Struct RobotControlState

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pub struct RobotControlState {
    pub hardware_timestamp_us: u64,
    pub system_timestamp_us: u64,
    pub control_mode: u8,
    pub robot_status: u8,
    pub move_mode: u8,
    pub teach_status: u8,
    pub motion_status: u8,
    pub trajectory_point_index: u8,
    pub fault_angle_limit_mask: u8,
    pub fault_comm_error_mask: u8,
    pub is_enabled: bool,
    pub feedback_counter: u8,
}

Expand description

机器人控制状态

更新频率：~200Hz CAN ID：0x2A1

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§hardware_timestamp_us: u64

硬件时间戳（微秒）

§system_timestamp_us: u64

系统接收时间戳（微秒）

§control_mode: u8

控制模式

§robot_status: u8

机器人状态

§move_mode: u8

MOVE 模式

§teach_status: u8

示教状态

§motion_status: u8

运动状态

§trajectory_point_index: u8

轨迹点索引

§fault_angle_limit_mask: u8

故障码：角度超限位（位掩码，Bit 0-5 对应 J1-J6）

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

§fault_comm_error_mask: u8

故障码：通信异常（位掩码，Bit 0-5 对应 J1-J6）

§is_enabled: bool

使能状态（从 robot_status 推导）

§feedback_counter: u8

反馈指令计数器（如果协议支持，用于检测链路卡死）

注意：如果协议中没有循环计数器，此字段为 0

Implementations§

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impl RobotControlState

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

检查指定关节是否角度超限位

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

检查指定关节是否通信异常

Trait Implementations§

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impl Clone for RobotControlState

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fn clone(&self) -> RobotControlState

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 RobotControlState

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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 RobotControlState

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fn default() -> RobotControlState

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

Auto Trait Implementations§

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impl UnwindSafe for RobotControlState

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

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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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Calls U::from(self).

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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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