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118 lines
3.8 KiB
118 lines
3.8 KiB
/******************************************************************************
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版权所有 (C), 2018-2099, Radkil
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******************************************************************************
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文 件 名 : paint_robot_new.c
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版 本 号 : 初稿
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作 者 : radkil
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生成日期 : 2026年7月14日
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最近修改 :
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功能描述 : 新版喷漆主逻辑
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修改历史 :
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1.日 期 : 2026年7月14日
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作 者 : radkil
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修改内容 : 创建文件
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******************************************************************************/
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#include "BHBF.h"
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#include "msg_center.h"
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#include "lua_base.h"
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#include "Protobuf/PSource/bsp_PV.pb.h"
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#include "Protobuf/PSource/msp_MK32.pb.h"
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/*----------------------------------------------*
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* 外部变量说明 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 外部函数原型说明 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 内部函数原型说明 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 全局变量 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 模块级变量 *
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*----------------------------------------------*/
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static uint32_t g_uiCustomModuleID = 0;
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SP_MSP_MK32_Button g_stMK32;
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PV_struct_define g_stPV;
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/*----------------------------------------------*
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* 常量定义 *
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*----------------------------------------------*/
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/*----------------------------------------------*
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* 宏定义 *
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*----------------------------------------------*/
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static void Custom_ModuleHandler(const Msg_t *pstMsg)
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{
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if (NULL == pstMsg)
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{
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return;
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}
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switch (pstMsg->m_uiMsgID)
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{
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case CUSTOM_GET_PV:
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{
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if (pstMsg->m_uiDataLen >= sizeof(g_stPV))
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{
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RD_MEMCPY(&g_stPV, pstMsg->m_aucData, sizeof(g_stPV));
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}
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break;
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}
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case CUSTOM_GET_MK32:
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{
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if (pstMsg->m_uiDataLen >= sizeof(g_stMK32))
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{
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RD_MEMCPY(&g_stMK32, pstMsg->m_aucData, sizeof(g_stMK32));
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}
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break;
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}
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case LUA_SHOW_INFO:
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{
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lua_print("MK32 Info\nRxIndex:%d\tIsOnline:%d\n", g_stMK32.RxIndex, g_stMK32.IsOnline);
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lua_print("CH0_RY_H\t%d\n", g_stMK32.CH0_RY_H);
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lua_print("CH1_RY_V\t%d\n", g_stMK32.CH1_RY_V);
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lua_print("CH2_LY_V\t%d\n", g_stMK32.CH2_LY_V);
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lua_print("CH3_LY_H\t%d\n", g_stMK32.CH3_LY_H);
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lua_print("CH4_SA \t%d\n", g_stMK32.CH4_SA);
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lua_print("CH5_SB \t%d\n", g_stMK32.CH5_SB);
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lua_print("CH6_SC \t%d\n", g_stMK32.CH6_SC);
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lua_print("CH7_SD \t%d\n", g_stMK32.CH7_SD);
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lua_print("CH8_SE \t%d\n", g_stMK32.CH8_SE);
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lua_print("CH9_SF \t%d\n", g_stMK32.CH9_SF);
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lua_print("CH10_LD1\t%d\n", g_stMK32.CH10_LD1);
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lua_print("CH11_RD1\t%d\n", g_stMK32.CH11_RD1);
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lua_print("CH12_S1 \t%d\n", g_stMK32.CH12_S1);
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lua_print("CH13_S2 \t%d\n", g_stMK32.CH13_S2);
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lua_print("CH14_LT \t%d\n", g_stMK32.CH14_LT);
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lua_print("CH15_RT \t%d\n", g_stMK32.CH15_RT);
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lua_print("PV Info\n");
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lua_print("RunMode = %d\nRobotSpeed = %d\nVertical_Calibration = %d\nIV_IsRestart_Notified = %d\nTimeStamp = %d\n",
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g_stPV.RunMode, g_stPV.RobotSpeed, g_stPV.Vertical_Calibration, g_stPV.IV_IsRestart_Notified, g_stPV.TimeStamp);
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break;
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}
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default:
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break;
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}
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}
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void Custom_Task(void *argument)
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{
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g_uiCustomModuleID = MsgCenter_Register(MODULE_NAME_CUSTOM, Custom_ModuleHandler);
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while(1)
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{
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MsgCenter_ProcessWait(g_uiCustomModuleID, 2);
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}
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}
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