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底层通信示例

通过 UDP 获取 X30 运行状态信息

Section titled “通过 UDP 获取 X30 运行状态信息”

文档目的： 指导用户搭建状态监控程序获取X30通过UDP协议上报运行状态信息。

配置步骤

Section titled “配置步骤”

第一步：修改X30运动主机网络配置

Section titled “第一步：修改X30运动主机网络配置”

  1. 登录X30运动主机

    连接X30 WiFi，通过ssh进入运动主机的后台（192.168.1.103），登录账号ysc的密码是 '（英文单引号）

    Terminal window
    ssh ysc@192.168.1.103

  2. 进入配置文件目录

    Terminal window
    cd /home/ysc/jy_exe/conf

  3. 编辑network.toml配置文件

    Terminal window
    vim network.toml

  4. 在文件末尾添加以下配置

    # UDP状态上报配置
    [udp_status]
    ip = '192.168.1.105'
    target_port = 43897
    local_port = 43893
    ips = ["192.168.1.105", "192.168.1.106","xxxxx"]  # 接收状态消息的IP地址列表
    ports = [30001, 30001, xxxxx]                     # 对应的端口号列表

    配置说明：

    • ips: 接收UDP状态消息的客户端IP地址数组
    • ports: 对应的端口号数组，顺序与IP地址一一对应
    • 请根据实际网络环境修改IP地址

第二步：重启运动服务

Section titled “第二步：重启运动服务”
Terminal window
cd /home/ysc/jy_exe/scripts
./restart.sh

第三步：编译并运行状态监控程序

Section titled “第三步：编译并运行状态监控程序”
Terminal window
g++ UDPtest.cpp -o UDPtest
./UDPtest

第四步：验证配置效果

Section titled “第四步：验证配置效果”

程序正常运行后将显示：

开始监听机器人状态上报，端口: 30001

当收到机器人状态数据时，显示类似以下信息：

========================================
收到状态数据 [来源:192.168.1.103]
----------------------------------------
机器人名称: X30_Robot
当前里程: 1500 cm
总里程: 12500 cm
当前运行时间: 3600 秒
总运行时间: 86400 秒
当前运动时间: 1800 秒
总运动时间: 43200 秒
摇杆数据: [0, 0.5, 0, 0]
运行模式: 自动
急停来源: 0
错误状态: 0x0
========================================

UDP状态监控运行效果

UDP 状态监控程序示例代码

Section titled “UDP 状态监控程序示例代码”
#include <iostream>
#include <cstring>
#include <sys/socket.h>
#include <arpa/inet.h>
#include <unistd.h>
#include <stdint.h>


#define PORT 30001


struct RcsData {
    char robot_name[15];
    int32_t current_mileage;
    int32_t total_mileage;
    int32_t current_run_time;
    int32_t total_run_time;
    int32_t current_motion_time;
    int32_t total_motion_time;
    float joystick[4];
    union {
        struct {
            uint8_t is_nav_mode;
            uint8_t emergency_source;
            uint8_t mode_reserved[8];
        } rcs_state_list;
        uint8_t rcs_state[10];
    };
    union {
        struct {
            uint32_t imu_error : 1;
            uint32_t wifi_error : 1;
            uint32_t driver_heat_warn : 1;
            uint32_t driver_error : 1;
            uint32_t motor_heat_warn : 1;
            uint32_t battery_low_warn : 1;
            uint32_t battery_heat_warn : 1;
            uint32_t gpio_error : 1;
            uint32_t cpu_heat_warn : 1;
            uint32_t cpu_freq_warn : 1;
            uint32_t reserved : 22;
        } error_state_bit;
        uint32_t error_state;
    };
};


int main() {
    int sockfd = socket(AF_INET, SOCK_DGRAM, 0);
    if (sockfd < 0) {
        std::cout << "创建Socket失败" << std::endl;
        return -1;
    }


    struct sockaddr_in server_addr;
    memset(&server_addr, 0, sizeof(server_addr));
    server_addr.sin_family = AF_INET;
    server_addr.sin_addr.s_addr = INADDR_ANY;
    server_addr.sin_port = htons(PORT);


    if (bind(sockfd, (struct sockaddr*)&server_addr, sizeof(server_addr)) < 0) {
        std::cout << "绑定端口失败" << std::endl;
        close(sockfd);
        return -1;
    }


    std::cout << "开始监听机器人状态上报，端口: " << PORT << std::endl;


    while (true) {
        RcsData robot_data;
        struct sockaddr_in client_addr;
        socklen_t client_len = sizeof(client_addr);


        ssize_t recv_len = recvfrom(sockfd, &robot_data, sizeof(robot_data), 0,
                                   (struct sockaddr*)&client_addr, &client_len);


        if (recv_len == sizeof(robot_data)) {
            char client_ip[INET_ADDRSTRLEN];
            inet_ntop(AF_INET, &(client_addr.sin_addr), client_ip, INET_ADDRSTRLEN);


            std::cout << "========================================" << std::endl;
            std::cout << "收到状态数据 [来源:" << client_ip << "]" << std::endl;
            std::cout << "----------------------------------------" << std::endl;
            std::cout << "机器人名称: " << robot_data.robot_name << std::endl;
            std::cout << "当前里程: " << robot_data.current_mileage << " cm" << std::endl;
            std::cout << "总里程: " << robot_data.total_mileage << " cm" << std::endl;
            std::cout << "当前运行时间: " << robot_data.current_run_time << " 秒" << std::endl;
            std::cout << "总运行时间: " << robot_data.total_run_time << " 秒" << std::endl;
            std::cout << "当前运动时间: " << robot_data.current_motion_time << " 秒" << std::endl;
            std::cout << "总运动时间: " << robot_data.total_motion_time << " 秒" << std::endl;


            std::cout << "摇杆数据: [" << robot_data.joystick[0] << ", "
                      << robot_data.joystick[1] << ", "
                      << robot_data.joystick[2] << ", "
                      << robot_data.joystick[3] << "]" << std::endl;


            std::cout << "运行模式: " << (robot_data.rcs_state_list.is_nav_mode ? "自动" : "手动") << std::endl;
            std::cout << "急停来源: " << static_cast<int>(robot_data.rcs_state_list.emergency_source) << std::endl;


            std::cout << "错误状态: 0x" << std::hex << robot_data.error_state << std::dec << std::endl;
            if (robot_data.error_state_bit.imu_error) std::cout << "- IMU错误" << std::endl;
            if (robot_data.error_state_bit.wifi_error) std::cout << "- WiFi错误" << std::endl;
            if (robot_data.error_state_bit.driver_heat_warn) std::cout << "- 驱动器过热警告" << std::endl;
            if (robot_data.error_state_bit.driver_error) std::cout << "- 驱动器错误" << std::endl;
            if (robot_data.error_state_bit.motor_heat_warn) std::cout << "- 电机过热警告" << std::endl;
            if (robot_data.error_state_bit.battery_low_warn) std::cout << "- 电池电量低警告" << std::endl;
            if (robot_data.error_state_bit.battery_heat_warn) std::cout << "- 电池过热警告" << std::endl;
            if (robot_data.error_state_bit.gpio_error) std::cout << "- GPIO错误" << std::endl;
            if (robot_data.error_state_bit.cpu_heat_warn) std::cout << "- CPU过热警告" << std::endl;
            if (robot_data.error_state_bit.cpu_freq_warn) std::cout << "- CPU频率警告" << std::endl;
            std::cout << "========================================" << std::endl;
        }
    }


    close(sockfd);
    return 0;
}

通过 TCP 获取 X30 实时状态信息

Section titled “通过 TCP 获取 X30 实时状态信息”

文档目的： 指导用户通过TCP协议获取X30机器狗的实时基础状态信息。

配置步骤

Section titled “配置步骤”

第一步：确认网络连接

Section titled “第一步：确认网络连接”

确保监控主机与X30导航主机在同一网络段。X30导航主机默认IP：192.168.1.106，TCP端口30000。

验证连通性：

Terminal window
nc -zv 192.168.1.106 30000

第二步：编译并运行状态查询程序

Section titled “第二步：编译并运行状态查询程序”
Terminal window
g++ TCPtest.cpp -o TCPtest
./TCPtest

第三步：验证配置效果

Section titled “第三步：验证配置效果”

程序正常运行后将显示：

=== X30机器狗实时状态获取程序 ===
连接到机器狗 192.168.1.106:30000...
连接成功
发送状态查询请求...
发送成功: 175 字

收到响应时显示：

=== 收到机器狗状态响应 ===
响应长度: 689 字节
响应内容:
<?xml version="1.0" encoding="UTF-8"?>
<PatrolDevice>
  <Type>1002</Type>
  <Command>1</Command>
  <Time>2025-11-12 14:30:25</Time>
  <Items>
    <MotionState>2</MotionState>
    <PosX>1.5</PosX><PosY>2.3</PosY><PosZ>0.0</PosZ>
    <Roll>0.05</Roll><Pitch>-0.02</Pitch><Yaw>1.57</Yaw>
    <Speed>0.5</Speed>
    <CurOdom>0.15</CurOdom><SumOdom>12.5</SumOdom>
    <Electricity>85</Electricity>
    <Location>0</Location>
    <GaitState>0</GaitState>
    <MotorState>0</MotorState>
    <ChargeState>0</ChargeState>
    <ControlMode>1</ControlMode>
    <OnDockState>0</OnDockState>
  </Items>
</PatrolDevice>

功能扩展说明

Section titled “功能扩展说明”

如需实现其他功能（例如下发导航任务 Type=1003），只需修改代码中的 XML 数据构造部分和响应解析部分。具体参考 通信架构 中的各消息类型定义。

TCP 状态查询程序示例代码

Section titled “TCP 状态查询程序示例代码”
#include <iostream>
#include <cstring>
#include <sys/socket.h>
#include <arpa/inet.h>
#include <unistd.h>
#include <string>
#include <ctime>


#define SERVER_IP "192.168.1.106"  // 机器狗IP地址
#define PORT 30000                 // 机器狗TCP服务端口


// X30协议头部结构（固定16字节）
struct x30ProtocolHeader {
    unsigned char sync1;      // 同步字符1: 0xEB
    unsigned char sync2;      // 同步字符2: 0x90
    unsigned char sync3;      // 同步字符3: 0xEB
    unsigned char sync4;      // 同步字符4: 0x90
    unsigned short dataLength; // XML数据长度（小端字节序）
    unsigned short messageID;  // 报文ID（小端字节序）
    unsigned char reserved[8]; // 预留字段
};


// 获取当前时间字符串
std::string getCurrentTime() {
    time_t now = time(0);
    struct tm tstruct;
    char buf[80];
    tstruct = *localtime(&now);
    strftime(buf, sizeof(buf), "%Y-%m-%d %H:%M:%S", &tstruct);
    return buf;
}


int main() {
    std::cout << "=== X30机器狗实时状态获取程序 ===" << std::endl;


    // 创建TCP套接字
    int client_fd = socket(AF_INET, SOCK_STREAM, 0);
    if (client_fd < 0) {
        perror("创建Socket失败");
        return -1;
    }


    // 配置服务器地址
    struct sockaddr_in server_addr;
    server_addr.sin_family = AF_INET;
    server_addr.sin_port = htons(PORT);
    inet_pton(AF_INET, SERVER_IP, &server_addr.sin_addr);


    // 连接到机器狗
    std::cout << "连接到机器狗 " << SERVER_IP << ":" << PORT << "..." << std::endl;
    if (connect(client_fd, (struct sockaddr *)&server_addr, sizeof(server_addr)) < 0) {
        perror("连接失败");
        close(client_fd);
        return -1;
    }
    std::cout << "连接成功" << std::endl;


    // 构造获取实时状态XML数据
    // Type=1002: 获取实时基础状态
    std::string xmlData = R"(<?xml version="1.0" encoding="UTF-8"?>
<PatrolDevice>
    <Type>1002</Type>
    <Command>1</Command>
    <Time>)" + getCurrentTime() + R"(</Time>
    <Items/>
</PatrolDevice>)";


    // 构造完整协议报文：16字节头部 + XML数据
    unsigned short xmlLength = xmlData.length();
    char message[16 + xmlLength];


    x30ProtocolHeader* header = (x30ProtocolHeader*)message;
    header->sync1 = 0xEB;
    header->sync2 = 0x90;
    header->sync3 = 0xEB;
    header->sync4 = 0x90;
    header->dataLength = xmlLength;
    header->messageID = 1;
    memset(header->reserved, 0x00, 8);


    memcpy(message + 16, xmlData.c_str(), xmlLength);


    // 发送状态查询指令
    std::cout << "发送状态查询请求..." << std::endl;
    ssize_t send_len = send(client_fd, message, 16 + xmlLength, 0);
    if (send_len < 0) {
        perror("发送失败");
        close(client_fd);
        return -1;
    }


    std::cout << "发送成功: " << send_len << " 字节" << std::endl;


    // 接收机器狗响应
    char responseBuffer[4096];
    ssize_t recv_len = recv(client_fd, responseBuffer, sizeof(responseBuffer) - 1, 0);


    if (recv_len > 0) {
        responseBuffer[recv_len] = '\0';
        std::cout << "\n=== 收到机器狗状态响应 ===" << std::endl;
        std::cout << "响应长度: " << recv_len << " 字节" << std::endl;


        if(recv_len > 16) {
            std::string responseXml(responseBuffer + 16, recv_len - 16);
            std::cout << "响应内容:" << std::endl;
            std::cout << responseXml << std::endl;


            auto parseField = [&](const std::string& field) -> std::string {
                size_t start = responseXml.find("<" + field + ">");
                if (start == std::string::npos) return "未知";
                start += field.length() + 2;
                size_t end = responseXml.find("</" + field + ">", start);
                if (end == std::string::npos) return "未知";
                return responseXml.substr(start, end - start);
            };


            std::cout << "\n=== 关键状态信息 ===" << std::endl;
            std::cout << "位置: (" << parseField("PosX") << ", " << parseField("PosY") << ", " << parseField("PosZ") << ")" << std::endl;
            std::cout << "姿态: (" << parseField("Roll") << ", " << parseField("Pitch") << ", " << parseField("Yaw") << ")" << std::endl;
            std::cout << "速度: " << parseField("Speed") << " m/s" << std::endl;
            std::cout << "电量: " << parseField("Electricity") << "%" << std::endl;


            std::string motionState = parseField("MotionState");
            std::cout << "运动状态: " << motionState;
            if (motionState == "0") std::cout << " (趴下)";
            else if (motionState == "1") std::cout << " (正在起立)";
            else if (motionState == "2") std::cout << " (初始站立)";
            else if (motionState == "3") std::cout << " (力控站立)";
            else if (motionState == "4") std::cout << " (踏步)";
            else if (motionState == "5") std::cout << " (正在趴下)";
            else if (motionState == "6") std::cout << " (软急停)";
            else if (motionState == "7") std::cout << " (摔倒)";
            std::cout << std::endl;


            std::string controlMode = parseField("ControlMode");
            std::cout << "控制模式: " << (controlMode == "0" ? "手动模式" : "自动模式") << std::endl;
        }
    } else {
        std::cout << "未收到响应" << std::endl;
    }


    close(client_fd);
    std::cout << "\n连接已关闭" << std::endl;
    return 0;
}

注意事项

Section titled “注意事项”
  • 网络连通性：确保X30与监控主机在同一网络段，确保TCP端口30000畅通
  • 配置一致性：network.toml中的端口号必须与监控程序监听端口一致，IP地址必须为监控主机的实际IP地址