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BHBF.h命名采取功能维度

master
Lizongdi 2 weeks ago
parent
406b1a8a90
commit
d99c4090d7
11 changed files with 131 additions and 137 deletions
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  1. 20
      RBcore/BHBF.c
  2. 2
      RBcore/TL720D.c
  3. 4
      RBcore/client_setting.c
  4. 4
      RBcore/daemon_task.c
  5. 52
      RBcore/include/BHBF.h
  6. 14
      RBcore/msp_Timer.c
  7. 16
      README.md
  8. 4
      controller/msp_MK32.c
  9. 4
      motor/msp_motor_leisai.c
  10. 130
      project/paint_robot_new/paint_robot_new.c
  11. 18
      project/paint_robot_new/paint_robot_new_motors.c

20
RBcore/BHBF.c
View File

@ -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 static int bTimerStarted = 0; //直线行驶距离单次触发标志
switch (pstMsg->m_uiMsgID) 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_MOTOR, CMD_STOP, NULL, 0);
MsgCenter_SendTo(MODULE_NAME_CUSTOM, CMD_STOP_ALL, NULL, 0); MsgCenter_SendTo(MODULE_NAME_CUSTOM, CMD_STOP, NULL, 0);
break; break;
} }
case TIMER_CMD_RESET_STRAIGHT: case RESET_STRAIGHT_DRIVE:
{ {
uiLastSendTick = 0; uiLastSendTick = 0;
bTimerStarted = 0; bTimerStarted = 0;
break; break;
} }
case TIMER_CMD_STRAIGHT_DRIVE: case CMD_STRAIGHT_DRIVE:
{ {
BHBF_straight_drive_Cmd stCmd = {0}; BHBF_straight_drive_Cmd stCmd = {0};
if (pstMsg->m_uiDataLen >= sizeof(stCmd)) if (pstMsg->m_uiDataLen >= sizeof(stCmd))
@ -129,13 +129,13 @@ static void RBcore_ModuleHandler(const Msg_t *pstMsg)
{ {
aiMotorSpeed[0] = 0; aiMotorSpeed[0] = 0;
aiMotorSpeed[1] = 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; break;
} }
case TIMER_CMD_TURN_ANGLE: case CMD_TURN_ANGLE:
{ {
int iTargetAngle = 0; int iTargetAngle = 0;
if (pstMsg->m_uiDataLen >= sizeof(int)) if (pstMsg->m_uiDataLen >= sizeof(int))
@ -146,7 +146,7 @@ static void RBcore_ModuleHandler(const Msg_t *pstMsg)
{ {
aiMotorSpeed[0] = 0; aiMotorSpeed[0] = 0;
aiMotorSpeed[1] = 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) 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[0] = -g_dletAngle ;
aiMotorSpeed[1] = 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; break;
} }

2
RBcore/TL720D.c
View File

@ -128,7 +128,7 @@ static void decode_TL720D(const char *buf, uint32_t _iSize)
if ((int32_t)(uiNowTick - uiLastSendTick) >= 50) if ((int32_t)(uiNowTick - uiLastSendTick) >= 50)
{ {
uiLastSendTick = uiNowTick; 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); MsgCenter_SendTo(MODULE_NAME_DAEMON, DAEMON_SET_TL720D, NULL, 0);
} }
} }

4
RBcore/client_setting.c
View File

@ -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_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 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; 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 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) switch (pstMsg->m_uiMsgID)
{ {
case SENDIV_SET_IV: case CMD_SEND_IV:
{ {
IV_struct_define IV = { 0 }; IV_struct_define IV = { 0 };
if (pstMsg->m_uiDataLen >= sizeof(IV)) if (pstMsg->m_uiDataLen >= sizeof(IV))

4
RBcore/daemon_task.c
View File

@ -98,7 +98,7 @@ void daemon_PollComError(void)
if ((int32_t)(uiNowTick - uiLastSendTick) >= 1000) if ((int32_t)(uiNowTick - uiLastSendTick) >= 1000)
{ {
uiLastSendTick = uiNowTick; 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 else
@ -109,7 +109,7 @@ void daemon_PollComError(void)
{ {
SET_BIT_1(&g_iCom_Error_Status, i); // 判定模块异常 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 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));
} }
} }
} }

52
RBcore/include/BHBF.h
View File

@ -76,30 +76,29 @@ extern "C"{
typedef enum { typedef enum {
CMD_SHOW_INFO, // 终端信息展示 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） CMD_STOP, // 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） CMD_STRAIGHT_DRIVE, // 机器人直线行驶命令格式为BHBF_straight_drive_Cmd
MOTOR_SET_SPEED, // 设置速度 RESET_STRAIGHT_DRIVE, // CMD_STRAIGHT_DRIVE命令支持计时前进，这里重置计时
MOTOR_POWER_ENABLE, // 电机上电 CMD_TURN_ANGLE, // 机器人转向目标角度（带PID）
MOTOR_POWER_DISABLE, // 电机失电 CMD_SEND_IV, // 发送IV
MOTOR_CMD_STOP_AFTER, // 先关枪后停车 GET_VEHICLE_SPEED, // 获取机器人速度（旋钮值）
RBCORE_CMD_STOP_ALL, // 此命令统一调用机器人各个模块的COMMON_CMD_STOP_ALL GET_VEHICLE_REAL_SPEED, // 获取机器人速度（电机回码）
CUSTOM_GET_PV, // 获取PV SET_VEHICLE_SPEED, // 设置速度
CUSTOM_GET_MK32, // 获取MK32 CMD_MOTOR_POWER_ENABLE, // 电机上电
CUSTOM_GET_TL720D_ROLL, // 获取陀螺仪横滚角（IV显示） CMD_MOTOR_POWER_DISABLE, // 电机失电
CUSTOM_GET_SPEED, // 获取速度（电机回码） CMD_STOP_ALL, // 此命令统一调用机器人各个模块的CMD_STOP
CUSTOM_GET_FAULT_CODE, // 获取错误码（电机回码） GET_PV, // 获取PV
CUSTOM_GET_DAEMON_CODE, // 获取daemon错误码 GET_MK32, // 获取MK32
CUSTOM_GET_MOTOR_OK, // 获取电机初始化完毕 GET_TL720D_ROLL, // 获取陀螺仪横滚角（IV显示）
CUSTOM_CMD_PAINTGUN, // 控制喷枪 GET_MOTOR_FAULT_CODE, // 获取错误码（电机回码）
CUSTOM_CMD_STRAIGHT_DRIVE, // RBCORE_CMD_STRAIGHT_DRIVE命令停止后回调 GET_DAEMON_CODE, // 获取daemon错误码
CUSTOM_CMD_TURN_ANGLE, // RBCORE_CMD_TURN_ANGLE命令停止后回调 GET_MOTOR_OK, // 获取电机初始化完毕
CUSTOM_SET_STOP_OFF_PAINT, // 停车关枪标志位置1 CMD_PAINTGUN, // 控制喷枪
CUSTOM_RESET_PAINT, // 停车关枪逻辑中用于重置开枪状态 CMD_STRAIGHT_DRIVE_FINISH, // CMD_STRAIGHT_DRIVE命令停止后回调
SENDIV_START = 0x0400, // *IV发送线程命令（一般低优先级事项也放到这）* CMD_TURN_ANGLE_FINISH, // CMD_TURN_ANGLE命令停止后回调
CMD_STOP_AFTER_PAINTOFF, // 先关枪后停车
SENDIV_SET_IV, // 设置IV SET_STOP_OFF_PAINT, // 停车关枪CMD_STOP_AFTER_PAINTOFF标志位置1
DAEMON_START = 0x0500, // *守护线程命令 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_MK32_SBUS, // 置位ComError_MK32_SBus
DAEMON_SET_TL720D, // 置位ComError_TL720D DAEMON_SET_TL720D, // 置位ComError_TL720D
DAEMON_SET_LEFT_MOTOR, // 置位ComError_LS_LeftMotor 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_BUTTON_RESET, // 置位ComError_Remote_Button_Reset_State
DAEMON_SET_MK32_SERIAL, // 置位ComError_MK32_Serial DAEMON_SET_MK32_SERIAL, // 置位ComError_MK32_Serial
DAEMON_SET_MK32_UDP, // 置位ComError_MK32_UDP 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; } BHBF_Cmd_e;
#define THREAD_DEFAULT_STACK 4096 #define THREAD_DEFAULT_STACK 4096

14
RBcore/msp_Timer.c
View File

@ -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 static int bTimerStarted = 0; //直线行驶距离单次触发标志
switch (pstMsg->m_uiMsgID) switch (pstMsg->m_uiMsgID)
{ {
case TIMER_CMD_RESET_STRAIGHT: case RESET_STRAIGHT_DRIVE:
{ {
uiLastSendTick = 0; uiLastSendTick = 0;
bTimerStarted = 0; bTimerStarted = 0;
break; break;
} }
case TIMER_CMD_STRAIGHT_DRIVE: case CMD_STRAIGHT_DRIVE:
{ {
BHBF_straight_drive_Cmd stCmd = {0}; BHBF_straight_drive_Cmd stCmd = {0};
if (pstMsg->m_uiDataLen >= sizeof(stCmd)) if (pstMsg->m_uiDataLen >= sizeof(stCmd))
@ -124,13 +124,13 @@ static void Timer_ModuleHandler(const Msg_t *pstMsg)
{ {
aiMotorSpeed[0] = 0; aiMotorSpeed[0] = 0;
aiMotorSpeed[1] = 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; break;
} }
case TIMER_CMD_TURN_ANGLE: case CMD_TURN_ANGLE:
{ {
int iTargetAngle = 0; int iTargetAngle = 0;
if (pstMsg->m_uiDataLen >= sizeof(int)) if (pstMsg->m_uiDataLen >= sizeof(int))
@ -141,7 +141,7 @@ static void Timer_ModuleHandler(const Msg_t *pstMsg)
{ {
aiMotorSpeed[0] = 0; aiMotorSpeed[0] = 0;
aiMotorSpeed[1] = 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) 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[0] = -g_dletAngle ;
aiMotorSpeed[1] = 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; break;
} }

16
README.md
View File

@ -3,22 +3,22 @@
```mermaid ```mermaid
graph TB graph TB
subgraph RBcore subgraph RBcore
RBCORE_CMD_STOP_ALL CMD_STOP_ALL
end end
subgraph motor subgraph motor
MOTOR_POWER_ENABLE CMD_MOTOR_POWER_ENABLE
MOTOR_POWER_DISABLE CMD_MOTOR_POWER_DISABLE
m0(电机断电) m0(电机断电)
end end
subgraph custom subgraph custom
CUSTOM_GET_MK32 GET_MK32
CUSTOM_GET_MOTOR_OK GET_MOTOR_OK
c0((电机初始化完毕)) c0((电机初始化完毕))
c1((按下急停)) c1((按下急停))
end end
a((Read_MK32))-->CUSTOM_GET_MK32-->MOTOR_POWER_ENABLE-->CUSTOM_GET_MOTOR_OK-->c0 a((Read_MK32))-->GET_MK32-->CMD_MOTOR_POWER_ENABLE-->GET_MOTOR_OK-->c0
c1-->MOTOR_POWER_DISABLE-->m0 c1-->CMD_MOTOR_POWER_DISABLE-->m0
c1-->RBCORE_CMD_STOP_ALL-->CMD_STOP_ALL c1-->CMD_STOP_ALL-->CMD_STOP
``` ```

4
controller/msp_MK32.c
View File

@ -115,7 +115,7 @@ void decode_MK32(const char *buf, uint32_t _iSize)
if ((int32_t)(uiNowTick - uiLastSendTick) >= 10) if ((int32_t)(uiNowTick - uiLastSendTick) >= 10)
{ {
uiLastSendTick = uiNowTick; 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)); sizeof(RB_MK32));
MsgCenter_SendTo(MODULE_NAME_DAEMON, DAEMON_SET_MK32_SBUS, NULL, 0); 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 else
{ {
MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_STOP_ALL, NULL, 0); MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_STOP, NULL, 0);
} }
} }

4
motor/msp_motor_leisai.c
View File

@ -406,7 +406,7 @@ static int LeiSai_ParseResponse(Motor_Instance_t *pstMotor, const uint8_t *pucDa
{ {
pstMotor->m_eState = MOTOR_STATE_ERROR; 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; break;
} }
case LEISAI_OD_VELOCITY_ACTUAL: case LEISAI_OD_VELOCITY_ACTUAL:
@ -418,7 +418,7 @@ static int LeiSai_ParseResponse(Motor_Instance_t *pstMotor, const uint8_t *pucDa
| (pucData[7] << 24)); | (pucData[7] << 24));
iRealVelocity[1] = MotorMgr_SpeedConvertex(pstMotor, iRealVelocity[0]); iRealVelocity[1] = MotorMgr_SpeedConvertex(pstMotor, iRealVelocity[0]);
iRealVelocity[0] = pstMotor->m_stConfig.m_ucMotorID; 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; break;
} }
default: default:

130
project/paint_robot_new/paint_robot_new.c
View File

@ -50,7 +50,7 @@ static PV_struct_define g_stPV;
static IV_struct_define g_stIV; 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_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_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_iLeft_Compensation = 0;
static int g_iRight_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) static void E_Robot_Stop(void)
{ {
MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_POWER_DISABLE, NULL, 0); MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_MOTOR_POWER_DISABLE, NULL, 0);
MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0); MsgCenter_SendTo(MODULE_NAME_RBCORE, CMD_STOP_ALL, NULL, 0);
g_Is_All_Button_Reset = 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) if (0 == g_ichangLineState)
{ {
iTargetAngle = g_stCV.RobotLeftAngleValue; 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) 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_iTime = RunTime_DistanceCm_SpeedE_2MPMin(),
.m_iSpeed = g_stCV.Lane_Change_Speed_m_per_min .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) else if (2 == g_ichangLineState)
{ {
iTargetAngle = g_stCV.RobotUpAngleValue; 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) if (0 == g_ichangLineState)
{ {
iTargetAngle = g_stCV.RobotRightAngleValue; 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) 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_iTime = RunTime_DistanceCm_SpeedE_2MPMin(),
.m_iSpeed = g_stCV.Lane_Change_Speed_m_per_min .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) else if (2 == g_ichangLineState)
{ {
iTargetAngle = g_stCV.RobotUpAngleValue; 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) if (0 == g_ichangLineState)
{ {
iTargetAngle = g_stCV.RobotRightAngleValue; 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) 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_iTime = RunTime_DistanceCm_SpeedE_2MPMin(),
.m_iSpeed = g_stCV.Lane_Change_Speed_m_per_min .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) else if (2 == g_ichangLineState)
{ {
iTargetAngle = g_stCV.RobotUpAngleValue; 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) if (0 == g_ichangLineState)
{ {
iTargetAngle = g_stCV.RobotLeftAngleValue; 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) 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_iTime = RunTime_DistanceCm_SpeedE_2MPMin(),
.m_iSpeed = g_stCV.Lane_Change_Speed_m_per_min .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) else if (2 == g_ichangLineState)
{ {
iTargetAngle = g_stCV.RobotUpAngleValue; 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) static void Lane_Change_State_Reset(void)
{ {
g_ichangLineState = 0; 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) 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 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[0] = g_iVehicleSpeed * 10;
aiMotorSpeed[1] = 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) if(g_stIV.CurrentSpeed != 0)
{ {
g_stAngleError_Ctl.m_iPaintState = 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_iTime = -1,
.m_iSpeed = g_iVehicleSpeed .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 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[0] = -g_iVehicleSpeed * 10;
aiMotorSpeed[1] = -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_iTime = -1,
.m_iSpeed = g_iVehicleSpeed .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) if (0 == g_bIsStopOffPaint)
{ {
g_stAngleError_Ctl.m_iPaintState = 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));
} }
} }
} }
@ -285,7 +285,7 @@ static void Robot_Paint_OFF(void)
{ {
g_bIsStopOffPaint = 0; g_bIsStopOffPaint = 0;
g_stAngleError_Ctl.m_iPaintState = 1; 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) 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 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) 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) 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 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[0] = -g_stCV.LeftTurnSpeed;
aiMotorSpeed[1] = g_stCV.RightTurnSpeed; 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 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[0] = g_stCV.LeftTurnSpeed;
aiMotorSpeed[1] = -g_stCV.RightTurnSpeed; 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) 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; return;
} }
@ -483,7 +483,7 @@ static void Move_Halt_AngleError(void)
{ {
if(Rd_GetTime() - g_stAngleError_Ctl.m_ipaintOffCount > 1000) 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; g_stAngleError_Ctl.m_iAnglelock = 1;
return; return;
} }
@ -500,8 +500,8 @@ void MK32_11111Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode)
// 急停 // 急停
if (_pstMK32->CH8_SE == -1000 && _pstMK32->CH9_SF == -1000) if (_pstMK32->CH8_SE == -1000 && _pstMK32->CH9_SF == -1000)
{ {
MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_POWER_DISABLE, NULL, 0); MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_MOTOR_POWER_DISABLE, NULL, 0);
MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0); MsgCenter_SendTo(MODULE_NAME_RBCORE, CMD_STOP_ALL, NULL, 0);
g_Is_All_Button_Reset = 0; g_Is_All_Button_Reset = 0;
return; return;
} }
@ -536,7 +536,7 @@ void MK32_11111Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode)
if (_iMode == 2 || _iMode == 3) if (_iMode == 2 || _iMode == 3)
{ {
g_ichangLineState = 0; 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) if (0 == g_bIsStopOffPaint)
{ {
g_stAngleError_Ctl.m_iPaintState = 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));
} }
} }
else else
{ {
g_bIsStopOffPaint = 0; g_bIsStopOffPaint = 0;
g_stAngleError_Ctl.m_iPaintState = 1; 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[0] = g_iVehicleSpeed * 10;
aiMotorSpeed[1] = 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) 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_iTime = -1,
.m_iSpeed = g_iVehicleSpeed .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; return;
@ -600,7 +600,7 @@ void MK32_11111Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode)
{ {
aiMotorSpeed[0] = -g_iVehicleSpeed * 10; aiMotorSpeed[0] = -g_iVehicleSpeed * 10;
aiMotorSpeed[1] = -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) 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_iTime = -1,
.m_iSpeed = g_iVehicleSpeed .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; 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) 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 else
{ {
MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_STOP_ALL, NULL, 0); MsgCenter_SendTo(MODULE_NAME_MOTOR, CMD_STOP, NULL, 0);
} }
return; return;
} }
@ -647,7 +647,7 @@ void MK32_11111Key_Func(SP_MSP_MK32_Button *_pstMK32, int _iMode, int _iSubMode)
{ {
aiMotorSpeed[0] = g_iVehicleSpeed * 10; aiMotorSpeed[0] = g_iVehicleSpeed * 10;
aiMotorSpeed[1] = 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) 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_iTime = -1,
.m_iSpeed = g_iVehicleSpeed .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[0] = -g_iVehicleSpeed * 10;
aiMotorSpeed[1] = -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) 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_iTime = -1,
.m_iSpeed = g_iVehicleSpeed .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[0] = g_stCV.LeftTurnSpeed;
aiMotorSpeed[1] = -g_stCV.RightTurnSpeed; 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) 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[0] = -g_stCV.LeftTurnSpeed;
aiMotorSpeed[1] = g_stCV.RightTurnSpeed; 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 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; static int iMotorOK = 0;
switch (pstMsg->m_uiMsgID) switch (pstMsg->m_uiMsgID)
{ {
case CUSTOM_RESET_PAINT: case RESET_PAINT:
{ {
g_iPaint = 1; g_iPaint = 1;
break; break;
} }
case CUSTOM_SET_STOP_OFF_PAINT: case SET_STOP_OFF_PAINT:
{ {
g_bIsStopOffPaint = 1; g_bIsStopOffPaint = 1;
} }
case CUSTOM_GET_DAEMON_CODE: case GET_DAEMON_CODE:
{ {
if (pstMsg->m_uiDataLen >= sizeof(int32_t)) if (pstMsg->m_uiDataLen >= sizeof(int32_t))
{ {
@ -744,7 +744,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
} }
break; break;
} }
case CUSTOM_GET_FAULT_CODE: case GET_MOTOR_FAULT_CODE:
{ {
uint32_t uiFailtCode[2] = {0}; uint32_t uiFailtCode[2] = {0};
if (pstMsg->m_uiDataLen >= sizeof(uiFailtCode)) if (pstMsg->m_uiDataLen >= sizeof(uiFailtCode))
@ -763,7 +763,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
} }
break; break;
} }
case CUSTOM_GET_SPEED: case GET_VEHICLE_REAL_SPEED:
{ {
int32_t iCurrentSpeed[2] = {0}; int32_t iCurrentSpeed[2] = {0};
if (pstMsg->m_uiDataLen >= sizeof(iCurrentSpeed)) if (pstMsg->m_uiDataLen >= sizeof(iCurrentSpeed))
@ -781,7 +781,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
} }
break; break;
} }
case CUSTOM_GET_TL720D_ROLL: case GET_TL720D_ROLL:
{ {
if (pstMsg->m_uiDataLen >= sizeof(int32_t)) if (pstMsg->m_uiDataLen >= sizeof(int32_t))
{ {
@ -789,7 +789,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
} }
break; break;
} }
case CUSTOM_GET_PV: case GET_PV:
{ {
if (pstMsg->m_uiDataLen >= sizeof(g_stPV)) if (pstMsg->m_uiDataLen >= sizeof(g_stPV))
{ {
@ -797,28 +797,28 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
} }
break; break;
} }
case CUSTOM_GET_MOTOR_OK: case GET_MOTOR_OK:
{ {
iMotorOK = 1; iMotorOK = 1;
break; 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 g_ichangLineState = 2; // 走到这说明换道直线走完了
break; 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 g_ichangLineState = 1; // 走到这说明换道第一次转完了
break; break;
} }
case CMD_STOP_ALL: case CMD_STOP:
{ {
HAL_GPIO_WritePin(OUT_1_GPIO_Port, OUT_1_Pin, 1); HAL_GPIO_WritePin(OUT_1_GPIO_Port, OUT_1_Pin, 1);
g_stAngleError_Ctl.m_iPaintState = 1; g_stAngleError_Ctl.m_iPaintState = 1;
break; break;
} }
case CUSTOM_CMD_PAINTGUN: case CMD_PAINTGUN:
{ {
int paintstate = -1; int paintstate = -1;
if (pstMsg->m_uiDataLen >= sizeof(paintstate)) if (pstMsg->m_uiDataLen >= sizeof(paintstate))
@ -829,7 +829,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
if (0 == paintstate) g_iPaint = 0; if (0 == paintstate) g_iPaint = 0;
break; break;
} }
case CUSTOM_GET_MK32: case GET_MK32:
{ {
if (pstMsg->m_uiDataLen >= sizeof(g_stMK32)) 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_stMK32.CH7_SD == 0 && g_stMK32.IsOnline == 1)
{ {
g_iS2LastValue = g_stMK32.CH13_S2; //防止第一次值不正确 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; 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 // 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) 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) if (g_stMK32.IsOnline == 0)
{ {
g_Is_All_Button_Reset = 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; break;
} }
@ -941,7 +941,7 @@ void Custom_Task(void *argument)
{ {
uiLastSendTick = uiNowTick; uiLastSendTick = uiNowTick;
g_stIV.SBUS_State = g_stMK32.IsOnline; 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));
} }
} }
} }

18
project/paint_robot_new/paint_robot_new_motors.c
View File

@ -67,7 +67,7 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
static uint32_t uiLastTime = 0; static uint32_t uiLastTime = 0;
switch (pstMsg->m_uiMsgID) switch (pstMsg->m_uiMsgID)
{ {
case MOTOR_SET_SPEED: case SET_VEHICLE_SPEED:
{ {
int aiMotorSpeed[2] = {0}; int aiMotorSpeed[2] = {0};
if (pstMsg->m_uiDataLen >= sizeof(aiMotorSpeed)) if (pstMsg->m_uiDataLen >= sizeof(aiMotorSpeed))
@ -87,12 +87,12 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
uiLastTime = Rd_GetTime(); uiLastTime = Rd_GetTime();
break; break;
} }
case MOTOR_POWER_ENABLE: case CMD_MOTOR_POWER_ENABLE:
{ {
g_isMotorInit = 0; g_isMotorInit = 0;
break; break;
} }
case MOTOR_POWER_DISABLE: case CMD_MOTOR_POWER_DISABLE:
{ {
HAL_GPIO_WritePin(OUT_0_GPIO_Port, OUT_0_Pin, 1); HAL_GPIO_WritePin(OUT_0_GPIO_Port, OUT_0_Pin, 1);
break; break;
@ -105,14 +105,14 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
} }
break; break;
} }
case MOTOR_CMD_STOP_AFTER: case CMD_STOP_AFTER_PAINTOFF:
{ {
static int iIsDelayStop = 0; static int iIsDelayStop = 0;
if (1 == g_iLastVehicleMove) if (1 == g_iLastVehicleMove)
{ {
MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_SET_STOP_OFF_PAINT, NULL, 0); MsgCenter_SendTo(MODULE_NAME_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, CMD_STOP, NULL, 0);//先关枪
iIsDelayStop = 1; iIsDelayStop = 1;
} }
@ -124,7 +124,7 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
{ {
memset(g_aiMotorSpeed, 0, sizeof(g_aiMotorSpeed)); memset(g_aiMotorSpeed, 0, sizeof(g_aiMotorSpeed));
iIsDelayStop = 0; iIsDelayStop = 0;
MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_RESET_PAINT, NULL, 0); MsgCenter_SendTo(MODULE_NAME_CUSTOM, RESET_PAINT, NULL, 0);
} }
break; break;
} }
@ -134,7 +134,7 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
} }
break; break;
} }
case CMD_STOP_ALL: case CMD_STOP:
{ {
memset(g_aiMotorSpeed, 0, sizeof(g_aiMotorSpeed)); memset(g_aiMotorSpeed, 0, sizeof(g_aiMotorSpeed));
uiLastTime = Rd_GetTime(); uiLastTime = Rd_GetTime();
@ -237,7 +237,7 @@ void MotorTask(void *argument)
MotorMgr_SpeedModeInit(g_apstMotors[1]); MotorMgr_SpeedModeInit(g_apstMotors[1]);
g_isMotorInit = 1; g_isMotorInit = 1;
g_iInitOnce = 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) else if (g_isMotorInit > 0)
{ {

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