robot/project/paint_robot_new/paint_robot_new.c

/******************************************************************************

                  版权所有 (C), 2018-2099, Radkil

 ******************************************************************************
  文 件 名   : paint_robot_new.c
  版 本 号   : 初稿
  作    者   : radkil
  生成日期   : 2026年7月14日
  最近修改   :
  功能描述   : 新版喷漆主逻辑
  
  修改历史   :
  1.日    期   : 2026年7月14日
    作    者   : radkil
    修改内容   : 创建文件

******************************************************************************/
#include "BHBF.h"
#include "msg_center.h"
#include "../Protobuf/PSource/msp_MK32.pb.h"
#include "../Protobuf/PSource/bsp_PV.pb.h"

/*----------------------------------------------*
 * 外部变量说明                                 *
 *----------------------------------------------*/

/*----------------------------------------------*
 * 外部函数原型说明                             *
 *----------------------------------------------*/

/*----------------------------------------------*
 * 内部函数原型说明                             *
 *----------------------------------------------*/

/*----------------------------------------------*
 * 全局变量                                     *
 *----------------------------------------------*/

/*----------------------------------------------*
 * 模块级变量                                   *
 *----------------------------------------------*/
static SP_MSP_MK32_Button RB_MK32;
static uint32_t g_uiCustomModuleID = 0;

/*----------------------------------------------*
 * 常量定义                                     *
 *----------------------------------------------*/

/*----------------------------------------------*
 * 宏定义                                       *
 *----------------------------------------------*/
    
int check_MK32(char *_pBuffer, uint32_t _iSize)
{
    if (_iSize < 25) return 0;          // 数据不足25字节，不读[24]不误判，等下一包
    if (_pBuffer[0] != 0x0f) return -1;
    if (_pBuffer[24] != 0x00) return -1;
    return 25;
}

void decode_MK32(const char *buf, uint32_t _iSize)
{
	int32_t CH[16];
	int Start_byte = 0;

	CH[0] = ((buf[Start_byte + 1] | buf[Start_byte + 2] << 8) & 0x07FF);
	CH[1] = ((buf[Start_byte + 2] >> 3 | buf[Start_byte + 3] << 5) & 0x07FF);
	CH[2] = ((buf[Start_byte + 3] >> 6 | buf[Start_byte + 4] << 2
			| buf[Start_byte + 5] << 10) & 0x07FF);
	CH[3] = ((buf[Start_byte + 5] >> 1 | buf[Start_byte + 6] << 7) & 0x07FF);
	CH[4] = ((buf[Start_byte + 6] >> 4 | buf[Start_byte + 7] << 4) & 0x07FF);
	CH[5] = ((buf[Start_byte + 7] >> 7 | buf[Start_byte + 8] << 1
			| buf[Start_byte + 9] << 9) & 0x07FF);
	CH[6] = ((buf[Start_byte + 9] >> 2 | buf[Start_byte + 10] << 6) & 0x07FF);
	CH[7] = ((buf[Start_byte + 10] >> 5 | buf[Start_byte + 11] << 3) & 0x07FF);
	CH[8] = ((buf[Start_byte + 12] | buf[Start_byte + 13] << 8) & 0x07FF);
	CH[9] = ((buf[Start_byte + 13] >> 3 | buf[Start_byte + 14] << 5) & 0x07FF);
	CH[10] = ((buf[Start_byte + 14] >> 6 | buf[Start_byte + 15] << 2
			| buf[Start_byte + 16] << 10) & 0x07FF);
	CH[11] = ((buf[Start_byte + 16] >> 1 | buf[Start_byte + 17] << 7) & 0x07FF);
	CH[12] = ((buf[Start_byte + 17] >> 4 | buf[Start_byte + 18] << 4) & 0x07FF);
	CH[13] = ((buf[Start_byte + 18] >> 7 | buf[Start_byte + 19] << 1
			| buf[Start_byte + 20] << 9) & 0x07FF);
	CH[14] = ((buf[Start_byte + 20] >> 2 | buf[Start_byte + 21] << 6) & 0x07FF);
	CH[15] = ((buf[Start_byte + 21] >> 5 | buf[Start_byte + 22] << 3) & 0x07FF);

	// 按键数值转换：1050为中间值，272-1712
	for (int i = 0; i < 16; i++)
	{
		CH[i] = (int32_t)((CH[i] - 992) * 1.388889);
	}

	RD_MEMCPY(&(RB_MK32.CH0_RY_H), CH, sizeof(CH));

	if (buf[23] == 0)
	{
		RB_MK32.IsOnline = 1;
	}
	else
	{
		RB_MK32.IsOnline = 0;
	}
	RB_MK32.RxIndex++;

	int angle;
	angle = atan2(RB_MK32.CH1_RY_V, RB_MK32.CH0_RY_H) * 180 / M_PI;

	if(RB_MK32.CH5_SB == 0)
	{
		// 前进
		if((angle >= 45) && (angle <= 135))
		{
			MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_FORWARD, NULL, 0);
		}
		// 后退
		else if((angle >= -135) && (angle < -45))
		{
			MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_BACKWARD, NULL, 0);
		}
		else
		{
			MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0);
		}
	}
	else
	{
		// 前进
		if((angle >= 45) && (angle <= 135))
		{
			MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_FORWARD, NULL, 0);
		}
		// 后退
		else if((angle >= -135) && (angle < -45))
		{
			MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_MANUAL_BACKWARD, NULL, 0);
		}
		else
		{
			MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0);
		}
	}
}

static void Custom_ModuleHandler(const Msg_t *pstMsg)
{
    if (NULL == pstMsg)
    {
        return;
    }

    switch (pstMsg->m_uiMsgID)
    {
		case CUSTOM_GET_PV:
		{
			//log_i("RBCORE_CMD_STOP_ALL");
			Motor_CmdData_t tMotor_CmdData_t = {0};
			tMotor_CmdData_t.m_ucMotorIndex = 1;
			tMotor_CmdData_t.m_iValue = (int32_t)pstMsg->m_aucData;
			MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_CMD_SET_SPEED, (void *)&tMotor_CmdData_t, sizeof(Motor_CmdData_t));
			break;
		}
        default:
            break;
    }
}

void Custom_Task(void *argument)
{
    while(1)
    {
        MsgCenter_ProcessWait(g_uiCustomModuleID, 2);
    }
}

void Custom_Init(void)
{
    g_uiCustomModuleID = MsgCenter_Register(MODULE_NAME_CUSTOM, Custom_ModuleHandler);

    const osThreadAttr_t Custom_attributes = {
        .name = MODULE_NAME_CUSTOM,
        .stack_size = 1024,
        .priority = (osPriority_t) osPriorityRealtime,
    };
    (void)osThreadNew(Custom_Task, NULL, &Custom_attributes);
}