Struct PiperFrame 

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

CAN 2.0 标准帧的统一抽象

设计目的

PiperFrame 是协议层和硬件层之间的中间抽象，提供：

• 层次解耦：协议层不依赖底层 CAN 实现（SocketCAN/GS-USB）
• 统一接口：上层通过 CanAdapter trait 使用统一的帧类型
• 类型安全：编译时保证帧格式正确，避免原始字节操作错误

在架构中的位置

Protocol Layer (piper-protocol)
    ↓ TryFrom<PiperFrame> 解析 / new_standard() 构建
PiperFrame (此类型)
    ↓ 转换逻辑在 CAN 层实现
CAN Layer (piper-can)
    ↓ SocketCAN/GS-USB 适配器
Hardware

设计特性

• Copy trait：零成本复制，适合高频 CAN 场景（~1kHz 帧率）
• 固定 8 字节：避免堆分配，减少内存碎片
• 无生命周期：自包含数据结构，简化 API
• 时间戳支持：timestamp_us 字段支持录制/回放功能

限制

• 仅支持 CAN 2.0：固定 8 字节数据
• 不支持 CAN FD：最长 64 字节的帧需要使用 PiperFrameFd（未来扩展）

转换示例

use piper_protocol::PiperFrame;

// 创建标准帧
let frame = PiperFrame::new_standard(0x123, &[1, 2, 3, 4]);

// 创建扩展帧
let frame_ext = PiperFrame::new_extended(0x12345678, &[5, 6, 7, 8]);

// 访问数据
assert_eq!(frame.id(), 0x123);
assert_eq!(frame.data_slice(), &[1, 2, 3, 4]);

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

Implementations

impl PiperFrame

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

创建标准帧

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

创建扩展帧

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

获取数据切片（只包含有效数据）

pub fn id(&self) -> u32

获取 CAN ID

pub fn data(&self) -> &[u8; 8]

获取完整数据（8字节固定数组）

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<(), Error>

Formats the value using the given formatter.

impl From<&PiperFrame> for TimestampedFrame

fn from(frame: &PiperFrame) -> TimestampedFrame

Converts to this type from the input type.

impl From<PiperCommand> for PiperFrame

fn from(cmd: PiperCommand) -> PiperFrame

Converts to this type from the input type.

impl From<PiperFrame> for PiperCommand

fn from(frame: PiperFrame) -> PiperCommand

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<CollisionProtectionLevelFeedback, <CollisionProtectionLevelFeedback as TryFrom<PiperFrame>>::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<ControlModeCommandFeedback, <ControlModeCommandFeedback as TryFrom<PiperFrame>>::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<EndPoseFeedback1, <EndPoseFeedback1 as TryFrom<PiperFrame>>::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<EndPoseFeedback2, <EndPoseFeedback2 as TryFrom<PiperFrame>>::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<EndPoseFeedback3, <EndPoseFeedback3 as TryFrom<PiperFrame>>::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<EndVelocityAccelFeedback, <EndVelocityAccelFeedback as TryFrom<PiperFrame>>::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<FirmwareReadFeedback, <FirmwareReadFeedback as TryFrom<PiperFrame>>::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<GripperControlFeedback, <GripperControlFeedback as TryFrom<PiperFrame>>::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<GripperFeedback, <GripperFeedback as TryFrom<PiperFrame>>::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<GripperTeachParamsFeedback, <GripperTeachParamsFeedback as TryFrom<PiperFrame>>::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<JointControl12Feedback, <JointControl12Feedback as TryFrom<PiperFrame>>::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<JointControl34Feedback, <JointControl34Feedback as TryFrom<PiperFrame>>::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<JointControl56Feedback, <JointControl56Feedback as TryFrom<PiperFrame>>::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<JointDriverHighSpeedFeedback, <JointDriverHighSpeedFeedback as TryFrom<PiperFrame>>::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<JointDriverLowSpeedFeedback, <JointDriverLowSpeedFeedback as TryFrom<PiperFrame>>::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<JointEndVelocityAccelFeedback, <JointEndVelocityAccelFeedback as TryFrom<PiperFrame>>::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<JointFeedback12, <JointFeedback12 as TryFrom<PiperFrame>>::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<JointFeedback34, <JointFeedback34 as TryFrom<PiperFrame>>::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<JointFeedback56, <JointFeedback56 as TryFrom<PiperFrame>>::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<MotorLimitFeedback, <MotorLimitFeedback as TryFrom<PiperFrame>>::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<MotorMaxAccelFeedback, <MotorMaxAccelFeedback as TryFrom<PiperFrame>>::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<RobotStatusFeedback, <RobotStatusFeedback as TryFrom<PiperFrame>>::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<SettingResponse, <SettingResponse as TryFrom<PiperFrame>>::Error>

Performs the conversion.

impl Copy for PiperFrame

impl Eq for PiperFrame

impl StructuralPartialEq for PiperFrame