uses borrowed data to replace owned data, usually by cloning. Read more

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impl<T, U> TryFrom for T
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type Error = Infallible

The type returned in the event of a conversion error.

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fn try_from(value: U) -> Result<T, <T as TryFrom>::Error>

Performs the conversion.

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where U: TryFrom<T>,

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type Error = >::Error

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fn with_subscriber<S>(self, subscriber: S) -> WithDispatch<Self>
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fn with_current_subscriber(self) -> WithDispatch<Self>

Attaches the current default Subscriber to this type, returning a WithDispatch wrapper. Read more

Struct JointDriverLowSpeedState Copy item path

Fields§

Implementations§

impl JointDriverLowSpeedState

pub fn is_fully_valid(&self) -> bool

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

pub fn is_voltage_low(&self, joint_index: usize) -> bool

pub fn is_motor_over_temp(&self, joint_index: usize) -> bool

pub fn is_over_current(&self, joint_index: usize) -> bool

pub fn is_driver_over_temp(&self, joint_index: usize) -> bool

pub fn is_collision_protection(&self, joint_index: usize) -> bool

pub fn is_driver_error(&self, joint_index: usize) -> bool

pub fn is_enabled(&self, joint_index: usize) -> bool

pub fn is_stall_protection(&self, joint_index: usize) -> bool

Trait Implementations§

impl Clone for JointDriverLowSpeedState

fn clone(&self) -> JointDriverLowSpeedState

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

impl Debug for JointDriverLowSpeedState

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

impl Default for JointDriverLowSpeedState

fn default() -> JointDriverLowSpeedState

Auto Trait Implementations§

impl Freeze for JointDriverLowSpeedState

impl RefUnwindSafe for JointDriverLowSpeedState

impl Send for JointDriverLowSpeedState

impl Sync for JointDriverLowSpeedState

impl Unpin for JointDriverLowSpeedState

impl UnwindSafe for JointDriverLowSpeedState

Blanket Implementations§

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

fn type_id(&self) -> TypeId

impl<T> Borrow<T> for Twhere T: ?Sized,

fn borrow(&self) -> &T

impl<T> BorrowMut<T> for Twhere T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

impl<T> CloneToUninit for Twhere T: Clone,

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

impl<T> From<T> for T

fn from(t: T) -> T

impl<T> Instrument for T

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

fn in_current_span(self) -> Instrumented<Self>

impl<T, U> Into<U> for Twhere U: From<T>,

fn into(self) -> U

impl<T> IntoEither for T

fn into_either(self, into_left: bool) -> Either<Self, Self>

fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>where F: FnOnce(&Self) -> bool,

impl<T> ToOwned for Twhere T: Clone,

type Owned = T

fn to_owned(&self) -> T

fn clone_into(&self, target: &mut T)

impl<T, U> TryFrom<U> for Twhere U: Into<T>,

type Error = Infallible

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

impl<T, U> TryInto<U> for Twhere U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

impl<T> WithSubscriber for T

fn with_subscriber<S>(self, subscriber: S) -> WithDispatch<Self>where S: Into<Dispatch>,

fn with_current_subscriber(self) -> WithDispatch<Self>

Struct JointDriverLowSpeedState

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

impl<T> Borrow<T> for T
where T: ?Sized,

impl<T> BorrowMut<T> for T
where T: ?Sized,

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

impl<T, U> Into<U> for T
where U: From<T>,

fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
where F: FnOnce(&Self) -> bool,

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

impl<T, U> TryFrom<U> for T
where U: Into<T>,

impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

fn with_subscriber<S>(self, subscriber: S) -> WithDispatch<Self>
where S: Into<Dispatch>,