再次优化命令字

RBcore/BHBF.c

@@ -59,7 +59,7 @@ static void RBcore_ModuleHandler(const Msg_t *pstMsg)
     static int aiMotorSpeed[2] = {0}; //0索引表示左，1索引表示右，多轮时到对应motor的MOTOR_CMD_SET_SPEED命令自行处理
     switch (pstMsg->m_uiMsgID)
     {
-		case RBCORE_CMD_STOP_ALL:
+		case COMMON_CMD_STOP_ALL:
 		{
     		MsgCenter_SendTo(MODULE_NAME_MOTOR, pstMsg->m_uiMsgID, NULL, 0);
 			break;
@@ -102,6 +102,21 @@ static void RBcore_ModuleHandler(const Msg_t *pstMsg)
 				aiMotorSpeed[1] = -g_stCV.RightTurnSpeed;
 				MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed));
 			}
+			break;
+		}
+        case RBCORE_CMD_VERTICAL:
+		{
+
+			break;
+		}
+        case RBCORE_CMD_HORIZONTAL_LEFT:
+		{
+
+			break;
+		}
+        case RBCORE_CMD_HORIZONTAL_RIGHT:
+		{
+
 			break;
 		}
         case RBCORE_GET_VEHICLE_SPEED:

RBcore/client_setting.c

@@ -110,7 +110,7 @@ static void SendIV_ModuleHandler(const Msg_t *pstMsg)
 
     switch (pstMsg->m_uiMsgID)
     {
-		case CUSTOM_SET_IV:
+		case SENDIV_SET_IV:
 		{
 			if (pstMsg->m_uiDataLen >= sizeof(IV))
 			{

RBcore/include/BHBF.h

@@ -73,13 +73,12 @@ extern "C"{
 #define MODULE_NAME_SENDIV      "sendiv"
 
 typedef enum {
-	LUA_SHOW_INFO,
+	COMMON_CMD_SHOW_INFO,        // 终端信息展示
-    MOTOR_SET_SPEED,		 // 设置速度
+    COMMON_CMD_STOP_ALL,         // 机器人停止
-	MOTOR_GET_SPEED,         // 获取速度
+    MOTOR_START = 0x0100,        // *电机命令开始*
-    MOTOR_GET_FAULT_CODE,    // 获取错误码
+    MOTOR_SET_SPEED,		     // 设置速度
-    MOTOR_CMD_END = 0x0100,
+    RBCORE_START = 0x0200,       // *机器人共性命令开始*
 
-	RBCORE_CMD_STOP_ALL,         // 机器人停止
     RBCORE_CMD_MANUAL_FORWARD,   // 机器人手动前进
     RBCORE_CMD_MANUAL_BACKWARD,  // 机器人手动后退
 	RBCORE_CMD_MANUAL_TURNLEFT,  // 机器人手动左转
@@ -87,15 +86,18 @@ typedef enum {
 	RBCORE_CMD_VERTICAL,  		 // 机器人竖直前进（带PID）
 	RBCORE_CMD_HORIZONTAL_LEFT,  // 机器人水平向左（带PID）
 	RBCORE_CMD_HORIZONTAL_RIGHT, // 机器人水平向右（带PID）
-	RBCORE_GET_VEHICLE_SPEED,    // 获取机器人速度
+	RBCORE_GET_VEHICLE_SPEED,    // 获取机器人速度（内部速度归一化）
-	RBCORE_CMD_END = 0x0200,
+	CUSTOM_START = 0x0300,       // *机器人特性命令开始*
 
 	CUSTOM_GET_PV,				 // 获取PV
-	CUSTOM_SET_IV,				 // 设置IV
 	CUSTOM_GET_MK32,		     // 获取MK32
 	CUSTOM_GET_TL720D_ROLL,		 // 获取陀螺仪横滚角
+    CUSTOM_GET_SPEED,            // 获取速度（电机回码）
+    CUSTOM_GET_FAULT_CODE,       // 获取错误码（电机回码）
 	CUSTOM_CMD_PAINTGUN,         // 控制喷枪
-	CUSTOM_CMD_END = 0x0300,
+	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
 } BHBF_Cmd_e;
 
 /*==============================================*

motor/msp_motor_leisai.c

@@ -406,7 +406,7 @@ static int LeiSai_ParseResponse(Motor_Instance_t *pstMotor, const uint8_t *pucDa
         	{
         		pstMotor->m_eState = MOTOR_STATE_ERROR;
         	}
-        	MsgCenter_SendTo(MODULE_NAME_CUSTOM, MOTOR_GET_FAULT_CODE, uiFaultCode, sizeof(uiFaultCode));
+        	MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_GET_FAULT_CODE, uiFaultCode, sizeof(uiFaultCode));
             break;
         }
         case LEISAI_OD_VELOCITY_ACTUAL:
@@ -418,7 +418,7 @@ static int LeiSai_ParseResponse(Motor_Instance_t *pstMotor, const uint8_t *pucDa
 										   | (pucData[7] << 24));
         	iRealVelocity[1] = MotorMgr_SpeedConvertex(pstMotor, iRealVelocity[0]);
         	iRealVelocity[0] = pstMotor->m_stConfig.m_ucMotorID;
-        	MsgCenter_SendTo(MODULE_NAME_CUSTOM, MOTOR_GET_SPEED, iRealVelocity, sizeof(iRealVelocity));
+        	MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_GET_SPEED, iRealVelocity, sizeof(iRealVelocity));
         	log_d("iRealVelocity[1] = %d", iRealVelocity[1]);
         	break;
         }

project/paint_robot_new/paint_robot_new.c

@@ -67,7 +67,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 
     switch (pstMsg->m_uiMsgID)
     {
-    	case MOTOR_GET_FAULT_CODE:
+    	case CUSTOM_GET_FAULT_CODE:
 		{
 			uint32_t uiFailtCode[2] = {0};
 			if (pstMsg->m_uiDataLen >= sizeof(uiFailtCode))
@@ -76,7 +76,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 			}
 			break;
 		}
-    	case MOTOR_GET_SPEED:
+    	case CUSTOM_GET_SPEED:
 		{
 			int32_t iCurrentSpeed[2] = {0};
 			if (pstMsg->m_uiDataLen >= sizeof(iCurrentSpeed))
@@ -145,7 +145,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 
 			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)
 			{
-				MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0);
+				MsgCenter_SendTo(MODULE_NAME_RBCORE, COMMON_CMD_STOP_ALL, NULL, 0);
 				break;
 			}
 
@@ -169,11 +169,11 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 			}
 			else
 			{
-				MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0);
+				MsgCenter_SendTo(MODULE_NAME_RBCORE, COMMON_CMD_STOP_ALL, NULL, 0);
 			}
 			break;
 		}
-		case LUA_SHOW_INFO:
+		case COMMON_CMD_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);
@@ -214,7 +214,7 @@ void Custom_Task(void *argument)
         if ((int32_t)(uiNowTick - uiLastSendTick) >= IV_SEND_TIME)
         {
             uiLastSendTick = uiNowTick;
-            MsgCenter_SendTo(MODULE_NAME_SENDIV, CUSTOM_SET_IV, (void *)&g_stIV, sizeof(g_stIV));
+            MsgCenter_SendTo(MODULE_NAME_SENDIV, SENDIV_SET_IV, (void *)&g_stIV, sizeof(g_stIV));
         }
     }
 }

project/paint_robot_new/paint_robot_new_motors.c

@@ -72,7 +72,7 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
             g_aiMotorSpeed[1] = MotorMgr_SpeedConvert(g_apstMotors[1], aiMotorSpeed[1]);
             break;
         }
-        case RBCORE_CMD_STOP_ALL:
+        case COMMON_CMD_STOP_ALL:
         {
             for (int i = 0; i < 2; i++)
             {