diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/bsp_IV.pb.h b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/bsp_IV.pb.h index 19a5a37..f9f6b60 100644 --- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/bsp_IV.pb.h +++ b/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" */ diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/Proto/bsp_IV.proto b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/Proto/bsp_IV.proto index ff58af4..a9b3b82 100644 --- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/Proto/bsp_IV.proto +++ b/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; }; diff --git a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c b/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c index cc2ba46..968859d 100644 --- a/diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Src/FSM.c +++ b/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() diff --git a/diaoerqiege/diaoerqige_V1.0/app/src/main/java/bsp_IV.proto b/diaoerqiege/diaoerqige_V1.0/app/src/main/java/bsp_IV.proto index 140f4c7..7e5f609 100644 --- a/diaoerqiege/diaoerqige_V1.0/app/src/main/java/bsp_IV.proto +++ b/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; }; diff --git a/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/models/BspIV.java b/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/models/BspIV.java index a93ee56..14e7275 100644 --- a/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/models/BspIV.java +++ b/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(); + + /** + * int32 max_laser_sensor = 9; + * @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; + /** + * int32 max_laser_sensor = 9; + * @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_ ; + /** + * int32 max_laser_sensor = 9; + * @return The maxLaserSensor. + */ + @java.lang.Override + public int getMaxLaserSensor() { + return maxLaserSensor_; + } + /** + * int32 max_laser_sensor = 9; + * @param value The maxLaserSensor to set. + * @return This builder for chaining. + */ + public Builder setMaxLaserSensor(int value) { + + maxLaserSensor_ = value; + bitField0_ |= 0x00000100; + onChanged(); + return this; + } + /** + * int32 max_laser_sensor = 9; + * @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(); } diff --git a/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/services/USBSerialPortHelper.java b/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/services/USBSerialPortHelper.java index 79b26d5..c43991f 100644 --- a/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/services/USBSerialPortHelper.java +++ b/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))); + } } } diff --git a/diaoerqiege/diaoerqige_V1.0/app/src/main/res/layout/activity_polish.xml b/diaoerqiege/diaoerqige_V1.0/app/src/main/res/layout/activity_polish.xml index e48994e..7d58d4d 100644 --- a/diaoerqiege/diaoerqige_V1.0/app/src/main/res/layout/activity_polish.xml +++ b/diaoerqiege/diaoerqige_V1.0/app/src/main/res/layout/activity_polish.xml @@ -314,6 +314,47 @@ android:textSize="10dp" /> + + + + + + + + + + diff --git a/diaoerqiege/diaoerqige_V1.0/app/src/main/res/values/strings.xml b/diaoerqiege/diaoerqige_V1.0/app/src/main/res/values/strings.xml index 89f2de4..684659f 100644 --- a/diaoerqiege/diaoerqige_V1.0/app/src/main/res/values/strings.xml +++ b/diaoerqiege/diaoerqige_V1.0/app/src/main/res/values/strings.xml @@ -13,6 +13,7 @@ 下降\n高度 车体\n速度 刀具\n位置 + 扫描\n极值\n 夹刀\n信号 右侧\n补偿