【已调用】规整三维数组代码

controller/include/msp_MK32.h

@@ -109,6 +109,17 @@ typedef enum {
 
 typedef void (*ActionFunc)(void);
 
+extern const ActionFunc g_ActionTable[KEY_MAX][MODE_MAX][SUB_MODE_MAX];
+
+#define SAFE_DISPATCH(key)                      \
+    do {                                        \
+        if ((key) < KEY_MAX)                    \
+		{                                       \
+        	ActionFunc _fn = g_ActionTable[(key)][(_iMode)][(_iSubMode)]; \
+            if (_fn) _fn();                     \
+        }                                       \
+    } while (0)
+
 /*==============================================*
  *      project-wide global variables           *
  *----------------------------------------------*/

controller/msp_MK32.c

@@ -145,53 +145,41 @@ void controller_init(void)
   (void)osThreadNew(Read_MK32, NULL, &MK32_Task_attributes);
 }
 
-extern const ActionFunc g_ActionTable[KEY_MAX][MODE_MAX][SUB_MODE_MAX];
-
-#define SAFE_DISPATCH(key, mode, submode)       \
-    do {                                        \
-        if ((key) < KEY_MAX &&                  \
-            (mode) < MODE_MAX &&                \
-            (submode) < SUB_MODE_MAX) {          \
-        	ActionFunc _fn = g_ActionTable[(key)][(mode)][(submode)]; \
-            if (_fn) _fn();                     \
-        }                                       \
-    } while (0)
-
 WEAK void MK32_Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode)
 {
 	if (_iMode <= MODE_NULL || _iMode >= MODE_MAX) return;
 	// 急停
 	if (_pstMK32->CH8_SE == -1000 && _pstMK32->CH9_SF == -1000)
 	{
-		SAFE_DISPATCH(E_STOP, _iMode, _iSubMode);
+		SAFE_DISPATCH(E_STOP);
 		return;
 	}
 
 	// 根据模式判断换道（仅在竖直向左或向右生效）
 	if (_pstMK32->CH4_SA == 1000)
 	{
-		SAFE_DISPATCH(KEY_SA_UP, _iMode, _iSubMode);
+		SAFE_DISPATCH(KEY_SA_UP);
 		return;
 	}
 	else if (_pstMK32->CH4_SA == -1000)
 	{
-		SAFE_DISPATCH(KEY_SA_DOWN, _iMode, _iSubMode);
+		SAFE_DISPATCH(KEY_SA_DOWN);
 		return;
 	}
 	else // 重置前进计时器以便下一次换道重新计数
 	{
-		SAFE_DISPATCH(KEY_SA_DEFAULT, _iMode, _iSubMode);
+		SAFE_DISPATCH(KEY_SA_DEFAULT);
 	}
 
 	// 自动巡航
 	if (_pstMK32->CH5_SB == -1000)
 	{
-		SAFE_DISPATCH(KEY_SB_UP, _iMode, _iSubMode);
+		SAFE_DISPATCH(KEY_SB_UP);
 		return;
 	}
 	else if(_pstMK32->CH5_SB == 1000)
 	{
-		SAFE_DISPATCH(KEY_SB_DOWN, _iMode, _iSubMode);
+		SAFE_DISPATCH(KEY_SB_DOWN);
 		return;
 	}
 
@@ -199,21 +187,21 @@ WEAK void MK32_Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode)
 	// 开关喷枪
 	if (_pstMK32->CH6_SC == -1000)
 	{
-		SAFE_DISPATCH(KEY_SC_UP, _iMode, _iSubMode);
+		SAFE_DISPATCH(KEY_SC_UP);
 	}
 	else if (_pstMK32->CH6_SC == 1000)
 	{
-		SAFE_DISPATCH(KEY_SC_DOWN, _iMode, _iSubMode);
+		SAFE_DISPATCH(KEY_SC_DOWN);
 	}
 	else
 	{
-		SAFE_DISPATCH(KEY_SC_DEFAULT, _iMode, _iSubMode);
+		SAFE_DISPATCH(KEY_SC_DEFAULT);
 	}
 
 	// 【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(_pstMK32->CH2_LY_V) <= g_stCV.Joy_Sticker_Value_Allowance && abs(_pstMK32->CH3_LY_H) <= g_stCV.Joy_Sticker_Value_Allowance)
 	{
-		SAFE_DISPATCH(JOY_DEFAULT, _iMode, _iSubMode);
+		SAFE_DISPATCH(JOY_DEFAULT);
 		return;
 	}
 	// 【注意!!!】摇杆行程死区判断结束，摇杆处理都放在这以后，否则行程死区可能不生效
@@ -223,19 +211,19 @@ WEAK void MK32_Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode)
 
 	if (abs(angle - 90) <= g_stCV.Joy_Sticker_Angle_Allowance)
 	{
-		SAFE_DISPATCH(JOY_LEFT_UP, _iMode, _iSubMode);
+		SAFE_DISPATCH(JOY_LEFT_UP);
 	}
 	else if (abs(angle - (-90)) <= g_stCV.Joy_Sticker_Angle_Allowance)
 	{
-		SAFE_DISPATCH(JOY_LEFT_DWON, _iMode, _iSubMode);
+		SAFE_DISPATCH(JOY_LEFT_DWON);
 	}
 	else if (abs(angle - 0) <= g_stCV.Joy_Sticker_Angle_Allowance)
 	{
-		SAFE_DISPATCH(JOY_LEFT_RIGHT, _iMode, _iSubMode);
+		SAFE_DISPATCH(JOY_LEFT_RIGHT);
 	}
 	else if (abs(angle - 180) <= g_stCV.Joy_Sticker_Angle_Allowance || abs(angle - (-180)) <= g_stCV.Joy_Sticker_Angle_Allowance)
 	{
-		SAFE_DISPATCH(JOY_LEFT_LEFT, _iMode, _iSubMode);
+		SAFE_DISPATCH(JOY_LEFT_LEFT);
 	}
 	else
 	{

project/paint_robot_new/paint_robot_new.c

@@ -50,6 +50,7 @@ static PV_struct_define g_stPV;
 static IV_struct_define g_stIV;
 static int g_Is_All_Button_Reset = 0; // 1表示按钮正常工作，0表示需要复位
 static int g_ichangLineState = 0; // 换道状态，0表示起始状态，1表示第一次旋转完成，2表示计时行走	完成
+static int g_bNotTable = 0;
 
 static int g_iLeft_Compensation = 0;
 static int g_iRight_Compensation = 0;
@@ -294,6 +295,10 @@ static void Robot_Stop_After(void)
 	{
 		MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_CMD_STOP_AFTER, NULL, 0);
 	}
+	else
+	{
+		MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_STOP_ALL, NULL, 0);
+	}
 }
 
 static void Robot_Stop(void)
@@ -493,6 +498,7 @@ static void Move_Halt_AngleError(void)
 
 void MK32_Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode)
 {
+	if (0 == g_bNotTable) g_bNotTable = 1;
 	// 急停
 	if (_pstMK32->CH8_SE == -1000 && _pstMK32->CH9_SF == -1000)
 	{
@@ -925,8 +931,8 @@ 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("\niPaint = %d\ng_stAngleError_Ctl.m_iPaintState = %d\ng_stAngleError_Ctl.m_iAnglelock = %d\ng_stAngleError_Ctl.m_ipaintOffCount = %d\ng_Is_All_Button_Reset = %d\n",
+			lua_print("\niPaint = %d\ng_stAngleError_Ctl.m_iPaintState = %d\ng_stAngleError_Ctl.m_iAnglelock = %d\ng_stAngleError_Ctl.m_ipaintOffCount = %d\ng_Is_All_Button_Reset = %d\ng_bNotTable = %d\n",
-					g_iPaint, g_stAngleError_Ctl.m_iPaintState, g_stAngleError_Ctl.m_iAnglelock, g_stAngleError_Ctl.m_ipaintOffCount, g_Is_All_Button_Reset);
+					g_iPaint, g_stAngleError_Ctl.m_iPaintState, g_stAngleError_Ctl.m_iAnglelock, g_stAngleError_Ctl.m_ipaintOffCount, g_Is_All_Button_Reset, g_bNotTable);
 			break;
 		}
         default: