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183 lines
4.8 KiB
183 lines
4.8 KiB
8 months ago
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/*
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* fsm.h
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*
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* Created on: Oct 18, 2024
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* Author: akeguo
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*/
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#ifndef INC_FSM_H_
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#define INC_FSM_H_
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#include <stdint.h>
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#include <math.h>
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#include "BHBF_ROBOT.h"
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#include "robot_state.h"
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#include "BSP/bsp_include.h"
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#include "MSP/msp_PID.h"
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#include "MSP/msp_MK32_1.h"
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extern char IsRobotHaltSateChangedFlag;
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typedef enum _MoveSTATE_t
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{
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Move_HALT = 0, //停止
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Move_Forwards, //前进，没有纠偏的前进
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Move_Backwards, //后退，没有纠偏的前进
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Move_TurnLeft, //左转
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Move_TurnRight, //右转
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Move_Vertical_Task_Forwards, //竖直方向前进 保持竖直运行
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Move_Vertical_Task_Backwards, //竖直方向后退前进 保持竖直运行
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Move_Horizontal_Task_Forwards_Left, //水平方向前进，保持水平方向
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Move_Horizontal_Task_Backwards_Left, //水平方向后退，保持水平方向
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Move_Horizontal_Task_Forwards_Right, //水平方向前进，保持水平方向
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Move_Horizontal_Task_Backwards_Right, //水平方向后退，保持水平方向
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Move_Head_To_Left_Enum,
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Move_Head_To_UP_Enum,
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Move_Head_To_Right_Enum,
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Move_Head_To_Down_Enum,
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} MoveSTATE_t;
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typedef enum _Motor_Power_STATE_t
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{
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Power_OFF = 0, Power_ON = 1
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} Motor_Power_STATE_t;
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typedef enum _LaneChangeSTATE_t
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{
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Lane_HALT = 0, //自动模式停止
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Lane_Turn_To_Straight_Up, //自动 运行到竖直向上
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Lane_Turn_To_Straight_Down, //自动 运行到竖直向下
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Lane_Turn_To_Horizontal_Left, //
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Lane_Turn_To_Horizontal_Right, //
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Lane_Vertical_Task_Move_Forwards, //竖直方向前进 保持竖直运行
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Lane_Vertical_Task_Move_Backwards, //竖直方向后退前进 保持竖直运行
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Lane_Horizontal_Task_Move_Forwards, //水平方向前进，保持水平方向
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Lane_Horizontal_Task_Move_Backwards, //水平方向后退，保持水平方向
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} LaneChangeSTATE_t;
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//设置 换道距离和设置后退距离
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typedef enum _laneChangeControlSTATE_t
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{
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Lane_Change_Stop = 0, Lane_Change_Start,
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} LaneChangeControlSTATE;
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//自动模式下运行，
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typedef enum _autoMoveSTATE_t
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{
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Auto_Move_Start = 0,
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Auto_Move_HeadToRight_Backwards,
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Auto_Move_HeadToUp_Forwards,
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Auto_Move_HeadToLeft_Backwards,
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Auto_Move_HeadToUp_Backwards,
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Auto_Move_Vertical_Left_LaneChange_Up,
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Auto_Move_Vertical_Left_LaneChange_Down,
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Auto_Move_Vertical_Right_LaneChange_Up,
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Auto_Move_Vertical_Right_LaneChange_Down,
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Auto_Move_Horizontal_Left_LaneChange,
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Auto_Move_Horizontal_Right_LaneChange,
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Auto_Move_Stop,
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Auto_Move_Time_Wait,
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Auto_Move_Time_Wait2,
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} AutoMoveSTATE_t;
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//设置 换道距离和设置后退距离
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typedef enum _SetSTATE_t
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{
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OtherMode = 0, SetLaneChangeDistance, SetBackwardsDistance,
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} SetSTATE_t;
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typedef enum _PaintGunSTATE_t
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{
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PaintGunOFF = 0, PaintGunON = 1
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} PaintGunSTATE_t;
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typedef enum {
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MoveTaskTimeCheck_finish = 0, // 自动作业后退定时结束
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MoveTaskTimeCheck_start = 1, // 自动作业后退定时开始
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}MoveTaskTimeCheck_t;
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typedef struct _transition_t
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{
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int State; //状态
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void (*robotRun)(void); //执行相关动作
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} transition_t;
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typedef enum _vertical_LaneChangeState
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{
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VerticalChange_TurnToUP,
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VerticalChange_TurnToDown,
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VerticalChange_TurnToLeft,
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VerticalChange_TurnToRight,
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VerticalChange_DelayMove,
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VerticalChange_End,
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VerticalChange_StateZero,
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//0---6
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} Lane_Vertical_ChangeState;
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typedef enum _horizontal_LaneChangeState
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{
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HorizontalChange_TurnToUP,
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HorizontalChange_TurnToDown,
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HorizontalChange_TurnToLeft,
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HorizontalChange_TurnToRight,
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HorizontalChange_DelayMove,
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HorizontalChange_End,
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HorizontalChange_StateZero,
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} Lane_Horizontal_ChangeState;
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typedef enum _iV_Information_State
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{
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IV_Ding_Su_Shui_Ping_Hou_Tui, //定速巡航水平后退
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IV_Ding_Su_Shui_Ping_Qian_Jin, //定速巡航水平前进
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IV_Ding_Su_Shu_Zhi_Qian_Jin, //定速巡航竖直前进
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IV_Ding_Su_Shu_Zhi_Hou_Tui, //定速巡航竖直后退
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IV_Ding_Su_Shou_Dong_Hou_Tui, //定速巡航手动后退
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IV_Ding_Su_Shou_Dong_Qian_Jin, //定速巡航手动前进
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IV_Shui_Ping_Huang_Dao, //水平换道
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IV_Shu_Zhi_Huang_Dao, //竖直换道
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IV_Shui_Ping_Mo_Shi_Qian_Jin, //水平模式前进
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IV_Shui_Ping_Mo_Shi_Hou_Tui, //水平模式后退
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IV_Shu_Zhi_Mo_Shi_Qian_Jin, //垂直模式前进
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IV_Shu_Zhi_Mo_Shi_Hou_Tui, //垂直模式后退
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IV_Shou_Dong_Qian_Jin, //手动控制前进
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IV_Shou_Dong_Hou_Tui, //手动控制后退
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IV_Shou_Dong_Zuo_Zhuan, //手动控制左转
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IV_Shou_Dong_You_Zhuan, //手动控制右转
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} IV_Information_State;
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extern MoveSTATE_t CurrentMoveState;
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extern PaintGunSTATE_t Current_PaintGun_STATE;//机器人喷枪状态
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extern LaneChangeSTATE_t CurrentLaneChangeSTATE;
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extern Lane_Horizontal_ChangeState CurrentHorizontal_ChangeState;
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extern Lane_Vertical_ChangeState Current_Vertical_ChangeState;
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extern char is_upper_computer_take_over_control;
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extern char Switch_Off_Flag;
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void action_perfrom(transition_t transitions[], int length, int state);
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void GF_Dispatch();
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void action_perfrom();
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void Fsm_Init();
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#endif /* INC_FSM_H_ */
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