34 lines
1.0 KiB
Dart
34 lines
1.0 KiB
Dart
import 'dart:typed_data';
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/// 极简化的 Codec：只负责中间那段变化的“负载数据”
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class MachineProtocolCodec {
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/// 仅封装 0x00 指令的数据部分（共 20 字节）
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///
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/// 协议变更（2026-10）：左右轮速 short(int16) 改为线速度/角速度 double：
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/// - [0..7] linear float64 小端（线速度 m/s）
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/// - [8..15] angular float64 小端（角速度 rad/s）
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/// - [16] lift / [17] mower / [18] ignition / [19] emergency（不变）
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static Uint8List encodeRemoteControlPayload({
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required double linear,
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required double angular,
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int lift = 0,
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int mower = 0,
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int ignition = 0,
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int emergency = 0,
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}) {
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final bd = ByteData(20); // 8 + 8 + 4 字节
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int pos = 0;
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bd.setFloat64(pos, linear, Endian.little);
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pos += 8;
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bd.setFloat64(pos, angular, Endian.little);
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pos += 8;
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bd.setUint8(pos++, lift);
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bd.setUint8(pos++, mower);
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bd.setUint8(pos++, ignition);
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bd.setUint8(pos++, emergency);
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return bd.buffer.asUint8List();
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}
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}
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