【编译通过】增加自动扫描逻辑

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/bsp_CV.pb.h

@@ -68,7 +68,7 @@ extern const pb_msgdesc_t CV_struct_define_msg;
 
 /* Maximum encoded size of messages (where known) */
 #define BSP_CV_PB_H_MAX_SIZE                     CV_struct_define_size
-#define CV_struct_define_size                    134
+#define CV_struct_define_size                    156
 
 #ifdef __cplusplus
 } /* extern "C" */

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/bsp_GV.pb.h

@@ -112,7 +112,7 @@ extern const pb_msgdesc_t GV_struct_define_msg;
 
 /* Maximum encoded size of messages (where known) */
 #define BSP_GV_PB_H_MAX_SIZE                     GV_struct_define_size
-#define GV_struct_define_size                    1680
+#define GV_struct_define_size                    1702
 
 #ifdef __cplusplus
 } /* extern "C" */

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/bsp_PV.pb.h

@@ -15,6 +15,8 @@ typedef struct _PV_struct_define {
     int32_t knife_descending_height;
     int32_t main_axis_speed;
     int32_t step_len;
+    int32_t scan_len;
+    int32_t scan_back_len;
 } PV_struct_define;
 
 
@@ -23,21 +25,25 @@ extern "C" {
 #endif
 
 /* Initializer values for message structs */
-#define PV_struct_define_init_default            {0, 0, 0, 0}
-#define PV_struct_define_init_zero               {0, 0, 0, 0}
+#define PV_struct_define_init_default            {0, 0, 0, 0, 0, 0}
+#define PV_struct_define_init_zero               {0, 0, 0, 0, 0, 0}
 
 /* Field tags (for use in manual encoding/decoding) */
 #define PV_struct_define_robot_operation_mode_tag 1
 #define PV_struct_define_knife_descending_height_tag 2
 #define PV_struct_define_main_axis_speed_tag     3
 #define PV_struct_define_step_len_tag            4
+#define PV_struct_define_scan_len_tag            5
+#define PV_struct_define_scan_back_len_tag       6
 
 /* Struct field encoding specification for nanopb */
 #define PV_struct_define_FIELDLIST(X, a) \
 X(a, STATIC,   SINGULAR, INT32,    robot_operation_mode,   1) \
 X(a, STATIC,   SINGULAR, INT32,    knife_descending_height,   2) \
 X(a, STATIC,   SINGULAR, INT32,    main_axis_speed,   3) \
-X(a, STATIC,   SINGULAR, INT32,    step_len,          4)
+X(a, STATIC,   SINGULAR, INT32,    step_len,          4) \
+X(a, STATIC,   SINGULAR, INT32,    scan_len,          5) \
+X(a, STATIC,   SINGULAR, INT32,    scan_back_len,     6)
 #define PV_struct_define_CALLBACK NULL
 #define PV_struct_define_DEFAULT NULL
 
@@ -48,7 +54,7 @@ extern const pb_msgdesc_t PV_struct_define_msg;
 
 /* Maximum encoded size of messages (where known) */
 #define BSP_PV_PB_H_MAX_SIZE                     PV_struct_define_size
-#define PV_struct_define_size                    44
+#define PV_struct_define_size                    66
 
 #ifdef __cplusplus
 } /* extern "C" */

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/Proto/bsp_PV.proto

@@ -5,4 +5,6 @@ message PV_struct_define{
  	int32 knife_descending_height = 2;
  	int32 main_axis_speed = 3;
  	int32 step_len = 4;
+	int32 scan_len = 5;
+	int32 scan_back_len	= 6;
 };

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c

@@ -169,23 +169,83 @@ void IO_Control()
 
 }
 
+#define RISE_KINFE_STATE -11
+#define FORWARD_STATE 11
+#define BACKWARD_STATE 21
+
 int32_t MaxLaserSensor = -255; // 激光传感器最大值，初始化为非法值
 int32_t knife_descent_height = -255; // "下降高度"迭代值，初始赋值为非法值
+int32_t ScanTimeCount = 0;
+int32_t ScanState = RISE_KINFE_STATE;
+double real_speed = 0;
 
 void Automatic_Laser_Scanning()
 {
-    CurrentMoveState = Manual_State; //正常速度手动行驶
-    CurrentFrontEndState = MANUAL_STEP_UP_STATE; //刀上升至最高点
-    StrongGrindingMachineCurrentState = STRONG_GRINDING_MACHINE_HALT_STATE; //刀具不转动
-    knife_descent_height = 0; // 这里是初始化为一个合理值防止，用于标记执行过扫描
-
-    int32_t a = GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance;
-    int32_t b = GV.ZHR29_200_measure_results.laser_sensor_2_measure_distance;
-    int32_t c = GV.ZHR29_200_measure_results.laser_sensor_3_measure_distance;
+    static int OnceFlag = 1;
 
-    int32_t max = (a > b) ? ((a > c) ? a : c) : ((b > c) ? b : c);
+    if (OnceFlag)
+    {
+        
+        OnceFlag = 0;
+    }
 
-    MaxLaserSensor = (max > MaxLaserSensor) ? max : MaxLaserSensor; // 取出激光雷达最大值
+    if(GV.MK32_Key.CH7_SD == -1000)
+    {
+        StrongGrindingMachineCurrentState = STRONG_GRINDING_MACHINE_HALT_STATE; //刀具不转动
+
+        int32_t a = GV.ZHR29_200_measure_results.laser_sensor_1_measure_distance;
+        int32_t b = GV.ZHR29_200_measure_results.laser_sensor_2_measure_distance;
+        int32_t c = GV.ZHR29_200_measure_results.laser_sensor_3_measure_distance;
+
+        int32_t max = (a > b) ? ((a > c) ? a : c) : ((b > c) ? b : c);
+
+        MaxLaserSensor = (max > MaxLaserSensor) ? max : MaxLaserSensor; // 取出激光雷达最大值
+
+        if (RISE_KINFE_STATE == ScanState)
+        {
+            CurrentFrontEndState = Manual_UP_STATE; //刀上升至最高点
+            if (!Pin2)
+            {
+                CurrentFrontEndState = HALT_STATE; //刀上升至最高点
+                ScanState == FORWARD_STATE;
+            }
+        }
+        else if (FORWARD_STATE == ScanState)
+        {
+            CurrentFrontEndState = HALT_STATE;
+            double ScanTime = ((double)GV.PV.scan_len / 1000.0) / real_speed * 60000.0;
+            if (HAL_GetTick() - ScanTimeCount >= (int32_t)ScanTime)
+            {
+                CurrentMoveState = Move_HALT;
+                ScanState = BACKWARD_STATE;
+            }
+            else
+            {
+                CurrentMoveState = AUTO_FORWARD;
+            }
+        }
+        else if (BACKWARD_STATE == ScanState)
+        {
+            CurrentFrontEndState = HALT_STATE;
+            double ScanTime = ((double)(GV.PV.scan_len + GV.PV.scan_back_len) / 1000.0) / real_speed * 60000.0;
+            if (HAL_GetTick() - ScanTimeCount >= (int32_t)ScanTime)
+            {
+                CurrentMoveState = Move_HALT;
+                knife_descent_height = 0; // 这里是初始化为一个合理值用于标记执行过扫描
+            }
+            else
+            {
+                CurrentMoveState = AUTO_FORWARD;
+            }
+        }
+    }
+    else
+    {
+        ScanTimeCount = HAL_GetTick();
+        ScanState = RISE_KINFE_STATE;
+    }
+    
+    
 }
 
 #define knife_rising_height 500 // 自动作业停止后默认上升高度为5mm
@@ -454,9 +514,6 @@ void Frontend_Control()
 
 }
 
-
-double real_speed;
-
 void IV_Control()
 {
 	real_speed = (Act_Speed*360/100/101/6*3.1415926*0.325);

diaoerqiege/diaoerqige_V1.0/app/src/main/java/bsp_PV.proto

@@ -7,4 +7,6 @@ message PV_struct_define{
  	int32 knife_descending_height = 2;
  	int32 main_axis_speed = 3;
  	int32 step_len = 4;
+ 	int32 scan_len = 5;
+    int32 scan_back_len	= 6;
 };

diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/MainActivity.java

@@ -4,32 +4,27 @@ import android.app.AlertDialog;
 import android.content.DialogInterface;
 import android.os.Bundle;
 import android.text.Editable;
-import android.text.InputFilter;
-import android.text.TextUtils;
 import android.text.TextWatcher;
 import android.view.View;
 import android.view.WindowManager;
 import android.widget.Toast;
 import androidx.appcompat.app.AppCompatActivity;
 import androidx.databinding.DataBindingUtil;
-import androidx.databinding.adapters.TextViewBindingAdapter;
 
 import com.example.diaoerqiegeapp.databinding.ActivityPolishBinding;
 import com.example.diaoerqiegeapp.models.BspPV;
 import com.example.diaoerqiegeapp.models.DisplayPV;
-import com.example.diaoerqiegeapp.services.DecimalDigitsInputFilter;
 import com.example.diaoerqiegeapp.services.ModbusCRC;
 import com.example.diaoerqiegeapp.services.MyDataHelper;
 import com.example.diaoerqiegeapp.services.PopupHelper;
 import com.example.diaoerqiegeapp.services.USBSerialPortHelper;
-import com.example.diaoerqiegeapp.services.VideoPlayerHelper;
+
 import java.util.HashSet;
 import java.util.LinkedList;
 import java.util.List;
 import java.util.Set;
 import java.util.Timer;
 import java.util.TimerTask;
-import cn.nodemedia.NodePlayer;
 
 public class MainActivity extends AppCompatActivity {
     public ActivityPolishBinding mainBinding;
@@ -78,7 +73,8 @@ public class MainActivity extends AppCompatActivity {
                                 .setKnifeDescendingHeight(1)
                                 .setMainAxisSpeed(10)
                                 .setStepLen(1)
-
+                                .setScanLen(200)
+                                .setScanBackLen(10)
                                 .build();
 
                         // 刀下降高度
@@ -123,6 +119,34 @@ public class MainActivity extends AppCompatActivity {
 
                         }
 
+                        // 工作距离
+                        String scan_len = mainBinding.scanLen.getText().toString();
+                        try {
+                            if( scan_len.isEmpty() ) {_toSendPV = _toSendPV.toBuilder().setScanLen(200).build();}
+
+                            else { _toSendPV = _toSendPV.toBuilder()
+                                    .setScanLen(Integer.parseInt(scan_len)).build();
+                            }
+                        }
+                        catch (Exception e)
+                        {
+
+                        }
+
+                        // 安全距离
+                        String scan_back_len = mainBinding.scanBackLen.getText().toString();
+                        try {
+                            if( scan_back_len.isEmpty() ) {_toSendPV = _toSendPV.toBuilder().setScanBackLen(10).build();}
+
+                            else { _toSendPV = _toSendPV.toBuilder()
+                                    .setScanBackLen(Integer.parseInt(scan_back_len)).build();
+                            }
+                        }
+                        catch (Exception e)
+                        {
+
+                        }
+
                         if(_Operate_Mode_Call_Value.equals("手动作业"))
                         {
                             _toSendPV = _toSendPV.toBuilder().setRobotOperationMode(1).build();

diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/models/BspPV.java

@@ -52,6 +52,18 @@ public final class BspPV {
      * @return The stepLen.
      */
     int getStepLen();
+
+    /**
+     * <code>int32 scan_len = 5;</code>
+     * @return The scanLen.
+     */
+    int getScanLen();
+
+    /**
+     * <code>int32 scan_back_len = 6;</code>
+     * @return The scanBackLen.
+     */
+    int getScanBackLen();
   }
   /**
    * Protobuf type {@code PV_struct_define}
@@ -134,6 +146,28 @@ public final class BspPV {
       return stepLen_;
     }
 
+    public static final int SCAN_LEN_FIELD_NUMBER = 5;
+    private int scanLen_ = 0;
+    /**
+     * <code>int32 scan_len = 5;</code>
+     * @return The scanLen.
+     */
+    @java.lang.Override
+    public int getScanLen() {
+      return scanLen_;
+    }
+
+    public static final int SCAN_BACK_LEN_FIELD_NUMBER = 6;
+    private int scanBackLen_ = 0;
+    /**
+     * <code>int32 scan_back_len = 6;</code>
+     * @return The scanBackLen.
+     */
+    @java.lang.Override
+    public int getScanBackLen() {
+      return scanBackLen_;
+    }
+
     private byte memoizedIsInitialized = -1;
     @java.lang.Override
     public final boolean isInitialized() {
@@ -160,6 +194,12 @@ public final class BspPV {
       if (stepLen_ != 0) {
         output.writeInt32(4, stepLen_);
       }
+      if (scanLen_ != 0) {
+        output.writeInt32(5, scanLen_);
+      }
+      if (scanBackLen_ != 0) {
+        output.writeInt32(6, scanBackLen_);
+      }
       getUnknownFields().writeTo(output);
     }
 
@@ -185,6 +225,14 @@ public final class BspPV {
         size += com.google.protobuf.CodedOutputStream
           .computeInt32Size(4, stepLen_);
       }
+      if (scanLen_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(5, scanLen_);
+      }
+      if (scanBackLen_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(6, scanBackLen_);
+      }
       size += getUnknownFields().getSerializedSize();
       memoizedSize = size;
       return size;
@@ -208,6 +256,10 @@ public final class BspPV {
           != other.getMainAxisSpeed()) return false;
       if (getStepLen()
           != other.getStepLen()) return false;
+      if (getScanLen()
+          != other.getScanLen()) return false;
+      if (getScanBackLen()
+          != other.getScanBackLen()) return false;
       if (!getUnknownFields().equals(other.getUnknownFields())) return false;
       return true;
     }
@@ -227,6 +279,10 @@ public final class BspPV {
       hash = (53 * hash) + getMainAxisSpeed();
       hash = (37 * hash) + STEP_LEN_FIELD_NUMBER;
       hash = (53 * hash) + getStepLen();
+      hash = (37 * hash) + SCAN_LEN_FIELD_NUMBER;
+      hash = (53 * hash) + getScanLen();
+      hash = (37 * hash) + SCAN_BACK_LEN_FIELD_NUMBER;
+      hash = (53 * hash) + getScanBackLen();
       hash = (29 * hash) + getUnknownFields().hashCode();
       memoizedHashCode = hash;
       return hash;
@@ -362,6 +418,8 @@ public final class BspPV {
         knifeDescendingHeight_ = 0;
         mainAxisSpeed_ = 0;
         stepLen_ = 0;
+        scanLen_ = 0;
+        scanBackLen_ = 0;
         return this;
       }
 
@@ -407,6 +465,12 @@ public final class BspPV {
         if (((from_bitField0_ & 0x00000008) != 0)) {
           result.stepLen_ = stepLen_;
         }
+        if (((from_bitField0_ & 0x00000010) != 0)) {
+          result.scanLen_ = scanLen_;
+        }
+        if (((from_bitField0_ & 0x00000020) != 0)) {
+          result.scanBackLen_ = scanBackLen_;
+        }
       }
 
       @java.lang.Override
@@ -433,6 +497,12 @@ public final class BspPV {
         if (other.getStepLen() != 0) {
           setStepLen(other.getStepLen());
         }
+        if (other.getScanLen() != 0) {
+          setScanLen(other.getScanLen());
+        }
+        if (other.getScanBackLen() != 0) {
+          setScanBackLen(other.getScanBackLen());
+        }
         this.mergeUnknownFields(other.getUnknownFields());
         onChanged();
         return this;
@@ -479,6 +549,16 @@ public final class BspPV {
                 bitField0_ |= 0x00000008;
                 break;
               } // case 32
+              case 40: {
+                scanLen_ = input.readInt32();
+                bitField0_ |= 0x00000010;
+                break;
+              } // case 40
+              case 48: {
+                scanBackLen_ = input.readInt32();
+                bitField0_ |= 0x00000020;
+                break;
+              } // case 48
               default: {
                 if (!super.parseUnknownField(input, extensionRegistry, tag)) {
                   done = true; // was an endgroup tag
@@ -624,6 +704,70 @@ public final class BspPV {
         return this;
       }
 
+      private int scanLen_ ;
+      /**
+       * <code>int32 scan_len = 5;</code>
+       * @return The scanLen.
+       */
+      @java.lang.Override
+      public int getScanLen() {
+        return scanLen_;
+      }
+      /**
+       * <code>int32 scan_len = 5;</code>
+       * @param value The scanLen to set.
+       * @return This builder for chaining.
+       */
+      public Builder setScanLen(int value) {
+
+        scanLen_ = value;
+        bitField0_ |= 0x00000010;
+        onChanged();
+        return this;
+      }
+      /**
+       * <code>int32 scan_len = 5;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearScanLen() {
+        bitField0_ = (bitField0_ & ~0x00000010);
+        scanLen_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int scanBackLen_ ;
+      /**
+       * <code>int32 scan_back_len = 6;</code>
+       * @return The scanBackLen.
+       */
+      @java.lang.Override
+      public int getScanBackLen() {
+        return scanBackLen_;
+      }
+      /**
+       * <code>int32 scan_back_len = 6;</code>
+       * @param value The scanBackLen to set.
+       * @return This builder for chaining.
+       */
+      public Builder setScanBackLen(int value) {
+
+        scanBackLen_ = value;
+        bitField0_ |= 0x00000020;
+        onChanged();
+        return this;
+      }
+      /**
+       * <code>int32 scan_back_len = 6;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearScanBackLen() {
+        bitField0_ = (bitField0_ & ~0x00000020);
+        scanBackLen_ = 0;
+        onChanged();
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:PV_struct_define)
     }
 
@@ -689,11 +833,12 @@ public final class BspPV {
       descriptor;
   static {
     java.lang.String[] descriptorData = {
-      "\n\014bsp_PV.proto\"|\n\020PV_struct_define\022\034\n\024ro" +
-      "bot_operation_mode\030\001 \001(\005\022\037\n\027knife_descen" +
-      "ding_height\030\002 \001(\005\022\027\n\017main_axis_speed\030\003 \001" +
-      "(\005\022\020\n\010step_len\030\004 \001(\005B%\n!com.example.diao" +
-      "erqiegeapp.modelsP\000b\006proto3"
+      "\n\014bsp_PV.proto\"\245\001\n\020PV_struct_define\022\034\n\024r" +
+      "obot_operation_mode\030\001 \001(\005\022\037\n\027knife_desce" +
+      "nding_height\030\002 \001(\005\022\027\n\017main_axis_speed\030\003 " +
+      "\001(\005\022\020\n\010step_len\030\004 \001(\005\022\020\n\010scan_len\030\005 \001(\005\022" +
+      "\025\n\rscan_back_len\030\006 \001(\005B%\n!com.example.di" +
+      "aoerqiegeapp.modelsP\000b\006proto3"
     };
     descriptor = com.google.protobuf.Descriptors.FileDescriptor
       .internalBuildGeneratedFileFrom(descriptorData,
@@ -704,7 +849,7 @@ public final class BspPV {
     internal_static_PV_struct_define_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessage.FieldAccessorTable(
         internal_static_PV_struct_define_descriptor,
-        new java.lang.String[] { "RobotOperationMode", "KnifeDescendingHeight", "MainAxisSpeed", "StepLen", });
+        new java.lang.String[] { "RobotOperationMode", "KnifeDescendingHeight", "MainAxisSpeed", "StepLen", "ScanLen", "ScanBackLen", });
     descriptor.resolveAllFeaturesImmutable();
   }
 

diaoerqiege/diaoerqige_V1.0/app/src/main/res/values/strings.xml

@@ -7,6 +7,8 @@
     <string name="slidePosition">滑台\n位置</string>
     <string name="MainAxisSpeed">主轴\n速度</string>
     <string name="KnifeStepLen">刀具\n步长</string>
+    <string name="ScanLen">工作\n距离</string>
+    <string name="ScanBackLen">安全\n距离</string>
     <string name="OperateMode">作业\n模式</string>
     <string name="ChangeLineDistance">下降\n高度</string>
     <string name="RobotSpeed">车体\n速度</string>