CommunicationWithACS.c
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#include "CommunicationWithACS.h"
TrafficLandMarks1 traffic_land_marksSys,traffic_land_marksReal;
u8 DataFromACS[2000],DataToACS[200];
u8 runModeAnalysis()
{
CoordinatePoints firstPoint,secondPoint;
float lineAngle = 0;
u8 lineDir = 0;
u8 runMode = 0;
firstPoint.TarX = (float)traffic_land_marksReal.land_marks[0].pose[0];
firstPoint.TarY = (float)traffic_land_marksReal.land_marks[0].pose[1];
secondPoint.TarX = (float)traffic_land_marksReal.land_marks[1].pose[0];
secondPoint.TarY = (float)traffic_land_marksReal.land_marks[1].pose[1];
lineAngle = CalculatingDirectionAngle(firstPoint,secondPoint);//得到线路角度
lineDir = CalculateCurHeadDir(lineAngle*57.3);
if(traffic_land_marksReal.land_marks[0].headDir == lineDir)//车头与线路偏差不超过，认为是前进
{
runMode = 1;
}
else
runMode = 2;
}
void receiveNewTask()
{
float x1,y1,x2,y2,angle1;
u8 runDir = 0;//前进为1，后退为8
traffic_land_marksReal.lastSize = 0;
memset(&traffic_land_marksReal,0,sizeof(traffic_land_marksReal));
memcpy(&traffic_land_marksReal,&traffic_land_marksSys,sizeof(traffic_land_marksSys));
if(traffic_land_marksReal.lastSize > 1)
{
x1 = traffic_land_marksReal.land_marks[0].pose[0];
y1 = traffic_land_marksReal.land_marks[0].pose[1];
x2 = traffic_land_marksReal.land_marks[1].pose[0];
y2 = traffic_land_marksReal.land_marks[1].pose[1];
angle1 = CalculatingDirectionAngle2(x1,y1,x2,y2);
if(fabs(fabs(CurrentCenterPoint.CurAngle) - fabs(angle1)) < 0.3) runDir = 1;
else runDir = 8;
if(traffic_land_marksReal.land_marks[0].actionType != runDir)
SetAlarm(0x0080);
}
}
void continueTask()
{
u8 receiveSig = 0,receiveIndex = 0;
traffic_land_marksReal.lastSize = traffic_land_marksReal.size;
for(u8 i = 0;i < traffic_land_marksSys.size;i++)
{
if(traffic_land_marksReal.land_marks[traffic_land_marksReal.size - 1].LandMarkID == traffic_land_marksSys.land_marks[i].LandMarkID)
{
receiveSig = 1;
receiveIndex = i+1;
break;
}
}
for(u8 j = receiveIndex;j < traffic_land_marksSys.size;j++)
{
memcpy(&traffic_land_marksReal.land_marks[traffic_land_marksReal.size++],&traffic_land_marksSys.land_marks[j],sizeof(traffic_land_marksSys.land_marks[j]));
}
}
void setLandDirection()
{
float x1,y1,x2,y2,x3,y3;
float angle1 = 0,angle2 = 0,angleDiff = 0;
u8 num = 0;
if(traffic_land_marksReal.size == 1)
{
traffic_land_marksReal.land_marks[0].Direction = 0;
}
else if(traffic_land_marksReal.size == 2)
{
x1 = traffic_land_marksReal.land_marks[0].pose[0];
y1 = traffic_land_marksReal.land_marks[0].pose[1];
x2 = traffic_land_marksReal.land_marks[1].pose[0];
y2 = traffic_land_marksReal.land_marks[1].pose[1];
if(traffic_land_marksReal.land_marks[0].actionType == 1)//前进行走
{
traffic_land_marksReal.land_marks[0].Direction = 1;
traffic_land_marksReal.land_marks[1].Direction = 0;
}
else if(traffic_land_marksReal.land_marks[0].actionType == 8)
{
if(traffic_land_marksReal.land_marks[0].LandMarkID == 2236)
{
angle2 = CalculatingDirectionAngle2(x2,y2,x1,y1);//求反向目标角度
angleDiff = CalculatingCurrentAndTargetAngle(CurrentCenterPoint.CurAngle, angle2);
if(angleDiff < -0.3)//偏右小于0，左转
traffic_land_marksReal.land_marks[0].Direction = 5;
else if(angleDiff > 0.3)//偏左大于0，右转
traffic_land_marksReal.land_marks[0].Direction = 6;
else
traffic_land_marksReal.land_marks[0].Direction = 2;
traffic_land_marksReal.land_marks[1].Direction = 0;
}
else
{
traffic_land_marksReal.land_marks[0].Direction = 2;
traffic_land_marksReal.land_marks[1].Direction = 0;
}
}
}
else if(traffic_land_marksReal.size >= 3)
{
if(traffic_land_marksReal.land_marks[0].actionType == 1)//前进行走
{
traffic_land_marksReal.land_marks[0].Direction = 1;//第一个点
traffic_land_marksReal.land_marks[traffic_land_marksReal.size - 1].Direction = 0;//最后一个点
if(traffic_land_marksReal.lastSize > 1) num = traffic_land_marksReal.lastSize - 1;
else num = 1;
for(u8 i = num;i < traffic_land_marksReal.size - 1;i++)//下标0开始为第一个点，从第二个点开始，倒数第二个点结束
{
x1 = traffic_land_marksReal.land_marks[i - 1].pose[0];
y1 = traffic_land_marksReal.land_marks[i - 1].pose[1];
x2 = traffic_land_marksReal.land_marks[i].pose[0];
y2 = traffic_land_marksReal.land_marks[i].pose[1];
x3 = traffic_land_marksReal.land_marks[i + 1].pose[0];
y3 = traffic_land_marksReal.land_marks[i + 1].pose[1];
angle1 = CalculatingDirectionAngle2(x1,y1,x2,y2);
angle2 = CalculatingDirectionAngle2(x2,y2,x3,y3);
angleDiff = CalculatingCurrentAndTargetAngle(angle1, angle2);
switch(Point_Line_Pos(x3,y3,x1,y1,x2,y2))
{
case 0:
traffic_land_marksReal.land_marks[i].Direction = 1;
break;
case -1:
if(fabs(angleDiff) < 0.3) traffic_land_marksReal.land_marks[i].Direction = 1;
else
{
if(traffic_land_marksReal.land_marks[i].PointType == 13)
traffic_land_marksReal.land_marks[i].Direction = 7;
else
traffic_land_marksReal.land_marks[i].Direction = 3;
}
break;
case 1:
if(fabs(angleDiff) < 0.3) traffic_land_marksReal.land_marks[i].Direction = 1;
else
{
if(traffic_land_marksReal.land_marks[i].PointType == 13)
traffic_land_marksReal.land_marks[i].Direction = 8;
else
traffic_land_marksReal.land_marks[i].Direction = 4;
}
break;
}
}
}
else if(traffic_land_marksReal.land_marks[0].actionType == 8)//后退行走
{
traffic_land_marksReal.land_marks[0].Direction = 2;
traffic_land_marksReal.land_marks[traffic_land_marksReal.size - 1].Direction = 0;//最后一个点
if(traffic_land_marksReal.lastSize > 1) num = traffic_land_marksReal.lastSize - 1;
else num = 1;
for(u8 i = num;i < traffic_land_marksReal.size - 1;i++)//下标0开始为第一个点，从第二个点开始，倒数第二个点结束
{
x1 = traffic_land_marksReal.land_marks[i - 1].pose[0];
y1 = traffic_land_marksReal.land_marks[i - 1].pose[1];
x2 = traffic_land_marksReal.land_marks[i].pose[0];
y2 = traffic_land_marksReal.land_marks[i].pose[1];
x3 = traffic_land_marksReal.land_marks[i + 1].pose[0];
y3 = traffic_land_marksReal.land_marks[i + 1].pose[1];
angle1 = CalculatingDirectionAngle2(x1,y1,x2,y2);
angle2 = CalculatingDirectionAngle2(x2,y2,x3,y3);
angleDiff = CalculatingCurrentAndTargetAngle(angle1, angle2);
switch(Point_Line_Pos(x3,y3,x1,y1,x2,y2))
{
case 0:
traffic_land_marksReal.land_marks[i].Direction = 2;
break;
case -1:
if(fabs(angleDiff) < 0.3) traffic_land_marksReal.land_marks[i].Direction = 2;
else
{
if(traffic_land_marksReal.land_marks[i].PointType == 13)
traffic_land_marksReal.land_marks[i].Direction = 9;
else
traffic_land_marksReal.land_marks[i].Direction = 5;
}
break;
case 1:
if(fabs(angleDiff) < 0.3) traffic_land_marksReal.land_marks[i].Direction = 2;
else
{
if(traffic_land_marksReal.land_marks[i].PointType == 13)
traffic_land_marksReal.land_marks[i].Direction = 10;
else
traffic_land_marksReal.land_marks[i].Direction = 6;
}
break;
}
}
}
}
}
void DataProcessFromACS()
{
agv.Public.finishStatus = 0;
memcpy(&traffic_land_marksSys.dataLenth,DataFromACS,1);
memcpy(&traffic_land_marksSys.taskID,DataFromACS+1,4);
memcpy(&traffic_land_marksSys.clearTaskSig,DataFromACS+5,1);
memcpy(&traffic_land_marksSys.size,DataFromACS+6,1);
if(traffic_land_marksSys.size > 1)
Reset_Alarm(0x0240);
//五个地标信息
for(u8 i = 0;i < traffic_land_marksSys.size;i++)
{
memcpy(&traffic_land_marksSys.land_marks[i].LandMarkID,DataFromACS+7+i*24,2);
memcpy(&traffic_land_marksSys.land_marks[i].pose[0],DataFromACS+9+i*24,4);
memcpy(&traffic_land_marksSys.land_marks[i].pose[1],DataFromACS+13+i*24,4);
//
memcpy(&traffic_land_marksSys.land_marks[i].PointType,DataFromACS+17+i*24,1);
memcpy(&traffic_land_marksSys.land_marks[i].lookforCenterSig,DataFromACS+18+i*24,1);
memcpy(&traffic_land_marksSys.land_marks[i].actionType,DataFromACS+19+i*24,1);
memcpy(&traffic_land_marksSys.land_marks[i].liftHeight,DataFromACS+20+i*24,2);
memcpy(&traffic_land_marksSys.land_marks[i].LaserArea,DataFromACS+22+i*24,1);
memcpy(&traffic_land_marksSys.land_marks[i].headAngle,DataFromACS+23+i*24,2);
memcpy(&traffic_land_marksSys.land_marks[i].headDir,DataFromACS+25+i*24,1);
memcpy(&traffic_land_marksSys.land_marks[i].rotateAngle,DataFromACS+26+i*24,2);
memcpy(&traffic_land_marksSys.land_marks[i].rotateDir,DataFromACS+28+i*24,1);
memcpy(&traffic_land_marksSys.land_marks[i].connectDir,DataFromACS+29+i*24,1);
memcpy(&traffic_land_marksSys.land_marks[i].DispatchSpeed,DataFromACS+30+i*24,1);
}
memcpy(&traffic_land_marksSys.pickOrPlace,DataFromACS+130,1);
memcpy(&traffic_land_marksSys.checkCode,DataFromACS+137,1);
if(traffic_land_marksReal.taskID != traffic_land_marksSys.taskID)
{
receiveNewTask();
}
else
{
continueTask();
}
//给每个点位加方向
setLandDirection();
}
extern int errorCurangle,errorTarangle,errorAngle;
void DataProcessToACS()
{
DataToACS[0] = 120;
u16 angle = agv.Public.Coordinate_W*57.3*10;
if(angle < 0) angle += 3600;
// if(agv.Public.Error_Flag == 0)
if(agv.Public.finishTaskSig)
agv.Public.finishStatus = 1;
memcpy(DataToACS+1,&agv.Parameter.AGVID,2);
memcpy(DataToACS+3,&agv.Command.LandMarkID,2);
memcpy(DataToACS+5,&agv.Command.LandMarkID,2);
memcpy(DataToACS+7,&agv.Public.SOC,1);
if(!agv.Command.Au_Hand)
{
agv.Public.AgvStatus = 20;
}
else
{
if(!traffic_land_marksSys.taskID && 1)
{
agv.Public.AgvStatus = 11;
}
else if(traffic_land_marksSys.taskID)
{
if(agv.Public.Error_Flag & 0x0200)
agv.Public.AgvStatus = 11;
else
agv.Public.AgvStatus = 13;
}
//自动充电
if(agv.Public.chargeState)
agv.Public.AgvStatus = 14;
}
memcpy(DataToACS+8,&agv.Public.AgvStatus,1);
agv.Public.HeadDirection = CalculateCurHeadDir(agv.Public.Coordinate_W*57.3);
memcpy(DataToACS+9,&agv.Public.HeadDirection,1);
memcpy(DataToACS+10,&agv.Public.RotateDirection,1);
memcpy(DataToACS+11,&agv.Public.LiftStatus,1);
int errorData = agv.Public.Error_Flag&0x9808;
memcpy(DataToACS+12,&errorData,4);
memcpy(DataToACS+16,&agv.Public.Error_FlagTwo,4);
//相对距离
memcpy(DataToACS+22,&traffic_land_marksSys.taskID,4);
int pointX = agv.Public.Coordinate_X;
int pointY = agv.Public.Coordinate_Y;
memcpy(DataToACS+26,&agv.Public.finishStatus,1);//完成信号
memcpy(DataToACS+27,&pointX,4);
memcpy(DataToACS+31,&pointY,4);
//位置可信度
memcpy(DataToACS+36,&angle,2);
memcpy(DataToACS+38,&DriverLifter1.Public.encoderPose,2);
memcpy(DataToACS+40,&agv.Public.currentAction,1);//当前动作
memcpy(DataToACS+41,&agv.Public.i_materialArriveFlag,1);//是否有货
memcpy(DataToACS+51,&agv.Command.Au_Hand,1);
memcpy(DataToACS+52,&agv.Command.CurDirection,1);//当前动作
memcpy(DataToACS+53,&agv.Command.NextDirection,1);//是否有货
memcpy(DataToACS+54,&agv.Command.NextSecondDirection,1);
memcpy(DataToACS+55,&agv.Public.SOC,1);
memcpy(DataToACS+56,&agv.Command.standSiteID,1);
memcpy(DataToACS+57,&traffic_land_marksReal.size,1);
memcpy(DataToACS+58,&agv.Public.finishStatus,1);
memcpy(DataToACS+59,&agv.Public.chargeState,1);
memcpy(DataToACS+60,&agv.Public.i_materialArriveFlag,1);
// memcpy(DataToACS+61,&DriverLifter1.Public.encoderPose,1);
// memcpy(DataToACS+62,&DriverLifter1.Public.encoderPose,1);
// memcpy(DataToACS+63,&DriverLifter1.Public.encoderPose,1);
// memcpy(DataToACS+64,&DriverLifter1.Public.encoderPose,1);
// memcpy(DataToACS+65,&DriverLifter1.Public.encoderPose,1);
int data14 = (int)agv.Command.SetBaseSpeed;
memcpy(DataToACS+66,&agv.Public.Error_Flag,2);//当前动作
memcpy(DataToACS+68,&data14,2);//当前动作
int data1 = (int)DriverSteering1.Command.angle;
int data2 = DriverSteering1.Public.encoderPose;
memcpy(DataToACS+70,&data1,2);//当前动作
memcpy(DataToACS+72,&data2,2);//当前动作
memcpy(DataToACS+74,&agv.Parameter.SetLift1Height,2);//当前动作
memcpy(DataToACS+76,&DriverLifter1.Public.encoderPose,2);//当前动作
int data10 = (int)navi.Public.CenterOffset;
int data9 = (int)(navi.Public.AngleDifference*57.3);
memcpy(DataToACS+78,&data9,2);//当前动作
memcpy(DataToACS+80,&errorCurangle,2);//当前动作
memcpy(DataToACS+82,&errorTarangle,2);
memcpy(DataToACS+84,&errorAngle,2);
int data3 = (int)PointTwo.TarX;
int data4 = (int)PointTwo.TarY;
int data5 = (int)PointThree.TarX;
int data6 = (int)PointThree.TarY;
int data7 = (int)PointFour.TarX;
int data8 = (int)PointFour.TarY;
int data11 = (int)agv.Public.Coordinate_X;
int data12 = (int)agv.Public.Coordinate_Y;
int data13 = (int)(agv.Public.Coordinate_W*57.3);
memcpy(DataToACS+86,&data3,4);
memcpy(DataToACS+90,&data4,4);
memcpy(DataToACS+94,&data5,4);//
memcpy(DataToACS+98,&data6,4);//
memcpy(DataToACS+102,&data7,4);//
memcpy(DataToACS+106,&data8,4);//
memcpy(DataToACS+110,&data11,4);//
memcpy(DataToACS+114,&data12,4);//
memcpy(DataToACS+118,&data13,2);//
// memcpy(DataToACS+42,&agv.Public.currentAction,1);//滚筒转动
u8 checkResult = DataToACS[0]^DataToACS[1];
for(u8 j = 2;j < DataToACS[0];j++)
{
checkResult = checkResult^DataToACS[j];
}
DataToACS[DataToACS[0]] = checkResult;
// memcpy(DataToACS+49,&checkResult,1);
}
void _AppTaskEthernetCli(void)
{
if(DataFromACS[0] == 137 && agv.Public.receiveFlag)
{
u8 checkResult = DataFromACS[0]^DataFromACS[1];
for(u8 j = 2;j < DataFromACS[0];j++)
{
checkResult = checkResult^DataFromACS[j];
}
if(checkResult == DataFromACS[137])
{
agv.Public.receiveFlag = 0;
DataProcessFromACS();
}
}
DataProcessToACS();
if(traffic_land_marksSys.clearTaskSig)//清除任务
{
clearPathInfomation();
}
}