refactor(log): 日志文案改 ASCII 英文，修 ROS_INFO 中文乱码

ROS_INFO/WARN/ERROR 走的不是 printf，而是 rosconsole -> log4cxx，后者按进程当前的 C 语言环境对消息做一次窄/宽字符转码。节点从未调用 setlocale，LC_CTYPE 停在默认的 "C"（ASCII），于是非 ASCII 的每个字节被替换成一个 '?'——一个汉字 3 字节正好 3 个 '?'。而 [config] 摘要那条 std::cout 路径直接写字节、不转码，所以之前只有 ROS_* 的日志乱码。备选方案是 setlocale(LC_CTYPE, "")（3 行即可修），这里采用"运行时输出一律英文"：英文日志不依赖语言环境，systemd/robot_upstart 拉起时也不会因缺 LANG 复发。改动与校验： - invicta_hardware / invicta_remote / invicta_deploy / invicta_msgs 共 20 个文件、 202 处字符串字面量改为 ASCII 英文。中文代码注释、标识符、话题名、JSON/TOML 键名、日志前缀一律未动（把字面量内容挖空后与改前做骨架比对，20 个文件零差异）。 - printf 格式说明符（%s/%d/%zu/%.1f/%02X ...）的数量、类型、顺序逐文件与改前一致。 - 顺带 ASCII 化非中文字符：° -> deg、± -> +/-、× -> x、→ -> ->、框线 -> "+==+"，并修正了启动横幅框线宽度差 2 列的问题。 - motion_defs.h 的 GaitName / MotionParamName 显示名改英文（只用于日志与回包文案）；协议字段仍传整数（bs["MotionState"] = int(...)），不影响上位机协议。注意：invicta_remote 回给手柄的 Unsupported / "Not allowed operation" 文案也变为英文，会出现在上位机错误列表里。已在 SBC（aarch64, Noetic）编译确认。
2026-10-23 15:39:55 +08:00
parent 46bbb06978
commit 944774eab3
20 changed files with 177 additions and 177 deletions
@@ -148,13 +148,13 @@ inline bool HardwareConfig::Load(const std::string& path, std::string* error) {
    try {
        tbl = toml::parse_file(path);
    } catch (const toml::parse_error& e) {
-        return fail(std::string("TOML 解析失败: ") + std::string(e.description()) + " @ " + path);
+        return fail(std::string("failed to parse TOML: ") + std::string(e.description()) + " @ " + path);
    }

    const toml::table* robot = detail::Section(tbl, "robot");
-    if (!robot) return fail("缺少 [robot] 段");
+    if (!robot) return fail("missing [robot] section");
    detail::GetStrArr(robot, "joint_names", joint_names);
-    if (joint_names.empty()) return fail("[robot].joint_names 为空");
+    if (joint_names.empty()) return fail("[robot].joint_names is empty");
    dof = int(joint_names.size());

    std::vector<double> lower, upper, vel_limit, torque_limit;
@@ -165,7 +165,7 @@ inline bool HardwareConfig::Load(const std::string& path, std::string* error) {
    detail::GetDoubleArr(limits, "torque_limit", torque_limit);
    if (int(lower.size()) != dof || int(upper.size()) != dof || int(vel_limit.size()) != dof ||
        int(torque_limit.size()) != dof) {
-        return fail("[joint_limits] 的 lower/upper/vel_limit/torque_limit 长度必须等于关节数量");
+        return fail("[joint_limits] lower/upper/vel_limit/torque_limit length must equal joint count");
    }
    joints.assign(size_t(dof), JointSpec{});
    for (int i = 0; i < dof; ++i) {
@@ -188,7 +188,7 @@ inline bool HardwareConfig::Load(const std::string& path, std::string* error) {
            leg.swing_index = IndexOf(leg.swing_joint);
            leg.wheel_index = IndexOf(leg.wheel_joint);
            if (leg.swing_index < 0 || leg.wheel_index < 0) {
-                return fail("[[legs]] " + leg.name + " 的 swing_joint/wheel_joint 不在 joint_names 里");
+                return fail("[[legs]] " + leg.name + " swing_joint/wheel_joint not in joint_names");
            }
            const toml::table* sw = detail::Section(*lt, "swing");
            const toml::table* wh = detail::Section(*lt, "wheel");
@@ -206,7 +206,7 @@ inline bool HardwareConfig::Load(const std::string& path, std::string* error) {
            legs.push_back(leg);
        }
    }
-    if (legs.empty()) return fail("缺少 [[legs]] 段");
+    if (legs.empty()) return fail("missing [[legs]] section");

    if (const toml::table* mj = detail::Section(tbl, "motor")) {
        const auto load_motor = [](const toml::table* m, MotorSpec& out) {
@@ -247,13 +247,13 @@ inline bool HardwareConfig::Load(const std::string& path, std::string* error) {
        const JointSpec& j = joints[size_t(i)];
        const MotorSpec& m = j.is_wheel ? motor_wheel : motor_joint;
        if (!j.is_wheel && (j.lower < m.p_min || j.upper > m.p_max)) {
-            return fail("[joint_limits] " + j.name + " 的位置限幅超出归一化边界 [p_min, p_max]");
+            return fail("[joint_limits] " + j.name + " position limit outside normalized bounds [p_min, p_max]");
        }
        if (j.vel_limit > std::min(std::fabs(m.v_max), std::fabs(m.v_min))) {
-            return fail("[joint_limits] " + j.name + " 的速度限幅超出归一化边界 [v_min, v_max]");
+            return fail("[joint_limits] " + j.name + " velocity limit outside normalized bounds [v_min, v_max]");
        }
        if (j.torque_limit > std::min(std::fabs(m.t_max), std::fabs(m.t_min))) {
-            return fail("[joint_limits] " + j.name + " 的力矩限幅超出归一化边界 [t_min, t_max]");
+            return fail("[joint_limits] " + j.name + " torque limit outside normalized bounds [t_min, t_max]");
        }
    }

@@ -272,9 +272,9 @@ inline bool HardwareConfig::Load(const std::string& path, std::string* error) {
    if (hw) {
        if (auto v = (*hw)["require_can"].value<bool>()) require_can = *v;
    }
-    if (publish_rate_hz <= 0.) return fail("[hardware].publish_rate_hz 必须 > 0");
-    if (diagnostics_rate_hz <= 0.) return fail("[hardware].diagnostics_rate_hz 必须 > 0");
-    if (command_timeout_s < 0.) return fail("[hardware].command_timeout_s 不能为负");
+    if (publish_rate_hz <= 0.) return fail("[hardware].publish_rate_hz must be > 0");
+    if (diagnostics_rate_hz <= 0.) return fail("[hardware].diagnostics_rate_hz must be > 0");
+    if (command_timeout_s < 0.) return fail("[hardware].command_timeout_s must not be negative");

    if (error) error->clear();
    return true;
@@ -283,7 +283,7 @@ inline bool HardwareConfig::Load(const std::string& path, std::string* error) {
 inline std::string HardwareConfig::Summary() const {
    char buf[512];
    std::string s;
-    snprintf(buf, sizeof(buf), "[config] %d 关节，%zu 条腿，状态发布 %.0f Hz，IMU frame=%s\n", dof, legs.size(),
+    snprintf(buf, sizeof(buf), "[config] %d joints, %zu legs, state publish %.0f Hz, IMU frame=%s\n", dof, legs.size(),
             publish_rate_hz, imu_frame_id.c_str());
    s += buf;
    for (const auto& leg : legs) {
@@ -292,11 +292,11 @@ inline std::string HardwareConfig::Summary() const {
                 leg.wheel_bus.c_str(), leg.wheel_canid);
        s += buf;
    }
-    snprintf(buf, sizeof(buf), "[config] 电机: 关节 %s(p±%.1f v±%.1f t±%.0f) 轮 %s(p±%.1f v±%.1f t±%.0f)\n",
+    snprintf(buf, sizeof(buf), "[config] motor: joint %s(p+/-%.1f v+/-%.1f t+/-%.0f) wheel %s(p+/-%.1f v+/-%.1f t+/-%.0f)\n",
             motor_joint.model.c_str(), motor_joint.p_max, motor_joint.v_max, motor_joint.t_max,
             motor_wheel.model.c_str(), motor_wheel.p_max, motor_wheel.v_max, motor_wheel.t_max);
    s += buf;
-    snprintf(buf, sizeof(buf), "[config] CAN: %zu 路 %s.. @%.1fM/%.1fM, 使能 %d 帧 x %.3f s\n",
+    snprintf(buf, sizeof(buf), "[config] CAN: %zu channels %s.. @%.1fM/%.1fM, enable %d frames x %.3f s\n",
             can.channels.size(), can.channels.empty() ? "-" : can.channels.front().c_str(), can.bitrate / 1e6,
             can.data_bitrate / 1e6, can.enable_frames, can.enable_interval_s);
    s += buf;
@@ -84,14 +84,14 @@ struct MotorFeedback {
 /// 状态码非零故障位的中文名，用于日志
 inline const char* FaultName(uint8_t status) {
    switch ((status >> 1) & 0x3F) {
-        case 0x00: return "无";
-        case 0x01: return "过压";
-        case 0x02: return "过流";
-        case 0x04: return "过温";
-        case 0x08: return "过速";
-        case 0x10: return "编码器";
-        case 0x20: return "欠压/预驱";
-        default: return "组合故障";
+        case 0x00: return "none";
+        case 0x01: return "overvoltage";
+        case 0x02: return "overcurrent";
+        case 0x04: return "overtemperature";
+        case 0x08: return "overspeed";
+        case 0x10: return "encoder";
+        case 0x20: return "undervoltage/pre-driver";
+        default: return "combined fault";
    }
 }

@@ -59,7 +59,7 @@ HardwareBridge::HardwareBridge(const ros::NodeHandle& pnh) : nh_() {

    ready_ = OpenBuses();

-    ROS_INFO("[invicta_hardware] %s -> %s/%s，订阅 %s @ %.0f Hz；诊断 %s @ %.0f Hz", joint_state_topic_.c_str(),
+    ROS_INFO("[invicta_hardware] %s -> %s/%s, subscribing %s @ %.0f Hz; diagnostics %s @ %.0f Hz", joint_state_topic_.c_str(),
             imu_topic_.c_str(), imu_frame_id_.c_str(), command_topic_.c_str(), publish_rate_hz_,
             diagnostics_topic_.c_str(), diagnostics_rate_hz_);
 }
@@ -69,7 +69,7 @@ bool HardwareBridge::OpenBuses() {
    buses_.clear();

    if (cfg.can.channels.empty()) {
-        ROS_ERROR("[invicta_hardware] 配置里没有 CAN 通道（[motor.can].channels）");
+        ROS_ERROR("[invicta_hardware] no CAN channels in config ([motor.can].channels)");
        return !require_can_;
    }

@@ -79,11 +79,11 @@ bool HardwareBridge::OpenBuses() {

        std::string err;
        if (!bus.can.Open(name, &err)) {
-            ROS_ERROR("[invicta_hardware] 打开 %s 失败：%s", name.c_str(), err.c_str());
-            ROS_ERROR("[invicta_hardware] 请先配置总线：sudo ip link set %s up type can bitrate %.0f dbitrate %.0f fd on",
+            ROS_ERROR("[invicta_hardware] failed to open %s: %s", name.c_str(), err.c_str());
+            ROS_ERROR("[invicta_hardware] configure the bus first: sudo ip link set %s up type can bitrate %.0f dbitrate %.0f fd on",
                      name.c_str(), cfg.can.bitrate, cfg.can.data_bitrate);
            if (require_can_) return false;
-            ROS_WARN("[invicta_hardware] require_can=false，跳过 %s，只发布状态、不下发电机指令", name.c_str());
+            ROS_WARN("[invicta_hardware] require_can=false, skipping %s, state published only, no motor commands sent", name.c_str());
            continue;
        }

@@ -93,7 +93,7 @@ bool HardwareBridge::OpenBuses() {
            if (leg.wheel_bus == name) bus.max_canid = std::max(bus.max_canid, leg.wheel_canid);
        }
        if (bus.max_canid <= 0 || bus.max_canid > kMaxMotorsPerFrame) {
-            ROS_ERROR("[invicta_hardware] %s 上的 CANID 非法（最大 %d，协议要求 1~%d）", name.c_str(), bus.max_canid,
+            ROS_ERROR("[invicta_hardware] invalid CANID on %s (max %d, protocol requires 1~%d)", name.c_str(), bus.max_canid,
                      kMaxMotorsPerFrame);
            if (require_can_) return false;
            continue;
@@ -105,7 +105,7 @@ bool HardwareBridge::OpenBuses() {
        }
        bus.frame_len = FrameLenForMaxCanId(bus.max_canid);

-        ROS_INFO("[invicta_hardware] %s 已打开（CANID 1~%d，下发 %d 字节）", name.c_str(), bus.max_canid, bus.frame_len);
+        ROS_INFO("[invicta_hardware] %s opened (CANID 1~%d, sending %d bytes)", name.c_str(), bus.max_canid, bus.frame_len);
        buses_.push_back(std::move(bus));
    }

@@ -135,11 +135,11 @@ void HardwareBridge::LoadParams(const ros::NodeHandle& pnh) {
    joint_names_ = cfg.joint_names;  // 顺序必须与 invicta_deploy 一致（同一份配置，天然一致）

    if (publish_rate_hz_ <= 0.) {
-        ROS_ERROR("[invicta_hardware] publish_rate_hz 必须 > 0，回退到 200 Hz");
+        ROS_ERROR("[invicta_hardware] publish_rate_hz must be > 0, falling back to 200 Hz");
        publish_rate_hz_ = 200.0;
    }
    if (diagnostics_rate_hz_ <= 0.) {
-        ROS_ERROR("[invicta_hardware] diagnostics_rate_hz 必须 > 0，回退到 10 Hz");
+        ROS_ERROR("[invicta_hardware] diagnostics_rate_hz must be > 0, falling back to 10 Hz");
        diagnostics_rate_hz_ = 10.0;
    }
 }
@@ -182,18 +182,18 @@ void HardwareBridge::HandleControlWord(uint16_t word, const std::vector<uint8_t>
        case invicta_msgs::kDisable:
            SendCodeAll(kCodeDisable, 1);
            enabled_ = false;
-            ROS_INFO("[invicta_hardware] control_word -> kDisable：已发失能（0xFD），线圈断开");
+            ROS_INFO("[invicta_hardware] control_word -> kDisable: disable sent (0xFD), coils open");
            break;
        case invicta_msgs::kEnable:
            SendCodeAll(kCodeEnable, Config().can.enable_frames, Config().can.enable_interval_s);
            enabled_ = true;
-            ROS_INFO("[invicta_hardware] control_word -> kEnable：已发使能（0xFC × %d）", Config().can.enable_frames);
+            ROS_INFO("[invicta_hardware] control_word -> kEnable: enable sent (0xFC x %d)", Config().can.enable_frames);
            break;
        case invicta_msgs::kErrorReset:
            // 协议没有独立的清错指令（手册 §6：故障后靠重新使能或重启恢复）
            SendCodeAll(kCodeEnable, Config().can.enable_frames, Config().can.enable_interval_s);
            enabled_ = true;
-            ROS_INFO("[invicta_hardware] control_word -> kErrorReset：本协议无清错指令，按重新使能处理");
+            ROS_INFO("[invicta_hardware] control_word -> kErrorReset: no fault-reset command in this protocol, handled as re-enable");
            break;
        case invicta_msgs::kMotorControl:
            if (!enabled_) {
@@ -201,13 +201,13 @@ void HardwareBridge::HandleControlWord(uint16_t word, const std::vector<uint8_t>
                // 协议要求先使能再运行，这里补一次使能，而不是永远不发帧。
                SendCodeAll(kCodeEnable, Config().can.enable_frames, Config().can.enable_interval_s);
                enabled_ = true;
-                ROS_WARN("[invicta_hardware] 收到 kMotorControl 但未使能：已补发使能序列（上游启动时序可能丢失）");
+                ROS_WARN("[invicta_hardware] kMotorControl received but not enabled: enable sequence re-sent (upstream startup sequence may have been lost)");
            }
-            ROS_INFO("[invicta_hardware] control_word -> kMotorControl：进入 kp/kd + 前馈控制");
+            ROS_INFO("[invicta_hardware] control_word -> kMotorControl: entering kp/kd + feedforward control");
            break;
        case invicta_msgs::kGetStatus:
            // 每条指令都会回 12 字节状态帧，无需专门请求
-            ROS_INFO("[invicta_hardware] control_word -> kGetStatus：状态随每条指令自动返回，无需请求");
+            ROS_INFO("[invicta_hardware] control_word -> kGetStatus: status returns automatically with every command, no request needed");
            break;
        case invicta_msgs::kSetZero: {
            // 把当前机械位置写成模组零位（0xEF）。只作用于指令 name 选中的关节子集，
@@ -221,17 +221,17 @@ void HardwareBridge::HandleControlWord(uint16_t word, const std::vector<uint8_t>
                if (mask[i]) sel += (sel.empty() ? "" : ",") + joint_names_[i];
            }
            if (sel.empty()) {
-                ROS_WARN("[invicta_hardware] kSetZero：选中的关节里没有可置零的摆臂，忽略");
+                ROS_WARN("[invicta_hardware] kSetZero: no swing joints to set zero among the selected joints, ignoring");
                break;
            }
            SendCodeAll(kCodeZero, 1, 0.0, &mask);
-            ROS_WARN("[invicta_hardware] control_word -> kSetZero：已发置零（0xEF）到 [%s]；"
-                     "此后这些摆臂该位姿的反馈角度约为 0，请把对应 offset_deg 设为 0（或据此重标）",
+            ROS_WARN("[invicta_hardware] control_word -> kSetZero: set zero sent (0xEF) to [%s]; "
+                     "from now on the feedback angle of these swing joints at this pose is about 0, set the corresponding offset_deg to 0 (or recalibrate accordingly)",
                     sel.c_str());
            break;
        }
        default:
-            ROS_WARN("[invicta_hardware] 未知 control_word=%u，忽略", word);
+            ROS_WARN("[invicta_hardware] unknown control_word=%u, ignore", word);
            break;
    }
 }
@@ -263,7 +263,7 @@ void HardwareBridge::SendCodeAll(uint8_t code, int frames, double interval_s, co
            if (!any) continue;
            std::string err;
            if (!bus.can.Send(Config().can.arbitration_id, payload, uint8_t(bus.frame_len), true, &err)) {
-                ROS_WARN_THROTTLE(1.0, "[invicta_hardware] %s 发送控制码 0x%02X 失败: %s", bus.name.c_str(), code,
+                ROS_WARN_THROTTLE(1.0, "[invicta_hardware] %s failed to send control code 0x%02X: %s", bus.name.c_str(), code,
                                  err.c_str());
            }
        }
@@ -299,7 +299,7 @@ bool HardwareBridge::SendTimeoutFrame() {

        std::string err;
        if (!bus.can.Send(Config().can.arbitration_id, payload, uint8_t(bus.frame_len), true, &err)) {
-            ROS_WARN_THROTTLE(1.0, "[invicta_hardware] %s 发送阻尼帧失败: %s", bus.name.c_str(), err.c_str());
+            ROS_WARN_THROTTLE(1.0, "[invicta_hardware] %s failed to send damping frame: %s", bus.name.c_str(), err.c_str());
        }
    }
    return true;
@@ -318,12 +318,12 @@ bool HardwareBridge::ReadHardware() {
            const int canid = int(frame.id);
            const int joint = (canid > 0 && canid <= bus.max_canid) ? bus.canid_to_joint[size_t(canid)] : -1;
            if (joint < 0) {
-                ROS_WARN_THROTTLE(5.0, "[invicta_hardware] %s 收到未知帧 id=0x%X len=%u，忽略", bus.name.c_str(),
+                ROS_WARN_THROTTLE(5.0, "[invicta_hardware] %s received unknown frame id=0x%X len=%u, ignore", bus.name.c_str(),
                                  unsigned(frame.id), unsigned(frame.len));
                continue;
            }
            if (frame.len < 12) {
-                ROS_WARN_THROTTLE(5.0, "[invicta_hardware] %s CANID=%d 反馈只有 %u 字节（协议要求 12）", bus.name.c_str(),
+                ROS_WARN_THROTTLE(5.0, "[invicta_hardware] %s CANID=%d feedback only %u bytes (protocol requires 12)", bus.name.c_str(),
                                  canid, unsigned(frame.len));
                continue;
            }
@@ -344,7 +344,7 @@ bool HardwareBridge::ReadHardware() {
            has_feedback_[size_t(joint)] = 1;

            if (fb.fault() && last_status_[size_t(joint)] != fb.status) {
-                ROS_ERROR("[invicta_hardware] %s 故障：%s（status=0x%02X，温度 %.0f ℃）",
+                ROS_ERROR("[invicta_hardware] %s fault: %s (status=0x%02X, temperature %.0f C)",
                          joint_names_[size_t(joint)].c_str(), FaultName(fb.status), unsigned(fb.status), fb.temperature);
            }
            last_status_[size_t(joint)] = fb.status;
@@ -362,7 +362,7 @@ bool HardwareBridge::WriteHardware() {
        if (!has_cmd_) {
            if (!warned_no_command_) {
                warned_no_command_ = true;
-                ROS_WARN("[invicta_hardware] 还没收到 %s，不下发任何指令", command_topic_.c_str());
+                ROS_WARN("[invicta_hardware] %s not received yet, not sending any command", command_topic_.c_str());
            }
            return false;
        }
@@ -376,7 +376,7 @@ bool HardwareBridge::WriteHardware() {
    const std::vector<uint8_t> selected = SelectionMask(cmd.name, &had_unknown);
    if (had_unknown && !warned_unknown_joint_) {
        warned_unknown_joint_ = true;
-        ROS_WARN("[invicta_hardware] %s 的 name 里有不认识的关节名，已忽略（只控制能识别的）",
+        ROS_WARN("[invicta_hardware] unrecognized joint name in %s name list, ignored (only recognized joints are controlled)",
                 command_topic_.c_str());
    }

@@ -387,13 +387,13 @@ bool HardwareBridge::WriteHardware() {
    }
    if (cmd.position.size() != n || cmd.velocity.size() != n || cmd.effort.size() != n || cmd.kp.size() != n ||
        cmd.kd.size() != n) {
-        ROS_WARN_THROTTLE(5.0, "[invicta_hardware] 指令数组长度与 %zu 个关节不匹配，丢弃该帧", n);
+        ROS_WARN_THROTTLE(5.0, "[invicta_hardware] command array length does not match %zu joints, dropping frame", n);
        return false;
    }
    for (size_t i = 0; i < n; ++i) {
        if (!std::isfinite(cmd.position[i]) || !std::isfinite(cmd.velocity[i]) || !std::isfinite(cmd.effort[i]) ||
            !std::isfinite(cmd.kp[i]) || !std::isfinite(cmd.kd[i])) {
-            ROS_WARN_THROTTLE(1.0, "[invicta_hardware] 指令含非有限值，丢弃该帧");
+            ROS_WARN_THROTTLE(1.0, "[invicta_hardware] command contains non-finite value, dropping frame");
            return false;
        }
    }
@@ -410,14 +410,14 @@ bool HardwareBridge::WriteHardware() {
        if (age > command_timeout_s_) {
            if (!timeout_active_) {
                timeout_active_ = true;
-                ROS_ERROR("[invicta_hardware] %.0f ms 未收到 %s，转阻尼（kp=0, kd=%.1f/%.1f）",
+                ROS_ERROR("[invicta_hardware] %.0f ms without %s, switching to damping (kp=0, kd=%.1f/%.1f)",
                          age * 1000.0, command_topic_.c_str(), timeout_joint_kd_, timeout_wheel_kd_);
            }
            return SendTimeoutFrame();
        }
        if (timeout_active_) {
            timeout_active_ = false;
-            ROS_WARN("[invicta_hardware] 指令恢复，退出阻尼");
+            ROS_WARN("[invicta_hardware] command recovered, exiting damping");
        }
    }

@@ -453,7 +453,7 @@ bool HardwareBridge::WriteHardware() {
            const double tlim = spec.torque_limit > 0. ? spec.torque_limit : std::abs(range.t_max);
            double tau = cmd.effort[j];
            if (std::abs(tau) > tlim) {
-                ROS_WARN_THROTTLE(1.0, "[invicta_hardware] %s 前馈力矩 %.1f N·m 超过限幅 %.1f，已夹紧", name.c_str(),
+                ROS_WARN_THROTTLE(1.0, "[invicta_hardware] %s feedforward torque %.1f N*m exceeds clamp %.1f, clamped", name.c_str(),
                                  tau, tlim);
                tau = std::min(std::max(tau, -tlim), tlim);
            }
@@ -466,13 +466,13 @@ bool HardwareBridge::WriteHardware() {
            // 越界会被编码器静默饱和，这里显式夹紧并把配置错误报出来
            double kp = cmd.kp[j];
            if (kp < 0. || kp > range.kp_max) {
-                ROS_WARN_THROTTLE(1.0, "[invicta_hardware] %s 的 kp=%.1f 超出模组范围 [0, %.1f]，已夹紧", name.c_str(),
+                ROS_WARN_THROTTLE(1.0, "[invicta_hardware] %s kp=%.1f out of module range [0, %.1f], clamped", name.c_str(),
                                  kp, range.kp_max);
                kp = std::min(std::max(kp, 0.0), range.kp_max);
            }
            double kd = cmd.kd[j];
            if (kd < 0. || kd > range.kd_max) {
-                ROS_WARN_THROTTLE(1.0, "[invicta_hardware] %s 的 kd=%.2f 超出模组范围 [0, %.1f]，已夹紧", name.c_str(),
+                ROS_WARN_THROTTLE(1.0, "[invicta_hardware] %s kd=%.2f out of module range [0, %.1f], clamped", name.c_str(),
                                  kd, range.kd_max);
                kd = std::min(std::max(kd, 0.0), range.kd_max);
            }
@@ -484,7 +484,7 @@ bool HardwareBridge::WriteHardware() {

        std::string err;
        if (!bus.can.Send(Config().can.arbitration_id, payload, uint8_t(bus.frame_len), true, &err)) {
-            ROS_WARN_THROTTLE(1.0, "[invicta_hardware] %s 发送运行帧失败: %s", bus.name.c_str(), err.c_str());
+            ROS_WARN_THROTTLE(1.0, "[invicta_hardware] %s failed to send run frame: %s", bus.name.c_str(), err.c_str());
        }
    }
    return true;
@@ -572,14 +572,14 @@ int main(int argc, char** argv) {
    if (config_path.empty()) config_path = ros::package::getPath("invicta_hardware") + "/config/invicta_hardware.toml";
    std::string err;
    if (!invicta_hardware::Config().Load(config_path, &err)) {
-        ROS_FATAL("[invicta_hardware] 配置加载失败：%s（%s）", err.c_str(), config_path.c_str());
+        ROS_FATAL("[invicta_hardware] failed to load config: %s (%s)", err.c_str(), config_path.c_str());
        return 1;
    }
    std::cout << invicta_hardware::Config().Summary() << std::flush;

    invicta_hardware::HardwareBridge bridge(pnh);
    if (!bridge.Ready()) {
-        ROS_FATAL("[invicta_hardware] CAN 初始化失败，退出（无硬件调试可设 require_can:=false）");
+        ROS_FATAL("[invicta_hardware] CAN init failed, exiting (for hardware-free debug set require_can:=false)");
        return 1;
    }