Struct PiperFrame 

pub struct PiperFrame {
    pub id: u32,
    pub data: [u8; 8],
    pub len: u8,
    pub is_extended: bool,
    pub timestamp_us: u64,
}

SDK 通用的 CAN 帧定义（只针对 CAN 2.0）

设计要点：

• Copy trait：零成本复制，适合高频场景
• 固定 8 字节数据：避免堆分配
• 无生命周期：简化 API
• 支持硬件时间戳：用于精确的时间测量（实时控制场景）

Fields

id: u32

CAN ID（标准帧或扩展帧）

data: [u8; 8]

帧数据（固定 8 字节，未使用部分为 0）

len: u8

有效数据长度 (0-8)

is_extended: bool

是否为扩展帧（29-bit ID）

timestamp_us: u64

硬件时间戳（微秒），0 表示不可用

当启用硬件时间戳模式（GS_CAN_MODE_HW_TIMESTAMP）时， 此字段包含设备硬件提供的时间戳，用于精确测量帧收发时间。 对于力控机械臂等实时控制系统，这是关键信息。

类型说明：使用 u64 而非 u32，原因：

• 支持绝对时间戳（Unix 纪元开始），无需基准时间管理
• 支持相对时间戳（从适配器启动开始），可覆盖更长的时间范围（584,000+ 年）
• 与状态层设计一致（JointPositionState.hardware_timestamp_us: u64）
• 内存对齐后大小相同（24 字节），无额外开销

Implementations

impl PiperFrame

pub fn new_standard(id: u16, data: &[u8]) -> Self

创建标准帧

pub fn new_extended(id: u32, data: &[u8]) -> Self

创建扩展帧

pub fn data_slice(&self) -> &[u8]

获取数据切片（只包含有效数据）

Trait Implementations

impl Clone for PiperFrame

fn clone(&self) -> PiperFrame

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PiperFrame

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

Formats the value using the given formatter.

impl From<PiperCommand> for PiperFrame

fn from(cmd: PiperCommand) -> Self

Converts to this type from the input type.

impl From<PiperFrame> for PiperCommand

fn from(frame: PiperFrame) -> Self

默认转换为可靠命令（向后兼容）

impl PartialEq for PiperFrame

fn eq(&self, other: &PiperFrame) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl TryFrom<PiperFrame> for CollisionProtectionLevelFeedback

type Error = ProtocolError

The type returned in the event of a conversion error.

fn try_from(frame: PiperFrame) -> Result<Self, Self::Error>

Performs the conversion.

impl TryFrom<PiperFrame> for ControlModeCommandFeedback

type Error = ProtocolError

The type returned in the event of a conversion error.

fn try_from(frame: PiperFrame) -> Result<Self, Self::Error>

Performs the conversion.

impl TryFrom<PiperFrame> for EndPoseFeedback1

type Error = ProtocolError

The type returned in the event of a conversion error.

fn try_from(frame: PiperFrame) -> Result<Self, Self::Error>

Performs the conversion.

impl TryFrom<PiperFrame> for EndPoseFeedback2

type Error = ProtocolError

The type returned in the event of a conversion error.

fn try_from(frame: PiperFrame) -> Result<Self, Self::Error>

Performs the conversion.

impl TryFrom<PiperFrame> for EndPoseFeedback3

type Error = ProtocolError

The type returned in the event of a conversion error.

fn try_from(frame: PiperFrame) -> Result<Self, Self::Error>

Performs the conversion.

impl TryFrom<PiperFrame> for EndVelocityAccelFeedback

type Error = ProtocolError

The type returned in the event of a conversion error.

fn try_from(frame: PiperFrame) -> Result<Self, Self::Error>

Performs the conversion.

impl TryFrom<PiperFrame> for FirmwareReadFeedback

type Error = ProtocolError

The type returned in the event of a conversion error.

fn try_from(frame: PiperFrame) -> Result<Self, Self::Error>

Performs the conversion.

impl TryFrom<PiperFrame> for GripperControlFeedback

type Error = ProtocolError

The type returned in the event of a conversion error.

fn try_from(frame: PiperFrame) -> Result<Self, Self::Error>

Performs the conversion.

impl TryFrom<PiperFrame> for GripperFeedback

type Error = ProtocolError

The type returned in the event of a conversion error.

fn try_from(frame: PiperFrame) -> Result<Self, Self::Error>

Performs the conversion.

impl TryFrom<PiperFrame> for GripperTeachParamsFeedback

type Error = ProtocolError

The type returned in the event of a conversion error.

fn try_from(frame: PiperFrame) -> Result<Self, Self::Error>

Performs the conversion.

impl TryFrom<PiperFrame> for JointControl12Feedback

type Error = ProtocolError

The type returned in the event of a conversion error.

fn try_from(frame: PiperFrame) -> Result<Self, Self::Error>

Performs the conversion.

impl TryFrom<PiperFrame> for JointControl34Feedback

type Error = ProtocolError

The type returned in the event of a conversion error.

fn try_from(frame: PiperFrame) -> Result<Self, Self::Error>

Performs the conversion.

impl TryFrom<PiperFrame> for JointControl56Feedback

type Error = ProtocolError

The type returned in the event of a conversion error.

fn try_from(frame: PiperFrame) -> Result<Self, Self::Error>

Performs the conversion.

impl TryFrom<PiperFrame> for JointDriverHighSpeedFeedback

type Error = ProtocolError

The type returned in the event of a conversion error.

fn try_from(frame: PiperFrame) -> Result<Self, Self::Error>

Performs the conversion.

impl TryFrom<PiperFrame> for JointDriverLowSpeedFeedback

type Error = ProtocolError

The type returned in the event of a conversion error.

fn try_from(frame: PiperFrame) -> Result<Self, Self::Error>

Performs the conversion.

impl TryFrom<PiperFrame> for JointEndVelocityAccelFeedback

type Error = ProtocolError

The type returned in the event of a conversion error.

fn try_from(frame: PiperFrame) -> Result<Self, Self::Error>

Performs the conversion.

impl TryFrom<PiperFrame> for JointFeedback12

type Error = ProtocolError

The type returned in the event of a conversion error.

fn try_from(frame: PiperFrame) -> Result<Self, Self::Error>

Performs the conversion.

impl TryFrom<PiperFrame> for JointFeedback34

type Error = ProtocolError

The type returned in the event of a conversion error.

fn try_from(frame: PiperFrame) -> Result<Self, Self::Error>

Performs the conversion.

impl TryFrom<PiperFrame> for JointFeedback56

type Error = ProtocolError

The type returned in the event of a conversion error.

fn try_from(frame: PiperFrame) -> Result<Self, Self::Error>

Performs the conversion.

impl TryFrom<PiperFrame> for MotorLimitFeedback

type Error = ProtocolError

The type returned in the event of a conversion error.

fn try_from(frame: PiperFrame) -> Result<Self, Self::Error>

Performs the conversion.

impl TryFrom<PiperFrame> for MotorMaxAccelFeedback

type Error = ProtocolError

The type returned in the event of a conversion error.

fn try_from(frame: PiperFrame) -> Result<Self, Self::Error>

Performs the conversion.

impl TryFrom<PiperFrame> for RobotStatusFeedback

type Error = ProtocolError

The type returned in the event of a conversion error.

fn try_from(frame: PiperFrame) -> Result<Self, Self::Error>

Performs the conversion.

impl TryFrom<PiperFrame> for SettingResponse

type Error = ProtocolError

The type returned in the event of a conversion error.

fn try_from(frame: PiperFrame) -> Result<Self, Self::Error>

Performs the conversion.

impl Copy for PiperFrame

impl Eq for PiperFrame

impl StructuralPartialEq for PiperFrame