From d99c4090d758702dc800f8d54b5874ec6eefc041 Mon Sep 17 00:00:00 2001 From: Lizongdi <1210855344@qq.com> Date: Thu, 8 Oct 2026 10:49:35 +0800 Subject: [PATCH] =?UTF-8?q?BHBF.h=E5=91=BD=E5=90=8D=E9=87=87=E5=8F=96?= =?UTF-8?q?=E5=8A=9F=E8=83=BD=E7=BB=B4=E5=BA=A6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- RBcore/BHBF.c | 20 +-- RBcore/TL720D.c | 2 +- RBcore/client_setting.c | 4 +- RBcore/daemon_task.c | 4 +- RBcore/include/BHBF.h | 52 ++++--- RBcore/msp_Timer.c | 14 +- README.md | 16 +-- controller/msp_MK32.c | 4 +- motor/msp_motor_leisai.c | 4 +- project/paint_robot_new/paint_robot_new.c | 130 +++++++++--------- .../paint_robot_new/paint_robot_new_motors.c | 18 +-- 11 files changed, 131 insertions(+), 137 deletions(-) diff --git a/RBcore/BHBF.c b/RBcore/BHBF.c index 36b5a1e..0f428ed 100644 --- a/RBcore/BHBF.c +++ b/RBcore/BHBF.c @@ -64,19 +64,19 @@ static void RBcore_ModuleHandler(const Msg_t *pstMsg) static int bTimerStarted = 0; //直线行驶距离单次触发标志 switch (pstMsg->m_uiMsgID) { - case RBCORE_CMD_STOP_ALL: + case CMD_STOP_ALL: { - MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_STOP_ALL, NULL, 0); - MsgCenter_SendTo(MODULE_NAME_CUSTOM, CMD_STOP_ALL, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_STOP, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_CUSTOM, CMD_STOP, NULL, 0); break; } - case TIMER_CMD_RESET_STRAIGHT: + case RESET_STRAIGHT_DRIVE: { uiLastSendTick = 0; bTimerStarted = 0; break; } - case TIMER_CMD_STRAIGHT_DRIVE: + case CMD_STRAIGHT_DRIVE: { BHBF_straight_drive_Cmd stCmd = {0}; if (pstMsg->m_uiDataLen >= sizeof(stCmd)) @@ -129,13 +129,13 @@ static void RBcore_ModuleHandler(const Msg_t *pstMsg) { aiMotorSpeed[0] = 0; aiMotorSpeed[1] = 0; - MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_STRAIGHT_DRIVE, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_CUSTOM, CMD_STRAIGHT_DRIVE_FINISH, NULL, 0); } - MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); + MsgCenter_SendTo(MODULE_NAME_MOTOR, SET_VEHICLE_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); } break; } - case TIMER_CMD_TURN_ANGLE: + case CMD_TURN_ANGLE: { int iTargetAngle = 0; if (pstMsg->m_uiDataLen >= sizeof(int)) @@ -146,7 +146,7 @@ static void RBcore_ModuleHandler(const Msg_t *pstMsg) { aiMotorSpeed[0] = 0; aiMotorSpeed[1] = 0; - MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_TURN_ANGLE, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_CUSTOM, CMD_TURN_ANGLE_FINISH, NULL, 0); } else if (abs(g_RF_Angle_Roll - iTargetAngle) <= 1000) { @@ -160,7 +160,7 @@ static void RBcore_ModuleHandler(const Msg_t *pstMsg) aiMotorSpeed[0] = -g_dletAngle ; aiMotorSpeed[1] = g_dletAngle ; } - MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); + MsgCenter_SendTo(MODULE_NAME_MOTOR, SET_VEHICLE_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); } break; } diff --git a/RBcore/TL720D.c b/RBcore/TL720D.c index 427ed21..8881d8c 100644 --- a/RBcore/TL720D.c +++ b/RBcore/TL720D.c @@ -128,7 +128,7 @@ static void decode_TL720D(const char *buf, uint32_t _iSize) if ((int32_t)(uiNowTick - uiLastSendTick) >= 50) { uiLastSendTick = uiNowTick; - MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_GET_TL720D_ROLL, (void *)&g_stTL720D.RF_Angle_Roll, sizeof(int32_t)); + MsgCenter_SendTo(MODULE_NAME_CUSTOM, GET_TL720D_ROLL, (void *)&g_stTL720D.RF_Angle_Roll, sizeof(int32_t)); MsgCenter_SendTo(MODULE_NAME_DAEMON, DAEMON_SET_TL720D, NULL, 0); } } diff --git a/RBcore/client_setting.c b/RBcore/client_setting.c index 6609074..f58307e 100644 --- a/RBcore/client_setting.c +++ b/RBcore/client_setting.c @@ -85,7 +85,7 @@ void decode_PV(const char *_pBuffer, uint32_t _iSize) MsgCenter_SendTo(MODULE_NAME_DAEMON, DAEMON_SET_MK32_SERIAL, NULL, 0); MsgCenter_SendTo(MODULE_NAME_DAEMON, DAEMON_SET_MK32_UDP, NULL, 0);// udp还没实现这里先防止报错 decoded_PV=decoded_PV_variable; - MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_GET_PV, (void *)&decoded_PV, sizeof(decoded_PV)); + MsgCenter_SendTo(MODULE_NAME_CUSTOM, GET_PV, (void *)&decoded_PV, sizeof(decoded_PV)); } } else if (*(_pBuffer + 2) == 0x02 && *(_pBuffer + 3) == 0x01) //设置PV @@ -111,7 +111,7 @@ static void SendIV_ModuleHandler(const Msg_t *pstMsg) switch (pstMsg->m_uiMsgID) { - case SENDIV_SET_IV: + case CMD_SEND_IV: { IV_struct_define IV = { 0 }; if (pstMsg->m_uiDataLen >= sizeof(IV)) diff --git a/RBcore/daemon_task.c b/RBcore/daemon_task.c index 0166bf7..3dff6a4 100644 --- a/RBcore/daemon_task.c +++ b/RBcore/daemon_task.c @@ -98,7 +98,7 @@ void daemon_PollComError(void) if ((int32_t)(uiNowTick - uiLastSendTick) >= 1000) { uiLastSendTick = uiNowTick; - MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_GET_DAEMON_CODE, &g_iCom_Error_Status, sizeof(int32_t)); + MsgCenter_SendTo(MODULE_NAME_CUSTOM, GET_DAEMON_CODE, &g_iCom_Error_Status, sizeof(int32_t)); } } else @@ -109,7 +109,7 @@ void daemon_PollComError(void) { SET_BIT_1(&g_iCom_Error_Status, i); // 判定模块异常 g_auiComErrorCount[i] = COM_ERROR_TIMEOUT_THRESHOLD; // 计数封顶，避免溢出 - MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_GET_DAEMON_CODE, &g_iCom_Error_Status, sizeof(int32_t)); + MsgCenter_SendTo(MODULE_NAME_CUSTOM, GET_DAEMON_CODE, &g_iCom_Error_Status, sizeof(int32_t)); } } } diff --git a/RBcore/include/BHBF.h b/RBcore/include/BHBF.h index b84c9a0..6e031c9 100644 --- a/RBcore/include/BHBF.h +++ b/RBcore/include/BHBF.h @@ -76,30 +76,29 @@ extern "C"{ typedef enum { CMD_SHOW_INFO, // 终端信息展示 - CMD_STOP_ALL, // 机器人停止（建议各个控制硬件的模块都要实现） - GET_VEHICLE_SPEED, // 获取机器人速度（内部速度归一化） - MOTOR_SET_SPEED, // 设置速度 - MOTOR_POWER_ENABLE, // 电机上电 - MOTOR_POWER_DISABLE, // 电机失电 - MOTOR_CMD_STOP_AFTER, // 先关枪后停车 - RBCORE_CMD_STOP_ALL, // 此命令统一调用机器人各个模块的COMMON_CMD_STOP_ALL - CUSTOM_GET_PV, // 获取PV - CUSTOM_GET_MK32, // 获取MK32 - CUSTOM_GET_TL720D_ROLL, // 获取陀螺仪横滚角（IV显示） - 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_GET_DAEMON_CODE, // 获取daemon错误码 - CUSTOM_GET_MOTOR_OK, // 获取电机初始化完毕 - CUSTOM_CMD_PAINTGUN, // 控制喷枪 - 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 - DAEMON_START = 0x0500, // *守护线程命令 - + CMD_STOP, // 机器人停止（建议各个控制硬件的模块都要实现） + CMD_STRAIGHT_DRIVE, // 机器人直线行驶命令格式为BHBF_straight_drive_Cmd + RESET_STRAIGHT_DRIVE, // CMD_STRAIGHT_DRIVE命令支持计时前进，这里重置计时 + CMD_TURN_ANGLE, // 机器人转向目标角度（带PID） + CMD_SEND_IV, // 发送IV + GET_VEHICLE_SPEED, // 获取机器人速度（旋钮值） + GET_VEHICLE_REAL_SPEED, // 获取机器人速度（电机回码） + SET_VEHICLE_SPEED, // 设置速度 + CMD_MOTOR_POWER_ENABLE, // 电机上电 + CMD_MOTOR_POWER_DISABLE, // 电机失电 + CMD_STOP_ALL, // 此命令统一调用机器人各个模块的CMD_STOP + GET_PV, // 获取PV + GET_MK32, // 获取MK32 + GET_TL720D_ROLL, // 获取陀螺仪横滚角（IV显示） + GET_MOTOR_FAULT_CODE, // 获取错误码（电机回码） + GET_DAEMON_CODE, // 获取daemon错误码 + GET_MOTOR_OK, // 获取电机初始化完毕 + CMD_PAINTGUN, // 控制喷枪 + CMD_STRAIGHT_DRIVE_FINISH, // CMD_STRAIGHT_DRIVE命令停止后回调 + CMD_TURN_ANGLE_FINISH, // CMD_TURN_ANGLE命令停止后回调 + CMD_STOP_AFTER_PAINTOFF, // 先关枪后停车 + SET_STOP_OFF_PAINT, // 停车关枪CMD_STOP_AFTER_PAINTOFF标志位置1 + RESET_PAINT, // 停车关枪CMD_STOP_AFTER_PAINTOFF逻辑中用于重置开枪状态 DAEMON_SET_MK32_SBUS, // 置位ComError_MK32_SBus DAEMON_SET_TL720D, // 置位ComError_TL720D DAEMON_SET_LEFT_MOTOR, // 置位ComError_LS_LeftMotor @@ -107,11 +106,6 @@ typedef enum { DAEMON_SET_BUTTON_RESET, // 置位ComError_Remote_Button_Reset_State DAEMON_SET_MK32_SERIAL, // 置位ComError_MK32_Serial DAEMON_SET_MK32_UDP, // 置位ComError_MK32_UDP - TIMER_START = 0x0600, // *2ms定时器命令 - - TIMER_CMD_STRAIGHT_DRIVE, // 机器人直线行驶命令格式为BHBF_straight_drive_Cmd - TIMER_CMD_RESET_STRAIGHT, // 上一条命令支持计时前进，这里重置计时 - TIMER_CMD_TURN_ANGLE, // 机器人转向目标角度（带PID） } BHBF_Cmd_e; #define THREAD_DEFAULT_STACK 4096 diff --git a/RBcore/msp_Timer.c b/RBcore/msp_Timer.c index a3d0e00..4247aeb 100644 --- a/RBcore/msp_Timer.c +++ b/RBcore/msp_Timer.c @@ -65,13 +65,13 @@ static void Timer_ModuleHandler(const Msg_t *pstMsg) static int bTimerStarted = 0; //直线行驶距离单次触发标志 switch (pstMsg->m_uiMsgID) { - case TIMER_CMD_RESET_STRAIGHT: + case RESET_STRAIGHT_DRIVE: { uiLastSendTick = 0; bTimerStarted = 0; break; } - case TIMER_CMD_STRAIGHT_DRIVE: + case CMD_STRAIGHT_DRIVE: { BHBF_straight_drive_Cmd stCmd = {0}; if (pstMsg->m_uiDataLen >= sizeof(stCmd)) @@ -124,13 +124,13 @@ static void Timer_ModuleHandler(const Msg_t *pstMsg) { aiMotorSpeed[0] = 0; aiMotorSpeed[1] = 0; - MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_STRAIGHT_DRIVE, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_CUSTOM, CMD_STRAIGHT_DRIVE_FINISH, NULL, 0); } - MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); + MsgCenter_SendTo(MODULE_NAME_MOTOR, SET_VEHICLE_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); } break; } - case TIMER_CMD_TURN_ANGLE: + case CMD_TURN_ANGLE: { int iTargetAngle = 0; if (pstMsg->m_uiDataLen >= sizeof(int)) @@ -141,7 +141,7 @@ static void Timer_ModuleHandler(const Msg_t *pstMsg) { aiMotorSpeed[0] = 0; aiMotorSpeed[1] = 0; - MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_TURN_ANGLE, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_CUSTOM, CMD_TURN_ANGLE_FINISH, NULL, 0); } else if (abs(g_RF_Angle_Roll - iTargetAngle) <= 1000) { @@ -155,7 +155,7 @@ static void Timer_ModuleHandler(const Msg_t *pstMsg) aiMotorSpeed[0] = -g_dletAngle ; aiMotorSpeed[1] = g_dletAngle ; } - MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); + MsgCenter_SendTo(MODULE_NAME_MOTOR, SET_VEHICLE_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); } break; } diff --git a/README.md b/README.md index 95b5a54..f779b77 100644 --- a/README.md +++ b/README.md @@ -3,22 +3,22 @@ ```mermaid graph TB subgraph RBcore -RBCORE_CMD_STOP_ALL +CMD_STOP_ALL end subgraph motor -MOTOR_POWER_ENABLE -MOTOR_POWER_DISABLE +CMD_MOTOR_POWER_ENABLE +CMD_MOTOR_POWER_DISABLE m0(电机断电) end subgraph custom -CUSTOM_GET_MK32 -CUSTOM_GET_MOTOR_OK +GET_MK32 +GET_MOTOR_OK c0((电机初始化完毕)) c1((按下急停)) end -a((Read_MK32))-->CUSTOM_GET_MK32-->MOTOR_POWER_ENABLE-->CUSTOM_GET_MOTOR_OK-->c0 -c1-->MOTOR_POWER_DISABLE-->m0 -c1-->RBCORE_CMD_STOP_ALL-->CMD_STOP_ALL +a((Read_MK32))-->GET_MK32-->CMD_MOTOR_POWER_ENABLE-->GET_MOTOR_OK-->c0 +c1-->CMD_MOTOR_POWER_DISABLE-->m0 +c1-->CMD_STOP_ALL-->CMD_STOP ``` diff --git a/controller/msp_MK32.c b/controller/msp_MK32.c index 869e128..8adeb5d 100644 --- a/controller/msp_MK32.c +++ b/controller/msp_MK32.c @@ -115,7 +115,7 @@ void decode_MK32(const char *buf, uint32_t _iSize) if ((int32_t)(uiNowTick - uiLastSendTick) >= 10) { uiLastSendTick = uiNowTick; - MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_GET_MK32, (void *)&RB_MK32, + MsgCenter_SendTo(MODULE_NAME_CUSTOM, GET_MK32, (void *)&RB_MK32, sizeof(RB_MK32)); MsgCenter_SendTo(MODULE_NAME_DAEMON, DAEMON_SET_MK32_SBUS, NULL, 0); } @@ -217,6 +217,6 @@ WEAK void MK32_Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode) } else { - MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_STOP_ALL, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_STOP, NULL, 0); } } diff --git a/motor/msp_motor_leisai.c b/motor/msp_motor_leisai.c index 919f9d1..f90030b 100644 --- a/motor/msp_motor_leisai.c +++ b/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, CUSTOM_GET_FAULT_CODE, uiFaultCode, sizeof(uiFaultCode)); + MsgCenter_SendTo(MODULE_NAME_CUSTOM, GET_MOTOR_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, CUSTOM_GET_SPEED, iRealVelocity, sizeof(iRealVelocity)); + MsgCenter_SendTo(MODULE_NAME_CUSTOM, GET_VEHICLE_REAL_SPEED, iRealVelocity, sizeof(iRealVelocity)); break; } default: diff --git a/project/paint_robot_new/paint_robot_new.c b/project/paint_robot_new/paint_robot_new.c index ced1d3e..3bcc58d 100644 --- a/project/paint_robot_new/paint_robot_new.c +++ b/project/paint_robot_new/paint_robot_new.c @@ -50,7 +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_iRobot_Move_State = 0; // 机器人状态0表示默认，1表示调用TIMER_CMD_STRAIGHT_DRIVE +static int g_iRobot_Move_State = 0; // 机器人状态0表示默认，1表示调用CMD_STRAIGHT_DRIVE static int g_iLeft_Compensation = 0; static int g_iRight_Compensation = 0; @@ -84,8 +84,8 @@ static int32_t RunTime_DistanceCm_SpeedE_2MPMin(void) *----------------------------------------------*/ static void E_Robot_Stop(void) { - MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_POWER_DISABLE, NULL, 0); - MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_MOTOR_POWER_DISABLE, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_RBCORE, CMD_STOP_ALL, NULL, 0); g_Is_All_Button_Reset = 0; } @@ -96,7 +96,7 @@ static void Vertical_Lane_Change_From_Left_To_Right_UP_Control(void) if (0 == g_ichangLineState) { iTargetAngle = g_stCV.RobotLeftAngleValue; - MsgCenter_SendTo(MODULE_NAME_RBCORE, TIMER_CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle)); + MsgCenter_SendTo(MODULE_NAME_RBCORE, CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle)); } else if (1 == g_ichangLineState) { @@ -106,12 +106,12 @@ static void Vertical_Lane_Change_From_Left_To_Right_UP_Control(void) .m_iTime = RunTime_DistanceCm_SpeedE_2MPMin(), .m_iSpeed = g_stCV.Lane_Change_Speed_m_per_min }; - MsgCenter_SendTo(MODULE_NAME_RBCORE, TIMER_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); + MsgCenter_SendTo(MODULE_NAME_RBCORE, CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); } else if (2 == g_ichangLineState) { iTargetAngle = g_stCV.RobotUpAngleValue; - MsgCenter_SendTo(MODULE_NAME_RBCORE, TIMER_CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle)); + MsgCenter_SendTo(MODULE_NAME_RBCORE, CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle)); } } @@ -122,7 +122,7 @@ static void Vertical_Lane_Change_From_Left_To_Right_Down_Control(void) if (0 == g_ichangLineState) { iTargetAngle = g_stCV.RobotRightAngleValue; - MsgCenter_SendTo(MODULE_NAME_RBCORE, TIMER_CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle)); + MsgCenter_SendTo(MODULE_NAME_RBCORE, CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle)); } else if (1 == g_ichangLineState) { @@ -132,12 +132,12 @@ static void Vertical_Lane_Change_From_Left_To_Right_Down_Control(void) .m_iTime = RunTime_DistanceCm_SpeedE_2MPMin(), .m_iSpeed = g_stCV.Lane_Change_Speed_m_per_min }; - MsgCenter_SendTo(MODULE_NAME_RBCORE, TIMER_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); + MsgCenter_SendTo(MODULE_NAME_RBCORE, CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); } else if (2 == g_ichangLineState) { iTargetAngle = g_stCV.RobotUpAngleValue; - MsgCenter_SendTo(MODULE_NAME_RBCORE, TIMER_CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle)); + MsgCenter_SendTo(MODULE_NAME_RBCORE, CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle)); } } @@ -148,7 +148,7 @@ static void Vertical_Lane_Change_From_Right_To_Left_UP_Control(void) if (0 == g_ichangLineState) { iTargetAngle = g_stCV.RobotRightAngleValue; - MsgCenter_SendTo(MODULE_NAME_RBCORE, TIMER_CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle)); + MsgCenter_SendTo(MODULE_NAME_RBCORE, CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle)); } else if (1 == g_ichangLineState) { @@ -158,12 +158,12 @@ static void Vertical_Lane_Change_From_Right_To_Left_UP_Control(void) .m_iTime = RunTime_DistanceCm_SpeedE_2MPMin(), .m_iSpeed = g_stCV.Lane_Change_Speed_m_per_min }; - MsgCenter_SendTo(MODULE_NAME_RBCORE, TIMER_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); + MsgCenter_SendTo(MODULE_NAME_RBCORE, CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); } else if (2 == g_ichangLineState) { iTargetAngle = g_stCV.RobotUpAngleValue; - MsgCenter_SendTo(MODULE_NAME_RBCORE, TIMER_CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle)); + MsgCenter_SendTo(MODULE_NAME_RBCORE, CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle)); } } @@ -174,7 +174,7 @@ static void Vertical_Lane_Change_From_Right_To_Left_Down_Control(void) if (0 == g_ichangLineState) { iTargetAngle = g_stCV.RobotLeftAngleValue; - MsgCenter_SendTo(MODULE_NAME_RBCORE, TIMER_CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle)); + MsgCenter_SendTo(MODULE_NAME_RBCORE, CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle)); } else if (1 == g_ichangLineState) { @@ -184,19 +184,19 @@ static void Vertical_Lane_Change_From_Right_To_Left_Down_Control(void) .m_iTime = RunTime_DistanceCm_SpeedE_2MPMin(), .m_iSpeed = g_stCV.Lane_Change_Speed_m_per_min }; - MsgCenter_SendTo(MODULE_NAME_RBCORE, TIMER_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); + MsgCenter_SendTo(MODULE_NAME_RBCORE, CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); } else if (2 == g_ichangLineState) { iTargetAngle = g_stCV.RobotUpAngleValue; - MsgCenter_SendTo(MODULE_NAME_RBCORE, TIMER_CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle)); + MsgCenter_SendTo(MODULE_NAME_RBCORE, CMD_TURN_ANGLE, &iTargetAngle, sizeof(iTargetAngle)); } } static void Lane_Change_State_Reset(void) { g_ichangLineState = 0; - MsgCenter_SendTo(MODULE_NAME_RBCORE, TIMER_CMD_RESET_STRAIGHT, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_RBCORE, RESET_STRAIGHT_DRIVE, NULL, 0); } static void Robot_Move_Forward(void) @@ -206,7 +206,7 @@ static void Robot_Move_Forward(void) 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 aiMotorSpeed[0] = g_iVehicleSpeed * 10; aiMotorSpeed[1] = g_iVehicleSpeed * 10; - MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); + MsgCenter_SendTo(MODULE_NAME_MOTOR, SET_VEHICLE_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); } } @@ -219,7 +219,7 @@ static void Robot_Paint_SP(void) if(g_stIV.CurrentSpeed != 0) { g_stAngleError_Ctl.m_iPaintState = 0; - MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &g_stAngleError_Ctl.m_iPaintState, sizeof(int)); + MsgCenter_SendTo(MODULE_NAME_CUSTOM, CMD_PAINTGUN, &g_stAngleError_Ctl.m_iPaintState, sizeof(int)); } } } @@ -237,7 +237,7 @@ static void Robot_Move_Forward_PID(void) .m_iTime = -1, .m_iSpeed = g_iVehicleSpeed }; - MsgCenter_SendTo(MODULE_NAME_RBCORE, TIMER_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); + MsgCenter_SendTo(MODULE_NAME_RBCORE, CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); } } @@ -248,7 +248,7 @@ static void Robot_Move_Backward(void) 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 aiMotorSpeed[0] = -g_iVehicleSpeed * 10; aiMotorSpeed[1] = -g_iVehicleSpeed * 10; - MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); + MsgCenter_SendTo(MODULE_NAME_MOTOR, SET_VEHICLE_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); } } @@ -263,7 +263,7 @@ static void Robot_Move_Backward_PID(void) .m_iTime = -1, .m_iSpeed = g_iVehicleSpeed }; - MsgCenter_SendTo(MODULE_NAME_RBCORE, TIMER_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); + MsgCenter_SendTo(MODULE_NAME_RBCORE, CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); } } @@ -274,7 +274,7 @@ static void Robot_Paint_ON(void) if (0 == g_bIsStopOffPaint) { g_stAngleError_Ctl.m_iPaintState = 0; - MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &g_stAngleError_Ctl.m_iPaintState, sizeof(int)); + MsgCenter_SendTo(MODULE_NAME_CUSTOM, CMD_PAINTGUN, &g_stAngleError_Ctl.m_iPaintState, sizeof(int)); } } } @@ -285,7 +285,7 @@ static void Robot_Paint_OFF(void) { g_bIsStopOffPaint = 0; g_stAngleError_Ctl.m_iPaintState = 1; - MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &g_stAngleError_Ctl.m_iPaintState, sizeof(int)); + MsgCenter_SendTo(MODULE_NAME_CUSTOM, CMD_PAINTGUN, &g_stAngleError_Ctl.m_iPaintState, sizeof(int)); } } @@ -293,17 +293,17 @@ static void Robot_Stop_After(void) { if (0 == g_iPaint) { - MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_CMD_STOP_AFTER, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_STOP_AFTER_PAINTOFF, NULL, 0); } else { - MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_STOP_ALL, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_STOP, NULL, 0); } } static void Robot_Stop(void) { - MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_STOP_ALL, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_STOP, NULL, 0); } static void Robot_Move_Left(void) @@ -313,7 +313,7 @@ static void Robot_Move_Left(void) 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 aiMotorSpeed[0] = -g_stCV.LeftTurnSpeed; aiMotorSpeed[1] = g_stCV.RightTurnSpeed; - MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); + MsgCenter_SendTo(MODULE_NAME_MOTOR, SET_VEHICLE_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); } } @@ -324,7 +324,7 @@ static void Robot_Move_Right(void) 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 aiMotorSpeed[0] = g_stCV.LeftTurnSpeed; aiMotorSpeed[1] = -g_stCV.RightTurnSpeed; - MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); + MsgCenter_SendTo(MODULE_NAME_MOTOR, SET_VEHICLE_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); } } @@ -470,7 +470,7 @@ static void Move_Halt_AngleError(void) { if (Rd_GetTime() - uiLastTime >= 600 * g_stCV.Paint_Gun_Shutdown_Distance / g_stIV.RobotMoveSpeed) { - MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_STOP_ALL, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_STOP, NULL, 0); } return; } @@ -483,7 +483,7 @@ static void Move_Halt_AngleError(void) { if(Rd_GetTime() - g_stAngleError_Ctl.m_ipaintOffCount > 1000) { - MsgCenter_SendTo(MODULE_NAME_CUSTOM, CMD_STOP_ALL, NULL, 0);//先关枪 + MsgCenter_SendTo(MODULE_NAME_CUSTOM, CMD_STOP, NULL, 0);//先关枪 g_stAngleError_Ctl.m_iAnglelock = 1; return; } @@ -500,8 +500,8 @@ void MK32_11111Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode) // 急停 if (_pstMK32->CH8_SE == -1000 && _pstMK32->CH9_SF == -1000) { - MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_POWER_DISABLE, NULL, 0); - MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_MOTOR_POWER_DISABLE, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_RBCORE, CMD_STOP_ALL, NULL, 0); g_Is_All_Button_Reset = 0; return; } @@ -536,7 +536,7 @@ void MK32_11111Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode) if (_iMode == 2 || _iMode == 3) { g_ichangLineState = 0; - MsgCenter_SendTo(MODULE_NAME_RBCORE, TIMER_CMD_RESET_STRAIGHT, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_RBCORE, RESET_STRAIGHT_DRIVE, NULL, 0); } } @@ -550,14 +550,14 @@ void MK32_11111Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode) if (0 == g_bIsStopOffPaint) { g_stAngleError_Ctl.m_iPaintState = 0; - MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &g_stAngleError_Ctl.m_iPaintState, sizeof(int)); + MsgCenter_SendTo(MODULE_NAME_CUSTOM, CMD_PAINTGUN, &g_stAngleError_Ctl.m_iPaintState, sizeof(int)); } } else { g_bIsStopOffPaint = 0; g_stAngleError_Ctl.m_iPaintState = 1; - MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_CMD_PAINTGUN, &g_stAngleError_Ctl.m_iPaintState, sizeof(int)); + MsgCenter_SendTo(MODULE_NAME_CUSTOM, CMD_PAINTGUN, &g_stAngleError_Ctl.m_iPaintState, sizeof(int)); } } } @@ -572,7 +572,7 @@ void MK32_11111Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode) { aiMotorSpeed[0] = g_iVehicleSpeed * 10; aiMotorSpeed[1] = g_iVehicleSpeed * 10; - MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); + MsgCenter_SendTo(MODULE_NAME_MOTOR, SET_VEHICLE_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); } } else if (_iMode == 2 || _iMode == 3) @@ -587,7 +587,7 @@ void MK32_11111Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode) .m_iTime = -1, .m_iSpeed = g_iVehicleSpeed }; - MsgCenter_SendTo(MODULE_NAME_RBCORE, TIMER_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); + MsgCenter_SendTo(MODULE_NAME_RBCORE, CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); } } return; @@ -600,7 +600,7 @@ void MK32_11111Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode) { aiMotorSpeed[0] = -g_iVehicleSpeed * 10; aiMotorSpeed[1] = -g_iVehicleSpeed * 10; - MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); + MsgCenter_SendTo(MODULE_NAME_MOTOR, SET_VEHICLE_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); } } else if (_iMode == 2 || _iMode == 3) @@ -615,7 +615,7 @@ void MK32_11111Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode) .m_iTime = -1, .m_iSpeed = g_iVehicleSpeed }; - MsgCenter_SendTo(MODULE_NAME_RBCORE, TIMER_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); + MsgCenter_SendTo(MODULE_NAME_RBCORE, CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); } } return; @@ -626,11 +626,11 @@ void MK32_11111Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode) { if ((_iMode == 2 || _iMode == 3) && 0 == g_iPaint) { - MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_CMD_STOP_AFTER, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_STOP_AFTER_PAINTOFF, NULL, 0); } else { - MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_STOP_ALL, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_STOP, NULL, 0); } return; } @@ -647,7 +647,7 @@ void MK32_11111Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode) { aiMotorSpeed[0] = g_iVehicleSpeed * 10; aiMotorSpeed[1] = g_iVehicleSpeed * 10; - MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); + MsgCenter_SendTo(MODULE_NAME_MOTOR, SET_VEHICLE_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); } } else if (_iMode == 2 || _iMode == 3) @@ -662,7 +662,7 @@ void MK32_11111Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode) .m_iTime = -1, .m_iSpeed = g_iVehicleSpeed }; - MsgCenter_SendTo(MODULE_NAME_RBCORE, TIMER_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); + MsgCenter_SendTo(MODULE_NAME_RBCORE, CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); } } } @@ -674,7 +674,7 @@ void MK32_11111Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode) { aiMotorSpeed[0] = -g_iVehicleSpeed * 10; aiMotorSpeed[1] = -g_iVehicleSpeed * 10; - MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); + MsgCenter_SendTo(MODULE_NAME_MOTOR, SET_VEHICLE_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); } } else if (_iMode == 2 || _iMode == 3) @@ -689,7 +689,7 @@ void MK32_11111Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode) .m_iTime = -1, .m_iSpeed = g_iVehicleSpeed }; - MsgCenter_SendTo(MODULE_NAME_RBCORE, TIMER_CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); + MsgCenter_SendTo(MODULE_NAME_RBCORE, CMD_STRAIGHT_DRIVE, &stCmd, sizeof(stCmd)); } } } @@ -699,7 +699,7 @@ void MK32_11111Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode) { aiMotorSpeed[0] = g_stCV.LeftTurnSpeed; aiMotorSpeed[1] = -g_stCV.RightTurnSpeed; - MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); + MsgCenter_SendTo(MODULE_NAME_MOTOR, SET_VEHICLE_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); } } else if (abs(angle - 180) <= g_stCV.Joy_Sticker_Angle_Allowance || abs(angle - (-180)) <= g_stCV.Joy_Sticker_Angle_Allowance) @@ -708,12 +708,12 @@ void MK32_11111Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode) { aiMotorSpeed[0] = -g_stCV.LeftTurnSpeed; aiMotorSpeed[1] = g_stCV.RightTurnSpeed; - MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); + MsgCenter_SendTo(MODULE_NAME_MOTOR, SET_VEHICLE_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed)); } } else { - MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_STOP_ALL, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_STOP, NULL, 0); } } @@ -727,16 +727,16 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) static int iMotorOK = 0; switch (pstMsg->m_uiMsgID) { - case CUSTOM_RESET_PAINT: + case RESET_PAINT: { g_iPaint = 1; break; } - case CUSTOM_SET_STOP_OFF_PAINT: + case SET_STOP_OFF_PAINT: { g_bIsStopOffPaint = 1; } - case CUSTOM_GET_DAEMON_CODE: + case GET_DAEMON_CODE: { if (pstMsg->m_uiDataLen >= sizeof(int32_t)) { @@ -744,7 +744,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) } break; } - case CUSTOM_GET_FAULT_CODE: + case GET_MOTOR_FAULT_CODE: { uint32_t uiFailtCode[2] = {0}; if (pstMsg->m_uiDataLen >= sizeof(uiFailtCode)) @@ -763,7 +763,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) } break; } - case CUSTOM_GET_SPEED: + case GET_VEHICLE_REAL_SPEED: { int32_t iCurrentSpeed[2] = {0}; if (pstMsg->m_uiDataLen >= sizeof(iCurrentSpeed)) @@ -781,7 +781,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) } break; } - case CUSTOM_GET_TL720D_ROLL: + case GET_TL720D_ROLL: { if (pstMsg->m_uiDataLen >= sizeof(int32_t)) { @@ -789,7 +789,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) } break; } - case CUSTOM_GET_PV: + case GET_PV: { if (pstMsg->m_uiDataLen >= sizeof(g_stPV)) { @@ -797,28 +797,28 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) } break; } - case CUSTOM_GET_MOTOR_OK: + case GET_MOTOR_OK: { iMotorOK = 1; break; } - case CUSTOM_CMD_STRAIGHT_DRIVE: + case CMD_STRAIGHT_DRIVE_FINISH: { g_ichangLineState = 2; // 走到这说明换道直线走完了 break; } - case CUSTOM_CMD_TURN_ANGLE: + case CMD_TURN_ANGLE_FINISH: { g_ichangLineState = 1; // 走到这说明换道第一次转完了 break; } - case CMD_STOP_ALL: + case CMD_STOP: { HAL_GPIO_WritePin(OUT_1_GPIO_Port, OUT_1_Pin, 1); g_stAngleError_Ctl.m_iPaintState = 1; break; } - case CUSTOM_CMD_PAINTGUN: + case CMD_PAINTGUN: { int paintstate = -1; if (pstMsg->m_uiDataLen >= sizeof(paintstate)) @@ -829,7 +829,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) if (0 == paintstate) g_iPaint = 0; break; } - case CUSTOM_GET_MK32: + case GET_MK32: { if (pstMsg->m_uiDataLen >= sizeof(g_stMK32)) { @@ -842,7 +842,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) && g_stMK32.CH7_SD == 0 && g_stMK32.IsOnline == 1) { g_iS2LastValue = g_stMK32.CH13_S2; //防止第一次值不正确 - MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_POWER_ENABLE, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_MOTOR_POWER_ENABLE, NULL, 0); g_Is_All_Button_Reset = 1; } } @@ -859,11 +859,11 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg) // 遥控器失联或者电机报错 if (g_stMK32.IsOnline == 0 || g_stIV.Left_Motor_Err != 0 || g_stIV.Right_Motor_Err != 0) { - MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_RBCORE, CMD_STOP_ALL, NULL, 0); if (g_stMK32.IsOnline == 0) { g_Is_All_Button_Reset = 0; - MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_POWER_DISABLE, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_MOTOR_POWER_DISABLE, NULL, 0); } break; } @@ -941,7 +941,7 @@ void Custom_Task(void *argument) { uiLastSendTick = uiNowTick; g_stIV.SBUS_State = g_stMK32.IsOnline; - MsgCenter_SendTo(MODULE_NAME_SENDIV, SENDIV_SET_IV, (void *)&g_stIV, sizeof(g_stIV)); + MsgCenter_SendTo(MODULE_NAME_SENDIV, CMD_SEND_IV, (void *)&g_stIV, sizeof(g_stIV)); } } } diff --git a/project/paint_robot_new/paint_robot_new_motors.c b/project/paint_robot_new/paint_robot_new_motors.c index b0dc3a9..b1698fc 100644 --- a/project/paint_robot_new/paint_robot_new_motors.c +++ b/project/paint_robot_new/paint_robot_new_motors.c @@ -67,7 +67,7 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg) static uint32_t uiLastTime = 0; switch (pstMsg->m_uiMsgID) { - case MOTOR_SET_SPEED: + case SET_VEHICLE_SPEED: { int aiMotorSpeed[2] = {0}; if (pstMsg->m_uiDataLen >= sizeof(aiMotorSpeed)) @@ -87,12 +87,12 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg) uiLastTime = Rd_GetTime(); break; } - case MOTOR_POWER_ENABLE: + case CMD_MOTOR_POWER_ENABLE: { g_isMotorInit = 0; break; } - case MOTOR_POWER_DISABLE: + case CMD_MOTOR_POWER_DISABLE: { HAL_GPIO_WritePin(OUT_0_GPIO_Port, OUT_0_Pin, 1); break; @@ -105,14 +105,14 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg) } break; } - case MOTOR_CMD_STOP_AFTER: + case CMD_STOP_AFTER_PAINTOFF: { static int iIsDelayStop = 0; if (1 == g_iLastVehicleMove) { - MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_SET_STOP_OFF_PAINT, NULL, 0); - MsgCenter_SendTo(MODULE_NAME_CUSTOM, CMD_STOP_ALL, NULL, 0);//先关枪 + MsgCenter_SendTo(MODULE_NAME_CUSTOM, SET_STOP_OFF_PAINT, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_CUSTOM, CMD_STOP, NULL, 0);//先关枪 iIsDelayStop = 1; } @@ -124,7 +124,7 @@ 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); + MsgCenter_SendTo(MODULE_NAME_CUSTOM, RESET_PAINT, NULL, 0); } break; } @@ -134,7 +134,7 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg) } break; } - case CMD_STOP_ALL: + case CMD_STOP: { memset(g_aiMotorSpeed, 0, sizeof(g_aiMotorSpeed)); uiLastTime = Rd_GetTime(); @@ -237,7 +237,7 @@ void MotorTask(void *argument) MotorMgr_SpeedModeInit(g_apstMotors[1]); g_isMotorInit = 1; g_iInitOnce = 1; - MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_GET_MOTOR_OK, NULL, 0); + MsgCenter_SendTo(MODULE_NAME_CUSTOM, GET_MOTOR_OK, NULL, 0); } else if (g_isMotorInit > 0) {