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474 lines
14 KiB
474 lines
14 KiB
/*
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* bsp_decode_command.c
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*
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* Created on: Sep 24, 2024
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* Author: akeguo
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*/
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#include "bsp_decode_command.h"
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#include "bsp_Error.pb.h"
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#include "main.h"
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#include "pb.h"
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#include "pb_encode.h"
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#include "pb_common.h"
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#include "fsm_state.h"
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#include "motors_power_action.h"
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#include "robot_move_actions.h"
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#include "fsm_state_control.h"
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#include "bsp_UDP.h"
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#define success 1
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#define fail 0
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Cmd decoded_Cmd = Cmd_init_default;
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ReCmd send_Cmd = ReCmd_init_default;
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pb_istream_t i_stream =
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{ 0 };
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char StartDownLoadFlag = 0;
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static uint32_t downloadCount = 0;
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static uint8_t ReceivedData[1024];
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static uint16_t calbriation;
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void decode_command_and_feedback(uint8_t *buffer, uint16_t length, char sendWay,
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struct UARTHandler *send_Handler)
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{
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// char array[1000];
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// memset(array, 0, sizeof(array));
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// memcpy(array, buffer, length);
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//
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// if (length >= 1)
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// {
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//
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// i_stream = pb_istream_from_buffer(buffer, length);
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//
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// pb_decode(&i_stream, Cmd_fields, &decoded_Cmd);
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//
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// memcpy(&decoded_Cmd.Buff_Data,
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// &buffer[length - decoded_Cmd.Buff_Data_Length],
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// decoded_Cmd.Buff_Data_Length);
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//
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// switch (decoded_Cmd.CommadNum)
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// {
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//
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// case 17: // 上位机获取控制权
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// {
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//
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// switch (decoded_Cmd.Parameter0)
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// {
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// case 0:
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// {
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//
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// //read CV
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// CV = GF_BSP_EEPROM_Get_CV(); //重新配置CV
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// is_upper_computer_take_over_control = 0;
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//
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// WrapInCmdAndSendMessage(send_Cmd, 10, success,
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// "return contorl to Remote Controller success",
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// sendWay, send_Handler);
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// fsm_state_set(¤t_robot_move_state,
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// &robot_halt_state);
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// //设置电机供电为 On
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// //fsm_state_set(¤t_motor_power_state, &motor_power_off_state);
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// break;
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// }
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// case 1:
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// {
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//
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// is_upper_computer_take_over_control = 1;
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// WrapInCmdAndSendMessage(send_Cmd, 17, success,
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// "Take control success", sendWay, send_Handler);
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// fsm_state_set(¤t_motor_power_state,
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// &motor_power_on_state);
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// fsm_state_set(¤t_robot_move_state,
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// &robot_halt_state);
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// GV.Robot_Move_Speed = 1000;
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// CV.LeftTurnSpeed = 1;
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// CV.RightTurnSpeed = 1;
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// break;
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// }
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//
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// default:
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// break;
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//
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// }
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//
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// break;
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// }
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// case 16: // 上位机手动控制机器人运动
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// {
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//
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// switch (decoded_Cmd.Parameter0)
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// {
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// case 0:
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// {
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//
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// WrapInCmdAndSendMessage(send_Cmd, 16, success,
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// "manual control halt success", sendWay,
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// send_Handler);
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// fsm_state_set(¤t_robot_move_state,
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// &robot_halt_state);
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// break;
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// }
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// case 1:
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// {
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// WrapInCmdAndSendMessage(send_Cmd, 16, success,
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// "manual control forward success", sendWay,
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// send_Handler);
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// fsm_state_set(¤t_robot_move_state,
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// &robot_forwards_state);
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// break;
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// }
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// case 2:
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// {
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// WrapInCmdAndSendMessage(send_Cmd, 16, success,
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// "manual control backward success", sendWay,
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// send_Handler);
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// fsm_state_set(¤t_robot_move_state,
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// &robot_backwards_state);
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// break;
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// }
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// case 3:
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// {
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// WrapInCmdAndSendMessage(send_Cmd, 16, success,
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// "manual control turn left success", sendWay,
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// send_Handler);
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// fsm_state_set(¤t_robot_move_state,
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// &robot_turn_left_state);
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// break;
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// }
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// case 4:
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// {
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// WrapInCmdAndSendMessage(send_Cmd, 16, success,
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// "manual control turn right success", sendWay,
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// send_Handler);
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// fsm_state_set(¤t_robot_move_state,
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// &robot_turn_right_state);
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// break;
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// }
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// default:
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// break;
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//
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// }
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//
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// break;
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// }
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//
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// case 15: // 返回错误信息
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// {
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//
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// pb_ostream_t Error_o_stream =
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// { 0 };
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// char buf[1024];
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// Error_o_stream = pb_ostream_from_buffer(buf, sizeof(buf));
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// pb_encode(&Error_o_stream, ErrorData_fields,
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// &GV.SystemErrorData);
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//
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// //将数据拷贝到Command中
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// send_Cmd.CommadNum = 16;
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// send_Cmd.Buff_Data_Length = Error_o_stream.bytes_written;
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//
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// WrapInCmdAndSend(send_Cmd, buf, sendWay, send_Handler);
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//
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// break;
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// }
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//
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// case 14: //这里是初始化Flash 好重新写入
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// {
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// NeedToFeedBackToComputer = 1;
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//
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// WrapInCmdAndSendMessage(send_Cmd, 14, success,
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// "disable periodical call of serialports and can",
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// sendWay, send_Handler);
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//
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// Error_Detect_Enable = 0; //disable ErrorDetect Function;
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//
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// DLT_LOG_ENABLE_LEVEL = 0; //7 send all information //0 send nothing
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//
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// //将所有串口的周期性调用暂停
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// RS_485_1_UART_Handler.dispacherController->Dispacher_Enable = 0;
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// RS_485_2_UART_Handler.dispacherController->Dispacher_Enable = 0;
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// RS_485_3_UART_Handler.dispacherController->Dispacher_Enable = 0;
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// RS_485_4_UART_Handler.dispacherController->Dispacher_Enable = 0;
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// E28_SBUS_UART_Handler.dispacherController->Dispacher_Enable = 0;
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// LPUART1_UART_Handler.dispacherController->Dispacher_Enable = 0;
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// InterCall_DEBUG_UART_Handler.dispacherController->Dispacher_Enable =
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// 0;
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// LTE_7S0_Serial_UART_Handler.dispacherController->Dispacher_Enable =
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// 0;
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// RS_485_4_UART_Handler.dispacherController->Dispacher_Enable = 0;
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// is_udp_GV_update_loop_enalbed = 0;
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//
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// //将CAN总线的周期性调用停掉
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// //因为电机有可能处于运动状态，所有CAN线不能停，得发送下去
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// //FD_CAN_1_Handler.dispacherController->Dispacher_Enable = 0;
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// //FD_CAN_2_Handler.dispacherController->Dispacher_Enable = 0;
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// fsm_state_set(¤t_robot_move_state, &robot_halt_state);
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//
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// break;
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// }
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// case 13: // 使能 GV 周期性性发送数据
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// {
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// if (decoded_Cmd.Parameter0 == 0) //关闭上传
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// {
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// NeedToFeedBackToComputer = 1;
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// LTE_7S0_Serial_UART_Handler.dispacherController->Dispacher_Enable =
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// 0;
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// WrapInCmdAndSendMessage(send_Cmd, 14, success,
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// "disable send GV", sendWay, send_Handler);
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//
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// is_udp_GV_update_loop_enalbed = 0;
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// }
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//
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// if (decoded_Cmd.Parameter0 == 1) //打开上传
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// {
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// NeedToFeedBackToComputer = 0;
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// LTE_7S0_Serial_UART_Handler.dispacherController->Dispacher_Enable =
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// 1;
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// WrapInCmdAndSendMessage(send_Cmd, 14, success,
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// "enable send GV", sendWay, send_Handler);
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//
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// is_udp_GV_update_loop_enalbed = 1;
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// }
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//
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// break;
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// }
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// case 12: //重启系统，进入bootloader
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// {
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//
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// WrapInCmdAndSendMessage(send_Cmd, 12, success, "STM32 reboot",
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// sendWay, send_Handler);
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// NVIC_SystemReset();
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//
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// break;
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// }
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// case 11: //配置无线网络模块，此处为透传指令
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// {
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// Send_WH_LTE_7S0_Data(decoded_Cmd.Buff_Data,
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// decoded_Cmd.Parameter0);
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// break;
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// }
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// case 10: //擦除flash
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// {
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// WrapInCmdAndSendMessage(send_Cmd, 10, success,
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// "start erasing flash ", sendWay, send_Handler);
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// QSPI_W25Qx_EraseDownLoadFlash();
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// downloadCount = 0;
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// WrapInCmdAndSendMessage(send_Cmd, 10, success,
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// "erase flash success", sendWay, send_Handler);
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// break;
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// }
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// case 9: //上位机下发保存软件代码指令
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// {
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// memcpy(ReceivedData,
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// &buffer[length - decoded_Cmd.Buff_Data_Length],
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// decoded_Cmd.Buff_Data_Length);
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//
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// calbriation = MB_CRC16(&ReceivedData,
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// decoded_Cmd.Buff_Data_Length);
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//
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// if (calbriation == decoded_Cmd.Parameter4) //Parameter4是校验
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// {
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//
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// if (downloadCount == decoded_Cmd.Parameter3)
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// {
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// QSPI_W25Qx_Write_Buffer(&decoded_Cmd.Buff_Data,
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// CODE_DOWNLOAD_FLASH_BEGIN_ADDRESS
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// + decoded_Cmd.Parameter3,
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// decoded_Cmd.Buff_Data_Length);
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// downloadCount += decoded_Cmd.Buff_Data_Length;
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// send_Cmd.Parameter3 = length;
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// WrapInCmdAndSendMessage(send_Cmd, 9, success,
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// "download success", sendWay, send_Handler);
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//
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// }
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// else
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// {
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// decoded_Cmd.Parameter2 = downloadCount; //返回download count;
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// send_Cmd.Parameter3 = length;
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// WrapInCmdAndSendMessage(send_Cmd, 9, fail,
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// "downloadCount!=Parameter3", sendWay,
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// send_Handler);
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// }
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//
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// if (decoded_Cmd.Parameter1 == 1)
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// {
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// WrapInCmdAndSendMessage(send_Cmd, 9, success,
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// "download new software sucess", sendWay,
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// send_Handler);
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// IAP_struct_define iap = GF_BSP_EEPROM_Get_IAP();//Get the version of the code
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// iap.UpgradeSucceeded = 1;
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// iap.Total_Bytes = decoded_Cmd.Parameter2;
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// StartDownLoadFlag = 0;
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// downloadCount = 0;
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// GF_BSP_EEPROM_Set_IAP(iap);
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//
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// }
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// }
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// else
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// {
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//
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// decoded_Cmd.Parameter2 = downloadCount; //返回download count;
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// send_Cmd.Parameter3 = length;
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// WrapInCmdAndSendMessage(send_Cmd, 9, fail,
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// "MB CRC failed and the length ", sendWay,
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// send_Handler);
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//
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// }
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//
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// break;
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// }
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//
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//// 定义 7 上位机获取拟合点
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//// 定义 8 上位机获取位置点 */
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// case 8:
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// {
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//// send_data_to_upper_computer(*Desulfurizer_Angle,
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//// *Desulfurizer_Wire_Length, *Desulfurizer_Thickness, 0,
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//// 0, desulfurizer_message_UART_Handler);
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// break;
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// }
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// case 7:
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// {
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//// send_data_to_upper_computer(*Desulfurizer_Angle,
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//// *Desulfurizer_Wire_Length, *Desulfurizer_Thickness, 1,
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//// 0, desulfurizer_message_UART_Handler);
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// break;
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// }
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// //定义 6 上位机设定编码器角度值为0
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// case 6:
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// {
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// //reset_current_value_0();
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// break;
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// }
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// //定义 4 上位机设定Trace等级值，无返回
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// case 4:
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// {
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//
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// break;
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// }
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// //定义 3 上位机设定CV值
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// case 3:
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// {
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// CV_struct_define decoded_CV = CV_struct_define_init_default;
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// pb_istream_t i_cv_stream =
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// { 0 };
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//
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// i_cv_stream = pb_istream_from_buffer(decoded_Cmd.Buff_Data,
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// decoded_Cmd.Buff_Data_Length);
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// pb_decode(&i_cv_stream, CV_struct_define_fields, &decoded_CV);
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// //将CV写入EEPROM
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// GF_BSP_EEPROM_Set_CV(decoded_CV);
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// CV = decoded_CV;
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// send_Cmd.Parameter3 = length;
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// WrapInCmdAndSendMessage(send_Cmd, 3, success,
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// "Set CV succeeded", sendWay, send_Handler);
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// CV_GV_Init();
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// break;
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// }
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// //定义 1 上位机获取默认CV值, 下位机返回CV的值，
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// //定义 2 下位机返回CV值
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// case 1:
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// {
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// CV = GF_BSP_EEPROM_Get_CV();
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// pb_ostream_t CV_o_stream =
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// { 0 };
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// char buf[1024];
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// CV_o_stream = pb_ostream_from_buffer(buf, sizeof(buf));
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// pb_encode(&CV_o_stream, CV_struct_define_fields, &CV);
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//
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// //将数据拷贝到Command中
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// send_Cmd.CommadNum = 2;
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// send_Cmd.Buff_Data_Length = CV_o_stream.bytes_written;
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//
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// WrapInCmdAndSend(send_Cmd, buf, sendWay, send_Handler);
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//
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// break;
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// }
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// default:
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// WrapInCmdAndSendMessage(send_Cmd, -1, fail,
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// "Not the right command", sendWay, send_Handler);
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// break;
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//
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// }
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//
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// }
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// else
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// {
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//
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// }
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}
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void WrapInCmdAndSend(ReCmd send_Cmd, uint8_t *buf, int8_t sendWay,
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struct UARTHandler *send_Handler)
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{
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memcpy(send_Cmd.Buff_Data, buf, send_Cmd.Buff_Data_Length);
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pb_ostream_t ReCmd_out_stream =
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{ 0 };
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if (sendWay == 1) //MQTT
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{
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ReCmd_out_stream = pb_ostream_from_buffer(&send_Handler->Tx_Buf[4],
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sizeof(send_Handler->Tx_Buf) - 4);
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pb_encode(&ReCmd_out_stream, ReCmd_fields, &send_Cmd); //encode to buffer
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send_Handler->Tx_Buf[0] = '3';
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send_Handler->Tx_Buf[1] = ',';
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send_Handler->Tx_Buf[2] = 0xfe;
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send_Handler->Tx_Buf[3] = 0xfe;
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send_Handler->TxCount = ReCmd_out_stream.bytes_written + 4;
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send_Handler->UART_Tx(send_Handler);
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}
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else if (sendWay == 2) //UDP 发送
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{
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uint8_t Tx_Buf[2048];
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ReCmd_out_stream = pb_ostream_from_buffer(&Tx_Buf[2],
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sizeof(Tx_Buf) - 2);
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pb_encode(&ReCmd_out_stream, ReCmd_fields, &send_Cmd); //encode to buffer
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Tx_Buf[0] = 0xfe;
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Tx_Buf[1] = 0xfe;
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udp_cmd_send_back(Tx_Buf, ReCmd_out_stream.bytes_written + 2);
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}
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else //485发送
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{
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ReCmd_out_stream = pb_ostream_from_buffer(&send_Handler->Tx_Buf[2],
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sizeof(send_Handler->Tx_Buf) - 2);
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pb_encode(&ReCmd_out_stream, ReCmd_fields, &send_Cmd); //encode to buffer
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send_Handler->Tx_Buf[0] = 0xfe;
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send_Handler->Tx_Buf[1] = 0xfe;
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//send_Handler->AddSendList(send_Handler,send_Handler->Tx_Buf,send_Handler->TxCount,NULL);
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send_Handler->TxCount = ReCmd_out_stream.bytes_written + 2;
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//send_Handler->TxCount = 200;
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send_Handler->UART_Tx(send_Handler);
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}
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}
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//send_Cmd.CommadNum=0xff;//代表返回信息
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//send_Cmd.Parameter0 代表执行的指令，发过来的命令号;
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//send_Cmd.Parameter1 1 代表成功，0 代表失败;
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//send_Cmd.databuf 存的是相关信息，可以通过ACII转成string;
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void WrapInCmdAndSendMessage(ReCmd send_Cmd, int8_t functionNum,
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int8_t isSuccess, uint8_t *buf, int8_t sendWay,
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struct UARTHandler *send_Handler)
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{
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send_Cmd.CommadNum = 0xff; //代表返回信息
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send_Cmd.Parameter0 = functionNum; //代表返回信息
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send_Cmd.Parameter1 = isSuccess; //1 代表成功，0 代表失败;
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send_Cmd.Buff_Data_Length = strlen(buf);
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WrapInCmdAndSend(send_Cmd, buf, sendWay, send_Handler);
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}
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void send_received_data_to_upper_computer(uint8_t *buffer, uint16_t length)
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{
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send_Cmd.CommadNum = 12; //定义12为设定Mqtt透传向上返回的数据
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send_Cmd.Buff_Data_Length = length;
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WrapInCmdAndSend(send_Cmd, buffer, 0, desulfurizer_message_UART_Handler);
|
|
|
|
}
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|