first commit

.idea/.gitignore

@@ -0,0 +1,10 @@
+# Default ignored files
+/shelf/
+/workspace.xml
+# Ignored default folder with query files
+/queries/
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml
+# Editor-based HTTP Client requests
+/httpRequests/

.idea/cmvr-head-client.iml

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="PYTHON_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="jdk" jdkName="mujoco_rbtbox" jdkType="Python SDK" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+</module>

.idea/inspectionProfiles/profiles_settings.xml

@@ -0,0 +1,6 @@
+<component name="InspectionProjectProfileManager">
+  <settings>
+    <option name="USE_PROJECT_PROFILE" value="false" />
+    <version value="1.0" />
+  </settings>
+</component>

.idea/misc.xml

@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="Black">
+    <option name="sdkName" value="mujoco_rbtbox" />
+  </component>
+  <component name="ProjectRootManager" version="2" project-jdk-name="mujoco_rbtbox" project-jdk-type="Python SDK" />
+</project>

.idea/modules.xml

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/cmvr-head-client.iml" filepath="$PROJECT_DIR$/.idea/cmvr-head-client.iml" />
+    </modules>
+  </component>
+</project>

__init__.py

@@ -0,0 +1,6 @@
+#
+# Generated by erpcgen 1.14.0 on Tue Apr 28 12:25:45 2026.
+#
+# AUTOGENERATED - DO NOT EDIT
+#
+

config/servo_config.json

@@ -0,0 +1,90 @@
+{
+  "version": 1,
+  "servo_count": 4,
+  "servos": [
+    {
+      "id": "eye_l_up",
+      "limit_min_angle_rad": -0.8,
+      "limit_max_angle_rad": 0,
+      "home_angle_rad": 0,
+      "driver": {
+        "period_ns": 20000000,
+        "min_pulse_ns": 500000,
+        "max_pulse_ns": 2500000,
+        "min_angle_rad": -1.5707963,
+        "max_angle_rad": 1.5707963,
+        "pwm_dev_name": "pwm1",
+        "pwm_channel": 1
+      },
+      "control": {
+        "max_velocity_rad": 20,
+        "max_acceleration_rad": 1000.0,
+        "max_jerk_rad": 500.0,
+        "position_gain": 4.5
+      }
+    },
+    {
+      "id": "eye_l_lower",
+      "limit_min_angle_rad": -1,
+      "limit_max_angle_rad": -0.2,
+      "home_angle_rad": -1,
+      "driver": {
+        "period_ns": 20000000,
+        "min_pulse_ns": 500000,
+        "max_pulse_ns": 2500000,
+        "min_angle_rad": -1.5707963,
+        "max_angle_rad": 1.5707963,
+        "pwm_dev_name": "pwm1",
+        "pwm_channel": 2
+      },
+      "control": {
+        "max_velocity_rad": 20,
+        "max_acceleration_rad": 1000.0,
+        "max_jerk_rad": 500.0,
+        "position_gain": 4.5
+      }
+    },
+    {
+      "id": "eye_l_v",
+      "limit_min_angle_rad": -0.85,
+      "limit_max_angle_rad": 0.85,
+      "home_angle_rad": 0,
+      "driver": {
+        "period_ns": 20000000,
+        "min_pulse_ns": 500000,
+        "max_pulse_ns": 2500000,
+        "min_angle_rad": -1.5707963,
+        "max_angle_rad": 1.5707963,
+        "pwm_dev_name": "pwm1",
+        "pwm_channel": 3
+      },
+      "control": {
+        "max_velocity_rad": 20,
+        "max_acceleration_rad": 1000.0,
+        "max_jerk_rad": 500.0,
+        "position_gain": 4.5
+      }
+    },
+    {
+      "id": "eye_l_h",
+      "limit_min_angle_rad": -0.65,
+      "limit_max_angle_rad": 0.7,
+      "home_angle_rad": 0,
+      "driver": {
+        "period_ns": 20000000,
+        "min_pulse_ns": 500000,
+        "max_pulse_ns": 2500000,
+        "min_angle_rad": -1.5707963,
+        "max_angle_rad": 1.5707963,
+        "pwm_dev_name": "pwm1",
+        "pwm_channel": 4
+      },
+      "control": {
+        "max_velocity_rad": 20,
+        "max_acceleration_rad": 1000.0,
+        "max_jerk_rad": 500.0,
+        "position_gain": 4.5
+      }
+    }
+  ]
+}

config/servo_config.yaml

@@ -0,0 +1,60 @@
+version: 1
+servo_count: 4
+
+default_driver: &default_driver
+  period_ns: 20000000
+  min_pulse_ns: 500000
+  max_pulse_ns: 2500000
+  min_angle_rad: -1.5707963
+  max_angle_rad: 1.5707963
+
+default_control: &default_control
+  max_velocity_rad: 20
+  max_acceleration_rad: 1000.0
+  max_jerk_rad: 500.0
+  position_gain: 4.5
+
+servos:
+  - id: eye_l_up
+    limit_min_angle_rad: -0.8
+    limit_max_angle_rad: 0
+    home_angle_rad: 0
+    driver:
+      <<: *default_driver
+      pwm_dev_name: pwm1
+      pwm_channel: 1
+    control:
+      <<: *default_control
+
+  - id: eye_l_lower
+    limit_min_angle_rad: -1
+    limit_max_angle_rad: -0.2
+    home_angle_rad: -1
+    driver:
+      <<: *default_driver
+      pwm_dev_name: pwm1
+      pwm_channel: 2
+    control:
+      <<: *default_control
+
+  - id: eye_l_v
+    limit_min_angle_rad: -0.85
+    limit_max_angle_rad: 0.85
+    home_angle_rad: 0
+    driver:
+      <<: *default_driver
+      pwm_dev_name: pwm1
+      pwm_channel: 3
+    control:
+      <<: *default_control
+
+  - id: eye_l_h
+    limit_min_angle_rad: -0.65
+    limit_max_angle_rad: 0.7
+    home_angle_rad: 0
+    driver:
+      <<: *default_driver
+      pwm_dev_name: pwm1
+      pwm_channel: 4
+    control:
+      <<: *default_control

config/yaml_to_json.py

@@ -0,0 +1,57 @@
+import argparse
+import json
+from pathlib import Path
+
+
+SCRIPT_DIR = Path(__file__).resolve().parent
+DEFAULT_INPUT_FILE = SCRIPT_DIR / "servo_config.yaml"
+DEFAULT_OUTPUT_FILE = SCRIPT_DIR / "servo_config.json"
+
+
+def parse_args():
+    parser = argparse.ArgumentParser(description="Convert a servo YAML config to JSON.")
+    parser.add_argument("input", nargs="?", type=Path, default=DEFAULT_INPUT_FILE)
+    parser.add_argument("output", nargs="?", type=Path, default=DEFAULT_OUTPUT_FILE)
+    return parser.parse_args()
+
+
+def convert_yaml_to_json(input_file, output_file):
+    try:
+        import yaml
+    except ModuleNotFoundError as exc:
+        raise RuntimeError(
+            "PyYAML is required. Install it with: python -m pip install PyYAML"
+        ) from exc
+
+    input_file = Path(input_file).resolve()
+    output_file = Path(output_file).resolve()
+
+    with input_file.open("r", encoding="utf-8") as stream:
+        data = yaml.safe_load(stream)
+
+    if not isinstance(data, dict):
+        raise ValueError("Servo config root must be a YAML mapping.")
+
+    # These helper nodes only exist to support YAML anchors and merge keys.
+    data.pop("default_driver", None)
+    data.pop("default_control", None)
+
+    output_file.parent.mkdir(parents=True, exist_ok=True)
+    with output_file.open("w", encoding="utf-8") as stream:
+        json.dump(data, stream, indent=2, ensure_ascii=False)
+        stream.write("\n")
+
+    return output_file
+
+
+def main():
+    args = parse_args()
+    try:
+        output_file = convert_yaml_to_json(args.input, args.output)
+    except Exception as exc:
+        raise SystemExit(f"YAML conversion failed: {exc}") from exc
+    print(f"Generated {output_file}")
+
+
+if __name__ == "__main__":
+    main()

cpp/common/curve/CMakeLists.txt

@@ -0,0 +1,32 @@
+cmake_minimum_required(VERSION 3.20)
+
+project(cmvr_scurve LANGUAGES CXX)
+
+find_package(Python REQUIRED COMPONENTS Interpreter Development.Module)
+
+execute_process(
+  COMMAND "${Python_EXECUTABLE}" -m pybind11 --cmakedir
+  OUTPUT_VARIABLE pybind11_DIR
+  OUTPUT_STRIP_TRAILING_WHITESPACE
+)
+
+find_package(pybind11 CONFIG REQUIRED)
+
+pybind11_add_module(_s_curve_native
+  src/s_curve.cpp
+  src/s_curve_pybind.cpp
+  ../../planner/s_curve_planner/src/s_curve_velocity_planner.cpp
+  ../../planner/s_curve_planner/src/s_curve_position_planner.cpp
+)
+
+target_compile_features(_s_curve_native PUBLIC cxx_std_17)
+
+target_include_directories(_s_curve_native
+  PUBLIC
+    ${CMAKE_CURRENT_SOURCE_DIR}/../..
+    ${CMAKE_CURRENT_SOURCE_DIR}/include
+)
+
+set_target_properties(_s_curve_native PROPERTIES
+  OUTPUT_NAME "_s_curve_native"
+)

cpp/common/curve/README.md

@@ -0,0 +1,26 @@
+# SCurve Python Bridge
+
+This folder now exposes the C++ `SCurve` class as a native Python extension built with `pybind11`.
+
+## Build
+
+From the repository root:
+
+```powershell
+powershell -ExecutionPolicy Bypass -File .\cpp\common\curve\build_python.ps1 -PythonExecutable "C:\Users\Administrator\miniconda3\envs\cmvr-head-client\python.exe"
+```
+
+Expected output:
+
+- `cpp/common/curve/build/_s_curve_native*.pyd`
+
+## Python usage
+
+```python
+from s_curve import SCurve
+
+curve = SCurve(max_velocity=3.0, max_acceleration=10.0, max_jerk=50.0)
+curve.setConstraints(4.0, 12.0, 80.0)
+profile = curve.calculateProfile(0.0, 30.0, 0.0, 0.0)
+samples = curve.sampleTrajectory(profile, 0.01)
+```

cpp/common/curve/build/.ninja_log

@@ -0,0 +1,12 @@
+# ninja log v5
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+294	378	7985314121237372	cmvr_scurve.lib	f5a2deae4722be51
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+1	164	7986135846813044	CMakeFiles/_s_curve_native.dir/D_/cmvr/0-worksapce/cmvr-head-client/cpp/planner/s_curve_planner/src/s_curve_velocity_planner.cpp.obj	f46dab0fc0756a6a
+1	137	7986140057393930	CMakeFiles/_s_curve_native.dir/D_/cmvr/0-worksapce/cmvr-head-client/cpp/planner/s_curve_planner/src/s_curve_position_planner.cpp.obj	e63e15a214de1054
+137	1174	7986140067522517	_s_curve_native.cp310-win_amd64.pyd	673782cfb92e82ed

cpp/common/curve/build/CMakeCache.txt

@@ -0,0 +1,352 @@
+# This is the CMakeCache file.
+# For build in directory: d:/cmvr/0-worksapce/cmvr-head-client/cpp/common/curve/build
+# It was generated by CMake: C:/Program Files/STM32/STM32CubeCLT_1.20.0/CMake/bin/cmake.exe
+# You can edit this file to change values found and used by cmake.
+# If you do not want to change any of the values, simply exit the editor.
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+# KEY is the name of a variable in the cache.
+# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
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+
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+// MinSizeRel ...
+CMAKE_BUILD_TYPE:STRING=Release
+
+//CXX compiler
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+CMAKE_PROJECT_DESCRIPTION:STATIC=
+
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+
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+CMAKE_RC_FLAGS_RELWITHDEBINFO:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during all build types.
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+
+//Flags used by the linker during the creation of shared libraries
+// during DEBUG builds.
+CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING=/debug /INCREMENTAL
+
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+// during MINSIZEREL builds.
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+// during RELEASE builds.
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+// during RELWITHDEBINFO builds.
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+
+//If set, runtime paths are not added when installing shared libraries,
+// but are added when building.
+CMAKE_SKIP_INSTALL_RPATH:BOOL=NO
+
+//If set, runtime paths are not added when using shared libraries.
+CMAKE_SKIP_RPATH:BOOL=NO
+
+//Flags used by the linker during the creation of static libraries
+// during all build types.
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+
+//If this value is on, makefiles will be generated without the
+// .SILENT directive, and all commands will be echoed to the console
+// during the make.  This is useful for debugging only. With Visual
+// Studio IDE projects all commands are done without /nologo.
+CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
+
+//No help, variable specified on the command line.
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+
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+# define COMPILER_ID "HP"
+  /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+  /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__open_xl__) && defined(__clang__)
+# define COMPILER_ID "IBMClang"
+# define COMPILER_VERSION_MAJOR DEC(__open_xl_version__)
+# define COMPILER_VERSION_MINOR DEC(__open_xl_release__)
+# define COMPILER_VERSION_PATCH DEC(__open_xl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__open_xl_ptf_fix_level__)
+
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__NVCOMPILER)
+# define COMPILER_ID "NVHPC"
+# define COMPILER_VERSION_MAJOR DEC(__NVCOMPILER_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__NVCOMPILER_MINOR__)
+# if defined(__NVCOMPILER_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__NVCOMPILER_PATCHLEVEL__)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(__clang__) && defined(__cray__)
+# define COMPILER_ID "CrayClang"
+# define COMPILER_VERSION_MAJOR DEC(__cray_major__)
+# define COMPILER_VERSION_MINOR DEC(__cray_minor__)
+# define COMPILER_VERSION_PATCH DEC(__cray_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__CLANG_FUJITSU)
+# define COMPILER_ID "FujitsuClang"
+# define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+# define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+# define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# define COMPILER_VERSION_INTERNAL_STR __clang_version__
+
+
+#elif defined(__FUJITSU)
+# define COMPILER_ID "Fujitsu"
+# if defined(__FCC_version__)
+#   define COMPILER_VERSION __FCC_version__
+# elif defined(__FCC_major__)
+#   define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+#   define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+#   define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# endif
+# if defined(__fcc_version)
+#   define COMPILER_VERSION_INTERNAL DEC(__fcc_version)
+# elif defined(__FCC_VERSION)
+#   define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION)
+# endif
+
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__TASKING__)
+# define COMPILER_ID "Tasking"
+  # define COMPILER_VERSION_MAJOR DEC(__VERSION__/1000)
+  # define COMPILER_VERSION_MINOR DEC(__VERSION__ % 100)
+# define COMPILER_VERSION_INTERNAL DEC(__VERSION__)
+
+#elif defined(__ORANGEC__)
+# define COMPILER_ID "OrangeC"
+# define COMPILER_VERSION_MAJOR DEC(__ORANGEC_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__ORANGEC_MINOR__)
+# define COMPILER_VERSION_PATCH DEC(__ORANGEC_PATCHLEVEL__)
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION/100   % 100)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__))
+# define COMPILER_ID "LCC"
+# define COMPILER_VERSION_MAJOR DEC(__LCC__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__LCC__ % 100)
+# if defined(__LCC_MINOR__)
+#  define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__)
+# endif
+# if defined(__GNUC__) && defined(__GNUC_MINOR__)
+#  define SIMULATE_ID "GNU"
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+#  if defined(__GNUC_PATCHLEVEL__)
+#   define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+#  endif
+# endif
+
+#elif defined(__GNUC__) || defined(__GNUG__)
+# define COMPILER_ID "GNU"
+# if defined(__GNUC__)
+#  define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(_ADI_COMPILER)
+# define COMPILER_ID "ADSP"
+#if defined(__VERSIONNUM__)
+  /* __VERSIONNUM__ = 0xVVRRPPTT */
+#  define COMPILER_VERSION_MAJOR DEC(__VERSIONNUM__ >> 24 & 0xFF)
+#  define COMPILER_VERSION_MINOR DEC(__VERSIONNUM__ >> 16 & 0xFF)
+#  define COMPILER_VERSION_PATCH DEC(__VERSIONNUM__ >> 8 & 0xFF)
+#  define COMPILER_VERSION_TWEAK DEC(__VERSIONNUM__ & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__MSYS__)
+# define PLATFORM_ID "MSYS"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# elif defined(__VXWORKS__)
+#  define PLATFORM_ID "VxWorks"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+# elif defined(_ADI_COMPILER)
+#  define PLATFORM_ID "ADSP"
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_ARM64EC)
+#  define ARCHITECTURE_ID "ARM64EC"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__ICCSTM8__)
+#  define ARCHITECTURE_ID "STM8"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__TI_COMPILER_VERSION__)
+# if defined(__TI_ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__MSP430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__TMS320C28XX__)
+#  define ARCHITECTURE_ID "TMS320C28x"
+
+# elif defined(__TMS320C6X__) || defined(_TMS320C6X)
+#  define ARCHITECTURE_ID "TMS320C6x"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+# elif defined(__ADSPSHARC__)
+#  define ARCHITECTURE_ID "SHARC"
+
+# elif defined(__ADSPBLACKFIN__)
+#  define ARCHITECTURE_ID "Blackfin"
+
+#elif defined(__TASKING__)
+
+# if defined(__CTC__) || defined(__CPTC__)
+#  define ARCHITECTURE_ID "TriCore"
+
+# elif defined(__CMCS__)
+#  define ARCHITECTURE_ID "MCS"
+
+# elif defined(__CARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__CARC__)
+#  define ARCHITECTURE_ID "ARC"
+
+# elif defined(__C51__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__CPCP__)
+#  define ARCHITECTURE_ID "PCP"
+
+# else
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number. */
+#ifdef COMPILER_VERSION
+char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]";
+
+/* Construct a string literal encoding the version number components. */
+#elif defined(COMPILER_VERSION_MAJOR)
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#elif defined(COMPILER_VERSION_INTERNAL_STR)
+char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]";
+#endif
+
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+  TARGET_PDB = _s_curve_native.pdb
+
+
+# =============================================================================
+# Link build statements for MODULE_LIBRARY target _s_curve_native
+
+
+#############################################
+# Link the shared module _s_curve_native.cp310-win_amd64.pyd
+
+build _s_curve_native.cp310-win_amd64.pyd: CXX_MODULE_LIBRARY_LINKER___s_curve_native_Release CMakeFiles\_s_curve_native.dir\src\s_curve.cpp.obj CMakeFiles\_s_curve_native.dir\src\s_curve_pybind.cpp.obj CMakeFiles\_s_curve_native.dir\D_\cmvr\0-worksapce\cmvr-head-client\cpp\planner\s_curve_planner\src\s_curve_velocity_planner.cpp.obj CMakeFiles\_s_curve_native.dir\D_\cmvr\0-worksapce\cmvr-head-client\cpp\planner\s_curve_planner\src\s_curve_position_planner.cpp.obj | C$:\Users\Administrator\miniconda3\envs\cmvr-head-client\libs\python310.lib
+  LANGUAGE_COMPILE_FLAGS = /DWIN32 /D_WINDOWS /EHsc /O2 /Ob2 /DNDEBUG -MD
+  LINK_FLAGS = /machine:x64 /INCREMENTAL:NO  -LTCG
+  LINK_LIBRARIES = C:\Users\Administrator\miniconda3\envs\cmvr-head-client\libs\python310.lib  kernel32.lib user32.lib gdi32.lib winspool.lib shell32.lib ole32.lib oleaut32.lib uuid.lib comdlg32.lib advapi32.lib
+  OBJECT_DIR = CMakeFiles\_s_curve_native.dir
+  POST_BUILD = cd .
+  PRE_LINK = cd .
+  TARGET_COMPILE_PDB = CMakeFiles\_s_curve_native.dir\
+  TARGET_FILE = _s_curve_native.cp310-win_amd64.pyd
+  TARGET_IMPLIB = _s_curve_native.lib
+  TARGET_PDB = _s_curve_native.pdb
+
+
+#############################################
+# Utility command for edit_cache
+
+build CMakeFiles\edit_cache.util: CUSTOM_COMMAND
+  COMMAND = C:\windows\system32\cmd.exe /C "cd /D D:\cmvr\0-worksapce\cmvr-head-client\cpp\common\curve\build && "C:\Program Files\STM32\STM32CubeCLT_1.20.0\CMake\bin\cmake-gui.exe" -SD:\cmvr\0-worksapce\cmvr-head-client\cpp\common\curve -BD:\cmvr\0-worksapce\cmvr-head-client\cpp\common\curve\build"
+  DESC = Running CMake cache editor...
+  pool = console
+  restat = 1
+
+build edit_cache: phony CMakeFiles\edit_cache.util
+
+
+#############################################
+# Utility command for rebuild_cache
+
+build CMakeFiles\rebuild_cache.util: CUSTOM_COMMAND
+  COMMAND = C:\windows\system32\cmd.exe /C "cd /D D:\cmvr\0-worksapce\cmvr-head-client\cpp\common\curve\build && "C:\Program Files\STM32\STM32CubeCLT_1.20.0\CMake\bin\cmake.exe" --regenerate-during-build -SD:\cmvr\0-worksapce\cmvr-head-client\cpp\common\curve -BD:\cmvr\0-worksapce\cmvr-head-client\cpp\common\curve\build"
+  DESC = Running CMake to regenerate build system...
+  pool = console
+  restat = 1
+
+build rebuild_cache: phony CMakeFiles\rebuild_cache.util
+
+# =============================================================================
+# Target aliases.
+
+build _s_curve_native: phony _s_curve_native.cp310-win_amd64.pyd
+
+# =============================================================================
+# Folder targets.
+
+# =============================================================================
+
+#############################################
+# Folder: D:/cmvr/0-worksapce/cmvr-head-client/cpp/common/curve/build
+
+build all: phony _s_curve_native.cp310-win_amd64.pyd
+
+# =============================================================================
+# Built-in targets
+
+
+#############################################
+# Re-run CMake if any of its inputs changed.
+
+build build.ninja: RERUN_CMAKE | C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\CMakeCXXInformation.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\CMakeCheckCompilerFlagCommonPatterns.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\CMakeCommonLanguageInclude.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\CMakeGenericSystem.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\CMakeInitializeConfigs.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\CMakeLanguageInformation.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\CMakeRCInformation.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\CMakeSystemSpecificInformation.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\CMakeSystemSpecificInitialize.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\CheckCXXCompilerFlag.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\CheckCXXSourceCompiles.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\Compiler\CMakeCommonCompilerMacros.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\Compiler\MSVC-CXX.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\Compiler\MSVC.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\FindPackageHandleStandardArgs.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\FindPackageMessage.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\FindPython.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\FindPython\Support.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\Internal\CheckCompilerFlag.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\Internal\CheckFlagCommonConfig.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\Internal\CheckSourceCompiles.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\Platform\Windows-Initialize.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\Platform\Windows-MSVC-CXX.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\Platform\Windows-MSVC.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\Platform\Windows.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\Platform\WindowsPaths.cmake C$:\Users\Administrator\miniconda3\envs\cmvr-head-client\Lib\site-packages\pybind11\share\cmake\pybind11\pybind11Common.cmake C$:\Users\Administrator\miniconda3\envs\cmvr-head-client\Lib\site-packages\pybind11\share\cmake\pybind11\pybind11Config.cmake C$:\Users\Administrator\miniconda3\envs\cmvr-head-client\Lib\site-packages\pybind11\share\cmake\pybind11\pybind11ConfigVersion.cmake C$:\Users\Administrator\miniconda3\envs\cmvr-head-client\Lib\site-packages\pybind11\share\cmake\pybind11\pybind11NewTools.cmake C$:\Users\Administrator\miniconda3\envs\cmvr-head-client\Lib\site-packages\pybind11\share\cmake\pybind11\pybind11Targets.cmake CMakeCache.txt CMakeFiles\3.28.1\CMakeCXXCompiler.cmake CMakeFiles\3.28.1\CMakeRCCompiler.cmake CMakeFiles\3.28.1\CMakeSystem.cmake D$:\cmvr\0-worksapce\cmvr-head-client\cpp\common\curve\CMakeLists.txt
+  pool = console
+
+
+#############################################
+# A missing CMake input file is not an error.
+
+build C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\CMakeCXXInformation.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\CMakeCheckCompilerFlagCommonPatterns.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\CMakeCommonLanguageInclude.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\CMakeGenericSystem.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\CMakeInitializeConfigs.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\CMakeLanguageInformation.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\CMakeRCInformation.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\CMakeSystemSpecificInformation.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\CMakeSystemSpecificInitialize.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\CheckCXXCompilerFlag.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\CheckCXXSourceCompiles.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\Compiler\CMakeCommonCompilerMacros.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\Compiler\MSVC-CXX.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\Compiler\MSVC.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\FindPackageHandleStandardArgs.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\FindPackageMessage.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\FindPython.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\FindPython\Support.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\Internal\CheckCompilerFlag.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\Internal\CheckFlagCommonConfig.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\Internal\CheckSourceCompiles.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\Platform\Windows-Initialize.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\Platform\Windows-MSVC-CXX.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\Platform\Windows-MSVC.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\Platform\Windows.cmake C$:\Program$ Files\STM32\STM32CubeCLT_1.20.0\CMake\share\cmake-3.28\Modules\Platform\WindowsPaths.cmake C$:\Users\Administrator\miniconda3\envs\cmvr-head-client\Lib\site-packages\pybind11\share\cmake\pybind11\pybind11Common.cmake C$:\Users\Administrator\miniconda3\envs\cmvr-head-client\Lib\site-packages\pybind11\share\cmake\pybind11\pybind11Config.cmake C$:\Users\Administrator\miniconda3\envs\cmvr-head-client\Lib\site-packages\pybind11\share\cmake\pybind11\pybind11ConfigVersion.cmake C$:\Users\Administrator\miniconda3\envs\cmvr-head-client\Lib\site-packages\pybind11\share\cmake\pybind11\pybind11NewTools.cmake C$:\Users\Administrator\miniconda3\envs\cmvr-head-client\Lib\site-packages\pybind11\share\cmake\pybind11\pybind11Targets.cmake CMakeCache.txt CMakeFiles\3.28.1\CMakeCXXCompiler.cmake CMakeFiles\3.28.1\CMakeRCCompiler.cmake CMakeFiles\3.28.1\CMakeSystem.cmake D$:\cmvr\0-worksapce\cmvr-head-client\cpp\common\curve\CMakeLists.txt: phony
+
+
+#############################################
+# Clean all the built files.
+
+build clean: CLEAN
+
+
+#############################################
+# Print all primary targets available.
+
+build help: HELP
+
+
+#############################################
+# Make the all target the default.
+
+default all

cpp/common/curve/build/cmake_install.cmake

@@ -0,0 +1,44 @@
+# Install script for directory: D:/cmvr/0-worksapce/cmvr-head-client/cpp/common/curve
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX "C:/Program Files (x86)/cmvr_scurve")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  if(BUILD_TYPE)
+    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  else()
+    set(CMAKE_INSTALL_CONFIG_NAME "Release")
+  endif()
+  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+  set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT)
+  set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
+else()
+  set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
+endif()
+
+string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
+       "${CMAKE_INSTALL_MANIFEST_FILES}")
+file(WRITE "D:/cmvr/0-worksapce/cmvr-head-client/cpp/common/curve/build/${CMAKE_INSTALL_MANIFEST}"
+     "${CMAKE_INSTALL_MANIFEST_CONTENT}")

cpp/common/curve/build_python.ps1

@@ -0,0 +1,35 @@
+param(
+    [string]$PythonExecutable = "C:\Users\Administrator\miniconda3\envs\cmvr-head-client\python.exe"
+)
+
+$ErrorActionPreference = "Stop"
+
+$repoRoot = Resolve-Path (Join-Path $PSScriptRoot "..\\..\\..")
+$sourceDir = Join-Path $repoRoot "cpp\\common\\curve"
+$buildDir = Join-Path $sourceDir "build"
+$vsDevCmd = "C:\\Program Files\\Microsoft Visual Studio\\18\\Community\\Common7\\Tools\\VsDevCmd.bat"
+
+if (-not (Test-Path $vsDevCmd)) {
+    throw "VsDevCmd.bat not found at $vsDevCmd"
+}
+
+if (-not (Test-Path $PythonExecutable)) {
+    throw "Python executable not found at $PythonExecutable"
+}
+
+New-Item -ItemType Directory -Force -Path $buildDir | Out-Null
+
+$configure = "call `"$vsDevCmd`" -arch=x64 && cmake -S `"$sourceDir`" -B `"$buildDir`" -G Ninja -DCMAKE_BUILD_TYPE=Release -DPython_EXECUTABLE=`"$PythonExecutable`""
+cmd /c $configure
+if ($LASTEXITCODE -ne 0) {
+    throw "CMake configure failed."
+}
+
+$build = "call `"$vsDevCmd`" -arch=x64 && cmake --build `"$buildDir`" --config Release"
+cmd /c $build
+if ($LASTEXITCODE -ne 0) {
+    throw "CMake build failed."
+}
+
+Write-Host "Built Python module:"
+Get-ChildItem $buildDir -Filter "_s_curve_native*.pyd" -Recurse | Select-Object FullName

cpp/common/curve/include/s_curve.h

@@ -0,0 +1,167 @@
+//
+// Created by lgv on 2026/3/2.
+//
+/**
+ * @file s_curve.h
+ * @brief 严格点到点位置 S 曲线轨迹生成器
+ *
+ * 实现标准 7 段式位置 S 曲线速度剖面：
+ * 1. 加加速度上升段（加速度逐渐增大）
+ * 2. 匀加速段
+ * 3. 加加速度下降段（加速度逐渐降到 0）
+ * 4. 匀速巡航段
+ * 5. 加加速度下降段（减速度逐渐增大）
+ * 6. 匀减速段
+ * 7. 加加速度上升段（减速度逐渐降到 0）
+ *
+ * 本类只负责严格点到点 profile 规划与采样，不负责实时目标跟踪。
+ */
+
+#pragma once
+
+#include <algorithm>
+#include <cmath>
+#include <vector>
+
+
+namespace cmvr
+{
+
+/**
+ * @brief 单次点到点运动的 S 曲线剖面参数
+ */
+struct SCurveProfile
+{
+  // 7 个阶段的持续时间
+  double t1;  // 加加速度上升时间（加速阶段）
+  double t2;  // 匀加速时间
+  double t3;  // 加加速度下降时间（加速阶段结束）
+  double t4;  // 匀速时间（巡航）
+  double t5;  // 加加速度下降时间（减速阶段）
+  double t6;  // 匀减速时间
+  double t7;  // 加加速度上升时间（减速阶段结束）
+
+  double total_time;
+
+  // 运动约束
+  double j_max;   // 最大加加速度 (rad/s³)
+  double a_max;   // 最大加速度 (rad/s²)
+  double v_max;   // 最大速度 (rad/s)
+
+  // 运动参数
+  double distance;      // 运动总距离
+  double direction;     // +1 或 -1
+  double v_cruise;      // 实际达到的巡航速度
+  double a_limit;       // 实际达到的加速度上限
+
+  // 初始条件
+  double p0;  // 初始位置
+  double v0;  // 初始速度
+  double a0;  // 初始加速度
+  double vf;  // 终止速度
+
+  SCurveProfile()
+    : t1(0), t2(0), t3(0), t4(0), t5(0), t6(0), t7(0)
+    , total_time(0)
+    , j_max(50.0), a_max(10.0), v_max(3.0)
+    , distance(0), direction(1.0), v_cruise(0), a_limit(0)
+    , p0(0), v0(0), a0(0), vf(0)
+  {}
+};
+
+/**
+ * @brief 严格点到点位置 S 曲线规划器
+ */
+class SCurve
+{
+public:
+  /**
+   * @brief 构造函数（带运动约束）
+   * @param max_velocity 最大速度 (rad/s)
+   * @param max_acceleration 最大加速度 (rad/s²)
+   * @param max_jerk 最大加加速度 (rad/s³)
+   */
+  SCurve(double max_velocity = 3.0,
+                  double max_acceleration = 10.0,
+                  double max_jerk = 50.0);
+
+  /**
+   * @brief 设置运动约束
+   */
+  void setConstraints(double max_velocity, double max_acceleration, double max_jerk);
+
+  /**
+   * @brief 获取当前运动约束
+   */
+  void getConstraints(double& max_velocity, double& max_acceleration, double& max_jerk) const;
+
+  /**
+   * @brief 计算点到点运动的完整 S 曲线剖面
+   * @param start_position 起始位置
+   * @param end_position 终止位置
+   * @param start_velocity 起始速度（默认 0）
+   * @param end_velocity 终止速度（默认 0）
+   * @return 计算得到的剖面参数
+   */
+  SCurveProfile calculateProfile(double start_position, double end_position,
+                                  double start_velocity = 0.0, double end_velocity = 0.0);
+
+  /**
+   * @brief 给定剖面下，获取时刻 t 的位置
+   * @param profile S 曲线剖面
+   * @param t 从起点开始的时间
+   * @return 时刻 t 的位置
+   */
+  double getPositionAtTime(const SCurveProfile& profile, double t) const;
+
+  /**
+   * @brief 给定剖面下，获取时刻 t 的速度
+   * @param profile S 曲线剖面
+   * @param t 从起点开始的时间
+   * @return 时刻 t 的速度
+   */
+  double getVelocityAtTime(const SCurveProfile& profile, double t) const;
+
+  /**
+   * @brief 给定剖面下，获取时刻 t 的加速度
+   * @param profile S 曲线剖面
+   * @param t 从起点开始的时间
+   * @return 时刻 t 的加速度
+   */
+  double getAccelerationAtTime(const SCurveProfile& profile, double t) const;
+
+  /**
+   * @brief 给定剖面下，获取时刻 t 的加加速度
+   * @param profile S 曲线剖面
+   * @param t 从起点开始的时间
+   * @return 时刻 t 的加加速度
+   */
+  double getJerkAtTime(const SCurveProfile& profile, double t) const;
+
+  /**
+   * @brief 按固定时间间隔生成轨迹点
+   * @param profile S 曲线剖面
+   * @param dt 轨迹点时间间隔
+   * @param positions 输出：每个时间点的位置
+   * @param velocities 输出：每个时间点的速度
+   * @param accelerations 输出：每个时间点的加速度
+   */
+  void generateTrajectory(const SCurveProfile& profile, double dt,
+                          std::vector<double>& positions,
+                          std::vector<double>& velocities,
+                          std::vector<double>& accelerations) const;
+
+private:
+  double max_velocity_;
+  double max_acceleration_;
+  double max_jerk_;
+
+  static constexpr double EPSILON = 1e-9;
+  static constexpr double VELOCITY_THRESHOLD = 1e-6;
+
+  double computeSegmentJerk(const SCurveProfile& profile, double t) const;
+  void calculateShortProfile(SCurveProfile& profile) const;
+  void calculateLongProfile(SCurveProfile& profile) const;
+};
+
+}  // namespace cmvr

cpp/common/curve/src/s_curve.cpp

@@ -0,0 +1,542 @@
+//
+// Created by lgv on 2026/3/2.
+//
+
+
+/**
+ * @file s_curve_generator.cpp
+ * @brief S 曲线轨迹生成器实现
+ */
+
+#include "common/curve/include/s_curve.h"
+#include <cmath>
+#include <algorithm>
+#include <stdexcept>
+
+namespace cmvr
+{
+SCurve::SCurve(double max_velocity, double max_acceleration, double max_jerk)
+  : max_velocity_(std::abs(max_velocity))
+  , max_acceleration_(std::abs(max_acceleration))
+  , max_jerk_(std::abs(max_jerk))
+{}
+
+void SCurve::setConstraints(double max_velocity, double max_acceleration, double max_jerk)
+{
+  max_velocity_ = std::abs(max_velocity);
+  max_acceleration_ = std::abs(max_acceleration);
+  max_jerk_ = std::abs(max_jerk);
+}
+
+void SCurve::getConstraints(double& max_velocity, double& max_acceleration, double& max_jerk) const
+{
+  max_velocity = max_velocity_;
+  max_acceleration = max_acceleration_;
+  max_jerk = max_jerk_;
+}
+
+SCurveProfile SCurve::calculateProfile(double start_position, double end_position,
+                                                 double start_velocity, double end_velocity)
+{
+  SCurveProfile profile;
+  profile.j_max = max_jerk_;
+  profile.a_max = max_acceleration_;
+  profile.v_max = max_velocity_;
+  profile.p0 = start_position;
+  profile.v0 = start_velocity;
+  profile.a0 = 0.0;  // Assume starting from zero acceleration
+  profile.vf = end_velocity;
+
+  double displacement = end_position - start_position;
+  profile.distance = std::abs(displacement);
+  profile.direction = (displacement >= 0) ? 1.0 : -1.0;
+
+  if (profile.distance < EPSILON) {
+    // 无需运动
+    profile.total_time = 0.0;
+    return profile;
+  }
+
+  const double start_speed = profile.direction * start_velocity;
+  const double end_speed = profile.direction * end_velocity;
+  if (start_speed < -VELOCITY_THRESHOLD || end_speed < -VELOCITY_THRESHOLD) {
+    profile.total_time = 0.0;
+    return profile;
+  }
+
+  if (std::abs(start_speed) > VELOCITY_THRESHOLD ||
+      std::abs(end_speed) > VELOCITY_THRESHOLD) {
+    auto calc_transition = [&](double v_from, double v_to,
+                               double& t_j, double& t_a,
+                               double& duration, double& distance) {
+      t_j = 0.0;
+      t_a = 0.0;
+      duration = 0.0;
+      distance = 0.0;
+
+      const double dv = std::abs(v_to - v_from);
+      if (dv <= 1e-12 || profile.a_max <= 1e-12 || profile.j_max <= 1e-12) {
+        return;
+      }
+
+      const double dv_switch = profile.a_max * profile.a_max / profile.j_max;
+      if (dv < dv_switch) {
+        t_j = std::sqrt(dv / profile.j_max);
+        t_a = 0.0;
+      } else {
+        t_j = profile.a_max / profile.j_max;
+        t_a = dv / profile.a_max - t_j;
+      }
+
+      duration = 2.0 * t_j + t_a;
+      distance = 0.5 * (v_from + v_to) * duration;
+    };
+
+    const double v_cap = std::max({profile.v_max, start_speed, end_speed});
+    const double v_peak_min = std::max(start_speed, end_speed);
+
+    double acc_tj = 0.0, acc_ta = 0.0, acc_duration = 0.0, acc_distance = 0.0;
+    double dec_tj = 0.0, dec_ta = 0.0, dec_duration = 0.0, dec_distance = 0.0;
+    calc_transition(start_speed, v_peak_min,
+                    acc_tj, acc_ta, acc_duration, acc_distance);
+    calc_transition(v_peak_min, end_speed,
+                    dec_tj, dec_ta, dec_duration, dec_distance);
+    const double d_min = acc_distance + dec_distance;
+    if (profile.distance + EPSILON < d_min) {
+      profile.total_time = 0.0;
+      return profile;
+    }
+
+    calc_transition(start_speed, v_cap,
+                    acc_tj, acc_ta, acc_duration, acc_distance);
+    calc_transition(v_cap, end_speed,
+                    dec_tj, dec_ta, dec_duration, dec_distance);
+    const double d_cap = acc_distance + dec_distance;
+
+    double v_peak = v_cap;
+    double t4 = 0.0;
+
+    if (profile.distance > d_cap + EPSILON) {
+      t4 = (profile.distance - d_cap) / std::max(v_peak, EPSILON);
+    } else {
+      double lo = v_peak_min;
+      double hi = v_cap;
+      for (int iter = 0; iter < 80; ++iter) {
+        const double mid = 0.5 * (lo + hi);
+        double mid_acc_tj = 0.0, mid_acc_ta = 0.0, mid_acc_duration = 0.0, mid_acc_distance = 0.0;
+        double mid_dec_tj = 0.0, mid_dec_ta = 0.0, mid_dec_duration = 0.0, mid_dec_distance = 0.0;
+        calc_transition(start_speed, mid,
+                        mid_acc_tj, mid_acc_ta, mid_acc_duration, mid_acc_distance);
+        calc_transition(mid, end_speed,
+                        mid_dec_tj, mid_dec_ta, mid_dec_duration, mid_dec_distance);
+        const double d_mid = mid_acc_distance + mid_dec_distance;
+        if (d_mid < profile.distance) {
+          lo = mid;
+        } else {
+          hi = mid;
+        }
+      }
+      v_peak = hi;
+      calc_transition(start_speed, v_peak,
+                      acc_tj, acc_ta, acc_duration, acc_distance);
+      calc_transition(v_peak, end_speed,
+                      dec_tj, dec_ta, dec_duration, dec_distance);
+    }
+
+    profile.t1 = acc_tj;
+    profile.t2 = acc_ta;
+    profile.t3 = acc_tj;
+    profile.t4 = t4;
+    profile.t5 = dec_tj;
+    profile.t6 = dec_ta;
+    profile.t7 = dec_tj;
+    profile.v_cruise = v_peak;
+    profile.a_limit = std::max(profile.j_max * profile.t1, profile.j_max * profile.t5);
+    profile.total_time = profile.t1 + profile.t2 + profile.t3 + profile.t4 +
+                         profile.t5 + profile.t6 + profile.t7;
+    return profile;
+  }
+
+  const double j = profile.j_max;
+  const double a = profile.a_max;
+  const double v = profile.v_max;
+  const double t_j_a = a / j;
+
+  if (v < a * t_j_a) {
+    const double t_j_v = std::sqrt(v / j);
+    const double s_min = 2.0 * j * t_j_v * t_j_v * t_j_v;
+    if (profile.distance > s_min + EPSILON) {
+      calculateLongProfile(profile);
+    } else {
+      calculateShortProfile(profile);
+    }
+  } else {
+    const double t_a_v = v / a - t_j_a;
+    const double s_half_v =
+      a * (t_j_a * t_j_a + 1.5 * t_j_a * t_a_v + 0.5 * t_a_v * t_a_v);
+    const double s_min = 2.0 * s_half_v;
+    if (profile.distance > s_min + EPSILON) {
+      calculateLongProfile(profile);
+    } else {
+      calculateShortProfile(profile);
+    }
+  }
+
+  return profile;
+}
+
+void SCurve::calculateShortProfile(SCurveProfile& profile) const
+{
+  // 短距离：无巡航段（t4 = 0），与 moveL_SCurveLocal 中的 SCurveProfile1D 保持一致。
+  const double j = profile.j_max;
+  const double a = profile.a_max;
+  const double v = profile.v_max;
+  const double d = profile.distance;
+  const double t_j_a = a / j;
+
+  if (v < a * t_j_a) {
+    // 达不到 a_max：极短距离时只有 4 个 jerk 段。
+    const double t1 = std::cbrt(d / (2.0 * j));
+    profile.t1 = t1;
+    profile.t2 = 0.0;
+    profile.t3 = t1;
+    profile.t4 = 0.0;
+    profile.t5 = t1;
+    profile.t6 = 0.0;
+    profile.t7 = t1;
+    profile.v_cruise = j * t1 * t1;
+    profile.a_limit = j * t1;
+  } else {
+    // 能达到 a_max，但达不到 v_max：求无巡航的匀加速持续时间。
+    const double D = t_j_a * t_j_a + 4.0 * (d / a);
+    double t2 = (-3.0 * t_j_a + std::sqrt(std::max(0.0, D))) * 0.5;
+
+    if (t2 < 0.0) {
+      const double t1 = std::cbrt(d / (2.0 * j));
+      profile.t1 = t1;
+      profile.t2 = 0.0;
+      profile.t3 = t1;
+      profile.t4 = 0.0;
+      profile.t5 = t1;
+      profile.t6 = 0.0;
+      profile.t7 = t1;
+      profile.v_cruise = j * t1 * t1;
+      profile.a_limit = j * t1;
+    } else {
+      profile.t1 = t_j_a;
+      profile.t2 = t2;
+      profile.t3 = t_j_a;
+      profile.t4 = 0.0;
+      profile.t5 = t_j_a;
+      profile.t6 = t2;
+      profile.t7 = t_j_a;
+      profile.v_cruise = a * (t2 + t_j_a);
+      profile.a_limit = a;
+    }
+  }
+
+  profile.total_time = profile.t1 + profile.t2 + profile.t3 + profile.t4 +
+                       profile.t5 + profile.t6 + profile.t7;
+}
+
+void SCurve::calculateLongProfile(SCurveProfile& profile) const
+{
+  // 含巡航段的完整 7 段式 S 曲线；与 SCurveProfile1D 的 full-profile 公式一致。
+  const double j = profile.j_max;
+  const double a = profile.a_max;
+  const double v = profile.v_max;
+  const double d = profile.distance;
+  const double t_j_a = a / j;
+
+  if (v < a * t_j_a) {
+    // 达不到 a_max，但可以达到 v_max 并进入巡航。
+    const double t_j_v = std::sqrt(v / j);
+    const double s_min = 2.0 * j * t_j_v * t_j_v * t_j_v;
+    profile.t1 = t_j_v;
+    profile.t2 = 0.0;
+    profile.t3 = t_j_v;
+    profile.t4 = std::max(0.0, (d - s_min) / v);
+    profile.t5 = t_j_v;
+    profile.t6 = 0.0;
+    profile.t7 = t_j_v;
+    profile.v_cruise = v;
+    profile.a_limit = j * t_j_v;
+  } else {
+    // 能达到 a_max 和 v_max。
+    const double t_a = v / a - t_j_a;
+    const double s_half =
+      a * (t_j_a * t_j_a + 1.5 * t_j_a * t_a + 0.5 * t_a * t_a);
+    const double s_min = 2.0 * s_half;
+
+    profile.t1 = t_j_a;
+    profile.t2 = t_a;
+    profile.t3 = t_j_a;
+    profile.t4 = std::max(0.0, (d - s_min) / v);
+    profile.t5 = t_j_a;
+    profile.t6 = t_a;
+    profile.t7 = t_j_a;
+    profile.v_cruise = v;
+    profile.a_limit = a;
+  }
+
+  profile.total_time = profile.t1 + profile.t2 + profile.t3 + profile.t4 +
+                       profile.t5 + profile.t6 + profile.t7;
+}
+
+double SCurve::computeSegmentJerk(const SCurveProfile& profile, double t) const
+{
+  double j = profile.j_max * profile.direction;
+
+  // 判断所处阶段
+  double t_end1 = profile.t1;
+  double t_end2 = t_end1 + profile.t2;
+  double t_end3 = t_end2 + profile.t3;
+  double t_end4 = t_end3 + profile.t4;
+  double t_end5 = t_end4 + profile.t5;
+  double t_end6 = t_end5 + profile.t6;
+  // double t_end7 = t_end6 + profile.t7;  // = total_time
+
+  if (t < t_end1) {
+    return j;  // 段 1：正加加速度（加速）
+  } else if (t < t_end2) {
+    return 0.0;  // 段 2：加加速度为 0（匀加速）
+  } else if (t < t_end3) {
+    return -j;  // 段 3：负加加速度（减小加速度）
+  } else if (t < t_end4) {
+    return 0.0;  // 段 4：加加速度为 0（巡航）
+  } else if (t < t_end5) {
+    return -j;  // 段 5：负加加速度（开始减速）
+  } else if (t < t_end6) {
+    return 0.0;  // 段 6：加加速度为 0（匀减速）
+  } else {
+    return j;  // 段 7：正加加速度（减速结束）
+  }
+}
+
+double SCurve::getPositionAtTime(const SCurveProfile& profile, double t) const
+{
+  if (t <= 0) return profile.p0;
+  if (t >= profile.total_time) return profile.p0 + profile.distance * profile.direction;
+
+  double j = profile.j_max * profile.direction;
+  double p = profile.p0;
+  double v = profile.v0;
+  double a = profile.a0;
+
+  // 时间边界
+  double t_end1 = profile.t1;
+  double t_end2 = t_end1 + profile.t2;
+  double t_end3 = t_end2 + profile.t3;
+  double t_end4 = t_end3 + profile.t4;
+  double t_end5 = t_end4 + profile.t5;
+  double t_end6 = t_end5 + profile.t6;
+
+  // 依次处理各阶段
+  auto processSegment = [&](double dt, double jerk) {
+    p += v * dt + 0.5 * a * dt * dt + (1.0/6.0) * jerk * dt * dt * dt;
+    v += a * dt + 0.5 * jerk * dt * dt;
+    a += jerk * dt;
+  };
+
+  // 段 1
+  if (t <= t_end1) {
+    processSegment(t, j);
+    return p;
+  }
+  processSegment(profile.t1, j);
+
+  // 段 2
+  if (t <= t_end2) {
+    processSegment(t - t_end1, 0.0);
+    return p;
+  }
+  processSegment(profile.t2, 0.0);
+
+  // 段 3
+  if (t <= t_end3) {
+    processSegment(t - t_end2, -j);
+    return p;
+  }
+  processSegment(profile.t3, -j);
+
+  // 段 4（巡航）
+  if (t <= t_end4) {
+    processSegment(t - t_end3, 0.0);
+    return p;
+  }
+  processSegment(profile.t4, 0.0);
+
+  // 段 5
+  if (t <= t_end5) {
+    processSegment(t - t_end4, -j);
+    return p;
+  }
+  processSegment(profile.t5, -j);
+
+  // 段 6
+  if (t <= t_end6) {
+    processSegment(t - t_end5, 0.0);
+    return p;
+  }
+  processSegment(profile.t6, 0.0);
+
+  // 段 7
+  processSegment(t - t_end6, j);
+  return p;
+}
+
+double SCurve::getVelocityAtTime(const SCurveProfile& profile, double t) const
+{
+  if (t <= 0) return profile.v0;
+  if (t >= profile.total_time) return profile.vf;
+
+  double j = profile.j_max * profile.direction;
+  double v = profile.v0;
+  double a = profile.a0;
+
+  // 时间边界
+  double t_end1 = profile.t1;
+  double t_end2 = t_end1 + profile.t2;
+  double t_end3 = t_end2 + profile.t3;
+  double t_end4 = t_end3 + profile.t4;
+  double t_end5 = t_end4 + profile.t5;
+  double t_end6 = t_end5 + profile.t6;
+
+  auto processSegment = [&](double dt, double jerk) {
+    v += a * dt + 0.5 * jerk * dt * dt;
+    a += jerk * dt;
+  };
+
+  if (t <= t_end1) {
+    v += a * t + 0.5 * j * t * t;
+    return v;
+  }
+  processSegment(profile.t1, j);
+
+  if (t <= t_end2) {
+    v += a * (t - t_end1);
+    return v;
+  }
+  processSegment(profile.t2, 0.0);
+
+  if (t <= t_end3) {
+    double dt = t - t_end2;
+    v += a * dt + 0.5 * (-j) * dt * dt;
+    return v;
+  }
+  processSegment(profile.t3, -j);
+
+  if (t <= t_end4) {
+    v += a * (t - t_end3);
+    return v;
+  }
+  processSegment(profile.t4, 0.0);
+
+  if (t <= t_end5) {
+    double dt = t - t_end4;
+    v += a * dt + 0.5 * (-j) * dt * dt;
+    return v;
+  }
+  processSegment(profile.t5, -j);
+
+  if (t <= t_end6) {
+    v += a * (t - t_end5);
+    return v;
+  }
+  processSegment(profile.t6, 0.0);
+
+  double dt = t - t_end6;
+  v += a * dt + 0.5 * j * dt * dt;
+  return v;
+}
+
+double SCurve::getAccelerationAtTime(const SCurveProfile& profile, double t) const
+{
+  if (t <= 0 || t >= profile.total_time) return 0.0;
+
+  double j = profile.j_max * profile.direction;
+  double a = profile.a0;
+
+  // 时间边界
+  double t_end1 = profile.t1;
+  double t_end2 = t_end1 + profile.t2;
+  double t_end3 = t_end2 + profile.t3;
+  double t_end4 = t_end3 + profile.t4;
+  double t_end5 = t_end4 + profile.t5;
+  double t_end6 = t_end5 + profile.t6;
+
+  if (t <= t_end1) {
+    return a + j * t;
+  }
+  a += j * profile.t1;
+
+  if (t <= t_end2) {
+    return a;
+  }
+
+  if (t <= t_end3) {
+    return a + (-j) * (t - t_end2);
+  }
+  a += (-j) * profile.t3;
+
+  if (t <= t_end4) {
+    return a;  // Should be ~0
+  }
+
+  if (t <= t_end5) {
+    return a + (-j) * (t - t_end4);
+  }
+  a += (-j) * profile.t5;
+
+  if (t <= t_end6) {
+    return a;
+  }
+
+  return a + j * (t - t_end6);
+}
+
+double SCurve::getJerkAtTime(const SCurveProfile& profile, double t) const
+{
+  if (t <= 0.0 || t >= profile.total_time) {
+    return 0.0;
+  }
+  return computeSegmentJerk(profile, t);
+}
+
+void SCurve::generateTrajectory(const SCurveProfile& profile, double dt,
+                                          std::vector<double>& positions,
+                                          std::vector<double>& velocities,
+                                          std::vector<double>& accelerations) const
+{
+  positions.clear();
+  velocities.clear();
+  accelerations.clear();
+
+  if (profile.total_time <= 0 || dt <= 0) {
+    positions.push_back(profile.p0);
+    velocities.push_back(profile.v0);
+    accelerations.push_back(profile.a0);
+    return;
+  }
+
+  int num_points = static_cast<int>(std::ceil(profile.total_time / dt)) + 1;
+  positions.reserve(num_points);
+  velocities.reserve(num_points);
+  accelerations.reserve(num_points);
+
+  for (double t = 0; t <= profile.total_time; t += dt) {
+    positions.push_back(getPositionAtTime(profile, t));
+    velocities.push_back(getVelocityAtTime(profile, t));
+    accelerations.push_back(getAccelerationAtTime(profile, t));
+  }
+
+  // 确保包含最终点
+  if (positions.empty() ||
+      std::abs(positions.back() - (profile.p0 + profile.distance * profile.direction)) > EPSILON) {
+    positions.push_back(profile.p0 + profile.distance * profile.direction);
+    velocities.push_back(profile.vf);
+    accelerations.push_back(0.0);
+  }
+}
+
+}

cpp/common/curve/src/s_curve_pybind.cpp

@@ -0,0 +1,171 @@
+#include "common/curve/include/s_curve.h"
+#include "planner/s_curve_planner/include/s_curve_position_planner.h"
+
+#include <algorithm>
+#include <stdexcept>
+#include <vector>
+
+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
+
+namespace py = pybind11;
+
+namespace {
+
+py::dict sample_trajectory(const cmvr::SCurve& curve, const cmvr::SCurveProfile& profile, double dt)
+{
+  if (dt <= 0.0) {
+    throw std::invalid_argument("dt must be > 0");
+  }
+
+  std::vector<double> times;
+  std::vector<double> positions;
+  std::vector<double> velocities;
+  std::vector<double> accelerations;
+  std::vector<double> jerks;
+
+  if (profile.total_time <= 0.0) {
+    times.push_back(0.0);
+    positions.push_back(profile.p0);
+    velocities.push_back(profile.v0);
+    accelerations.push_back(profile.a0);
+    jerks.push_back(0.0);
+  } else {
+    for (double t = 0.0; t <= profile.total_time + 1e-12; t += dt) {
+      const double sample_time = std::min(t, profile.total_time);
+      times.push_back(sample_time);
+      positions.push_back(curve.getPositionAtTime(profile, sample_time));
+      velocities.push_back(curve.getVelocityAtTime(profile, sample_time));
+      accelerations.push_back(curve.getAccelerationAtTime(profile, sample_time));
+      jerks.push_back(curve.getJerkAtTime(profile, sample_time));
+    }
+
+    if (std::abs(times.back() - profile.total_time) > 1e-9) {
+      times.push_back(profile.total_time);
+      positions.push_back(curve.getPositionAtTime(profile, profile.total_time));
+      velocities.push_back(curve.getVelocityAtTime(profile, profile.total_time));
+      accelerations.push_back(curve.getAccelerationAtTime(profile, profile.total_time));
+      jerks.push_back(curve.getJerkAtTime(profile, profile.total_time));
+    }
+  }
+
+  py::dict result;
+  result["times"] = times;
+  result["positions"] = positions;
+  result["velocities"] = velocities;
+  result["accelerations"] = accelerations;
+  result["jerks"] = jerks;
+  return result;
+}
+
+}  // namespace
+
+PYBIND11_MODULE(_s_curve_native, m)
+{
+  m.doc() = "pybind11 bindings for cmvr::SCurve";
+
+  py::class_<cmvr::SCurveProfile>(m, "SCurveProfile")
+    .def(py::init<>())
+    .def_readwrite("t1", &cmvr::SCurveProfile::t1)
+    .def_readwrite("t2", &cmvr::SCurveProfile::t2)
+    .def_readwrite("t3", &cmvr::SCurveProfile::t3)
+    .def_readwrite("t4", &cmvr::SCurveProfile::t4)
+    .def_readwrite("t5", &cmvr::SCurveProfile::t5)
+    .def_readwrite("t6", &cmvr::SCurveProfile::t6)
+    .def_readwrite("t7", &cmvr::SCurveProfile::t7)
+    .def_readwrite("total_time", &cmvr::SCurveProfile::total_time)
+    .def_readwrite("j_max", &cmvr::SCurveProfile::j_max)
+    .def_readwrite("a_max", &cmvr::SCurveProfile::a_max)
+    .def_readwrite("v_max", &cmvr::SCurveProfile::v_max)
+    .def_readwrite("distance", &cmvr::SCurveProfile::distance)
+    .def_readwrite("direction", &cmvr::SCurveProfile::direction)
+    .def_readwrite("v_cruise", &cmvr::SCurveProfile::v_cruise)
+    .def_readwrite("a_limit", &cmvr::SCurveProfile::a_limit)
+    .def_readwrite("p0", &cmvr::SCurveProfile::p0)
+    .def_readwrite("v0", &cmvr::SCurveProfile::v0)
+    .def_readwrite("a0", &cmvr::SCurveProfile::a0)
+    .def_readwrite("vf", &cmvr::SCurveProfile::vf);
+
+  py::class_<cmvr::SCurve>(m, "SCurve")
+    .def(py::init<double, double, double>(),
+      py::arg("max_velocity") = 3.0,
+      py::arg("max_acceleration") = 10.0,
+      py::arg("max_jerk") = 50.0)
+    .def("setConstraints", &cmvr::SCurve::setConstraints,
+      py::arg("max_velocity"),
+      py::arg("max_acceleration"),
+      py::arg("max_jerk"))
+    .def("getConstraints", [](const cmvr::SCurve& self) {
+      double max_velocity = 0.0;
+      double max_acceleration = 0.0;
+      double max_jerk = 0.0;
+      self.getConstraints(max_velocity, max_acceleration, max_jerk);
+      return py::make_tuple(max_velocity, max_acceleration, max_jerk);
+    })
+    .def("calculateProfile", &cmvr::SCurve::calculateProfile,
+      py::arg("start_position"),
+      py::arg("end_position"),
+      py::arg("start_velocity") = 0.0,
+      py::arg("end_velocity") = 0.0)
+    .def("getPositionAtTime", &cmvr::SCurve::getPositionAtTime,
+      py::arg("profile"),
+      py::arg("t"))
+    .def("getVelocityAtTime", &cmvr::SCurve::getVelocityAtTime,
+      py::arg("profile"),
+      py::arg("t"))
+    .def("getAccelerationAtTime", &cmvr::SCurve::getAccelerationAtTime,
+      py::arg("profile"),
+      py::arg("t"))
+    .def("getJerkAtTime", &cmvr::SCurve::getJerkAtTime,
+      py::arg("profile"),
+      py::arg("t"))
+    .def("sampleTrajectory", &sample_trajectory,
+      py::arg("profile"),
+      py::arg("dt"));
+
+  py::class_<cmvr::SCurvePositionPlannerState>(m, "SCurvePositionPlannerState")
+    .def(py::init<>())
+    .def_readwrite("position", &cmvr::SCurvePositionPlannerState::position)
+    .def_readwrite("velocity", &cmvr::SCurvePositionPlannerState::velocity)
+    .def_readwrite("acceleration", &cmvr::SCurvePositionPlannerState::acceleration)
+    .def_readwrite("jerk", &cmvr::SCurvePositionPlannerState::jerk)
+    .def_readwrite("target_position", &cmvr::SCurvePositionPlannerState::target_position)
+    .def_readwrite("is_moving", &cmvr::SCurvePositionPlannerState::is_moving);
+
+  py::class_<cmvr::SCurvePositionPlanner1D>(m, "SCurvePositionPlanner1D")
+    .def(py::init<double, double, double>(),
+      py::arg("max_velocity") = 3.0,
+      py::arg("max_acceleration") = 10.0,
+      py::arg("max_jerk") = 50.0)
+    .def("setConstraints", &cmvr::SCurvePositionPlanner1D::setConstraints,
+      py::arg("max_velocity"),
+      py::arg("max_acceleration"),
+      py::arg("max_jerk"))
+    .def("getConstraints", [](const cmvr::SCurvePositionPlanner1D& self) {
+      double max_velocity = 0.0;
+      double max_acceleration = 0.0;
+      double max_jerk = 0.0;
+      self.getConstraints(max_velocity, max_acceleration, max_jerk);
+      return py::make_tuple(max_velocity, max_acceleration, max_jerk);
+    })
+    .def("setPositionGain", &cmvr::SCurvePositionPlanner1D::setPositionGain,
+      py::arg("position_gain"))
+    .def("getPositionGain", &cmvr::SCurvePositionPlanner1D::getPositionGain)
+    .def("initialize", &cmvr::SCurvePositionPlanner1D::initialize,
+      py::arg("position"),
+      py::arg("velocity") = 0.0,
+      py::arg("acceleration") = 0.0)
+    .def("reset", &cmvr::SCurvePositionPlanner1D::reset)
+    .def("setTarget", &cmvr::SCurvePositionPlanner1D::setTarget,
+      py::arg("target_position"))
+    .def("update", &cmvr::SCurvePositionPlanner1D::update,
+      py::arg("dt"))
+    .def("getState", &cmvr::SCurvePositionPlanner1D::getState,
+      py::return_value_policy::reference_internal)
+    .def("getPosition", &cmvr::SCurvePositionPlanner1D::getPosition)
+    .def("getVelocity", &cmvr::SCurvePositionPlanner1D::getVelocity)
+    .def("getAcceleration", &cmvr::SCurvePositionPlanner1D::getAcceleration)
+    .def("getJerk", &cmvr::SCurvePositionPlanner1D::getJerk)
+    .def("getTargetPosition", &cmvr::SCurvePositionPlanner1D::getTargetPosition)
+    .def("isMoving", &cmvr::SCurvePositionPlanner1D::isMoving);
+}

cpp/planner/s_curve_planner/include/s_curve_position_planner.h

@@ -0,0 +1,100 @@
+//
+// Created by lgv on 2026/3/10.
+//
+
+#pragma once
+
+#include "s_curve_velocity_planner.h"
+
+#include <algorithm>
+#include <cmath>
+
+namespace cmvr
+{
+
+struct SCurvePositionPlannerState
+{
+  double position;
+  double velocity;
+  double acceleration;
+  double jerk;
+  double target_position;
+  bool is_moving;
+
+  SCurvePositionPlannerState()
+    : position(0.0)
+    , velocity(0.0)
+    , acceleration(0.0)
+    , jerk(0.0)
+    , target_position(0.0)
+    , is_moving(false)
+  {}
+};
+
+/**
+ * @brief 单轴位置跟踪规划器
+ *
+ * 结构：
+ * - 外环：position_error -> desired_velocity
+ * - 内环：SCurveVelocityPlanner1D 负责 jerk-limited 速度规划
+ *
+ * 这个类用于高频变化目标的位置跟踪，不承担严格点到点 profile 语义。
+ */
+class SCurvePositionPlanner1D
+{
+public:
+  SCurvePositionPlanner1D(double max_velocity = 3.0,
+                          double max_acceleration = 10.0,
+                          double max_jerk = 50.0);
+
+  void setConstraints(double max_velocity, double max_acceleration, double max_jerk);
+  void getConstraints(double& max_velocity, double& max_acceleration, double& max_jerk) const;
+
+  void setPositionGain(double position_gain);
+  double getPositionGain() const { return position_gain_; }
+
+  void initialize(double position, double velocity = 0.0, double acceleration = 0.0);
+  void reset();
+
+  void setTarget(double target_position);
+  double update(double dt);
+
+  const SCurvePositionPlannerState& getState() const { return state_; }
+  double getPosition() const { return state_.position; }
+  double getVelocity() const { return state_.velocity; }
+  double getAcceleration() const { return state_.acceleration; }
+  double getJerk() const { return state_.jerk; }
+  double getTargetPosition() const { return state_.target_position; }
+  bool isMoving() const { return state_.is_moving; }
+
+private:
+  double max_velocity_;
+  double max_acceleration_;
+  double max_jerk_;
+
+  SCurvePositionPlannerState state_;
+  SCurveVelocityPlanner1D velocity_planner_;
+  double position_gain_;
+
+  static constexpr double EPSILON = 1e-9;
+  static constexpr double VELOCITY_THRESHOLD = 1e-6;
+  static constexpr double ACCELERATION_THRESHOLD = 1e-6;
+  static constexpr double POSITION_THRESHOLD = 1e-7;
+
+  double computeDesiredVelocity(double position_error) const;
+  double computePlannerStoppingDistance(double velocity, double acceleration) const;
+
+  static double clamp(double value, double min_val, double max_val)
+  {
+    return std::max(min_val, std::min(max_val, value));
+  }
+
+  static double sign(double value)
+  {
+    if (value > EPSILON) return 1.0;
+    if (value < -EPSILON) return -1.0;
+    return 0.0;
+  }
+};
+
+}  // namespace cmvr

cpp/planner/s_curve_planner/include/s_curve_velocity_planner.h

@@ -0,0 +1,240 @@
+//
+// Created by lgv on 2026/3/9.
+//
+
+#pragma once
+
+#include <algorithm>
+#include <cmath>
+#include <vector>
+
+namespace cmvr
+{
+
+/**
+ * @brief 单次速度切换的 S 曲线剖面参数
+ *
+ * 本类表示从任意 (v0, a0) 连续规划到 (vf, 0) 的 3 段 jerk-limited profile：
+ *
+ *   seg1: jerk = j1, duration = t1
+ *   seg2: jerk = j2, duration = t2   (当前实现 j2 = 0)
+ *   seg3: jerk = j3, duration = t3
+ *
+ * 其中 j1/j3 为 ±j_max，j2 为 0。
+ */
+struct SCurveVelocityProfile
+{
+  double t1;
+  double t2;
+  double t3;
+
+  double total_time;
+
+  double j1;
+  double j2;
+  double j3;
+
+  double v0;
+  double a0;
+  double vf;
+
+  bool valid;
+
+  SCurveVelocityProfile()
+    : t1(0.0), t2(0.0), t3(0.0)
+    , total_time(0.0)
+    , j1(0.0), j2(0.0), j3(0.0)
+    , v0(0.0), a0(0.0), vf(0.0)
+    , valid(false)
+  {}
+};
+
+/**
+ * @brief S 曲线速度规划器状态
+ */
+struct SCurveVelocityPlannerState
+{
+  double velocity;
+  double acceleration;
+  double jerk;
+
+  double target_velocity;
+
+  double elapsed_time;
+  bool has_active_profile;
+  bool is_moving;
+
+  SCurveVelocityPlannerState()
+    : velocity(0.0)
+    , acceleration(0.0)
+    , jerk(0.0)
+    , target_velocity(0.0)
+    , elapsed_time(0.0)
+    , has_active_profile(false)
+    , is_moving(false)
+  {}
+};
+
+/**
+ * @brief 单轴速度型 S 曲线规划器
+ *
+ * 语义：
+ * - setTargetVelocity(v): 设置新目标并重规划
+ * - update(dt): 只采样当前 active profile
+ * - overwriteState(v,a): 仅覆盖当前状态并清掉旧 profile
+ * - synchronizeAndReplan(v,a): 用测量状态同步，并按当前目标重规划
+ *
+ * 数学目标：
+ * - 从任意 (v0, a0) 连续规划到 (vf, 0)
+ * - 满足 |v| <= v_max, |a| <= a_max, |j| <= j_max
+ */
+class SCurveVelocityPlanner1D
+{
+public:
+  SCurveVelocityPlanner1D(double max_velocity = 1.0,
+                          double max_acceleration = 1.0,
+                          double max_jerk = 5.0);
+
+  void setConstraints(double max_velocity, double max_acceleration, double max_jerk);
+  void getConstraints(double& max_velocity, double& max_acceleration, double& max_jerk) const;
+
+  /**
+   * @brief 设置目标变化阈值
+   *
+   * 目标变化量小于该阈值时，不触发重规划。
+   */
+  void setTargetReplanThreshold(double threshold);
+
+  /**
+   * @brief 设置同步反馈时的重规划阈值
+   *
+   * 测量速度与当前 profile 采样状态的偏差小于该阈值时，
+   * synchronizeAndReplan() 只对齐当前状态，不打断现有 profile。
+   */
+  void setSynchronizeReplanThreshold(double threshold);
+
+  void initialize(double velocity = 0.0, double acceleration = 0.0);
+  void reset();
+
+  /**
+   * @brief 仅覆盖当前状态，并清掉旧 profile
+   *
+   * 注意：
+   * - 这个接口不会自动重规划
+   * - 用于初始化、调试、或显式中断旧轨迹
+   */
+  void overwriteState(double velocity,
+                      double acceleration = 0.0,
+                      bool keep_target_velocity = true);
+
+  /**
+   * @brief 用测量状态同步，并按当前目标重新规划
+   *
+   * 这是闭环场景真正该用的接口。
+   */
+  void synchronizeAndReplan(double velocity,
+                            double acceleration = 0.0);
+
+  /**
+   * @brief 设置目标速度，并立即重规划
+   */
+  void setTargetVelocity(double target_velocity);
+
+  /**
+   * @brief 平滑停下
+   */
+  void stop() { setTargetVelocity(0.0); }
+
+  /**
+   * @brief 更新一步（只采样）
+   * @param dt 时间步长
+   * @return 当前采样后的速度
+   */
+  double update(double dt);
+
+  /**
+   * @brief 计算单次速度切换剖面
+   */
+  SCurveVelocityProfile calculateProfile(double start_velocity,
+                                         double end_velocity,
+                                         double start_acceleration = 0.0) const;
+
+  /**
+   * @brief 给定剖面下，获取时刻 t 的速度
+   */
+  double getVelocityAtTime(const SCurveVelocityProfile& profile, double t) const;
+
+  /**
+   * @brief 给定剖面下，获取时刻 t 的加速度
+   */
+  double getAccelerationAtTime(const SCurveVelocityProfile& profile, double t) const;
+
+  /**
+   * @brief 给定剖面下，获取时刻 t 的 jerk
+   */
+  double getJerkAtTime(const SCurveVelocityProfile& profile, double t) const;
+
+  /**
+   * @brief 按固定时间间隔生成轨迹点
+   */
+  void generateTrajectory(const SCurveVelocityProfile& profile, double dt,
+                          std::vector<double>& velocities,
+                          std::vector<double>& accelerations,
+                          std::vector<double>& jerks) const;
+
+  const SCurveVelocityPlannerState& getState() const { return state_; }
+  const SCurveVelocityProfile& getActiveProfile() const { return active_profile_; }
+
+  double getVelocity() const { return state_.velocity; }
+  double getAcceleration() const { return state_.acceleration; }
+  double getJerk() const { return state_.jerk; }
+  double getTargetVelocity() const { return state_.target_velocity; }
+  bool hasActiveProfile() const { return state_.has_active_profile; }
+  bool isMoving() const { return state_.is_moving; }
+
+private:
+  double max_velocity_;
+  double max_acceleration_;
+  double max_jerk_;
+
+  double target_replan_threshold_;
+  double synchronize_replan_threshold_;
+
+  SCurveVelocityPlannerState state_;
+  SCurveVelocityProfile active_profile_;
+
+  static constexpr double EPSILON = 1e-9;
+  static constexpr double VELOCITY_THRESHOLD = 1e-6;
+  static constexpr double ACCELERATION_THRESHOLD = 1e-6;
+  static constexpr double DEFAULT_TARGET_REPLAN_THRESHOLD = 1e-9;
+  static constexpr double DEFAULT_SYNCHRONIZE_REPLAN_THRESHOLD = 5e-2;
+
+private:
+  void updateIsMovingFlag();
+
+  /**
+   * @brief 判断 profile 是否满足速度上限
+   */
+  bool isVelocityLimitSatisfied(const SCurveVelocityProfile& profile) const;
+
+  /**
+   * @brief 计算完整剖面终点状态
+   */
+  void integrateWholeProfile(const SCurveVelocityProfile& profile,
+                             double& v_end,
+                             double& a_end) const;
+
+  static double clamp(double value, double min_val, double max_val)
+  {
+    return std::max(min_val, std::min(max_val, value));
+  }
+
+  static double sign(double value)
+  {
+    if (value > EPSILON) return 1.0;
+    if (value < -EPSILON) return -1.0;
+    return 0.0;
+  }
+};
+
+} // namespace cmvr

cpp/planner/s_curve_planner/src/s_curve_position_planner.cpp

@@ -0,0 +1,193 @@
+//
+// Created by lgv on 2026/3/10.
+//
+
+#include "planner/s_curve_planner/include/s_curve_position_planner.h"
+
+#include <algorithm>
+#include <cmath>
+
+namespace cmvr
+{
+
+SCurvePositionPlanner1D::SCurvePositionPlanner1D(double max_velocity,
+                                                 double max_acceleration,
+                                                 double max_jerk)
+  : max_velocity_(std::abs(max_velocity))
+  , max_acceleration_(std::abs(max_acceleration))
+  , max_jerk_(std::abs(max_jerk))
+  , velocity_planner_(max_velocity_, max_acceleration_, max_jerk_)
+  , position_gain_(1.0)
+{
+  velocity_planner_.setTargetReplanThreshold(std::max(1e-3, 0.02 * max_velocity_));
+  reset();
+}
+
+void SCurvePositionPlanner1D::setConstraints(double max_velocity,
+                                             double max_acceleration,
+                                             double max_jerk)
+{
+  max_velocity_ = std::abs(max_velocity);
+  max_acceleration_ = std::abs(max_acceleration);
+  max_jerk_ = std::abs(max_jerk);
+  velocity_planner_.setConstraints(max_velocity_, max_acceleration_, max_jerk_);
+  velocity_planner_.setTargetReplanThreshold(std::max(1e-3, 0.02 * max_velocity_));
+}
+
+void SCurvePositionPlanner1D::getConstraints(double& max_velocity,
+                                             double& max_acceleration,
+                                             double& max_jerk) const
+{
+  max_velocity = max_velocity_;
+  max_acceleration = max_acceleration_;
+  max_jerk = max_jerk_;
+}
+
+void SCurvePositionPlanner1D::setPositionGain(double position_gain)
+{
+  position_gain_ = std::max(0.0, position_gain);
+}
+
+void SCurvePositionPlanner1D::initialize(double position, double velocity, double acceleration)
+{
+  state_.position = position;
+  velocity_planner_.initialize(velocity, acceleration);
+  state_.velocity = velocity_planner_.getVelocity();
+  state_.acceleration = velocity_planner_.getAcceleration();
+  state_.jerk = 0.0;
+  state_.target_position = position;
+  state_.is_moving = false;
+}
+
+void SCurvePositionPlanner1D::reset()
+{
+  state_ = SCurvePositionPlannerState();
+  velocity_planner_.reset();
+}
+
+void SCurvePositionPlanner1D::setTarget(double target_position)
+{
+  state_.target_position = target_position;
+}
+
+double SCurvePositionPlanner1D::update(double dt)
+{
+  if (dt <= 0.0 || dt > 0.1) {
+    return state_.position;
+  }
+
+  const double position_error = state_.target_position - state_.position;
+  if (std::abs(position_error) < POSITION_THRESHOLD &&
+      std::abs(velocity_planner_.getVelocity()) < VELOCITY_THRESHOLD &&
+      std::abs(velocity_planner_.getAcceleration()) < ACCELERATION_THRESHOLD) {
+    velocity_planner_.overwriteState(0.0, 0.0, false);
+    state_.position = state_.target_position;
+    state_.velocity = 0.0;
+    state_.acceleration = 0.0;
+    state_.jerk = 0.0;
+    state_.is_moving = false;
+    return state_.position;
+  }
+
+  velocity_planner_.setTargetVelocity(computeDesiredVelocity(position_error));
+
+  const double old_velocity = velocity_planner_.getVelocity();
+  const double new_velocity = velocity_planner_.update(dt);
+
+  state_.velocity = new_velocity;
+  state_.acceleration = velocity_planner_.getAcceleration();
+  state_.jerk = velocity_planner_.getJerk();
+  state_.position += 0.5 * (old_velocity + new_velocity) * dt;
+
+  const double updated_error = state_.target_position - state_.position;
+  if (std::abs(updated_error) < POSITION_THRESHOLD &&
+      std::abs(state_.velocity) < VELOCITY_THRESHOLD &&
+      std::abs(state_.acceleration) < ACCELERATION_THRESHOLD) {
+    velocity_planner_.overwriteState(0.0, 0.0, false);
+    state_.position = state_.target_position;
+    state_.velocity = 0.0;
+    state_.acceleration = 0.0;
+    state_.jerk = 0.0;
+    state_.is_moving = false;
+    return state_.position;
+  }
+
+  state_.is_moving = velocity_planner_.isMoving() ||
+                     std::abs(updated_error) > POSITION_THRESHOLD;
+  return state_.position;
+}
+
+double SCurvePositionPlanner1D::computeDesiredVelocity(double position_error) const
+{
+  if (std::abs(position_error) <= POSITION_THRESHOLD) {
+    return 0.0;
+  }
+
+  const double proportional_velocity =
+      clamp(position_gain_ * position_error, -max_velocity_, max_velocity_);
+
+  return proportional_velocity;
+  const double current_velocity = velocity_planner_.getVelocity();
+  const double current_acceleration = velocity_planner_.getAcceleration();
+  const double stopping_distance =
+      computePlannerStoppingDistance(current_velocity, current_acceleration);
+
+  if (std::abs(current_velocity) > VELOCITY_THRESHOLD &&
+      sign(current_velocity) != sign(position_error)) {
+    return 0.0;
+  }
+
+  if (std::abs(current_velocity) > VELOCITY_THRESHOLD &&
+      sign(current_velocity) == sign(position_error) &&
+      std::abs(position_error) <= std::abs(stopping_distance) * 1.05) {
+    return 0.0;
+  }
+
+  double low = 0.0;
+  double high = max_velocity_;
+  for (int i = 0; i < 40; ++i) {
+    const double mid = 0.5 * (low + high);
+    const double distance =
+        std::abs(computePlannerStoppingDistance(sign(position_error) * mid, 0.0));
+    if (distance <= std::abs(position_error)) {
+      low = mid;
+    } else {
+      high = mid;
+    }
+  }
+
+  return sign(position_error) *
+         std::min(std::abs(proportional_velocity), low);
+}
+
+double SCurvePositionPlanner1D::computePlannerStoppingDistance(double velocity,
+                                                               double acceleration) const
+{
+  if (std::abs(velocity) <= VELOCITY_THRESHOLD &&
+      std::abs(acceleration) <= ACCELERATION_THRESHOLD) {
+    return 0.0;
+  }
+
+  const auto profile = velocity_planner_.calculateProfile(velocity, 0.0, acceleration);
+  if (!profile.valid || profile.total_time <= EPSILON) {
+    return 0.0;
+  }
+
+  const int steps = std::max(16, static_cast<int>(std::ceil(profile.total_time / 0.002)));
+  const double dt = profile.total_time / static_cast<double>(steps);
+
+  double distance = 0.0;
+  double previous_time = 0.0;
+  double previous_velocity = velocity_planner_.getVelocityAtTime(profile, 0.0);
+  for (int i = 1; i <= steps; ++i) {
+    const double t = (i == steps) ? profile.total_time : i * dt;
+    const double current_velocity = velocity_planner_.getVelocityAtTime(profile, t);
+    distance += 0.5 * (previous_velocity + current_velocity) * (t - previous_time);
+    previous_time = t;
+    previous_velocity = current_velocity;
+  }
+
+  return distance;
+}
+
+}  // namespace cmvr

cpp/planner/s_curve_planner/src/s_curve_velocity_planner.cpp

@@ -0,0 +1,549 @@
+//
+// Created by lgv on 2026/3/9.
+//
+
+#include "../include/s_curve_velocity_planner.h"
+
+#include <cmath>
+#include <limits>
+
+namespace cmvr
+{
+
+SCurveVelocityPlanner1D::SCurveVelocityPlanner1D(double max_velocity,
+                                                 double max_acceleration,
+                                                 double max_jerk)
+  : max_velocity_(std::abs(max_velocity))
+  , max_acceleration_(std::abs(max_acceleration))
+  , max_jerk_(std::abs(max_jerk))
+  , target_replan_threshold_(DEFAULT_TARGET_REPLAN_THRESHOLD)
+  , synchronize_replan_threshold_(DEFAULT_SYNCHRONIZE_REPLAN_THRESHOLD)
+{
+  reset();
+}
+
+void SCurveVelocityPlanner1D::setConstraints(double max_velocity,
+                                             double max_acceleration,
+                                             double max_jerk)
+{
+  max_velocity_ = std::abs(max_velocity);
+  max_acceleration_ = std::abs(max_acceleration);
+  max_jerk_ = std::abs(max_jerk);
+
+  state_.velocity = clamp(state_.velocity, -max_velocity_, max_velocity_);
+  state_.acceleration = clamp(state_.acceleration, -max_acceleration_, max_acceleration_);
+  state_.target_velocity = clamp(state_.target_velocity, -max_velocity_, max_velocity_);
+
+  if (state_.has_active_profile) {
+    active_profile_ = calculateProfile(state_.velocity,
+                                       state_.target_velocity,
+                                       state_.acceleration);
+    state_.elapsed_time = 0.0;
+    state_.has_active_profile = active_profile_.valid && active_profile_.total_time > EPSILON;
+  }
+
+  updateIsMovingFlag();
+}
+
+void SCurveVelocityPlanner1D::getConstraints(double& max_velocity,
+                                             double& max_acceleration,
+                                             double& max_jerk) const
+{
+  max_velocity = max_velocity_;
+  max_acceleration = max_acceleration_;
+  max_jerk = max_jerk_;
+}
+
+void SCurveVelocityPlanner1D::setTargetReplanThreshold(double threshold)
+{
+  target_replan_threshold_ = std::max(0.0, threshold);
+}
+
+void SCurveVelocityPlanner1D::setSynchronizeReplanThreshold(double threshold)
+{
+  synchronize_replan_threshold_ = std::max(0.0, threshold);
+}
+
+void SCurveVelocityPlanner1D::initialize(double velocity, double acceleration)
+{
+  state_ = SCurveVelocityPlannerState();
+  state_.velocity = clamp(velocity, -max_velocity_, max_velocity_);
+  state_.acceleration = clamp(acceleration, -max_acceleration_, max_acceleration_);
+  state_.jerk = 0.0;
+  state_.target_velocity = state_.velocity;
+  state_.elapsed_time = 0.0;
+  state_.has_active_profile = false;
+
+  active_profile_ = SCurveVelocityProfile();
+  active_profile_.v0 = state_.velocity;
+  active_profile_.a0 = state_.acceleration;
+  active_profile_.vf = state_.velocity;
+  active_profile_.valid = false;
+
+  updateIsMovingFlag();
+}
+
+void SCurveVelocityPlanner1D::reset()
+{
+  state_ = SCurveVelocityPlannerState();
+  active_profile_ = SCurveVelocityProfile();
+}
+
+void SCurveVelocityPlanner1D::overwriteState(double velocity,
+                                             double acceleration,
+                                             bool keep_target_velocity)
+{
+  state_.velocity = clamp(velocity, -max_velocity_, max_velocity_);
+  state_.acceleration = clamp(acceleration, -max_acceleration_, max_acceleration_);
+  state_.jerk = 0.0;
+  state_.elapsed_time = 0.0;
+  state_.has_active_profile = false;
+
+  if (!keep_target_velocity) {
+    state_.target_velocity = state_.velocity;
+  } else {
+    state_.target_velocity = clamp(state_.target_velocity, -max_velocity_, max_velocity_);
+  }
+
+  active_profile_ = SCurveVelocityProfile();
+  active_profile_.v0 = state_.velocity;
+  active_profile_.a0 = state_.acceleration;
+  active_profile_.vf = state_.target_velocity;
+  active_profile_.valid = false;
+
+  updateIsMovingFlag();
+}
+
+void SCurveVelocityPlanner1D::synchronizeAndReplan(double velocity,
+                                                   double acceleration)
+{
+  const double measured_velocity = clamp(velocity, -max_velocity_, max_velocity_);
+  const double measured_acceleration =
+      clamp(acceleration, -max_acceleration_, max_acceleration_);
+
+  if (!state_.has_active_profile &&
+      std::abs(measured_velocity - state_.target_velocity) <= VELOCITY_THRESHOLD) {
+    state_.velocity = state_.target_velocity;
+    state_.acceleration = 0.0;
+    state_.jerk = 0.0;
+    updateIsMovingFlag();
+    return;
+  }
+
+  // If the measured state is still close to the active profile sample, keep
+  // following that profile instead of restarting the plan every cycle.
+  if (state_.has_active_profile &&
+      std::abs(measured_velocity - state_.velocity) <= synchronize_replan_threshold_) {
+    state_.velocity = measured_velocity;
+    state_.acceleration = measured_acceleration;
+    state_.jerk = getJerkAtTime(active_profile_, state_.elapsed_time);
+    updateIsMovingFlag();
+    return;
+  }
+
+  state_.velocity = measured_velocity;
+  state_.acceleration = measured_acceleration;
+  state_.jerk = 0.0;
+
+  active_profile_ = calculateProfile(state_.velocity,
+                                     state_.target_velocity,
+                                     state_.acceleration);
+
+  state_.elapsed_time = 0.0;
+  state_.has_active_profile = active_profile_.total_time > EPSILON;
+
+  updateIsMovingFlag();
+}
+
+void SCurveVelocityPlanner1D::setTargetVelocity(double target_velocity)
+{
+  const double new_target = clamp(target_velocity, -max_velocity_, max_velocity_);
+
+  const bool same_target =
+      std::abs(new_target - state_.target_velocity) <= target_replan_threshold_;
+
+  if (same_target &&
+      state_.has_active_profile) {
+    return;
+  }
+
+  if (same_target &&
+      !state_.has_active_profile &&
+      std::abs(state_.velocity - new_target) <= VELOCITY_THRESHOLD &&
+      std::abs(state_.acceleration) <= ACCELERATION_THRESHOLD) {
+    return;
+  }
+
+  state_.target_velocity = new_target;
+
+  active_profile_ = calculateProfile(state_.velocity,
+                                     state_.target_velocity,
+                                     state_.acceleration);
+
+  state_.elapsed_time = 0.0;
+  state_.has_active_profile = active_profile_.valid && active_profile_.total_time > EPSILON;
+
+  updateIsMovingFlag();
+}
+
+double SCurveVelocityPlanner1D::getVelocityAtTime(const SCurveVelocityProfile& profile, double t) const
+{
+  if (!profile.valid) {
+    return profile.v0;
+  }
+
+  if (t <= 0.0) {
+    return profile.v0;
+  }
+  if (t >= profile.total_time) {
+    return profile.vf;
+  }
+
+  double v = profile.v0;
+  double a = profile.a0;
+
+  auto process_segment = [&](double dt, double jerk) {
+    v += a * dt + 0.5 * jerk * dt * dt;
+    a += jerk * dt;
+  };
+
+  if (t <= profile.t1) {
+    process_segment(t, profile.j1);
+    return v;
+  }
+  process_segment(profile.t1, profile.j1);
+
+  const double t_after_1 = t - profile.t1;
+  if (t_after_1 <= profile.t2) {
+    process_segment(t_after_1, profile.j2);
+    return v;
+  }
+  process_segment(profile.t2, profile.j2);
+
+  const double t_after_2 = t_after_1 - profile.t2;
+  process_segment(t_after_2, profile.j3);
+  return v;
+}
+
+double SCurveVelocityPlanner1D::getAccelerationAtTime(const SCurveVelocityProfile& profile, double t) const
+{
+  if (!profile.valid) {
+    return profile.a0;
+  }
+
+  if (t <= 0.0) {
+    return profile.a0;
+  }
+  if (t >= profile.total_time) {
+    return 0.0;
+  }
+
+  double a = profile.a0;
+
+  auto process_segment = [&](double dt, double jerk) {
+    a += jerk * dt;
+  };
+
+  if (t <= profile.t1) {
+    process_segment(t, profile.j1);
+    return a;
+  }
+  process_segment(profile.t1, profile.j1);
+
+  const double t_after_1 = t - profile.t1;
+  if (t_after_1 <= profile.t2) {
+    process_segment(t_after_1, profile.j2);
+    return a;
+  }
+  process_segment(profile.t2, profile.j2);
+
+  const double t_after_2 = t_after_1 - profile.t2;
+  process_segment(t_after_2, profile.j3);
+  return a;
+}
+
+double SCurveVelocityPlanner1D::getJerkAtTime(const SCurveVelocityProfile& profile, double t) const
+{
+  if (!profile.valid) {
+    return 0.0;
+  }
+
+  if (t <= 0.0 || t >= profile.total_time) {
+    return 0.0;
+  }
+
+  if (t <= profile.t1) {
+    return profile.j1;
+  }
+  if (t <= profile.t1 + profile.t2) {
+    return profile.j2;
+  }
+  return profile.j3;
+}
+
+void SCurveVelocityPlanner1D::integrateWholeProfile(const SCurveVelocityProfile& profile,
+                                                    double& v_end,
+                                                    double& a_end) const
+{
+  double v = profile.v0;
+  double a = profile.a0;
+
+  auto process_segment = [&](double dt, double jerk) {
+    v += a * dt + 0.5 * jerk * dt * dt;
+    a += jerk * dt;
+  };
+
+  process_segment(profile.t1, profile.j1);
+  process_segment(profile.t2, profile.j2);
+  process_segment(profile.t3, profile.j3);
+
+  v_end = v;
+  a_end = a;
+}
+
+bool SCurveVelocityPlanner1D::isVelocityLimitSatisfied(const SCurveVelocityProfile& profile) const
+{
+  if (!profile.valid) {
+    return true;
+  }
+
+  std::vector<double> check_times;
+  check_times.reserve(8);
+
+  check_times.push_back(0.0);
+  check_times.push_back(profile.t1);
+  check_times.push_back(profile.t1 + profile.t2);
+  check_times.push_back(profile.total_time);
+
+  // If acceleration crosses zero inside segment 1, velocity may reach an
+  // extremum within the segment and needs to be checked explicitly.
+  if (std::abs(profile.j1) > EPSILON && profile.t1 > EPSILON) {
+    const double tz = -profile.a0 / profile.j1;
+    if (tz > EPSILON && tz < profile.t1 - EPSILON) {
+      check_times.push_back(tz);
+    }
+  }
+
+  for (double t : check_times) {
+    const double v = getVelocityAtTime(profile, t);
+    if (std::abs(v) > max_velocity_ + 1e-7) {
+      return false;
+    }
+  }
+
+  return true;
+}
+
+SCurveVelocityProfile SCurveVelocityPlanner1D::calculateProfile(double start_velocity,
+                                                                double end_velocity,
+                                                                double start_acceleration) const
+{
+  SCurveVelocityProfile best;
+  best.v0 = clamp(start_velocity, -max_velocity_, max_velocity_);
+  best.a0 = clamp(start_acceleration, -max_acceleration_, max_acceleration_);
+  best.vf = clamp(end_velocity, -max_velocity_, max_velocity_);
+
+  if (max_jerk_ <= EPSILON || max_acceleration_ <= EPSILON) {
+    return best;
+  }
+
+  const double v0 = best.v0;
+  const double a0 = best.a0;
+  const double vf = best.vf;
+
+  // Work in a signed frame where the requested delta velocity is non-negative.
+  double s = sign(vf - v0);
+  if (std::abs(vf - v0) <= VELOCITY_THRESHOLD) {
+    s = 1.0;
+  }
+
+  const double dv = s * (vf - v0);
+  const double a0s = s * a0;
+  const double j = max_jerk_;
+  const double amax = max_acceleration_;
+
+  auto normalize_nonnegative = [](double x) {
+    return (x < 0.0 && x > -1e-10) ? 0.0 : x;
+  };
+
+  auto try_candidate = [&](double t1, double t2, double t3,
+                           double j1s, double j2s, double j3s) {
+    t1 = normalize_nonnegative(t1);
+    t2 = normalize_nonnegative(t2);
+    t3 = normalize_nonnegative(t3);
+
+    if (t1 < 0.0 || t2 < 0.0 || t3 < 0.0) {
+      return;
+    }
+
+    SCurveVelocityProfile cand;
+    cand.t1 = t1;
+    cand.t2 = t2;
+    cand.t3 = t3;
+    cand.total_time = t1 + t2 + t3;
+
+    cand.j1 = s * j1s;
+    cand.j2 = s * j2s;
+    cand.j3 = s * j3s;
+
+    cand.v0 = v0;
+    cand.a0 = a0;
+    cand.vf = vf;
+    cand.valid = true;
+
+    double vend = 0.0;
+    double aend = 0.0;
+    integrateWholeProfile(cand, vend, aend);
+
+    if (std::abs(vend - vf) > 1e-5) {
+      return;
+    }
+    if (std::abs(aend) > 1e-5) {
+      return;
+    }
+    if (!isVelocityLimitSatisfied(cand)) {
+      return;
+    }
+
+    if (!best.valid || cand.total_time < best.total_time) {
+      best = cand;
+    }
+  };
+
+  {
+    const double A2 = 0.5 * (2.0 * j * dv + a0s * a0s);
+    if (A2 >= -1e-10) {
+      const double A = std::sqrt(std::max(0.0, A2));
+      if (A <= amax + 1e-10 && A >= a0s - 1e-10) {
+        const double t1 = (A - a0s) / j;
+        const double t2 = 0.0;
+        const double t3 = A / j;
+        try_candidate(t1, t2, t3, +j, 0.0, -j);
+      }
+    }
+  }
+
+  {
+    const double A = amax;
+    if (A > EPSILON && A >= a0s - 1e-10) {
+      const double base = (2.0 * A * A - a0s * a0s) / (2.0 * j);
+      const double t1 = (A - a0s) / j;
+      const double t2 = (dv - base) / A;
+      const double t3 = A / j;
+      try_candidate(t1, t2, t3, +j, 0.0, -j);
+    }
+  }
+
+  {
+    const double B2 = 0.5 * (a0s * a0s - 2.0 * j * dv);
+    if (B2 >= -1e-10) {
+      const double B = std::sqrt(std::max(0.0, B2));
+      if (B <= amax + 1e-10 && B >= -a0s - 1e-10) {
+        const double t1 = (a0s + B) / j;
+        const double t2 = 0.0;
+        const double t3 = B / j;
+        try_candidate(t1, t2, t3, -j, 0.0, +j);
+      }
+    }
+  }
+
+  {
+    const double B = amax;
+    if (B > EPSILON && B >= -a0s - 1e-10) {
+      const double base = (a0s * a0s - 2.0 * B * B) / (2.0 * j);
+      const double t1 = (a0s + B) / j;
+      const double t2 = (base - dv) / B;
+      const double t3 = B / j;
+      try_candidate(t1, t2, t3, -j, 0.0, +j);
+    }
+  }
+
+  if (!best.valid &&
+      std::abs(vf - v0) <= VELOCITY_THRESHOLD &&
+      std::abs(a0) <= ACCELERATION_THRESHOLD) {
+    best.valid = false;
+    best.total_time = 0.0;
+    best.v0 = v0;
+    best.a0 = a0;
+    best.vf = vf;
+  }
+
+  return best;
+}
+
+void SCurveVelocityPlanner1D::generateTrajectory(const SCurveVelocityProfile& profile, double dt,
+                                                 std::vector<double>& velocities,
+                                                 std::vector<double>& accelerations,
+                                                 std::vector<double>& jerks) const
+{
+  velocities.clear();
+  accelerations.clear();
+  jerks.clear();
+
+  if (!profile.valid || profile.total_time <= 0.0 || dt <= 0.0) {
+    velocities.push_back(profile.v0);
+    accelerations.push_back(profile.a0);
+    jerks.push_back(0.0);
+    return;
+  }
+
+  const int num_points = static_cast<int>(std::ceil(profile.total_time / dt)) + 1;
+  velocities.reserve(num_points);
+  accelerations.reserve(num_points);
+  jerks.reserve(num_points);
+
+  for (double t = 0.0; t <= profile.total_time; t += dt) {
+    velocities.push_back(getVelocityAtTime(profile, t));
+    accelerations.push_back(getAccelerationAtTime(profile, t));
+    jerks.push_back(getJerkAtTime(profile, t));
+  }
+
+  if (velocities.empty() || std::abs(velocities.back() - profile.vf) > VELOCITY_THRESHOLD) {
+    velocities.push_back(profile.vf);
+    accelerations.push_back(0.0);
+    jerks.push_back(0.0);
+  }
+}
+
+double SCurveVelocityPlanner1D::update(double dt)
+{
+  if (dt <= 0.0) {
+    return state_.velocity;
+  }
+
+  if (!state_.has_active_profile || !active_profile_.valid) {
+    state_.jerk = 0.0;
+    updateIsMovingFlag();
+    return state_.velocity;
+  }
+
+  state_.elapsed_time += dt;
+
+  if (state_.elapsed_time >= active_profile_.total_time) {
+    state_.elapsed_time = active_profile_.total_time;
+    state_.velocity = active_profile_.vf;
+    state_.acceleration = 0.0;
+    state_.jerk = 0.0;
+    state_.has_active_profile = false;
+    updateIsMovingFlag();
+    return state_.velocity;
+  }
+
+  state_.velocity = getVelocityAtTime(active_profile_, state_.elapsed_time);
+  state_.acceleration = getAccelerationAtTime(active_profile_, state_.elapsed_time);
+  state_.jerk = getJerkAtTime(active_profile_, state_.elapsed_time);
+
+  updateIsMovingFlag();
+  return state_.velocity;
+}
+
+void SCurveVelocityPlanner1D::updateIsMovingFlag()
+{
+  state_.is_moving =
+      state_.has_active_profile ||
+      std::abs(state_.velocity) > VELOCITY_THRESHOLD ||
+      std::abs(state_.target_velocity) > VELOCITY_THRESHOLD ||
+      std::abs(state_.acceleration) > ACCELERATION_THRESHOLD;
+}
+
+} // namespace cmvr

file_service.erpc

@@ -0,0 +1,11 @@
+// file_service.erpc
+program file_service
+
+@id(2)
+interface file_service
+{
+    fileWriteBegin(string path, uint32 total_size) -> int32
+    fileWriteChunk(binary data) -> int32
+    fileWriteEnd() -> int32
+    fileWriteAbort() -> int32
+}

file_service/__init__.py

@@ -0,0 +1,19 @@
+#
+# Generated by erpcgen 1.14.0 on Tue Apr 28 12:25:45 2026.
+#
+# AUTOGENERATED - DO NOT EDIT
+#
+
+try:
+    from erpc import erpc_version
+    version = erpc_version.ERPC_VERSION
+except ImportError:
+    version = "unknown"
+if version != "1.14.0":
+    raise ValueError("The generated shim code version (1.14.0) is different to the rest of eRPC code (%s). \
+Install newer version by running \"python setup.py install\" in folder erpc/erpc_python/." % repr(version))
+
+from . import common
+from . import client
+from . import server
+from . import interface

file_service/client.py

@@ -0,0 +1,85 @@
+#
+# Generated by erpcgen 1.14.0 on Tue Apr 28 12:25:45 2026.
+#
+# AUTOGENERATED - DO NOT EDIT
+#
+
+import erpc
+from . import common, interface
+
+# Client for file_service
+class file_serviceClient(interface.Ifile_service):
+    def __init__(self, manager):
+        super(file_serviceClient, self).__init__()
+        self._clientManager = manager
+
+    def fileWriteBegin(self, path, total_size):
+        # Build remote function invocation message.
+        request = self._clientManager.create_request()
+        codec = request.codec
+        codec.start_write_message(erpc.codec.MessageInfo(
+                type=erpc.codec.MessageType.kInvocationMessage,
+                service=self.SERVICE_ID,
+                request=self.FILEWRITEBEGIN_ID,
+                sequence=request.sequence))
+        if path is None:
+            raise ValueError("path is None")
+        codec.write_string(path)
+        if total_size is None:
+            raise ValueError("total_size is None")
+        codec.write_uint32(total_size)
+
+        # Send request and process reply.
+        self._clientManager.perform_request(request)
+        _result = codec.read_int32()
+        return _result
+
+    def fileWriteChunk(self, data):
+        # Build remote function invocation message.
+        request = self._clientManager.create_request()
+        codec = request.codec
+        codec.start_write_message(erpc.codec.MessageInfo(
+                type=erpc.codec.MessageType.kInvocationMessage,
+                service=self.SERVICE_ID,
+                request=self.FILEWRITECHUNK_ID,
+                sequence=request.sequence))
+        if data is None:
+            raise ValueError("data is None")
+        codec.write_binary(data)
+
+        # Send request and process reply.
+        self._clientManager.perform_request(request)
+        _result = codec.read_int32()
+        return _result
+
+    def fileWriteEnd(self):
+        # Build remote function invocation message.
+        request = self._clientManager.create_request()
+        codec = request.codec
+        codec.start_write_message(erpc.codec.MessageInfo(
+                type=erpc.codec.MessageType.kInvocationMessage,
+                service=self.SERVICE_ID,
+                request=self.FILEWRITEEND_ID,
+                sequence=request.sequence))
+
+        # Send request and process reply.
+        self._clientManager.perform_request(request)
+        _result = codec.read_int32()
+        return _result
+
+    def fileWriteAbort(self):
+        # Build remote function invocation message.
+        request = self._clientManager.create_request()
+        codec = request.codec
+        codec.start_write_message(erpc.codec.MessageInfo(
+                type=erpc.codec.MessageType.kInvocationMessage,
+                service=self.SERVICE_ID,
+                request=self.FILEWRITEABORT_ID,
+                sequence=request.sequence))
+
+        # Send request and process reply.
+        self._clientManager.perform_request(request)
+        _result = codec.read_int32()
+        return _result
+
+

file_service/common.py

@@ -0,0 +1,7 @@
+#
+# Generated by erpcgen 1.14.0 on Tue Apr 28 12:25:45 2026.
+#
+# AUTOGENERATED - DO NOT EDIT
+#
+
+

file_service/interface.py

@@ -0,0 +1,27 @@
+#
+# Generated by erpcgen 1.14.0 on Tue Apr 28 12:25:45 2026.
+#
+# AUTOGENERATED - DO NOT EDIT
+#
+
+# Abstract base class for file_service
+class Ifile_service(object):
+    SERVICE_ID = 2
+    FILEWRITEBEGIN_ID = 1
+    FILEWRITECHUNK_ID = 2
+    FILEWRITEEND_ID = 3
+    FILEWRITEABORT_ID = 4
+
+    def fileWriteBegin(self, path, total_size):
+        raise NotImplementedError()
+
+    def fileWriteChunk(self, data):
+        raise NotImplementedError()
+
+    def fileWriteEnd(self):
+        raise NotImplementedError()
+
+    def fileWriteAbort(self):
+        raise NotImplementedError()
+
+

file_service/server.py

@@ -0,0 +1,93 @@
+#
+# Generated by erpcgen 1.14.0 on Tue Apr 28 12:25:45 2026.
+#
+# AUTOGENERATED - DO NOT EDIT
+#
+
+import erpc
+from . import common, interface
+
+# Client for file_service
+class file_serviceService(erpc.server.Service):
+    def __init__(self, handler):
+        super(file_serviceService, self).__init__(interface.Ifile_service.SERVICE_ID)
+        self._handler = handler
+        self._methods = {
+                interface.Ifile_service.FILEWRITEBEGIN_ID: self._handle_fileWriteBegin,
+                interface.Ifile_service.FILEWRITECHUNK_ID: self._handle_fileWriteChunk,
+                interface.Ifile_service.FILEWRITEEND_ID: self._handle_fileWriteEnd,
+                interface.Ifile_service.FILEWRITEABORT_ID: self._handle_fileWriteAbort,
+            }
+
+    def _handle_fileWriteBegin(self, sequence, codec):
+        # Read incoming parameters.
+        path = codec.read_string()
+        total_size = codec.read_uint32()
+
+        # Invoke user implementation of remote function.
+        _result = self._handler.fileWriteBegin(path, total_size)
+
+        # Prepare codec for reply message.
+        codec.reset()
+
+        # Construct reply message.
+        codec.start_write_message(erpc.codec.MessageInfo(
+            type=erpc.codec.MessageType.kReplyMessage,
+            service=interface.Ifile_service.SERVICE_ID,
+            request=interface.Ifile_service.FILEWRITEBEGIN_ID,
+            sequence=sequence))
+        codec.write_int32(_result)
+
+    def _handle_fileWriteChunk(self, sequence, codec):
+        # Read incoming parameters.
+        data = codec.read_binary()
+
+        # Invoke user implementation of remote function.
+        _result = self._handler.fileWriteChunk(data)
+
+        # Prepare codec for reply message.
+        codec.reset()
+
+        # Construct reply message.
+        codec.start_write_message(erpc.codec.MessageInfo(
+            type=erpc.codec.MessageType.kReplyMessage,
+            service=interface.Ifile_service.SERVICE_ID,
+            request=interface.Ifile_service.FILEWRITECHUNK_ID,
+            sequence=sequence))
+        codec.write_int32(_result)
+
+    def _handle_fileWriteEnd(self, sequence, codec):
+        # Read incoming parameters.
+
+        # Invoke user implementation of remote function.
+        _result = self._handler.fileWriteEnd()
+
+        # Prepare codec for reply message.
+        codec.reset()
+
+        # Construct reply message.
+        codec.start_write_message(erpc.codec.MessageInfo(
+            type=erpc.codec.MessageType.kReplyMessage,
+            service=interface.Ifile_service.SERVICE_ID,
+            request=interface.Ifile_service.FILEWRITEEND_ID,
+            sequence=sequence))
+        codec.write_int32(_result)
+
+    def _handle_fileWriteAbort(self, sequence, codec):
+        # Read incoming parameters.
+
+        # Invoke user implementation of remote function.
+        _result = self._handler.fileWriteAbort()
+
+        # Prepare codec for reply message.
+        codec.reset()
+
+        # Construct reply message.
+        codec.start_write_message(erpc.codec.MessageInfo(
+            type=erpc.codec.MessageType.kReplyMessage,
+            service=interface.Ifile_service.SERVICE_ID,
+            request=interface.Ifile_service.FILEWRITEABORT_ID,
+            sequence=sequence))
+        codec.write_int32(_result)
+
+

generated/c_file_service_client.cpp

@@ -0,0 +1,77 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:16:37 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#include "c_file_service_client.h"
+#include "file_service_client.hpp"
+#include "erpc_manually_constructed.hpp"
+
+using namespace erpc;
+using namespace std;
+using namespace erpcShim;
+
+
+#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
+file_service_client *s_file_service_client = nullptr;
+#else
+ERPC_MANUALLY_CONSTRUCTED_STATIC(file_service_client, s_file_service_client);
+#endif
+
+int32_t fileWriteBegin(const char * path, uint32_t total_size)
+{
+    int32_t result;
+    result = s_file_service_client->fileWriteBegin(path, total_size);
+
+    return result;
+}
+
+int32_t fileWriteChunk(const binary_t * data)
+{
+    int32_t result;
+    result = s_file_service_client->fileWriteChunk(data);
+
+    return result;
+}
+
+int32_t fileWriteEnd(void)
+{
+    int32_t result;
+    result = s_file_service_client->fileWriteEnd();
+
+    return result;
+}
+
+int32_t fileWriteAbort(void)
+{
+    int32_t result;
+    result = s_file_service_client->fileWriteAbort();
+
+    return result;
+}
+
+void initfile_service_client(erpc_client_t client)
+{
+#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
+    erpc_assert(s_file_service_client == nullptr);
+    s_file_service_client = new file_service_client(reinterpret_cast<ClientManager *>(client));
+#else
+    erpc_assert(!s_file_service_client.isUsed());
+    s_file_service_client.construct(reinterpret_cast<ClientManager *>(client));
+#endif
+}
+
+void deinitfile_service_client(void)
+{
+#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
+    if (s_file_service_client != nullptr)
+    {
+        delete s_file_service_client;
+        s_file_service_client = nullptr;
+    }
+#else
+    s_file_service_client.destroy();
+#endif
+}

generated/c_file_service_client.h

@@ -0,0 +1,54 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:16:37 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if !defined(_c_file_service_client_h_)
+#define _c_file_service_client_h_
+
+#include "file_service_common.h"
+#include "erpc_client_manager.h"
+
+#if defined(__cplusplus)
+extern "C"
+{
+#endif
+
+#if !defined(ERPC_FUNCTIONS_DEFINITIONS)
+#define ERPC_FUNCTIONS_DEFINITIONS
+
+
+/*! @brief file_service identifiers */
+enum _file_service_ids
+{
+    kfile_service_service_id = 2,
+    kfile_service_fileWriteBegin_id = 1,
+    kfile_service_fileWriteChunk_id = 2,
+    kfile_service_fileWriteEnd_id = 3,
+    kfile_service_fileWriteAbort_id = 4,
+};
+
+//! @name file_service
+//@{
+int32_t fileWriteBegin(const char * path, uint32_t total_size);
+
+int32_t fileWriteChunk(const binary_t * data);
+
+int32_t fileWriteEnd(void);
+
+int32_t fileWriteAbort(void);
+//@}
+
+#endif // ERPC_FUNCTIONS_DEFINITIONS
+
+void initfile_service_client(erpc_client_t client);
+
+void deinitfile_service_client(void);
+
+#if defined(__cplusplus)
+}
+#endif
+
+#endif // _c_file_service_client_h_

generated/c_file_service_server.cpp

@@ -0,0 +1,97 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:16:37 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#include <new>
+#include "c_file_service_server.h"
+#include "file_service_server.hpp"
+#include "erpc_manually_constructed.hpp"
+
+using namespace erpc;
+using namespace std;
+using namespace erpcShim;
+
+
+class file_service_server: public file_service_interface
+{
+    public:
+        virtual ~file_service_server() {};
+
+
+        int32_t fileWriteBegin(const char * path, uint32_t total_size)
+        {
+            int32_t result;
+            result = ::fileWriteBegin(path, total_size);
+
+            return result;
+        }
+
+        int32_t fileWriteChunk(const binary_t * data)
+        {
+            int32_t result;
+            result = ::fileWriteChunk(data);
+
+            return result;
+        }
+
+        int32_t fileWriteEnd(void)
+        {
+            int32_t result;
+            result = ::fileWriteEnd();
+
+            return result;
+        }
+
+        int32_t fileWriteAbort(void)
+        {
+            int32_t result;
+            result = ::fileWriteAbort();
+
+            return result;
+        }
+};
+
+ERPC_MANUALLY_CONSTRUCTED_STATIC(file_service_service, s_file_service_service);
+ERPC_MANUALLY_CONSTRUCTED_STATIC(file_service_server, s_file_service_server);
+
+erpc_service_t create_file_service_service(void)
+{
+    erpc_service_t service;
+
+#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
+    service = new (nothrow) file_service_service(new (nothrow)file_service_server());
+#else
+    if (s_file_service_service.isUsed())
+    {
+        service = NULL;
+    }
+    else
+    {
+        s_file_service_server.construct();
+        s_file_service_service.construct(s_file_service_server.get());
+        service = s_file_service_service.get();
+    }
+#endif
+
+    return service;
+}
+
+void destroy_file_service_service(erpc_service_t service)
+{
+#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
+    if (service)
+    {
+        delete (file_service_server *)(((file_service_service *)service)->getHandler());
+        delete (file_service_service *)service;
+    }
+#else
+    (void)service;
+    erpc_assert(service == s_file_service_service.get());
+    s_file_service_service.destroy();
+    s_file_service_server.destroy();
+#endif
+}
+

generated/c_file_service_server.h

@@ -0,0 +1,59 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:16:37 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if !defined(_c_file_service_server_h_)
+#define _c_file_service_server_h_
+
+#include "file_service_common.h"
+
+#if defined(__cplusplus)
+extern "C"
+{
+#endif
+
+typedef void * erpc_service_t;
+
+#if !defined(ERPC_FUNCTIONS_DEFINITIONS)
+#define ERPC_FUNCTIONS_DEFINITIONS
+
+
+/*! @brief file_service identifiers */
+enum _file_service_ids
+{
+    kfile_service_service_id = 2,
+    kfile_service_fileWriteBegin_id = 1,
+    kfile_service_fileWriteChunk_id = 2,
+    kfile_service_fileWriteEnd_id = 3,
+    kfile_service_fileWriteAbort_id = 4,
+};
+
+//! @name file_service
+//@{
+int32_t fileWriteBegin(const char * path, uint32_t total_size);
+
+int32_t fileWriteChunk(const binary_t * data);
+
+int32_t fileWriteEnd(void);
+
+int32_t fileWriteAbort(void);
+//@}
+
+
+#endif // ERPC_FUNCTIONS_DEFINITIONS
+
+/*! @brief Return file_service_service service object. */
+erpc_service_t create_file_service_service(void);
+
+/*! @brief Destroy file_service_service service object. */
+void destroy_file_service_service(erpc_service_t service);
+
+
+#if defined(__cplusplus)
+}
+#endif
+
+#endif // _c_file_service_server_h_

generated/c_servo_service_client.cpp

@@ -0,0 +1,93 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:16:31 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#include "c_servo_service_client.h"
+#include "servo_service_client.hpp"
+#include "erpc_manually_constructed.hpp"
+
+using namespace erpc;
+using namespace std;
+using namespace erpcShim;
+
+
+#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
+servo_service_client *s_servo_service_client = nullptr;
+#else
+ERPC_MANUALLY_CONSTRUCTED_STATIC(servo_service_client, s_servo_service_client);
+#endif
+
+bool setConstraints(const char * id, float max_velocity_rad, float max_acceleration_rad, float max_jerk_rad)
+{
+    bool result;
+    result = s_servo_service_client->setConstraints(id, max_velocity_rad, max_acceleration_rad, max_jerk_rad);
+
+    return result;
+}
+
+bool setPositionGain(const char * id, float position_gain)
+{
+    bool result;
+    result = s_servo_service_client->setPositionGain(id, position_gain);
+
+    return result;
+}
+
+bool setMode(RpcMotionMode mode)
+{
+    bool result;
+    result = s_servo_service_client->setMode(mode);
+
+    return result;
+}
+
+bool setUpdatePeriodMs(uint32_t ms)
+{
+    bool result;
+    result = s_servo_service_client->setUpdatePeriodMs(ms);
+
+    return result;
+}
+
+int32_t move(const list_ServoCmd_1_t * cmds)
+{
+    int32_t result;
+    result = s_servo_service_client->move(cmds);
+
+    return result;
+}
+
+int32_t moveJ(const list_float_1_t * angles_rad)
+{
+    int32_t result;
+    result = s_servo_service_client->moveJ(angles_rad);
+
+    return result;
+}
+
+void initservo_service_client(erpc_client_t client)
+{
+#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
+    erpc_assert(s_servo_service_client == nullptr);
+    s_servo_service_client = new servo_service_client(reinterpret_cast<ClientManager *>(client));
+#else
+    erpc_assert(!s_servo_service_client.isUsed());
+    s_servo_service_client.construct(reinterpret_cast<ClientManager *>(client));
+#endif
+}
+
+void deinitservo_service_client(void)
+{
+#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
+    if (s_servo_service_client != nullptr)
+    {
+        delete s_servo_service_client;
+        s_servo_service_client = nullptr;
+    }
+#else
+    s_servo_service_client.destroy();
+#endif
+}

generated/c_servo_service_client.h

@@ -0,0 +1,60 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:16:31 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if !defined(_c_servo_service_client_h_)
+#define _c_servo_service_client_h_
+
+#include "servo_service_common.h"
+#include "erpc_client_manager.h"
+
+#if defined(__cplusplus)
+extern "C"
+{
+#endif
+
+#if !defined(ERPC_FUNCTIONS_DEFINITIONS)
+#define ERPC_FUNCTIONS_DEFINITIONS
+
+
+/*! @brief servo_service identifiers */
+enum _servo_service_ids
+{
+    kservo_service_service_id = 1,
+    kservo_service_setConstraints_id = 1,
+    kservo_service_setPositionGain_id = 2,
+    kservo_service_setMode_id = 3,
+    kservo_service_setUpdatePeriodMs_id = 4,
+    kservo_service_move_id = 5,
+    kservo_service_moveJ_id = 6,
+};
+
+//! @name servo_service
+//@{
+bool setConstraints(const char * id, float max_velocity_rad, float max_acceleration_rad, float max_jerk_rad);
+
+bool setPositionGain(const char * id, float position_gain);
+
+bool setMode(RpcMotionMode mode);
+
+bool setUpdatePeriodMs(uint32_t ms);
+
+int32_t move(const list_ServoCmd_1_t * cmds);
+
+int32_t moveJ(const list_float_1_t * angles_rad);
+//@}
+
+#endif // ERPC_FUNCTIONS_DEFINITIONS
+
+void initservo_service_client(erpc_client_t client);
+
+void deinitservo_service_client(void);
+
+#if defined(__cplusplus)
+}
+#endif
+
+#endif // _c_servo_service_client_h_

generated/c_servo_service_server.cpp

@@ -0,0 +1,113 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:16:31 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#include <new>
+#include "c_servo_service_server.h"
+#include "servo_service_server.hpp"
+#include "erpc_manually_constructed.hpp"
+
+using namespace erpc;
+using namespace std;
+using namespace erpcShim;
+
+
+class servo_service_server: public servo_service_interface
+{
+    public:
+        virtual ~servo_service_server() {};
+
+
+        bool setConstraints(const char * id, float max_velocity_rad, float max_acceleration_rad, float max_jerk_rad)
+        {
+            bool result;
+            result = ::setConstraints(id, max_velocity_rad, max_acceleration_rad, max_jerk_rad);
+
+            return result;
+        }
+
+        bool setPositionGain(const char * id, float position_gain)
+        {
+            bool result;
+            result = ::setPositionGain(id, position_gain);
+
+            return result;
+        }
+
+        bool setMode(RpcMotionMode mode)
+        {
+            bool result;
+            result = ::setMode(mode);
+
+            return result;
+        }
+
+        bool setUpdatePeriodMs(uint32_t ms)
+        {
+            bool result;
+            result = ::setUpdatePeriodMs(ms);
+
+            return result;
+        }
+
+        int32_t move(const list_ServoCmd_1_t * cmds)
+        {
+            int32_t result;
+            result = ::move(cmds);
+
+            return result;
+        }
+
+        int32_t moveJ(const list_float_1_t * angles_rad)
+        {
+            int32_t result;
+            result = ::moveJ(angles_rad);
+
+            return result;
+        }
+};
+
+ERPC_MANUALLY_CONSTRUCTED_STATIC(servo_service_service, s_servo_service_service);
+ERPC_MANUALLY_CONSTRUCTED_STATIC(servo_service_server, s_servo_service_server);
+
+erpc_service_t create_servo_service_service(void)
+{
+    erpc_service_t service;
+
+#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
+    service = new (nothrow) servo_service_service(new (nothrow)servo_service_server());
+#else
+    if (s_servo_service_service.isUsed())
+    {
+        service = NULL;
+    }
+    else
+    {
+        s_servo_service_server.construct();
+        s_servo_service_service.construct(s_servo_service_server.get());
+        service = s_servo_service_service.get();
+    }
+#endif
+
+    return service;
+}
+
+void destroy_servo_service_service(erpc_service_t service)
+{
+#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
+    if (service)
+    {
+        delete (servo_service_server *)(((servo_service_service *)service)->getHandler());
+        delete (servo_service_service *)service;
+    }
+#else
+    (void)service;
+    erpc_assert(service == s_servo_service_service.get());
+    s_servo_service_service.destroy();
+    s_servo_service_server.destroy();
+#endif
+}
+

generated/c_servo_service_server.h

@@ -0,0 +1,65 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:16:31 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if !defined(_c_servo_service_server_h_)
+#define _c_servo_service_server_h_
+
+#include "servo_service_common.h"
+
+#if defined(__cplusplus)
+extern "C"
+{
+#endif
+
+typedef void * erpc_service_t;
+
+#if !defined(ERPC_FUNCTIONS_DEFINITIONS)
+#define ERPC_FUNCTIONS_DEFINITIONS
+
+
+/*! @brief servo_service identifiers */
+enum _servo_service_ids
+{
+    kservo_service_service_id = 1,
+    kservo_service_setConstraints_id = 1,
+    kservo_service_setPositionGain_id = 2,
+    kservo_service_setMode_id = 3,
+    kservo_service_setUpdatePeriodMs_id = 4,
+    kservo_service_move_id = 5,
+    kservo_service_moveJ_id = 6,
+};
+
+//! @name servo_service
+//@{
+bool setConstraints(const char * id, float max_velocity_rad, float max_acceleration_rad, float max_jerk_rad);
+
+bool setPositionGain(const char * id, float position_gain);
+
+bool setMode(RpcMotionMode mode);
+
+bool setUpdatePeriodMs(uint32_t ms);
+
+int32_t move(const list_ServoCmd_1_t * cmds);
+
+int32_t moveJ(const list_float_1_t * angles_rad);
+//@}
+
+
+#endif // ERPC_FUNCTIONS_DEFINITIONS
+
+/*! @brief Return servo_service_service service object. */
+erpc_service_t create_servo_service_service(void);
+
+/*! @brief Destroy servo_service_service service object. */
+void destroy_servo_service_service(erpc_service_t service);
+
+
+#if defined(__cplusplus)
+}
+#endif
+
+#endif // _c_servo_service_server_h_

generated/file_service_client.cpp

@@ -0,0 +1,302 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:16:37 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
+#include "erpc_port.h"
+#endif
+#include "erpc_codec.hpp"
+#include "file_service_client.hpp"
+#include "erpc_manually_constructed.hpp"
+
+#if 11400 != ERPC_VERSION_NUMBER
+#error "The generated shim code version is different to the rest of eRPC code."
+#endif
+
+using namespace erpc;
+using namespace std;
+using namespace erpcShim;
+
+//! @brief Function to write struct binary_t
+static void write_binary_t_struct(erpc::Codec * codec, const binary_t * data);
+
+
+// Write struct binary_t function implementation
+static void write_binary_t_struct(erpc::Codec * codec, const binary_t * data)
+{
+    if(NULL == data)
+    {
+        return;
+    }
+
+    codec->writeBinary(data->dataLength, data->data);
+}
+
+
+
+
+file_service_client::file_service_client(ClientManager *manager)
+:m_clientManager(manager)
+{
+}
+
+file_service_client::~file_service_client()
+{
+}
+
+// file_service interface fileWriteBegin function client shim.
+int32_t file_service_client::fileWriteBegin(const char * path, uint32_t total_size)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    int32_t result;
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb preCB = m_clientManager->getPreCB();
+    if (preCB)
+    {
+        preCB();
+    }
+#endif
+
+    // Get a new request.
+    RequestContext request = m_clientManager->createRequest(false);
+
+    // Encode the request.
+    Codec * codec = request.getCodec();
+
+    if (codec == NULL)
+    {
+        err = kErpcStatus_MemoryError;
+    }
+    else
+    {
+        codec->startWriteMessage(message_type_t::kInvocationMessage, m_serviceId, m_fileWriteBeginId, request.getSequence());
+
+        {
+            uint32_t path_len = strlen((const char*)path);
+
+            codec->writeString(path_len, (const char*)path);
+        }
+
+        codec->write(total_size);
+
+        // Send message to server
+        // Codec status is checked inside this function.
+        m_clientManager->performRequest(request);
+
+        codec->read(result);
+
+        err = codec->getStatus();
+    }
+
+    // Dispose of the request.
+    m_clientManager->releaseRequest(request);
+
+    // Invoke error handler callback function
+    m_clientManager->callErrorHandler(err, m_fileWriteBeginId);
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb postCB = m_clientManager->getPostCB();
+    if (postCB)
+    {
+        postCB();
+    }
+#endif
+
+
+    if (err != kErpcStatus_Success)
+    {
+        result = -1;
+    }
+
+    return result;
+}
+
+// file_service interface fileWriteChunk function client shim.
+int32_t file_service_client::fileWriteChunk(const binary_t * data)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    int32_t result;
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb preCB = m_clientManager->getPreCB();
+    if (preCB)
+    {
+        preCB();
+    }
+#endif
+
+    // Get a new request.
+    RequestContext request = m_clientManager->createRequest(false);
+
+    // Encode the request.
+    Codec * codec = request.getCodec();
+
+    if (codec == NULL)
+    {
+        err = kErpcStatus_MemoryError;
+    }
+    else
+    {
+        codec->startWriteMessage(message_type_t::kInvocationMessage, m_serviceId, m_fileWriteChunkId, request.getSequence());
+
+        write_binary_t_struct(codec, data);
+
+        // Send message to server
+        // Codec status is checked inside this function.
+        m_clientManager->performRequest(request);
+
+        codec->read(result);
+
+        err = codec->getStatus();
+    }
+
+    // Dispose of the request.
+    m_clientManager->releaseRequest(request);
+
+    // Invoke error handler callback function
+    m_clientManager->callErrorHandler(err, m_fileWriteChunkId);
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb postCB = m_clientManager->getPostCB();
+    if (postCB)
+    {
+        postCB();
+    }
+#endif
+
+
+    if (err != kErpcStatus_Success)
+    {
+        result = -1;
+    }
+
+    return result;
+}
+
+// file_service interface fileWriteEnd function client shim.
+int32_t file_service_client::fileWriteEnd(void)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    int32_t result;
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb preCB = m_clientManager->getPreCB();
+    if (preCB)
+    {
+        preCB();
+    }
+#endif
+
+    // Get a new request.
+    RequestContext request = m_clientManager->createRequest(false);
+
+    // Encode the request.
+    Codec * codec = request.getCodec();
+
+    if (codec == NULL)
+    {
+        err = kErpcStatus_MemoryError;
+    }
+    else
+    {
+        codec->startWriteMessage(message_type_t::kInvocationMessage, m_serviceId, m_fileWriteEndId, request.getSequence());
+
+        // Send message to server
+        // Codec status is checked inside this function.
+        m_clientManager->performRequest(request);
+
+        codec->read(result);
+
+        err = codec->getStatus();
+    }
+
+    // Dispose of the request.
+    m_clientManager->releaseRequest(request);
+
+    // Invoke error handler callback function
+    m_clientManager->callErrorHandler(err, m_fileWriteEndId);
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb postCB = m_clientManager->getPostCB();
+    if (postCB)
+    {
+        postCB();
+    }
+#endif
+
+
+    if (err != kErpcStatus_Success)
+    {
+        result = -1;
+    }
+
+    return result;
+}
+
+// file_service interface fileWriteAbort function client shim.
+int32_t file_service_client::fileWriteAbort(void)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    int32_t result;
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb preCB = m_clientManager->getPreCB();
+    if (preCB)
+    {
+        preCB();
+    }
+#endif
+
+    // Get a new request.
+    RequestContext request = m_clientManager->createRequest(false);
+
+    // Encode the request.
+    Codec * codec = request.getCodec();
+
+    if (codec == NULL)
+    {
+        err = kErpcStatus_MemoryError;
+    }
+    else
+    {
+        codec->startWriteMessage(message_type_t::kInvocationMessage, m_serviceId, m_fileWriteAbortId, request.getSequence());
+
+        // Send message to server
+        // Codec status is checked inside this function.
+        m_clientManager->performRequest(request);
+
+        codec->read(result);
+
+        err = codec->getStatus();
+    }
+
+    // Dispose of the request.
+    m_clientManager->releaseRequest(request);
+
+    // Invoke error handler callback function
+    m_clientManager->callErrorHandler(err, m_fileWriteAbortId);
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb postCB = m_clientManager->getPostCB();
+    if (postCB)
+    {
+        postCB();
+    }
+#endif
+
+
+    if (err != kErpcStatus_Success)
+    {
+        result = -1;
+    }
+
+    return result;
+}

generated/file_service_client.hpp

@@ -0,0 +1,40 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:16:37 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if !defined(_file_service_client_hpp_)
+#define _file_service_client_hpp_
+
+#include "file_service_interface.hpp"
+
+#include "erpc_client_manager.h"
+
+namespace erpcShim
+{
+
+class file_service_client: public file_service_interface
+{
+    public:
+        file_service_client(erpc::ClientManager *manager);
+
+        virtual ~file_service_client();
+
+        virtual int32_t fileWriteBegin(const char * path, uint32_t total_size);
+
+        virtual int32_t fileWriteChunk(const binary_t * data);
+
+        virtual int32_t fileWriteEnd(void);
+
+        virtual int32_t fileWriteAbort(void);
+
+    protected:
+        erpc::ClientManager *m_clientManager;
+};
+
+} // erpcShim
+
+
+#endif // _file_service_client_hpp_

generated/file_service_common.h

@@ -0,0 +1,47 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:16:37 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if !defined(_file_service_common_h_)
+#define _file_service_common_h_
+
+
+#if defined(__cplusplus)
+extern "C"
+{
+#endif
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+
+#include "erpc_version.h"
+
+#if 11400 != ERPC_VERSION_NUMBER
+#error "The generated shim code version is different to the rest of eRPC code."
+#endif
+
+
+#if !defined(ERPC_TYPE_DEFINITIONS_FILE_SERVICE)
+#define ERPC_TYPE_DEFINITIONS_FILE_SERVICE
+
+// Aliases data types declarations
+typedef struct binary_t binary_t;
+
+// Structures/unions data types declarations
+struct binary_t
+{
+    uint8_t * data;
+    uint32_t dataLength;
+};
+
+
+#endif // ERPC_TYPE_DEFINITIONS_FILE_SERVICE
+
+#if defined(__cplusplus)
+}
+#endif
+
+#endif // _file_service_common_h_

generated/file_service_common.hpp

@@ -0,0 +1,39 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:16:37 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if !defined(_file_service_common_hpp_)
+#define _file_service_common_hpp_
+
+
+#include <cstddef>
+#include <cstdint>
+
+#include "erpc_version.h"
+
+#if 11400 != ERPC_VERSION_NUMBER
+#error "The generated shim code version is different to the rest of eRPC code."
+#endif
+
+
+#if !defined(ERPC_TYPE_DEFINITIONS_FILE_SERVICE)
+#define ERPC_TYPE_DEFINITIONS_FILE_SERVICE
+
+// Aliases data types declarations
+typedef struct binary_t binary_t;
+
+// Structures/unions data types declarations
+struct binary_t
+{
+    uint8_t * data;
+    uint32_t dataLength;
+};
+
+
+#endif // ERPC_TYPE_DEFINITIONS_FILE_SERVICE
+
+
+#endif // _file_service_common_hpp_

generated/file_service_interface.cpp

@@ -0,0 +1,20 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:16:37 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#include "file_service_interface.hpp"
+
+#if 11400 != ERPC_VERSION_NUMBER
+#error "The generated shim code version is different to the rest of eRPC code."
+#endif
+
+
+using namespace std;
+using namespace erpcShim;
+
+file_service_interface::~file_service_interface(void)
+{
+}

generated/file_service_interface.hpp

@@ -0,0 +1,41 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:16:37 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if !defined(_file_service_interface_hpp_)
+#define _file_service_interface_hpp_
+
+#include "file_service_common.hpp"
+
+namespace erpcShim
+{
+
+
+// Abstract base class for file_service
+class file_service_interface
+{
+    public:
+        static const uint8_t m_serviceId = 2;
+        static const uint8_t m_fileWriteBeginId = 1;
+        static const uint8_t m_fileWriteChunkId = 2;
+        static const uint8_t m_fileWriteEndId = 3;
+        static const uint8_t m_fileWriteAbortId = 4;
+
+        virtual ~file_service_interface(void);
+
+        virtual int32_t fileWriteBegin(const char * path, uint32_t total_size) = 0;
+
+        virtual int32_t fileWriteChunk(const binary_t * data) = 0;
+
+        virtual int32_t fileWriteEnd(void) = 0;
+
+        virtual int32_t fileWriteAbort(void) = 0;
+private:
+};
+} // erpcShim
+
+
+#endif // _file_service_interface_hpp_

generated/file_service_server.cpp

@@ -0,0 +1,327 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:16:37 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#include "file_service_server.hpp"
+#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
+#include <new>
+#include "erpc_port.h"
+#endif
+#include "erpc_manually_constructed.hpp"
+
+#if 11400 != ERPC_VERSION_NUMBER
+#error "The generated shim code version is different to the rest of eRPC code."
+#endif
+
+using namespace erpc;
+using namespace std;
+using namespace erpcShim;
+
+#if ERPC_NESTED_CALLS_DETECTION
+extern bool nestingDetection;
+#endif
+
+
+//! @brief Function to read struct binary_t
+static void read_binary_t_struct(erpc::Codec * codec, binary_t * data);
+
+
+// Read struct binary_t function implementation
+static void read_binary_t_struct(erpc::Codec * codec, binary_t * data)
+{
+    if(NULL == data)
+    {
+        return;
+    }
+
+    uint8_t * data_local;
+    codec->readBinary(data->dataLength, &data_local);
+    if (data->dataLength > 0)
+    {
+    data->data = (uint8_t *) erpc_malloc(data->dataLength * sizeof(uint8_t));
+        if (data->data == NULL)
+        {
+            codec->updateStatus(kErpcStatus_MemoryError);
+        }
+        else
+        {
+            memcpy(data->data, data_local, data->dataLength);
+        }
+    }
+    else
+    {
+        data->data = NULL;
+    }
+}
+
+
+//! @brief Function to free space allocated inside struct binary_t
+static void free_binary_t_struct(binary_t * data);
+
+
+// Free space allocated inside struct binary_t function implementation
+static void free_binary_t_struct(binary_t * data)
+{
+    erpc_free(data->data);
+}
+
+
+
+file_service_service::file_service_service(file_service_interface *_file_service_interface)
+    : erpc::Service(file_service_interface::m_serviceId)
+    , m_handler(_file_service_interface)
+{
+}
+
+file_service_service::~file_service_service()
+{
+}
+
+// return service interface handler.
+file_service_interface* file_service_service::getHandler(void)
+{
+    return m_handler;
+}
+
+// Call the correct server shim based on method unique ID.
+erpc_status_t file_service_service::handleInvocation(uint32_t methodId, uint32_t sequence, Codec * codec, MessageBufferFactory *messageFactory, Transport * transport)
+{
+    erpc_status_t erpcStatus;
+    switch (methodId)
+    {
+        case file_service_interface::m_fileWriteBeginId:
+        {
+            erpcStatus = fileWriteBegin_shim(codec, messageFactory, transport, sequence);
+            break;
+        }
+
+        case file_service_interface::m_fileWriteChunkId:
+        {
+            erpcStatus = fileWriteChunk_shim(codec, messageFactory, transport, sequence);
+            break;
+        }
+
+        case file_service_interface::m_fileWriteEndId:
+        {
+            erpcStatus = fileWriteEnd_shim(codec, messageFactory, transport, sequence);
+            break;
+        }
+
+        case file_service_interface::m_fileWriteAbortId:
+        {
+            erpcStatus = fileWriteAbort_shim(codec, messageFactory, transport, sequence);
+            break;
+        }
+
+        default:
+        {
+            erpcStatus = kErpcStatus_InvalidArgument;
+            break;
+        }
+    }
+
+    return erpcStatus;
+}
+
+// Server shim for fileWriteBegin of file_service interface.
+erpc_status_t file_service_service::fileWriteBegin_shim(Codec * codec, MessageBufferFactory *messageFactory, Transport * transport, uint32_t sequence)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    char * path = NULL;
+    uint32_t total_size;
+    int32_t result;
+
+    // startReadMessage() was already called before this shim was invoked.
+
+    {
+        uint32_t path_len;
+        char * path_local;
+        codec->readString(path_len, &path_local);
+        path = (char*) erpc_malloc((path_len + 1) * sizeof(char));
+        if ((path == NULL) || (path_local == NULL))
+        {
+            codec->updateStatus(kErpcStatus_MemoryError);
+        }
+        else
+        {
+            memcpy(path, path_local, path_len);
+            (path)[path_len] = 0;
+        }
+    }
+
+    codec->read(total_size);
+
+    err = codec->getStatus();
+    if (err == kErpcStatus_Success)
+    {
+        // Invoke the actual served function.
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = true;
+#endif
+        result = m_handler->fileWriteBegin(path, total_size);
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = false;
+#endif
+
+        // preparing MessageBuffer for serializing data
+        err = messageFactory->prepareServerBufferForSend(codec->getBufferRef(), transport->reserveHeaderSize());
+    }
+
+    if (err == kErpcStatus_Success)
+    {
+        // preparing codec for serializing data
+        codec->reset(transport->reserveHeaderSize());
+
+        // Build response message.
+        codec->startWriteMessage(message_type_t::kReplyMessage, file_service_interface::m_serviceId, file_service_interface::m_fileWriteBeginId, sequence);
+
+        codec->write(result);
+
+        err = codec->getStatus();
+    }
+
+    erpc_free(path);
+
+    return err;
+}
+
+// Server shim for fileWriteChunk of file_service interface.
+erpc_status_t file_service_service::fileWriteChunk_shim(Codec * codec, MessageBufferFactory *messageFactory, Transport * transport, uint32_t sequence)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    binary_t *data = NULL;
+    data = (binary_t *) erpc_malloc(sizeof(binary_t));
+    if (data == NULL)
+    {
+        codec->updateStatus(kErpcStatus_MemoryError);
+    }
+    int32_t result;
+
+    // startReadMessage() was already called before this shim was invoked.
+
+    read_binary_t_struct(codec, data);
+
+    err = codec->getStatus();
+    if (err == kErpcStatus_Success)
+    {
+        // Invoke the actual served function.
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = true;
+#endif
+        result = m_handler->fileWriteChunk(data);
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = false;
+#endif
+
+        // preparing MessageBuffer for serializing data
+        err = messageFactory->prepareServerBufferForSend(codec->getBufferRef(), transport->reserveHeaderSize());
+    }
+
+    if (err == kErpcStatus_Success)
+    {
+        // preparing codec for serializing data
+        codec->reset(transport->reserveHeaderSize());
+
+        // Build response message.
+        codec->startWriteMessage(message_type_t::kReplyMessage, file_service_interface::m_serviceId, file_service_interface::m_fileWriteChunkId, sequence);
+
+        codec->write(result);
+
+        err = codec->getStatus();
+    }
+
+    if (data)
+    {
+        free_binary_t_struct(data);
+    }
+    erpc_free(data);
+
+    return err;
+}
+
+// Server shim for fileWriteEnd of file_service interface.
+erpc_status_t file_service_service::fileWriteEnd_shim(Codec * codec, MessageBufferFactory *messageFactory, Transport * transport, uint32_t sequence)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    int32_t result;
+
+    // startReadMessage() was already called before this shim was invoked.
+
+    err = codec->getStatus();
+    if (err == kErpcStatus_Success)
+    {
+        // Invoke the actual served function.
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = true;
+#endif
+        result = m_handler->fileWriteEnd();
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = false;
+#endif
+
+        // preparing MessageBuffer for serializing data
+        err = messageFactory->prepareServerBufferForSend(codec->getBufferRef(), transport->reserveHeaderSize());
+    }
+
+    if (err == kErpcStatus_Success)
+    {
+        // preparing codec for serializing data
+        codec->reset(transport->reserveHeaderSize());
+
+        // Build response message.
+        codec->startWriteMessage(message_type_t::kReplyMessage, file_service_interface::m_serviceId, file_service_interface::m_fileWriteEndId, sequence);
+
+        codec->write(result);
+
+        err = codec->getStatus();
+    }
+
+    return err;
+}
+
+// Server shim for fileWriteAbort of file_service interface.
+erpc_status_t file_service_service::fileWriteAbort_shim(Codec * codec, MessageBufferFactory *messageFactory, Transport * transport, uint32_t sequence)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    int32_t result;
+
+    // startReadMessage() was already called before this shim was invoked.
+
+    err = codec->getStatus();
+    if (err == kErpcStatus_Success)
+    {
+        // Invoke the actual served function.
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = true;
+#endif
+        result = m_handler->fileWriteAbort();
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = false;
+#endif
+
+        // preparing MessageBuffer for serializing data
+        err = messageFactory->prepareServerBufferForSend(codec->getBufferRef(), transport->reserveHeaderSize());
+    }
+
+    if (err == kErpcStatus_Success)
+    {
+        // preparing codec for serializing data
+        codec->reset(transport->reserveHeaderSize());
+
+        // Build response message.
+        codec->startWriteMessage(message_type_t::kReplyMessage, file_service_interface::m_serviceId, file_service_interface::m_fileWriteAbortId, sequence);
+
+        codec->write(result);
+
+        err = codec->getStatus();
+    }
+
+    return err;
+}

generated/file_service_server.hpp

@@ -0,0 +1,58 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:16:37 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if !defined(_file_service_server_hpp_)
+#define _file_service_server_hpp_
+
+#include "file_service_interface.hpp"
+
+#include "erpc_server.hpp"
+#include "erpc_codec.hpp"
+
+#if 11400 != ERPC_VERSION_NUMBER
+#error "The generated shim code version is different to the rest of eRPC code."
+#endif
+
+
+namespace erpcShim
+{
+
+/*!
+ * @brief Service subclass for file_service.
+ */
+class file_service_service : public erpc::Service
+{
+public:
+    file_service_service(file_service_interface *_file_service_interface);
+
+    virtual ~file_service_service();
+
+    /*! @brief return service interface handler. */
+    file_service_interface* getHandler(void);
+
+    /*! @brief Call the correct server shim based on method unique ID. */
+    virtual erpc_status_t handleInvocation(uint32_t methodId, uint32_t sequence, erpc::Codec * codec, erpc::MessageBufferFactory *messageFactory, erpc::Transport * transport);
+
+private:
+    file_service_interface *m_handler;
+    /*! @brief Server shim for fileWriteBegin of file_service interface. */
+    erpc_status_t fileWriteBegin_shim(erpc::Codec * codec, erpc::MessageBufferFactory *messageFactory, erpc::Transport * transport, uint32_t sequence);
+
+    /*! @brief Server shim for fileWriteChunk of file_service interface. */
+    erpc_status_t fileWriteChunk_shim(erpc::Codec * codec, erpc::MessageBufferFactory *messageFactory, erpc::Transport * transport, uint32_t sequence);
+
+    /*! @brief Server shim for fileWriteEnd of file_service interface. */
+    erpc_status_t fileWriteEnd_shim(erpc::Codec * codec, erpc::MessageBufferFactory *messageFactory, erpc::Transport * transport, uint32_t sequence);
+
+    /*! @brief Server shim for fileWriteAbort of file_service interface. */
+    erpc_status_t fileWriteAbort_shim(erpc::Codec * codec, erpc::MessageBufferFactory *messageFactory, erpc::Transport * transport, uint32_t sequence);
+};
+
+} // erpcShim
+
+
+#endif // _file_service_server_hpp_

generated/servo_service_client.cpp

@@ -0,0 +1,484 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:16:31 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
+#include "erpc_port.h"
+#endif
+#include "erpc_codec.hpp"
+#include "servo_service_client.hpp"
+#include "erpc_manually_constructed.hpp"
+
+#if 11400 != ERPC_VERSION_NUMBER
+#error "The generated shim code version is different to the rest of eRPC code."
+#endif
+
+using namespace erpc;
+using namespace std;
+using namespace erpcShim;
+
+//! @brief Function to write struct ServoCmd
+static void write_ServoCmd_struct(erpc::Codec * codec, const ServoCmd * data);
+
+//! @brief Function to write struct list_ServoCmd_1_t
+static void write_list_ServoCmd_1_t_struct(erpc::Codec * codec, const list_ServoCmd_1_t * data);
+
+//! @brief Function to write struct list_float_1_t
+static void write_list_float_1_t_struct(erpc::Codec * codec, const list_float_1_t * data);
+
+
+// Write struct ServoCmd function implementation
+static void write_ServoCmd_struct(erpc::Codec * codec, const ServoCmd * data)
+{
+    if(NULL == data)
+    {
+        return;
+    }
+
+    {
+        uint32_t id_len = strlen((const char*)data->id);
+
+        codec->writeString(id_len, (const char*)data->id);
+    }
+
+    codec->write(data->angle_rad);
+}
+
+// Write struct list_ServoCmd_1_t function implementation
+static void write_list_ServoCmd_1_t_struct(erpc::Codec * codec, const list_ServoCmd_1_t * data)
+{
+    if(NULL == data)
+    {
+        return;
+    }
+
+    codec->startWriteList(data->elementsCount);
+    for (uint32_t listCount = 0U; listCount < data->elementsCount; ++listCount)
+    {
+        write_ServoCmd_struct(codec, &(data->elements[listCount]));
+    }
+}
+
+// Write struct list_float_1_t function implementation
+static void write_list_float_1_t_struct(erpc::Codec * codec, const list_float_1_t * data)
+{
+    if(NULL == data)
+    {
+        return;
+    }
+
+    codec->startWriteList(data->elementsCount);
+    for (uint32_t listCount = 0U; listCount < data->elementsCount; ++listCount)
+    {
+        codec->write(data->elements[listCount]);
+    }
+}
+
+
+
+
+servo_service_client::servo_service_client(ClientManager *manager)
+:m_clientManager(manager)
+{
+}
+
+servo_service_client::~servo_service_client()
+{
+}
+
+// servo_service interface setConstraints function client shim.
+bool servo_service_client::setConstraints(const char * id, float max_velocity_rad, float max_acceleration_rad, float max_jerk_rad)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    bool result;
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb preCB = m_clientManager->getPreCB();
+    if (preCB)
+    {
+        preCB();
+    }
+#endif
+
+    // Get a new request.
+    RequestContext request = m_clientManager->createRequest(false);
+
+    // Encode the request.
+    Codec * codec = request.getCodec();
+
+    if (codec == NULL)
+    {
+        err = kErpcStatus_MemoryError;
+    }
+    else
+    {
+        codec->startWriteMessage(message_type_t::kInvocationMessage, m_serviceId, m_setConstraintsId, request.getSequence());
+
+        {
+            uint32_t id_len = strlen((const char*)id);
+
+            codec->writeString(id_len, (const char*)id);
+        }
+
+        codec->write(max_velocity_rad);
+
+        codec->write(max_acceleration_rad);
+
+        codec->write(max_jerk_rad);
+
+        // Send message to server
+        // Codec status is checked inside this function.
+        m_clientManager->performRequest(request);
+
+        codec->read(result);
+
+        err = codec->getStatus();
+    }
+
+    // Dispose of the request.
+    m_clientManager->releaseRequest(request);
+
+    // Invoke error handler callback function
+    m_clientManager->callErrorHandler(err, m_setConstraintsId);
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb postCB = m_clientManager->getPostCB();
+    if (postCB)
+    {
+        postCB();
+    }
+#endif
+
+
+    if (err != kErpcStatus_Success)
+    {
+        result = false;
+    }
+
+    return result;
+}
+
+// servo_service interface setPositionGain function client shim.
+bool servo_service_client::setPositionGain(const char * id, float position_gain)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    bool result;
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb preCB = m_clientManager->getPreCB();
+    if (preCB)
+    {
+        preCB();
+    }
+#endif
+
+    // Get a new request.
+    RequestContext request = m_clientManager->createRequest(false);
+
+    // Encode the request.
+    Codec * codec = request.getCodec();
+
+    if (codec == NULL)
+    {
+        err = kErpcStatus_MemoryError;
+    }
+    else
+    {
+        codec->startWriteMessage(message_type_t::kInvocationMessage, m_serviceId, m_setPositionGainId, request.getSequence());
+
+        {
+            uint32_t id_len = strlen((const char*)id);
+
+            codec->writeString(id_len, (const char*)id);
+        }
+
+        codec->write(position_gain);
+
+        // Send message to server
+        // Codec status is checked inside this function.
+        m_clientManager->performRequest(request);
+
+        codec->read(result);
+
+        err = codec->getStatus();
+    }
+
+    // Dispose of the request.
+    m_clientManager->releaseRequest(request);
+
+    // Invoke error handler callback function
+    m_clientManager->callErrorHandler(err, m_setPositionGainId);
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb postCB = m_clientManager->getPostCB();
+    if (postCB)
+    {
+        postCB();
+    }
+#endif
+
+
+    if (err != kErpcStatus_Success)
+    {
+        result = false;
+    }
+
+    return result;
+}
+
+// servo_service interface setMode function client shim.
+bool servo_service_client::setMode(RpcMotionMode mode)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    bool result;
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb preCB = m_clientManager->getPreCB();
+    if (preCB)
+    {
+        preCB();
+    }
+#endif
+
+    // Get a new request.
+    RequestContext request = m_clientManager->createRequest(false);
+
+    // Encode the request.
+    Codec * codec = request.getCodec();
+
+    if (codec == NULL)
+    {
+        err = kErpcStatus_MemoryError;
+    }
+    else
+    {
+        codec->startWriteMessage(message_type_t::kInvocationMessage, m_serviceId, m_setModeId, request.getSequence());
+
+        codec->write(static_cast<int32_t>(mode));
+
+        // Send message to server
+        // Codec status is checked inside this function.
+        m_clientManager->performRequest(request);
+
+        codec->read(result);
+
+        err = codec->getStatus();
+    }
+
+    // Dispose of the request.
+    m_clientManager->releaseRequest(request);
+
+    // Invoke error handler callback function
+    m_clientManager->callErrorHandler(err, m_setModeId);
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb postCB = m_clientManager->getPostCB();
+    if (postCB)
+    {
+        postCB();
+    }
+#endif
+
+
+    if (err != kErpcStatus_Success)
+    {
+        result = false;
+    }
+
+    return result;
+}
+
+// servo_service interface setUpdatePeriodMs function client shim.
+bool servo_service_client::setUpdatePeriodMs(uint32_t ms)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    bool result;
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb preCB = m_clientManager->getPreCB();
+    if (preCB)
+    {
+        preCB();
+    }
+#endif
+
+    // Get a new request.
+    RequestContext request = m_clientManager->createRequest(false);
+
+    // Encode the request.
+    Codec * codec = request.getCodec();
+
+    if (codec == NULL)
+    {
+        err = kErpcStatus_MemoryError;
+    }
+    else
+    {
+        codec->startWriteMessage(message_type_t::kInvocationMessage, m_serviceId, m_setUpdatePeriodMsId, request.getSequence());
+
+        codec->write(ms);
+
+        // Send message to server
+        // Codec status is checked inside this function.
+        m_clientManager->performRequest(request);
+
+        codec->read(result);
+
+        err = codec->getStatus();
+    }
+
+    // Dispose of the request.
+    m_clientManager->releaseRequest(request);
+
+    // Invoke error handler callback function
+    m_clientManager->callErrorHandler(err, m_setUpdatePeriodMsId);
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb postCB = m_clientManager->getPostCB();
+    if (postCB)
+    {
+        postCB();
+    }
+#endif
+
+
+    if (err != kErpcStatus_Success)
+    {
+        result = false;
+    }
+
+    return result;
+}
+
+// servo_service interface move function client shim.
+int32_t servo_service_client::move(const list_ServoCmd_1_t * cmds)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    int32_t result;
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb preCB = m_clientManager->getPreCB();
+    if (preCB)
+    {
+        preCB();
+    }
+#endif
+
+    // Get a new request.
+    RequestContext request = m_clientManager->createRequest(false);
+
+    // Encode the request.
+    Codec * codec = request.getCodec();
+
+    if (codec == NULL)
+    {
+        err = kErpcStatus_MemoryError;
+    }
+    else
+    {
+        codec->startWriteMessage(message_type_t::kInvocationMessage, m_serviceId, m_moveId, request.getSequence());
+
+        write_list_ServoCmd_1_t_struct(codec, cmds);
+
+        // Send message to server
+        // Codec status is checked inside this function.
+        m_clientManager->performRequest(request);
+
+        codec->read(result);
+
+        err = codec->getStatus();
+    }
+
+    // Dispose of the request.
+    m_clientManager->releaseRequest(request);
+
+    // Invoke error handler callback function
+    m_clientManager->callErrorHandler(err, m_moveId);
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb postCB = m_clientManager->getPostCB();
+    if (postCB)
+    {
+        postCB();
+    }
+#endif
+
+
+    if (err != kErpcStatus_Success)
+    {
+        result = -1;
+    }
+
+    return result;
+}
+
+// servo_service interface moveJ function client shim.
+int32_t servo_service_client::moveJ(const list_float_1_t * angles_rad)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    int32_t result;
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb preCB = m_clientManager->getPreCB();
+    if (preCB)
+    {
+        preCB();
+    }
+#endif
+
+    // Get a new request.
+    RequestContext request = m_clientManager->createRequest(false);
+
+    // Encode the request.
+    Codec * codec = request.getCodec();
+
+    if (codec == NULL)
+    {
+        err = kErpcStatus_MemoryError;
+    }
+    else
+    {
+        codec->startWriteMessage(message_type_t::kInvocationMessage, m_serviceId, m_moveJId, request.getSequence());
+
+        write_list_float_1_t_struct(codec, angles_rad);
+
+        // Send message to server
+        // Codec status is checked inside this function.
+        m_clientManager->performRequest(request);
+
+        codec->read(result);
+
+        err = codec->getStatus();
+    }
+
+    // Dispose of the request.
+    m_clientManager->releaseRequest(request);
+
+    // Invoke error handler callback function
+    m_clientManager->callErrorHandler(err, m_moveJId);
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb postCB = m_clientManager->getPostCB();
+    if (postCB)
+    {
+        postCB();
+    }
+#endif
+
+
+    if (err != kErpcStatus_Success)
+    {
+        result = -1;
+    }
+
+    return result;
+}

generated/servo_service_client.hpp

@@ -0,0 +1,44 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:16:31 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if !defined(_servo_service_client_hpp_)
+#define _servo_service_client_hpp_
+
+#include "servo_service_interface.hpp"
+
+#include "erpc_client_manager.h"
+
+namespace erpcShim
+{
+
+class servo_service_client: public servo_service_interface
+{
+    public:
+        servo_service_client(erpc::ClientManager *manager);
+
+        virtual ~servo_service_client();
+
+        virtual bool setConstraints(const char * id, float max_velocity_rad, float max_acceleration_rad, float max_jerk_rad);
+
+        virtual bool setPositionGain(const char * id, float position_gain);
+
+        virtual bool setMode(RpcMotionMode mode);
+
+        virtual bool setUpdatePeriodMs(uint32_t ms);
+
+        virtual int32_t move(const list_ServoCmd_1_t * cmds);
+
+        virtual int32_t moveJ(const list_float_1_t * angles_rad);
+
+    protected:
+        erpc::ClientManager *m_clientManager;
+};
+
+} // erpcShim
+
+
+#endif // _servo_service_client_hpp_

generated/servo_service_common.h

@@ -0,0 +1,69 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:16:31 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if !defined(_servo_service_common_h_)
+#define _servo_service_common_h_
+
+
+#if defined(__cplusplus)
+extern "C"
+{
+#endif
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+
+#include "erpc_version.h"
+
+#if 11400 != ERPC_VERSION_NUMBER
+#error "The generated shim code version is different to the rest of eRPC code."
+#endif
+
+
+#if !defined(ERPC_TYPE_DEFINITIONS_SERVO_SERVICE)
+#define ERPC_TYPE_DEFINITIONS_SERVO_SERVICE
+
+// Enumerators data types declarations
+typedef enum RpcMotionMode
+{
+    RpcMotionModeImmediate = 0,
+    RpcMotionModeSCurve = 1,
+    RpcMotionModeFollow = 2
+} RpcMotionMode;
+
+// Aliases data types declarations
+typedef struct list_float_1_t list_float_1_t;
+typedef struct ServoCmd ServoCmd;
+typedef struct list_ServoCmd_1_t list_ServoCmd_1_t;
+
+// Structures/unions data types declarations
+struct list_float_1_t
+{
+    float * elements;
+    uint32_t elementsCount;
+};
+
+struct ServoCmd
+{
+    char * id;
+    float angle_rad;
+};
+
+struct list_ServoCmd_1_t
+{
+    ServoCmd * elements;
+    uint32_t elementsCount;
+};
+
+
+#endif // ERPC_TYPE_DEFINITIONS_SERVO_SERVICE
+
+#if defined(__cplusplus)
+}
+#endif
+
+#endif // _servo_service_common_h_

generated/servo_service_common.hpp

@@ -0,0 +1,61 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:16:31 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if !defined(_servo_service_common_hpp_)
+#define _servo_service_common_hpp_
+
+
+#include <cstddef>
+#include <cstdint>
+
+#include "erpc_version.h"
+
+#if 11400 != ERPC_VERSION_NUMBER
+#error "The generated shim code version is different to the rest of eRPC code."
+#endif
+
+
+#if !defined(ERPC_TYPE_DEFINITIONS_SERVO_SERVICE)
+#define ERPC_TYPE_DEFINITIONS_SERVO_SERVICE
+
+// Enumerators data types declarations
+typedef enum RpcMotionMode
+{
+    RpcMotionModeImmediate = 0,
+    RpcMotionModeSCurve = 1,
+    RpcMotionModeFollow = 2
+} RpcMotionMode;
+
+// Aliases data types declarations
+typedef struct list_float_1_t list_float_1_t;
+typedef struct ServoCmd ServoCmd;
+typedef struct list_ServoCmd_1_t list_ServoCmd_1_t;
+
+// Structures/unions data types declarations
+struct list_float_1_t
+{
+    float * elements;
+    uint32_t elementsCount;
+};
+
+struct ServoCmd
+{
+    char * id;
+    float angle_rad;
+};
+
+struct list_ServoCmd_1_t
+{
+    ServoCmd * elements;
+    uint32_t elementsCount;
+};
+
+
+#endif // ERPC_TYPE_DEFINITIONS_SERVO_SERVICE
+
+
+#endif // _servo_service_common_hpp_

generated/servo_service_interface.cpp

@@ -0,0 +1,20 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:16:31 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#include "servo_service_interface.hpp"
+
+#if 11400 != ERPC_VERSION_NUMBER
+#error "The generated shim code version is different to the rest of eRPC code."
+#endif
+
+
+using namespace std;
+using namespace erpcShim;
+
+servo_service_interface::~servo_service_interface(void)
+{
+}

generated/servo_service_interface.hpp

@@ -0,0 +1,47 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:16:31 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if !defined(_servo_service_interface_hpp_)
+#define _servo_service_interface_hpp_
+
+#include "servo_service_common.hpp"
+
+namespace erpcShim
+{
+
+
+// Abstract base class for servo_service
+class servo_service_interface
+{
+    public:
+        static const uint8_t m_serviceId = 1;
+        static const uint8_t m_setConstraintsId = 1;
+        static const uint8_t m_setPositionGainId = 2;
+        static const uint8_t m_setModeId = 3;
+        static const uint8_t m_setUpdatePeriodMsId = 4;
+        static const uint8_t m_moveId = 5;
+        static const uint8_t m_moveJId = 6;
+
+        virtual ~servo_service_interface(void);
+
+        virtual bool setConstraints(const char * id, float max_velocity_rad, float max_acceleration_rad, float max_jerk_rad) = 0;
+
+        virtual bool setPositionGain(const char * id, float position_gain) = 0;
+
+        virtual bool setMode(RpcMotionMode mode) = 0;
+
+        virtual bool setUpdatePeriodMs(uint32_t ms) = 0;
+
+        virtual int32_t move(const list_ServoCmd_1_t * cmds) = 0;
+
+        virtual int32_t moveJ(const list_float_1_t * angles_rad) = 0;
+private:
+};
+} // erpcShim
+
+
+#endif // _servo_service_interface_hpp_

generated/servo_service_server.cpp

@@ -0,0 +1,539 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:16:31 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#include "servo_service_server.hpp"
+#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
+#include <new>
+#include "erpc_port.h"
+#endif
+#include "erpc_manually_constructed.hpp"
+
+#if 11400 != ERPC_VERSION_NUMBER
+#error "The generated shim code version is different to the rest of eRPC code."
+#endif
+
+using namespace erpc;
+using namespace std;
+using namespace erpcShim;
+
+#if ERPC_NESTED_CALLS_DETECTION
+extern bool nestingDetection;
+#endif
+
+
+//! @brief Function to read struct ServoCmd
+static void read_ServoCmd_struct(erpc::Codec * codec, ServoCmd * data);
+
+//! @brief Function to read struct list_ServoCmd_1_t
+static void read_list_ServoCmd_1_t_struct(erpc::Codec * codec, list_ServoCmd_1_t * data);
+
+//! @brief Function to read struct list_float_1_t
+static void read_list_float_1_t_struct(erpc::Codec * codec, list_float_1_t * data);
+
+
+// Read struct ServoCmd function implementation
+static void read_ServoCmd_struct(erpc::Codec * codec, ServoCmd * data)
+{
+    if(NULL == data)
+    {
+        return;
+    }
+
+    {
+        uint32_t id_len;
+        char * id_local;
+        codec->readString(id_len, &id_local);
+        data->id = (char*) erpc_malloc((id_len + 1) * sizeof(char));
+        if ((data->id == NULL) || (id_local == NULL))
+        {
+            codec->updateStatus(kErpcStatus_MemoryError);
+        }
+        else
+        {
+            memcpy(data->id, id_local, id_len);
+            (data->id)[id_len] = 0;
+        }
+    }
+
+    codec->read(data->angle_rad);
+}
+
+// Read struct list_ServoCmd_1_t function implementation
+static void read_list_ServoCmd_1_t_struct(erpc::Codec * codec, list_ServoCmd_1_t * data)
+{
+    if(NULL == data)
+    {
+        return;
+    }
+
+    codec->startReadList(data->elementsCount);
+    data->elements = (ServoCmd *) erpc_malloc(data->elementsCount * sizeof(ServoCmd));
+    if ((data->elements == NULL) && (data->elementsCount > 0))
+    {
+        codec->updateStatus(kErpcStatus_MemoryError);
+    }
+    for (uint32_t listCount = 0U; listCount < data->elementsCount; ++listCount)
+    {
+        read_ServoCmd_struct(codec, &(data->elements[listCount]));
+    }
+}
+
+// Read struct list_float_1_t function implementation
+static void read_list_float_1_t_struct(erpc::Codec * codec, list_float_1_t * data)
+{
+    if(NULL == data)
+    {
+        return;
+    }
+
+    codec->startReadList(data->elementsCount);
+    data->elements = (float *) erpc_malloc(data->elementsCount * sizeof(float));
+    if ((data->elements == NULL) && (data->elementsCount > 0))
+    {
+        codec->updateStatus(kErpcStatus_MemoryError);
+    }
+    for (uint32_t listCount = 0U; listCount < data->elementsCount; ++listCount)
+    {
+        codec->read(data->elements[listCount]);
+    }
+}
+
+
+//! @brief Function to free space allocated inside struct ServoCmd
+static void free_ServoCmd_struct(ServoCmd * data);
+
+//! @brief Function to free space allocated inside struct list_ServoCmd_1_t
+static void free_list_ServoCmd_1_t_struct(list_ServoCmd_1_t * data);
+
+//! @brief Function to free space allocated inside struct list_float_1_t
+static void free_list_float_1_t_struct(list_float_1_t * data);
+
+
+// Free space allocated inside struct ServoCmd function implementation
+static void free_ServoCmd_struct(ServoCmd * data)
+{
+    erpc_free(data->id);
+}
+
+// Free space allocated inside struct list_ServoCmd_1_t function implementation
+static void free_list_ServoCmd_1_t_struct(list_ServoCmd_1_t * data)
+{
+    for (uint32_t listCount = 0; listCount < data->elementsCount; ++listCount)
+    {
+        free_ServoCmd_struct(&data->elements[listCount]);
+    }
+
+    erpc_free(data->elements);
+}
+
+// Free space allocated inside struct list_float_1_t function implementation
+static void free_list_float_1_t_struct(list_float_1_t * data)
+{
+    erpc_free(data->elements);
+}
+
+
+
+servo_service_service::servo_service_service(servo_service_interface *_servo_service_interface)
+    : erpc::Service(servo_service_interface::m_serviceId)
+    , m_handler(_servo_service_interface)
+{
+}
+
+servo_service_service::~servo_service_service()
+{
+}
+
+// return service interface handler.
+servo_service_interface* servo_service_service::getHandler(void)
+{
+    return m_handler;
+}
+
+// Call the correct server shim based on method unique ID.
+erpc_status_t servo_service_service::handleInvocation(uint32_t methodId, uint32_t sequence, Codec * codec, MessageBufferFactory *messageFactory, Transport * transport)
+{
+    erpc_status_t erpcStatus;
+    switch (methodId)
+    {
+        case servo_service_interface::m_setConstraintsId:
+        {
+            erpcStatus = setConstraints_shim(codec, messageFactory, transport, sequence);
+            break;
+        }
+
+        case servo_service_interface::m_setPositionGainId:
+        {
+            erpcStatus = setPositionGain_shim(codec, messageFactory, transport, sequence);
+            break;
+        }
+
+        case servo_service_interface::m_setModeId:
+        {
+            erpcStatus = setMode_shim(codec, messageFactory, transport, sequence);
+            break;
+        }
+
+        case servo_service_interface::m_setUpdatePeriodMsId:
+        {
+            erpcStatus = setUpdatePeriodMs_shim(codec, messageFactory, transport, sequence);
+            break;
+        }
+
+        case servo_service_interface::m_moveId:
+        {
+            erpcStatus = move_shim(codec, messageFactory, transport, sequence);
+            break;
+        }
+
+        case servo_service_interface::m_moveJId:
+        {
+            erpcStatus = moveJ_shim(codec, messageFactory, transport, sequence);
+            break;
+        }
+
+        default:
+        {
+            erpcStatus = kErpcStatus_InvalidArgument;
+            break;
+        }
+    }
+
+    return erpcStatus;
+}
+
+// Server shim for setConstraints of servo_service interface.
+erpc_status_t servo_service_service::setConstraints_shim(Codec * codec, MessageBufferFactory *messageFactory, Transport * transport, uint32_t sequence)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    char * id = NULL;
+    float max_velocity_rad;
+    float max_acceleration_rad;
+    float max_jerk_rad;
+    bool result;
+
+    // startReadMessage() was already called before this shim was invoked.
+
+    {
+        uint32_t id_len;
+        char * id_local;
+        codec->readString(id_len, &id_local);
+        id = (char*) erpc_malloc((id_len + 1) * sizeof(char));
+        if ((id == NULL) || (id_local == NULL))
+        {
+            codec->updateStatus(kErpcStatus_MemoryError);
+        }
+        else
+        {
+            memcpy(id, id_local, id_len);
+            (id)[id_len] = 0;
+        }
+    }
+
+    codec->read(max_velocity_rad);
+
+    codec->read(max_acceleration_rad);
+
+    codec->read(max_jerk_rad);
+
+    err = codec->getStatus();
+    if (err == kErpcStatus_Success)
+    {
+        // Invoke the actual served function.
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = true;
+#endif
+        result = m_handler->setConstraints(id, max_velocity_rad, max_acceleration_rad, max_jerk_rad);
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = false;
+#endif
+
+        // preparing MessageBuffer for serializing data
+        err = messageFactory->prepareServerBufferForSend(codec->getBufferRef(), transport->reserveHeaderSize());
+    }
+
+    if (err == kErpcStatus_Success)
+    {
+        // preparing codec for serializing data
+        codec->reset(transport->reserveHeaderSize());
+
+        // Build response message.
+        codec->startWriteMessage(message_type_t::kReplyMessage, servo_service_interface::m_serviceId, servo_service_interface::m_setConstraintsId, sequence);
+
+        codec->write(result);
+
+        err = codec->getStatus();
+    }
+
+    erpc_free(id);
+
+    return err;
+}
+
+// Server shim for setPositionGain of servo_service interface.
+erpc_status_t servo_service_service::setPositionGain_shim(Codec * codec, MessageBufferFactory *messageFactory, Transport * transport, uint32_t sequence)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    char * id = NULL;
+    float position_gain;
+    bool result;
+
+    // startReadMessage() was already called before this shim was invoked.
+
+    {
+        uint32_t id_len;
+        char * id_local;
+        codec->readString(id_len, &id_local);
+        id = (char*) erpc_malloc((id_len + 1) * sizeof(char));
+        if ((id == NULL) || (id_local == NULL))
+        {
+            codec->updateStatus(kErpcStatus_MemoryError);
+        }
+        else
+        {
+            memcpy(id, id_local, id_len);
+            (id)[id_len] = 0;
+        }
+    }
+
+    codec->read(position_gain);
+
+    err = codec->getStatus();
+    if (err == kErpcStatus_Success)
+    {
+        // Invoke the actual served function.
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = true;
+#endif
+        result = m_handler->setPositionGain(id, position_gain);
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = false;
+#endif
+
+        // preparing MessageBuffer for serializing data
+        err = messageFactory->prepareServerBufferForSend(codec->getBufferRef(), transport->reserveHeaderSize());
+    }
+
+    if (err == kErpcStatus_Success)
+    {
+        // preparing codec for serializing data
+        codec->reset(transport->reserveHeaderSize());
+
+        // Build response message.
+        codec->startWriteMessage(message_type_t::kReplyMessage, servo_service_interface::m_serviceId, servo_service_interface::m_setPositionGainId, sequence);
+
+        codec->write(result);
+
+        err = codec->getStatus();
+    }
+
+    erpc_free(id);
+
+    return err;
+}
+
+// Server shim for setMode of servo_service interface.
+erpc_status_t servo_service_service::setMode_shim(Codec * codec, MessageBufferFactory *messageFactory, Transport * transport, uint32_t sequence)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    RpcMotionMode mode;
+    int32_t _tmp_local_i32;
+    bool result;
+
+    // startReadMessage() was already called before this shim was invoked.
+
+    codec->read(_tmp_local_i32);
+    mode = static_cast<RpcMotionMode>(_tmp_local_i32);
+
+    err = codec->getStatus();
+    if (err == kErpcStatus_Success)
+    {
+        // Invoke the actual served function.
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = true;
+#endif
+        result = m_handler->setMode(mode);
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = false;
+#endif
+
+        // preparing MessageBuffer for serializing data
+        err = messageFactory->prepareServerBufferForSend(codec->getBufferRef(), transport->reserveHeaderSize());
+    }
+
+    if (err == kErpcStatus_Success)
+    {
+        // preparing codec for serializing data
+        codec->reset(transport->reserveHeaderSize());
+
+        // Build response message.
+        codec->startWriteMessage(message_type_t::kReplyMessage, servo_service_interface::m_serviceId, servo_service_interface::m_setModeId, sequence);
+
+        codec->write(result);
+
+        err = codec->getStatus();
+    }
+
+    return err;
+}
+
+// Server shim for setUpdatePeriodMs of servo_service interface.
+erpc_status_t servo_service_service::setUpdatePeriodMs_shim(Codec * codec, MessageBufferFactory *messageFactory, Transport * transport, uint32_t sequence)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    uint32_t ms;
+    bool result;
+
+    // startReadMessage() was already called before this shim was invoked.
+
+    codec->read(ms);
+
+    err = codec->getStatus();
+    if (err == kErpcStatus_Success)
+    {
+        // Invoke the actual served function.
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = true;
+#endif
+        result = m_handler->setUpdatePeriodMs(ms);
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = false;
+#endif
+
+        // preparing MessageBuffer for serializing data
+        err = messageFactory->prepareServerBufferForSend(codec->getBufferRef(), transport->reserveHeaderSize());
+    }
+
+    if (err == kErpcStatus_Success)
+    {
+        // preparing codec for serializing data
+        codec->reset(transport->reserveHeaderSize());
+
+        // Build response message.
+        codec->startWriteMessage(message_type_t::kReplyMessage, servo_service_interface::m_serviceId, servo_service_interface::m_setUpdatePeriodMsId, sequence);
+
+        codec->write(result);
+
+        err = codec->getStatus();
+    }
+
+    return err;
+}
+
+// Server shim for move of servo_service interface.
+erpc_status_t servo_service_service::move_shim(Codec * codec, MessageBufferFactory *messageFactory, Transport * transport, uint32_t sequence)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    list_ServoCmd_1_t *cmds = NULL;
+    cmds = (list_ServoCmd_1_t *) erpc_malloc(sizeof(list_ServoCmd_1_t));
+    if (cmds == NULL)
+    {
+        codec->updateStatus(kErpcStatus_MemoryError);
+    }
+    int32_t result;
+
+    // startReadMessage() was already called before this shim was invoked.
+
+    read_list_ServoCmd_1_t_struct(codec, cmds);
+
+    err = codec->getStatus();
+    if (err == kErpcStatus_Success)
+    {
+        // Invoke the actual served function.
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = true;
+#endif
+        result = m_handler->move(cmds);
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = false;
+#endif
+
+        // preparing MessageBuffer for serializing data
+        err = messageFactory->prepareServerBufferForSend(codec->getBufferRef(), transport->reserveHeaderSize());
+    }
+
+    if (err == kErpcStatus_Success)
+    {
+        // preparing codec for serializing data
+        codec->reset(transport->reserveHeaderSize());
+
+        // Build response message.
+        codec->startWriteMessage(message_type_t::kReplyMessage, servo_service_interface::m_serviceId, servo_service_interface::m_moveId, sequence);
+
+        codec->write(result);
+
+        err = codec->getStatus();
+    }
+
+    if (cmds)
+    {
+        free_list_ServoCmd_1_t_struct(cmds);
+    }
+    erpc_free(cmds);
+
+    return err;
+}
+
+// Server shim for moveJ of servo_service interface.
+erpc_status_t servo_service_service::moveJ_shim(Codec * codec, MessageBufferFactory *messageFactory, Transport * transport, uint32_t sequence)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    list_float_1_t *angles_rad = NULL;
+    angles_rad = (list_float_1_t *) erpc_malloc(sizeof(list_float_1_t));
+    if (angles_rad == NULL)
+    {
+        codec->updateStatus(kErpcStatus_MemoryError);
+    }
+    int32_t result;
+
+    // startReadMessage() was already called before this shim was invoked.
+
+    read_list_float_1_t_struct(codec, angles_rad);
+
+    err = codec->getStatus();
+    if (err == kErpcStatus_Success)
+    {
+        // Invoke the actual served function.
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = true;
+#endif
+        result = m_handler->moveJ(angles_rad);
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = false;
+#endif
+
+        // preparing MessageBuffer for serializing data
+        err = messageFactory->prepareServerBufferForSend(codec->getBufferRef(), transport->reserveHeaderSize());
+    }
+
+    if (err == kErpcStatus_Success)
+    {
+        // preparing codec for serializing data
+        codec->reset(transport->reserveHeaderSize());
+
+        // Build response message.
+        codec->startWriteMessage(message_type_t::kReplyMessage, servo_service_interface::m_serviceId, servo_service_interface::m_moveJId, sequence);
+
+        codec->write(result);
+
+        err = codec->getStatus();
+    }
+
+    if (angles_rad)
+    {
+        free_list_float_1_t_struct(angles_rad);
+    }
+    erpc_free(angles_rad);
+
+    return err;
+}

generated/servo_service_server.hpp

@@ -0,0 +1,64 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:16:31 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if !defined(_servo_service_server_hpp_)
+#define _servo_service_server_hpp_
+
+#include "servo_service_interface.hpp"
+
+#include "erpc_server.hpp"
+#include "erpc_codec.hpp"
+
+#if 11400 != ERPC_VERSION_NUMBER
+#error "The generated shim code version is different to the rest of eRPC code."
+#endif
+
+
+namespace erpcShim
+{
+
+/*!
+ * @brief Service subclass for servo_service.
+ */
+class servo_service_service : public erpc::Service
+{
+public:
+    servo_service_service(servo_service_interface *_servo_service_interface);
+
+    virtual ~servo_service_service();
+
+    /*! @brief return service interface handler. */
+    servo_service_interface* getHandler(void);
+
+    /*! @brief Call the correct server shim based on method unique ID. */
+    virtual erpc_status_t handleInvocation(uint32_t methodId, uint32_t sequence, erpc::Codec * codec, erpc::MessageBufferFactory *messageFactory, erpc::Transport * transport);
+
+private:
+    servo_service_interface *m_handler;
+    /*! @brief Server shim for setConstraints of servo_service interface. */
+    erpc_status_t setConstraints_shim(erpc::Codec * codec, erpc::MessageBufferFactory *messageFactory, erpc::Transport * transport, uint32_t sequence);
+
+    /*! @brief Server shim for setPositionGain of servo_service interface. */
+    erpc_status_t setPositionGain_shim(erpc::Codec * codec, erpc::MessageBufferFactory *messageFactory, erpc::Transport * transport, uint32_t sequence);
+
+    /*! @brief Server shim for setMode of servo_service interface. */
+    erpc_status_t setMode_shim(erpc::Codec * codec, erpc::MessageBufferFactory *messageFactory, erpc::Transport * transport, uint32_t sequence);
+
+    /*! @brief Server shim for setUpdatePeriodMs of servo_service interface. */
+    erpc_status_t setUpdatePeriodMs_shim(erpc::Codec * codec, erpc::MessageBufferFactory *messageFactory, erpc::Transport * transport, uint32_t sequence);
+
+    /*! @brief Server shim for move of servo_service interface. */
+    erpc_status_t move_shim(erpc::Codec * codec, erpc::MessageBufferFactory *messageFactory, erpc::Transport * transport, uint32_t sequence);
+
+    /*! @brief Server shim for moveJ of servo_service interface. */
+    erpc_status_t moveJ_shim(erpc::Codec * codec, erpc::MessageBufferFactory *messageFactory, erpc::Transport * transport, uint32_t sequence);
+};
+
+} // erpcShim
+
+
+#endif // _servo_service_server_hpp_

main.py

@@ -0,0 +1,41 @@
+import statistics
+import time
+
+import erpc
+
+from servo_service import client
+
+
+PORT = "COM8"
+BAUD = 115200
+N = 180
+JOINT_COUNT = 48
+
+
+def main():
+    xport = erpc.transport.SerialTransport(PORT, BAUD)
+    client_mgr = erpc.client.ClientManager(xport, erpc.basic_codec.BasicCodec)
+    api = client.servo_serviceClient(client_mgr)
+
+    angles = [0.0] * JOINT_COUNT
+
+    while True:
+        costs_ms = []
+
+        for _ in range(N):
+            t0 = time.perf_counter()
+            api.moveJ(angles)
+            t1 = time.perf_counter()
+            costs_ms.append((t1 - t0) * 1000.0)
+
+        print(f"N={N}")
+        print(f"avg = {statistics.mean(costs_ms):.3f} ms")
+        print(f"min = {min(costs_ms):.3f} ms")
+        print(f"max = {max(costs_ms):.3f} ms")
+        if N >= 2:
+            print(f"p50 = {statistics.median(costs_ms):.3f} ms")
+            print(f"p95 ~= {sorted(costs_ms)[int(0.95 * (N - 1))]:.3f} ms")
+
+
+if __name__ == "__main__":
+    main()

run_ui.ps1

@@ -0,0 +1,35 @@
+param(
+    [string]$PythonExecutable = "C:\Users\Administrator\miniconda3\envs\cmvr-head-client\python.exe",
+    [switch]$SkipBuild
+)
+
+$ErrorActionPreference = "Stop"
+
+$repoRoot = Split-Path -Parent $MyInvocation.MyCommand.Path
+$buildScript = Join-Path $repoRoot "cpp\common\curve\build_python.ps1"
+$uiScript = Join-Path $repoRoot "ui\face_servo_control.py"
+
+if (-not (Test-Path $PythonExecutable)) {
+    throw "Python executable not found at $PythonExecutable"
+}
+
+if (-not (Test-Path $uiScript)) {
+    throw "UI script not found at $uiScript"
+}
+
+if (-not $SkipBuild) {
+    if (-not (Test-Path $buildScript)) {
+        throw "Build script not found at $buildScript"
+    }
+
+    Write-Host "[1/2] Rebuilding _s_curve_native..."
+    powershell -ExecutionPolicy Bypass -File $buildScript -PythonExecutable $PythonExecutable
+    if ($LASTEXITCODE -ne 0) {
+        throw "Native module rebuild failed."
+    }
+} else {
+    Write-Host "[1/2] Skipping native rebuild."
+}
+
+Write-Host "[2/2] Launching UI..."
+& $PythonExecutable $uiScript

s_curve.py

@@ -0,0 +1,246 @@
+import importlib.util
+from pathlib import Path
+import sys
+
+
+REPO_ROOT = Path(__file__).resolve().parent
+
+
+class SCurveError(RuntimeError):
+    pass
+
+
+def _default_module_candidates():
+    search_roots = [
+        REPO_ROOT / "cpp" / "common" / "curve" / "build",
+        REPO_ROOT / "cpp" / "common" / "curve" / "build" / "Release",
+    ]
+    patterns = [
+        "_s_curve_native*.pyd",
+        "_s_curve_native*.so",
+    ]
+    candidates = []
+    for root in search_roots:
+        if not root.exists():
+            continue
+        for pattern in patterns:
+            candidates.extend(sorted(root.glob(pattern)))
+    return candidates
+
+
+def _resolve_module_path(module_path=None):
+    if module_path:
+        path = Path(module_path)
+        if path.exists():
+            return path
+        raise FileNotFoundError(f"SCurve native module not found: {path}")
+
+    for candidate in _default_module_candidates():
+        if candidate.exists():
+            return candidate
+
+    candidate_text = "\n".join(str(path) for path in _default_module_candidates())
+    raise FileNotFoundError(
+        "SCurve native module not found. Build it first with:\n"
+        "powershell -ExecutionPolicy Bypass -File .\\cpp\\common\\curve\\build_python.ps1 "
+        "-PythonExecutable 'C:\\Users\\Administrator\\miniconda3\\envs\\cmvr-head-client\\python.exe'\n"
+        f"Expected one of:\n{candidate_text}"
+    )
+
+
+class SCurve:
+    def __init__(self, max_velocity=3.0, max_acceleration=10.0, max_jerk=50.0, module_path=None, dll_path=None):
+        resolved_path = _resolve_module_path(module_path or dll_path)
+        try:
+            self._module = self._load_native_module(resolved_path)
+            self._native = self._module.SCurve(max_velocity, max_acceleration, max_jerk)
+        except Exception as exc:
+            raise SCurveError(f"Failed to create pybind11 SCurve instance: {exc}") from exc
+
+    @staticmethod
+    def _load_native_module(module_path):
+        module_name = "_s_curve_native"
+        if module_name in sys.modules:
+            return sys.modules[module_name]
+        spec = importlib.util.spec_from_file_location(module_name, module_path)
+        if spec is None or spec.loader is None:
+            raise ImportError(f"Unable to load module from {module_path}")
+        module = importlib.util.module_from_spec(spec)
+        sys.modules[module_name] = module
+        spec.loader.exec_module(module)
+        return module
+
+    @staticmethod
+    def _wrap_native_call(action, fn, *args, **kwargs):
+        try:
+            return fn(*args, **kwargs)
+        except Exception as exc:
+            raise SCurveError(f"{action} failed: {exc}") from exc
+
+    def setConstraints(self, max_velocity, max_acceleration, max_jerk):
+        return self._wrap_native_call(
+            "setConstraints",
+            self._native.setConstraints,
+            max_velocity,
+            max_acceleration,
+            max_jerk,
+        )
+
+    def getConstraints(self):
+        return self._wrap_native_call(
+            "getConstraints",
+            self._native.getConstraints,
+        )
+
+    def calculateProfile(self, start_position, end_position, start_velocity=0.0, end_velocity=0.0):
+        return self._wrap_native_call(
+            "calculateProfile",
+            self._native.calculateProfile,
+            start_position,
+            end_position,
+            start_velocity,
+            end_velocity,
+        )
+
+    def getPositionAtTime(self, profile, t):
+        return self._wrap_native_call("getPositionAtTime", self._native.getPositionAtTime, profile, t)
+
+    def getVelocityAtTime(self, profile, t):
+        return self._wrap_native_call("getVelocityAtTime", self._native.getVelocityAtTime, profile, t)
+
+    def getAccelerationAtTime(self, profile, t):
+        return self._wrap_native_call(
+            "getAccelerationAtTime",
+            self._native.getAccelerationAtTime,
+            profile,
+            t,
+        )
+
+    def getJerkAtTime(self, profile, t):
+        return self._wrap_native_call("getJerkAtTime", self._native.getJerkAtTime, profile, t)
+
+    def sampleTrajectory(self, profile, dt):
+        return self._wrap_native_call(
+            "sampleTrajectory",
+            self._native.sampleTrajectory,
+            profile,
+            dt,
+        )
+
+
+class SCurvePositionPlanner1D:
+    def __init__(self, max_velocity=3.0, max_acceleration=10.0, max_jerk=50.0, module_path=None, dll_path=None):
+        resolved_path = _resolve_module_path(module_path or dll_path)
+        try:
+            self._module = SCurve._load_native_module(resolved_path)
+            self._native = self._module.SCurvePositionPlanner1D(
+                max_velocity,
+                max_acceleration,
+                max_jerk,
+            )
+        except Exception as exc:
+            raise SCurveError(f"Failed to create pybind11 SCurvePositionPlanner1D instance: {exc}") from exc
+
+    def setConstraints(self, max_velocity, max_acceleration, max_jerk):
+        return SCurve._wrap_native_call(
+            "setConstraints",
+            self._native.setConstraints,
+            max_velocity,
+            max_acceleration,
+            max_jerk,
+        )
+
+    def getConstraints(self):
+        return SCurve._wrap_native_call("getConstraints", self._native.getConstraints)
+
+    def setPositionGain(self, position_gain):
+        return SCurve._wrap_native_call("setPositionGain", self._native.setPositionGain, position_gain)
+
+    def getPositionGain(self):
+        return SCurve._wrap_native_call("getPositionGain", self._native.getPositionGain)
+
+    def initialize(self, position, velocity=0.0, acceleration=0.0):
+        return SCurve._wrap_native_call(
+            "initialize",
+            self._native.initialize,
+            position,
+            velocity,
+            acceleration,
+        )
+
+    def reset(self):
+        return SCurve._wrap_native_call("reset", self._native.reset)
+
+    def setTarget(self, target_position):
+        return SCurve._wrap_native_call("setTarget", self._native.setTarget, target_position)
+
+    def update(self, dt):
+        return SCurve._wrap_native_call("update", self._native.update, dt)
+
+    def getState(self):
+        return SCurve._wrap_native_call("getState", self._native.getState)
+
+    def sampleTrajectory(
+        self,
+        target_position,
+        dt,
+        duration,
+        initial_position=0.0,
+        initial_velocity=0.0,
+        initial_acceleration=0.0,
+        position_gain=None,
+    ):
+        if dt <= 0:
+            raise ValueError("dt must be > 0")
+        if duration < 0:
+            raise ValueError("duration must be >= 0")
+
+        self.initialize(initial_position, initial_velocity, initial_acceleration)
+        if position_gain is not None:
+            self.setPositionGain(position_gain)
+        self.setTarget(target_position)
+
+        times = [0.0]
+        state = self.getState()
+        positions = [state.position]
+        velocities = [state.velocity]
+        accelerations = [state.acceleration]
+        jerks = [state.jerk]
+        targets = [state.target_position]
+        moving = [state.is_moving]
+
+        t = 0.0
+        while t + dt <= duration + 1e-12:
+            t = round(t + dt, 12)
+            self.update(dt)
+            state = self.getState()
+            times.append(t)
+            positions.append(state.position)
+            velocities.append(state.velocity)
+            accelerations.append(state.acceleration)
+            jerks.append(state.jerk)
+            targets.append(state.target_position)
+            moving.append(state.is_moving)
+
+        if abs(times[-1] - duration) > 1e-9:
+            final_dt = duration - times[-1]
+            if final_dt > 1e-12:
+                self.update(final_dt)
+                state = self.getState()
+                times.append(duration)
+                positions.append(state.position)
+                velocities.append(state.velocity)
+                accelerations.append(state.acceleration)
+                jerks.append(state.jerk)
+                targets.append(state.target_position)
+                moving.append(state.is_moving)
+
+        return {
+            "times": times,
+            "positions": positions,
+            "velocities": velocities,
+            "accelerations": accelerations,
+            "jerks": jerks,
+            "targets": targets,
+            "moving": moving,
+        }

servo_service.erpc

@@ -0,0 +1,34 @@
+// servo_service.erpc
+// Generator examples:
+//   .\erpcgen.exe -o .\generated\ -g c .\servo_service.erpc
+//   .\erpcgen.exe -g py .\servo_service.erpc
+// 注意：interface 客户端和服务端erpc里面的函数顺序一定要一样
+
+program servo_service
+
+enum RpcMotionMode {
+    RpcMotionModeImmediate = 0,
+    RpcMotionModeSCurve = 1,
+    RpcMotionModeFollow = 2
+}
+struct ServoCmd {
+    string id
+    float angle_rad
+}
+interface servo_service
+{
+    setConstraints(string id,
+                   float max_velocity_rad,
+                   float max_acceleration_rad,
+                   float max_jerk_rad) -> bool
+    setPositionGain(string id,
+                    float position_gain) -> bool
+
+    setMode(RpcMotionMode mode)->bool
+    setUpdatePeriodMs(uint32 ms) -> bool
+    move(list<ServoCmd> cmds) -> int32
+
+    moveJ(list<float> angles_rad) -> int32
+
+
+}

servo_service/__init__.py

@@ -0,0 +1,19 @@
+#
+# Generated by erpcgen 1.14.0 on Tue Apr 28 12:25:26 2026.
+#
+# AUTOGENERATED - DO NOT EDIT
+#
+
+try:
+    from erpc import erpc_version
+    version = erpc_version.ERPC_VERSION
+except ImportError:
+    version = "unknown"
+if version != "1.14.0":
+    raise ValueError("The generated shim code version (1.14.0) is different to the rest of eRPC code (%s). \
+Install newer version by running \"python setup.py install\" in folder erpc/erpc_python/." % repr(version))
+
+from . import common
+from . import client
+from . import server
+from . import interface

servo_service/client.py

@@ -0,0 +1,142 @@
+#
+# Generated by erpcgen 1.14.0 on Tue Apr 28 12:25:26 2026.
+#
+# AUTOGENERATED - DO NOT EDIT
+#
+
+import erpc
+from . import common, interface
+
+# Client for servo_service
+class servo_serviceClient(interface.Iservo_service):
+    def __init__(self, manager):
+        super(servo_serviceClient, self).__init__()
+        self._clientManager = manager
+
+    def setConstraints(self, id, max_velocity_rad, max_acceleration_rad, max_jerk_rad):
+        # Build remote function invocation message.
+        request = self._clientManager.create_request()
+        codec = request.codec
+        codec.start_write_message(erpc.codec.MessageInfo(
+                type=erpc.codec.MessageType.kInvocationMessage,
+                service=self.SERVICE_ID,
+                request=self.SETCONSTRAINTS_ID,
+                sequence=request.sequence))
+        if id is None:
+            raise ValueError("id is None")
+        codec.write_string(id)
+        if max_velocity_rad is None:
+            raise ValueError("max_velocity_rad is None")
+        codec.write_float(max_velocity_rad)
+        if max_acceleration_rad is None:
+            raise ValueError("max_acceleration_rad is None")
+        codec.write_float(max_acceleration_rad)
+        if max_jerk_rad is None:
+            raise ValueError("max_jerk_rad is None")
+        codec.write_float(max_jerk_rad)
+
+        # Send request and process reply.
+        self._clientManager.perform_request(request)
+        _result = codec.read_bool()
+        return _result
+
+    def setPositionGain(self, id, position_gain):
+        # Build remote function invocation message.
+        request = self._clientManager.create_request()
+        codec = request.codec
+        codec.start_write_message(erpc.codec.MessageInfo(
+                type=erpc.codec.MessageType.kInvocationMessage,
+                service=self.SERVICE_ID,
+                request=self.SETPOSITIONGAIN_ID,
+                sequence=request.sequence))
+        if id is None:
+            raise ValueError("id is None")
+        codec.write_string(id)
+        if position_gain is None:
+            raise ValueError("position_gain is None")
+        codec.write_float(position_gain)
+
+        # Send request and process reply.
+        self._clientManager.perform_request(request)
+        _result = codec.read_bool()
+        return _result
+
+    def setMode(self, mode):
+        # Build remote function invocation message.
+        request = self._clientManager.create_request()
+        codec = request.codec
+        codec.start_write_message(erpc.codec.MessageInfo(
+                type=erpc.codec.MessageType.kInvocationMessage,
+                service=self.SERVICE_ID,
+                request=self.SETMODE_ID,
+                sequence=request.sequence))
+        if mode is None:
+            raise ValueError("mode is None")
+        codec.write_int32(mode)
+
+        # Send request and process reply.
+        self._clientManager.perform_request(request)
+        _result = codec.read_bool()
+        return _result
+
+    def setUpdatePeriodMs(self, ms):
+        # Build remote function invocation message.
+        request = self._clientManager.create_request()
+        codec = request.codec
+        codec.start_write_message(erpc.codec.MessageInfo(
+                type=erpc.codec.MessageType.kInvocationMessage,
+                service=self.SERVICE_ID,
+                request=self.SETUPDATEPERIODMS_ID,
+                sequence=request.sequence))
+        if ms is None:
+            raise ValueError("ms is None")
+        codec.write_uint32(ms)
+
+        # Send request and process reply.
+        self._clientManager.perform_request(request)
+        _result = codec.read_bool()
+        return _result
+
+    def move(self, cmds):
+        # Build remote function invocation message.
+        request = self._clientManager.create_request()
+        codec = request.codec
+        codec.start_write_message(erpc.codec.MessageInfo(
+                type=erpc.codec.MessageType.kInvocationMessage,
+                service=self.SERVICE_ID,
+                request=self.MOVE_ID,
+                sequence=request.sequence))
+        if cmds is None:
+            raise ValueError("cmds is None")
+        codec.start_write_list(len(cmds))
+        for _i0 in cmds:
+            _i0._write(codec)
+
+
+        # Send request and process reply.
+        self._clientManager.perform_request(request)
+        _result = codec.read_int32()
+        return _result
+
+    def moveJ(self, angles_rad):
+        # Build remote function invocation message.
+        request = self._clientManager.create_request()
+        codec = request.codec
+        codec.start_write_message(erpc.codec.MessageInfo(
+                type=erpc.codec.MessageType.kInvocationMessage,
+                service=self.SERVICE_ID,
+                request=self.MOVEJ_ID,
+                sequence=request.sequence))
+        if angles_rad is None:
+            raise ValueError("angles_rad is None")
+        codec.start_write_list(len(angles_rad))
+        for _i0 in angles_rad:
+            codec.write_float(_i0)
+
+
+        # Send request and process reply.
+        self._clientManager.perform_request(request)
+        _result = codec.read_int32()
+        return _result
+
+