增加错误码上报逻辑并在各个模块添加错误码置位

RBcore/TL720D.c

@@ -126,6 +126,7 @@ static void decode_TL720D(const char *buf, uint32_t _iSize)
 		uiLastSendTick = uiNowTick;
 		MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_GET_TL720D_ROLL, (void *)&g_stTL720D.RF_Angle_Roll, sizeof(int32_t));
 		MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_GET_TL720D_ROLL, (void *)&g_stTL720D.RF_Angle_Roll, sizeof(int32_t));
+		MsgCenter_SendTo(MODULE_NAME_DAEMON, DAEMON_SET_TL720D, NULL, 0);
 	}
 }
 

RBcore/client_setting.c

@@ -85,6 +85,7 @@ void decode_PV(const char *_pBuffer, uint32_t _iSize)
         {
             decoded_PV=decoded_PV_variable;
             MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_GET_PV, (void *)&decoded_PV, sizeof(decoded_PV));
+            MsgCenter_SendTo(MODULE_NAME_DAEMON, DAEMON_SET_MK32_SERIAL, NULL, 0);
         }
     }
     else if (*(_pBuffer + 2) == 0x02 && *(_pBuffer + 3) == 0x01) //设置PV

RBcore/drv_interface.c

@@ -255,6 +255,7 @@ void SendIV_Init(void);
 void TL720D_Init(void);
 void RBcore_Init(void);
 void controller_init(void);
+void daemon_Init(void);
 
 void Drv_InterfaceInit(void)
 {
@@ -304,4 +305,5 @@ void Drv_InterfaceInit(void)
 	(void)osThreadNew(Read_PV, NULL, &Read_PV_attributes);
 
 	TL720D_Init();
+	daemon_Init();
 }

controller/msp_MK32.c

@@ -116,6 +116,7 @@ void decode_MK32(const char *buf, uint32_t _iSize)
     uiLastSendTick = uiNowTick;
     MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_GET_MK32, (void *)&RB_MK32,
                      sizeof(RB_MK32));
+    MsgCenter_SendTo(MODULE_NAME_DAEMON, DAEMON_SET_MK32_SBUS, NULL, 0);
   }
 }
 

project/paint_robot_new/paint_robot_new.c

@@ -51,6 +51,7 @@ static int g_RB_State = 0; // 机器人状态，1表示处于竖直行走模式
 static int g_Paint_State = -1; // 喷枪状态，0表示打开，1表示关闭
 static int angle_protect_lock = 0; // 为1表示角度异常，触发停车逻辑Move_Halt_AngleError
 static int g_ipaintOffCount = 0; // Move_Halt_AngleError中的计时，即角度偏移超过多少时间触发停枪
+static int Is_All_Button_Reset = 0; // 1表示按钮正常工作，0表示需要复位
 
 /*----------------------------------------------*
  * 常量定义                                     *
@@ -262,6 +263,19 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 				RD_MEMCPY(&g_stMK32, pstMsg->m_aucData, sizeof(g_stMK32));
 			}
 
+		    if (Is_All_Button_Reset == 0)
+			{
+				if (g_stMK32.CH4_SA == 0 && g_stMK32.CH5_SB == 0 && g_stMK32.CH6_SC == 0
+						&& g_stMK32.CH7_SD == 0 && g_stMK32.IsOnline == 1)
+				{
+					Is_All_Button_Reset = 1;
+				}
+			}
+			else if (Is_All_Button_Reset == 1)
+			{
+				MsgCenter_SendTo(MODULE_NAME_DAEMON, DAEMON_SET_BUTTON_RESET, NULL, 0);
+			}
+
 			// 急停或者遥控器失联
 			if ((g_stMK32.CH8_SE == -1000 && g_stMK32.CH9_SF == -1000)
 			 || g_stMK32.IsOnline == 0 || g_stIV.Left_Motor_Err != 0 || g_stIV.Right_Motor_Err != 0)
@@ -269,6 +283,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 				MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_POWER_DISABLE, NULL, 0);
 				MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0);
 				g_RB_State = 0;
+				Is_All_Button_Reset = 0;
 				break;
 			}
 

project/paint_robot_new/paint_robot_new_motors.c

@@ -113,6 +113,14 @@ static void decode_LeiSaiMotor(const char *_pBuffer, uint32_t _iSize)
 
     // 调用电机管理模块解析响应
     MotorMgr_ParseResponse(ucMotorID, (const uint8_t *)_pBuffer, _iSize);
+    if (1 == ucMotorID)
+    {
+    	MsgCenter_SendTo(MODULE_NAME_DAEMON, DAEMON_SET_LEFT_MOTOR, NULL, 0);
+    }
+    else if (2 == ucMotorID)
+    {
+    	MsgCenter_SendTo(MODULE_NAME_DAEMON, DAEMON_SET_RIGHT_MOTOR, NULL, 0);
+    }
 }
 
 void MotorTask(void *argument)