5月9日下午调试临时修改，录制视频。同时增加了扫描距离的显示

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

@@ -19,6 +19,7 @@ typedef struct _IV_struct_define {
     int32_t laser_sensor_3_measure_distance;
     int32_t kinfe_complete_signal;
     int32_t kinfe_position;
+    int32_t max_laser_sensor;
 } IV_struct_define;
 
 
@@ -27,8 +28,8 @@ extern "C" {
 #endif
 
 /* Initializer values for message structs */
-#define IV_struct_define_init_default            {0, 0, 0, 0, 0, 0, 0, 0}
-#define IV_struct_define_init_zero               {0, 0, 0, 0, 0, 0, 0, 0}
+#define IV_struct_define_init_default            {0, 0, 0, 0, 0, 0, 0, 0, 0}
+#define IV_struct_define_init_zero               {0, 0, 0, 0, 0, 0, 0, 0, 0}
 
 /* Field tags (for use in manual encoding/decoding) */
 #define IV_struct_define_Robot_Move_Speed_tag    1
@@ -39,6 +40,7 @@ extern "C" {
 #define IV_struct_define_laser_sensor_3_measure_distance_tag 6
 #define IV_struct_define_kinfe_complete_signal_tag 7
 #define IV_struct_define_kinfe_position_tag      8
+#define IV_struct_define_max_laser_sensor_tag    9
 
 /* Struct field encoding specification for nanopb */
 #define IV_struct_define_FIELDLIST(X, a) \
@@ -49,7 +51,8 @@ X(a, STATIC,   SINGULAR, INT32,    laser_sensor_1_measure_distance,   4) \
 X(a, STATIC,   SINGULAR, INT32,    laser_sensor_2_measure_distance,   5) \
 X(a, STATIC,   SINGULAR, INT32,    laser_sensor_3_measure_distance,   6) \
 X(a, STATIC,   SINGULAR, INT32,    kinfe_complete_signal,   7) \
-X(a, STATIC,   SINGULAR, INT32,    kinfe_position,    8)
+X(a, STATIC,   SINGULAR, INT32,    kinfe_position,    8) \
+X(a, STATIC,   SINGULAR, INT32,    max_laser_sensor,   9)
 #define IV_struct_define_CALLBACK NULL
 #define IV_struct_define_DEFAULT NULL
 
@@ -60,7 +63,7 @@ extern const pb_msgdesc_t IV_struct_define_msg;
 
 /* Maximum encoded size of messages (where known) */
 #define BSP_IV_PB_H_MAX_SIZE                     IV_struct_define_size
-#define IV_struct_define_size                    86
+#define IV_struct_define_size                    97
 
 #ifdef __cplusplus
 } /* extern "C" */

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

@@ -13,5 +13,5 @@ message IV_struct_define{
 	  int32 laser_sensor_3_measure_distance = 6;
 	  int32 kinfe_complete_signal = 7;
 	  int32 kinfe_position = 8;
-	  
+	  int32 max_laser_sensor = 9;
 };

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c

@@ -192,9 +192,9 @@ void Automatic_Laser_Scanning()
         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);
+        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
+        MaxLaserSensor = (max < MaxLaserSensor) ? max : MaxLaserSensor;
 
         #if 0
         if (RISE_KINFE_STATE == ScanState)
@@ -525,6 +525,7 @@ void IV_Control()
 	IV.laser_sensor_3_measure_distance = GV.ZHR29_200_measure_results.laser_sensor_3_measure_distance;
 	IV.kinfe_complete_signal = IsAllowRotation;
     IV.kinfe_position = (KinfePosition == 1000) ? KinfePosition : (GV.LS_FrontEnd_Motor.Real_Position - KinfePosition);// 这里上传的是原始数据，需要APP上缩小20000倍
+    IV.max_laser_sensor = MaxLaserSensor;
 }
 
 void Robot_Control()

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

@@ -13,4 +13,5 @@ message IV_struct_define
 	  int32 laser_sensor_3_measure_distance = 6;
 	  int32 kinfe_complete_signal = 7;
 	  int32 kinfe_position = 8;
+	  int32 max_laser_sensor = 9;
 };

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

@@ -76,6 +76,12 @@ public final class BspIV {
      * @return The kinfePosition.
      */
     int getKinfePosition();
+
+    /**
+     * <code>int32 max_laser_sensor = 9;</code>
+     * @return The maxLaserSensor.
+     */
+    int getMaxLaserSensor();
   }
   /**
    * Protobuf type {@code IV_struct_define}
@@ -202,6 +208,17 @@ public final class BspIV {
       return kinfePosition_;
     }
 
+    public static final int MAX_LASER_SENSOR_FIELD_NUMBER = 9;
+    private int maxLaserSensor_ = 0;
+    /**
+     * <code>int32 max_laser_sensor = 9;</code>
+     * @return The maxLaserSensor.
+     */
+    @java.lang.Override
+    public int getMaxLaserSensor() {
+      return maxLaserSensor_;
+    }
+
     private byte memoizedIsInitialized = -1;
     @java.lang.Override
     public final boolean isInitialized() {
@@ -240,6 +257,9 @@ public final class BspIV {
       if (kinfePosition_ != 0) {
         output.writeInt32(8, kinfePosition_);
       }
+      if (maxLaserSensor_ != 0) {
+        output.writeInt32(9, maxLaserSensor_);
+      }
       getUnknownFields().writeTo(output);
     }
 
@@ -281,6 +301,10 @@ public final class BspIV {
         size += com.google.protobuf.CodedOutputStream
           .computeInt32Size(8, kinfePosition_);
       }
+      if (maxLaserSensor_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(9, maxLaserSensor_);
+      }
       size += getUnknownFields().getSerializedSize();
       memoizedSize = size;
       return size;
@@ -313,6 +337,8 @@ public final class BspIV {
           != other.getKinfeCompleteSignal()) return false;
       if (getKinfePosition()
           != other.getKinfePosition()) return false;
+      if (getMaxLaserSensor()
+          != other.getMaxLaserSensor()) return false;
       if (!getUnknownFields().equals(other.getUnknownFields())) return false;
       return true;
     }
@@ -341,6 +367,8 @@ public final class BspIV {
       hash = (53 * hash) + getKinfeCompleteSignal();
       hash = (37 * hash) + KINFE_POSITION_FIELD_NUMBER;
       hash = (53 * hash) + getKinfePosition();
+      hash = (37 * hash) + MAX_LASER_SENSOR_FIELD_NUMBER;
+      hash = (53 * hash) + getMaxLaserSensor();
       hash = (29 * hash) + getUnknownFields().hashCode();
       memoizedHashCode = hash;
       return hash;
@@ -480,6 +508,7 @@ public final class BspIV {
         laserSensor3MeasureDistance_ = 0;
         kinfeCompleteSignal_ = 0;
         kinfePosition_ = 0;
+        maxLaserSensor_ = 0;
         return this;
       }
 
@@ -537,6 +566,9 @@ public final class BspIV {
         if (((from_bitField0_ & 0x00000080) != 0)) {
           result.kinfePosition_ = kinfePosition_;
         }
+        if (((from_bitField0_ & 0x00000100) != 0)) {
+          result.maxLaserSensor_ = maxLaserSensor_;
+        }
       }
 
       @java.lang.Override
@@ -575,6 +607,9 @@ public final class BspIV {
         if (other.getKinfePosition() != 0) {
           setKinfePosition(other.getKinfePosition());
         }
+        if (other.getMaxLaserSensor() != 0) {
+          setMaxLaserSensor(other.getMaxLaserSensor());
+        }
         this.mergeUnknownFields(other.getUnknownFields());
         onChanged();
         return this;
@@ -641,6 +676,11 @@ public final class BspIV {
                 bitField0_ |= 0x00000080;
                 break;
               } // case 64
+              case 72: {
+                maxLaserSensor_ = input.readInt32();
+                bitField0_ |= 0x00000100;
+                break;
+              } // case 72
               default: {
                 if (!super.parseUnknownField(input, extensionRegistry, tag)) {
                   done = true; // was an endgroup tag
@@ -914,6 +954,38 @@ public final class BspIV {
         return this;
       }
 
+      private int maxLaserSensor_ ;
+      /**
+       * <code>int32 max_laser_sensor = 9;</code>
+       * @return The maxLaserSensor.
+       */
+      @java.lang.Override
+      public int getMaxLaserSensor() {
+        return maxLaserSensor_;
+      }
+      /**
+       * <code>int32 max_laser_sensor = 9;</code>
+       * @param value The maxLaserSensor to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMaxLaserSensor(int value) {
+
+        maxLaserSensor_ = value;
+        bitField0_ |= 0x00000100;
+        onChanged();
+        return this;
+      }
+      /**
+       * <code>int32 max_laser_sensor = 9;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearMaxLaserSensor() {
+        bitField0_ = (bitField0_ & ~0x00000100);
+        maxLaserSensor_ = 0;
+        onChanged();
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:IV_struct_define)
     }
 
@@ -979,15 +1051,15 @@ public final class BspIV {
       descriptor;
   static {
     java.lang.String[] descriptorData = {
-      "\n\014bsp_IV.proto\"\214\002\n\020IV_struct_define\022\030\n\020R" +
+      "\n\014bsp_IV.proto\"\246\002\n\020IV_struct_define\022\030\n\020R" +
       "obot_Move_Speed\030\001 \001(\001\022\025\n\rRF_Angle_Roll\030\002" +
       " \001(\005\022\025\n\rRemote_Status\030\003 \001(\005\022\'\n\037laser_sen" +
       "sor_1_measure_distance\030\004 \001(\005\022\'\n\037laser_se" +
       "nsor_2_measure_distance\030\005 \001(\005\022\'\n\037laser_s" +
       "ensor_3_measure_distance\030\006 \001(\005\022\035\n\025kinfe_" +
       "complete_signal\030\007 \001(\005\022\026\n\016kinfe_position\030" +
-      "\010 \001(\005B%\n!com.example.diaoerqiegeapp.mode" +
-      "lsP\000b\006proto3"
+      "\010 \001(\005\022\030\n\020max_laser_sensor\030\t \001(\005B%\n!com.e" +
+      "xample.diaoerqiegeapp.modelsP\000b\006proto3"
     };
     descriptor = com.google.protobuf.Descriptors.FileDescriptor
       .internalBuildGeneratedFileFrom(descriptorData,
@@ -998,7 +1070,7 @@ public final class BspIV {
     internal_static_IV_struct_define_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessage.FieldAccessorTable(
         internal_static_IV_struct_define_descriptor,
-        new java.lang.String[] { "RobotMoveSpeed", "RFAngleRoll", "RemoteStatus", "LaserSensor1MeasureDistance", "LaserSensor2MeasureDistance", "LaserSensor3MeasureDistance", "KinfeCompleteSignal", "KinfePosition", });
+        new java.lang.String[] { "RobotMoveSpeed", "RFAngleRoll", "RemoteStatus", "LaserSensor1MeasureDistance", "LaserSensor2MeasureDistance", "LaserSensor3MeasureDistance", "KinfeCompleteSignal", "KinfePosition", "MaxLaserSensor", });
     descriptor.resolveAllFeaturesImmutable();
   }
 

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

@@ -366,6 +366,15 @@ public class USBSerialPortHelper implements SerialInputOutputManager.Listener {
             {
                 activityPolish.mainBinding.kinfePosition.setText(String.format("%.2f", (double)_toReceiveIV1.getKinfePosition() / 20000));
             }
+
+            if (_toReceiveIV1.getMaxLaserSensor() == -255)
+            {
+                activityPolish.mainBinding.maxLaserSensor.setText("未扫描");
+            }
+            else
+            {
+                activityPolish.mainBinding.maxLaserSensor.setText((String.format("%.1f", _toReceiveIV1.getMaxLaserSensor() / 100.0)));
+            }
         }
     }
 

diaoerqiege/diaoerqige_V1.0/app/src/main/res/layout/activity_polish.xml

@@ -314,6 +314,47 @@
                         android:textSize="10dp" />
 
 
+                </LinearLayout>
+                <LinearLayout
+                    android:layout_width="match_parent"
+                    android:layout_height="0dp"
+                    android:layout_weight="1"
+
+                    >
+
+                    <TextView
+                        android:layout_width="0dp"
+                        android:layout_height="match_parent"
+                        android:layout_gravity="center"
+                        android:layout_marginLeft="8dp"
+                        android:layout_weight="1"
+                        android:gravity="left|center"
+                        android:text="@string/MaxLaserSensor"
+
+                        android:textColor="@color/black"
+                        android:textSize="12dp"
+                        android:textStyle="bold" />
+
+                    <TextView
+                        android:id="@+id/max_laser_sensor"
+                        android:layout_width="0dp"
+                        android:layout_height="match_parent"
+                        android:layout_weight="2"
+                        android:gravity="center"
+                        android:text="xxx"
+                        android:textColor="@color/navy_blue"
+                        android:textSize="15dp"
+                        android:textStyle="bold" />
+
+                    <TextView
+                        android:layout_width="35dp"
+                        android:layout_height="match_parent"
+                        android:gravity="center"
+                        android:text="mm"
+                        android:textColor="@color/dark_ink_blue"
+                        android:textSize="10dp" />
+
+
                 </LinearLayout>
                 <!--                    <LinearLayout-->
                 <!--                        android:layout_width="match_parent"-->

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

@@ -13,6 +13,7 @@
     <string name="ChangeLineDistance">下降\n高度</string>
     <string name="RobotSpeed">车体\n速度</string>
     <string name="KnifePosition">刀具\n位置</string>
+    <string name="MaxLaserSensor">扫描\n极值\n</string>
     <string name="KnifeReadyComplete">夹刀\n信号</string>
     <string name="RightCompensation">右侧\n补偿</string>