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141 lines
4.1 KiB
141 lines
4.1 KiB
/******************************************************************************
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版权所有 (C), 2018-2099, Radkil
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******************************************************************************
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文 件 名 : BHBF.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6月8日
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最近修改 :
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功能描述 : 机器人主程序
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修改历史 :
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1.日 期 : 2026年6月8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 "common.h"
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#include "msg_center.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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static uint32_t g_uiRBcoreModuleID = 0;
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/*----------------------------------------------*
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* 模块级变量 *
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*----------------------------------------------*/
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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 RBcore_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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static int iSpeed = -1;
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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
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switch (pstMsg->m_uiMsgID)
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{
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case CMD_STOP_ALL:
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{
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MsgCenter_SendTo(MODULE_NAME_MOTOR, pstMsg->m_uiMsgID, NULL, 0);
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break;
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}
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case RBCORE_CMD_MANUAL_FORWARD:
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{
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if (iSpeed >= 0)
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{
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aiMotorSpeed[0] = iSpeed;
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aiMotorSpeed[1] = iSpeed;
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MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_CMD_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed));
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}
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break;
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}
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case RBCORE_CMD_MANUAL_BACKWARD:
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{
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if (iSpeed >= 0)
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{
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aiMotorSpeed[0] = -iSpeed;
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aiMotorSpeed[1] = -iSpeed;
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MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_CMD_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed));
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}
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break;
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}
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case RBCORE_CMD_MANUAL_TURNLEFT:
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{
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if (g_stCV.LeftTurnSpeed > 0 && g_stCV.RightTurnSpeed > 0)
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{
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aiMotorSpeed[0] = -g_stCV.LeftTurnSpeed;
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aiMotorSpeed[1] = g_stCV.RightTurnSpeed;
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MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_CMD_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed));
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}
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break;
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}
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case RBCORE_CMD_MANUAL_TURNRIGHT:
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{
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if (g_stCV.LeftTurnSpeed > 0 && g_stCV.RightTurnSpeed > 0)
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{
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aiMotorSpeed[0] = g_stCV.LeftTurnSpeed;
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aiMotorSpeed[1] = -g_stCV.RightTurnSpeed;
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MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_CMD_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed));
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}
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break;
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}
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case RBCORE_GET_VEHICLE_SPEED:
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{
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if (pstMsg->m_uiDataLen >= sizeof(int))
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{
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RD_MEMCPY(&iSpeed, pstMsg->m_aucData, sizeof(int));
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iSpeed *= 10;
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}
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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 RBcore_Task(void *argument)
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{
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while(1)
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{
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// 处理消息
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MsgCenter_ProcessWait(g_uiRBcoreModuleID, 2);
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}
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}
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void RBcore_Init(void)
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{
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g_uiRBcoreModuleID = MsgCenter_Register(MODULE_NAME_RBCORE, RBcore_ModuleHandler);
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const osThreadAttr_t GF_Dispatch_attributes = {
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.name = MODULE_NAME_RBCORE,
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.stack_size = 1024,
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.priority = (osPriority_t) osPriorityRealtime1,
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};
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(void)osThreadNew(RBcore_Task, NULL, &GF_Dispatch_attributes);
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}
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