paint_robot_new v1.1 build [Aug 21 2026 15:32:21] by BINGOOPRO

RBcore/client_setting.c

@@ -96,7 +96,7 @@ void decode_PV(const char *_pBuffer, uint32_t _iSize)
     }
 }
 
-void Send_PV(void *argument)
+void Send_IV(void *argument)
 {
     while(1)
     {

RBcore/drv_interface.c

@@ -250,14 +250,23 @@ extern int check_MK32(char *_pBuffer, uint32_t _iSize);
 extern void decode_MK32(const char *buf, uint32_t _iSize);
 extern int check_PV(char *_pBuffer, uint32_t _iSize);
 extern void decode_PV(const char *buf, uint32_t _iSize);
-void Send_PV(void *argument);
+extern void Send_IV(void *argument);
-void ground_manger_init(void);
+extern void ground_manger_init(void);
+extern void Custom_Task(void *argument);
 
 void Drv_InterfaceInit(void)
 {
 	MsgCenter_Init();
+
 //	ground_manger_init();
 
+	const osThreadAttr_t Custom_attributes = {
+		.name = MODULE_NAME_CUSTOM,
+		.stack_size = 1024,
+		.priority = (osPriority_t) osPriorityRealtime,
+	};
+	(void)osThreadNew(Custom_Task, NULL, &Custom_attributes);
+
 	// 创建电机任务
 	const osThreadAttr_t motor_task_attributes = {
 		.name = MODULE_NAME_MOTOR,
@@ -295,5 +304,5 @@ void Drv_InterfaceInit(void)
 //		.stack_size = 1024,
 //		.priority = (osPriority_t) osPriorityHigh4,
 //	};
-//	(void)osThreadNew(Send_PV, NULL, &Send_PV_attributes);
+//	(void)osThreadNew(Send_IV, NULL, &Send_PV_attributes);
 }

RBcore/include/BHBF.h

@@ -74,7 +74,8 @@ extern "C"{
 #define MODULE_NAME_CUSTOM      "custom"
 
 typedef enum {
-    MOTOR_CMD_SET_SPEED = 0x0001,// 设置速度
+	LUA_SHOW_INFO,
+    MOTOR_CMD_SET_SPEED,		 // 设置速度
     MOTOR_CMD_SET_POSITION,      // 设置位置
     MOTOR_CMD_STOP,              // 停止
     MOTOR_CMD_GET_STATUS,        // 获取状态
@@ -92,6 +93,8 @@ typedef enum {
 
 	CUSTOM_GET_PV,				 // 获取PV
 	CUSTOM_SET_IV,				 // 设置IV
+	CUSTOM_GET_MK32,		     // 获取MK32
+	CUSTOM_CMD_END = 0x0300,
 } Motor_Cmd_e;
     
 // 电机命令数据结构

RBcore/include/msg_center.h

@@ -38,7 +38,7 @@ extern "C"{
 #define MSG_CENTER_MAX_MODULES      16      // 最大模块数
 #define MSG_CENTER_MAX_NAME_LEN     16      // 模块名称最大长度
 #define MSG_CENTER_QUEUE_SIZE       64      // 消息队列大小
-#define MSG_CENTER_MAX_DATA_SIZE    64      // 消息数据最大大小
+#define MSG_CENTER_MAX_DATA_SIZE    256     // 消息数据最大大小
 
 /*==============================================*
  *      data structures                         *

project/paint_robot_new/paint_robot_new.c

@@ -18,7 +18,9 @@
 ******************************************************************************/
 #include "BHBF.h"
 #include "msg_center.h"
+#include "lua_base.h"
 #include "Protobuf/PSource/bsp_PV.pb.h"
+#include "Protobuf/PSource/msp_MK32.pb.h"
 
 /*----------------------------------------------*
  * 外部变量说明                                 *
@@ -40,6 +42,8 @@
  * 模块级变量                                   *
  *----------------------------------------------*/
 static uint32_t g_uiCustomModuleID = 0;
+SP_MSP_MK32_Button g_stMK32;
+PV_struct_define g_stPV;
 
 /*----------------------------------------------*
  * 常量定义                                     *
@@ -60,7 +64,42 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
     {
 		case CUSTOM_GET_PV:
 		{
-			//log_i("RBCORE_CMD_STOP_ALL");
+			if (pstMsg->m_uiDataLen >= sizeof(g_stPV))
+			{
+				RD_MEMCPY(&g_stPV, pstMsg->m_aucData, sizeof(g_stPV));
+			}
+			break;
+		}
+		case CUSTOM_GET_MK32:
+		{
+			if (pstMsg->m_uiDataLen >= sizeof(g_stMK32))
+			{
+				RD_MEMCPY(&g_stMK32, pstMsg->m_aucData, sizeof(g_stMK32));
+			}
+			break;
+		}
+		case LUA_SHOW_INFO:
+		{
+			lua_print("MK32 Info\nRxIndex:%d\tIsOnline:%d\n", g_stMK32.RxIndex, g_stMK32.IsOnline);
+			lua_print("CH0_RY_H\t%d\n", g_stMK32.CH0_RY_H);
+			lua_print("CH1_RY_V\t%d\n", g_stMK32.CH1_RY_V);
+			lua_print("CH2_LY_V\t%d\n", g_stMK32.CH2_LY_V);
+			lua_print("CH3_LY_H\t%d\n", g_stMK32.CH3_LY_H);
+			lua_print("CH4_SA  \t%d\n", g_stMK32.CH4_SA);
+			lua_print("CH5_SB  \t%d\n", g_stMK32.CH5_SB);
+			lua_print("CH6_SC  \t%d\n", g_stMK32.CH6_SC);
+			lua_print("CH7_SD  \t%d\n", g_stMK32.CH7_SD);
+			lua_print("CH8_SE  \t%d\n", g_stMK32.CH8_SE);
+			lua_print("CH9_SF  \t%d\n", g_stMK32.CH9_SF);
+			lua_print("CH10_LD1\t%d\n", g_stMK32.CH10_LD1);
+			lua_print("CH11_RD1\t%d\n", g_stMK32.CH11_RD1);
+			lua_print("CH12_S1 \t%d\n", g_stMK32.CH12_S1);
+			lua_print("CH13_S2 \t%d\n", g_stMK32.CH13_S2);
+			lua_print("CH14_LT \t%d\n", g_stMK32.CH14_LT);
+			lua_print("CH15_RT \t%d\n", g_stMK32.CH15_RT);
+			lua_print("PV Info\n");
+			lua_print("RunMode = %d\nRobotSpeed = %d\nVertical_Calibration = %d\nIV_IsRestart_Notified = %d\nTimeStamp = %d\n",
+					g_stPV.RunMode, g_stPV.RobotSpeed, g_stPV.Vertical_Calibration, g_stPV.IV_IsRestart_Notified, g_stPV.TimeStamp);
 			break;
 		}
         default:
@@ -70,20 +109,10 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 
 void Custom_Task(void *argument)
 {
+	g_uiCustomModuleID = MsgCenter_Register(MODULE_NAME_CUSTOM, Custom_ModuleHandler);
     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);
-}

project/paint_robot_new/paint_robot_new_MK32.c

@@ -100,6 +100,8 @@ void decode_MK32(const char *buf, uint32_t _iSize)
 	}
 	RB_MK32.RxIndex++;
 
+	MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_GET_MK32, (void *)&RB_MK32, sizeof(RB_MK32));
+
 	int angle;
 	angle = atan2(RB_MK32.CH1_RY_V, RB_MK32.CH0_RY_H) * 180 / M_PI;
 

project/paint_robot_new/paint_robot_new_motors.c

@@ -62,10 +62,14 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
     {
         case MOTOR_CMD_SET_SPEED:
         {
-            int iSpeed = (int)pstMsg->m_aucData;
+            int iSpeed = 0;
-            log_i("Set Speed %d", iSpeed);
+            if (pstMsg->m_uiDataLen >= sizeof(int))
-//            g_aiMotorSpeed[0] = iSpeed;
+            {
-//            g_aiMotorSpeed[1] = iSpeed;
+                RD_MEMCPY(&iSpeed, pstMsg->m_aucData, sizeof(int));
+            }
+            //log_i("Set Speed %d", iSpeed);
+            g_aiMotorSpeed[0] = iSpeed;
+            g_aiMotorSpeed[1] = iSpeed;
             break;
         }
         case MOTOR_CMD_STOP:
@@ -157,7 +161,7 @@ static void decode_LeiSaiMotor(const char *_pBuffer, uint32_t _iSize)
     MotorMgr_ParseResponse(ucMotorID, (const uint8_t *)&_pBuffer[4], 8);
 }
 
-static void MotorInit(void)
+void MotorTask(void *argument)
 {
 	// 初始化FDCAN1，使用雷赛电机的回调
 	TCANUserData *ptCANUserData = CAN_userdata_init(&hfdcan1, 32, 0);
@@ -186,11 +190,6 @@ static void MotorInit(void)
     g_apstMotors[1] = MotorMgr_Create(&stRightMotorConfig, g_ptCAN1, LeiSai_GetProtocol(), NULL);
 
     g_uiMotorModuleID = MsgCenter_Register(MODULE_NAME_MOTOR, Motor_ModuleHandler);
-}
-
-void MotorTask(void *argument)
-{
-	MotorInit();
 
 	MotorMgr_ResetAll(g_apstMotors[0]);
 	Rd_Delay(500);