只有开过枪才生效延时停车

RBcore/include/BHBF.h

@@ -103,6 +103,7 @@ typedef enum {
 	CUSTOM_CMD_STRAIGHT_DRIVE,   // RBCORE_CMD_STRAIGHT_DRIVE命令停止后回调
 	CUSTOM_CMD_TURN_ANGLE,       // RBCORE_CMD_TURN_ANGLE命令停止后回调
 	CUSTOM_SET_STOP_OFF_PAINT,   // 停车关枪标志位置1
+	CUSTOM_RESET_PAINT,          // 停车关枪逻辑中用于重置开枪状态
 	SENDIV_START = 0x0400,       // *IV发送线程命令（一般低优先级事项也放到这）*
 
     SENDIV_SET_IV,				 // 设置IV

project/paint_robot_new/paint_robot_new.c

@@ -114,8 +114,14 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
     static int iRight_Compensation = 0;
 	static int iVehicleSpeed = 1;
 	static int iIsStopOffPaint = 0;
+	static int iPaint = 1;
     switch (pstMsg->m_uiMsgID)
     {
+		case CUSTOM_RESET_PAINT:
+		{
+			iPaint = 1;
+        	break;
+        }
 		case CUSTOM_SET_STOP_OFF_PAINT:
 		{
 			iIsStopOffPaint = 1;
@@ -257,6 +263,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 				RD_MEMCPY(&paintstate, pstMsg->m_aucData, sizeof(paintstate));
 				HAL_GPIO_WritePin(OUT_1_GPIO_Port, OUT_1_Pin, paintstate);
 			}
+			if (0 == paintstate) iPaint = 0;
 			break;
 		}
 		case CUSTOM_GET_MK32:
@@ -439,9 +446,10 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 			// 【注意!!!】摇杆行程死区判断开始，除摇杆以外按键在上边都处理完，不然走不下去
 			if (abs(g_stMK32.CH2_LY_V) <= g_stCV.Joy_Sticker_Value_Allowance && abs(g_stMK32.CH3_LY_H) <= g_stCV.Joy_Sticker_Value_Allowance)
 			{
-				if (g_stPV.RunMode == 2 || g_stPV.RunMode == 3)
+				if ((g_stPV.RunMode == 2 || g_stPV.RunMode == 3) && 0 == iPaint)
 				{
 					MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_CMD_STOP_AFTER, NULL, 0);
+					log_e("MOTOR_CMD_STOP_AFTER");
 				}
 				else
 				{
@@ -530,8 +538,8 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 			lua_print("PV Info\n");
 			lua_print("{%d, %d, %d, %d, %d, %ld}\n",
 					g_stPV.RunMode, g_stPV.RobotSpeed, g_stPV.LaneChangeDistance, (int)g_stPV.Vertical_Calibration, g_stPV.IV_IsRestart_Notified, (long long)g_stPV.TimeStamp);
-			lua_print("\ng_Paint_State = %d\ng_angle_protect_lock = %d\ng_ipaintOffCount = %d\ng_Is_All_Button_Reset = %d\n", 
-					g_Paint_State, g_angle_protect_lock, g_ipaintOffCount, g_Is_All_Button_Reset);
+			lua_print("\niPaint = %d\ng_Paint_State = %d\ng_angle_protect_lock = %d\ng_ipaintOffCount = %d\ng_Is_All_Button_Reset = %d\n",
+					iPaint, g_Paint_State, g_angle_protect_lock, g_ipaintOffCount, g_Is_All_Button_Reset);
 			break;
 		}
         default:

project/paint_robot_new/paint_robot_new_motors.c

@@ -62,6 +62,7 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
     }
 
     int iSpeed = 1;
+	static uint32_t uiLastTime = 0;
     switch (pstMsg->m_uiMsgID)
     {
         case MOTOR_SET_SPEED:
@@ -81,6 +82,7 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
 			{
 				g_iLastVehicleMove = 1;
 			}
+			uiLastTime = Rd_GetTime();
 			break;
         }
         case MOTOR_POWER_ENABLE:
@@ -103,7 +105,6 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
         }
         case MOTOR_CMD_STOP_AFTER:
         {
-			static uint32_t uiLastTime = 0;
         	static int iIsDelayStop = 0;
 
 			if (1 == g_iLastVehicleMove)
@@ -121,6 +122,7 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
 				{
 					memset(g_aiMotorSpeed, 0, sizeof(g_aiMotorSpeed));
 					iIsDelayStop = 0;
+					MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_RESET_PAINT, NULL, 0);
 				}
 				break;
 			}
@@ -133,6 +135,7 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
 		case COMMON_CMD_STOP_ALL:
 		{
 			memset(g_aiMotorSpeed, 0, sizeof(g_aiMotorSpeed));
+			uiLastTime = Rd_GetTime();
 			break;
 		}
         default: