Laser.c
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#include "Laser.h"
#if P_SETUP_NAV_TYPE == 2 || P_SETUP_NAV_TYPE == 4
uint16_t SlamAddCheckSumCRC(unsigned char *cBuffer, unsigned short iBufLen)
{
uint16_t wCrc = 0;
unsigned char Sum = 0, i = 0;
for (i = 1; i < iBufLen; i++)
{
Sum += cBuffer[i];
}
return Sum;
}
float X1speed = 0, X2speed = 0, Xspeed = 0;
unsigned int Prepare_UartToROS_Send(unsigned char string_out[])
{
short i = 0;
unsigned char sum = 0;
static unsigned char string_len = 0;
// static float A = 0,B = 0,R1 = 0,R2 = 0;//中间舵轮和右舵轮角度差
// if(navi.Private.SetCalculationRadius != 0)
// {
// A = fabs(atan2(DISWHEELTOCENTER,navi.Private.SetCalculationRadius) - atan2(DISWHEELTOCENTER,navi.Private.SetCalculationRadius + RIGHTSTEERDISTANCE));
//
// R1 = sqrt(pow(navi.Private.SetCalculationRadius + RIGHTSTEERDISTANCE,2) + pow(DISWHEELTOCENTER,2));
//
// R2 = sqrt(pow(navi.Private.SetCalculationRadius,2) + pow(DISWHEELTOCENTER,2));
//
// B = R2/R1;
// }
// else
// {
// A = 0;
// B = 1;
// }
float d1,d2;
if(DriverSteering1.Public.encoderPose != 0)
{
d1 = DISWHEELTOCENTER/sin((float)(DriverSteering1.Public.encoderPose)/10/57.3);
d2 = d1*cos((float)(DriverSteering1.Public.encoderPose)/10/57.3) - RIGHTSTEERDISTANCE;
}
else
{
d1 = 1;
d2 = 1;
}
Xspeed = 1*(float)(DriverSteering1.Public.encoderSpeed) / 3600*d2/d1;
// if(agv.Command.CurDirection == 3 || agv.Command.CurDirection == 4||agv.Command.CurDirection == 5 || agv.Command.CurDirection == 6)
// {
// Xspeed = 0;
// }
// double TimeStamp = ((double)TIM_GetCounter(TIM7)) / (4000.0f / 0.95);
// TIM_SetCounter(TIM7, 0);
string_len = sprintf((char *)string_out, "$%.3f,%d,%.3f,%d,%d,%d,%d*", Xspeed, 0, 0.02, 1,0,0,0);
for (i = 1; i < string_len - 1; i++)
{
sum += string_out[i];
}
string_len += sprintf((char *)string_out + string_len, "%02X#\r\n", sum);
return string_len;
}
void UartToROS_Send_Info_To_Server()
{
unsigned char atSendBuf[400] = {0};
unsigned int len;
static int lastTime = 0;
len = Prepare_UartToROS_Send(atSendBuf);
if(agv.Public.SystemTime - lastTime > 19)
{
WriteUart(COM2, atSendBuf, len);
lastTime = agv.Public.SystemTime;
}
}
void ProccessAGVInfo(unsigned char *RecvBuffer, unsigned short BufferLength)
{
if (strncmp("$", (const char *)RecvBuffer, 1) == 0) //地标动作命令
{
unsigned char Sum = 0;
unsigned char i = 1;
float XbiasFromros = 0, YbiasFromros = 0, TheataFromros = 0,Theta = 0,locT = 0,palstance = 0;
int Location_State_ = 0;
int SLAMerror = 0,Online_State_ = 0,datax1 = 0,datay1 = 0;
static int laserState1 = 0,laserState2 = 0,laserState3 = 0;
// unsigned char GetSum = 0;
DATA GetSum;
int tmp = 0;
sscanf((const char *)RecvBuffer + 1, "%f,%f,%f,%d,%d,%f,%f,%f,%d,%d,%d*%02X#", &XbiasFromros, &YbiasFromros, &TheataFromros, &Online_State_, &SLAMerror, &locT, &Theta,&palstance,&laserState1,&laserState2,&laserState3,&tmp);
GetSum.a = (u8)tmp;
while (RecvBuffer[i] != '*') /*校验起始到结束信号*/
{
Sum += RecvBuffer[i];
i++;
if (i > BufferLength)
{
return;
}
}
if (Sum == GetSum.a)
{
if(agv.Parameter.W_compensation != 0)
TheataFromros += (agv.Parameter.W_compensation / 10) * 0.017453; //得到车体正前方角度
TheataFromros += PI;
if (TheataFromros >= 2.0f * PI)
{
TheataFromros -= 2.0f * PI;
}
else if (TheataFromros < 0)
{
TheataFromros += 2.0f * PI;
}
if(TheataFromros > PI)
{
TheataFromros -= 2*PI;
}
else if(TheataFromros < -PI)
{
TheataFromros += 2*PI;
}
agv.Public.Coordinate_X = XbiasFromros * 1000;
agv.Public.Coordinate_Y = YbiasFromros * 1000;
agv.Public.Coordinate_W = (TheataFromros);
if((agv.Parameter.AGVID == 0xB001) &&(fabs)(agv.Public.Coordinate_W*57.3) < 110 && (fabs)(agv.Public.Coordinate_W*57.3) > 70)//正负90度方向做补偿
{
datax1 = -15;
datay1 = -10;
}
else if((agv.Parameter.AGVID == 0xB002) &&(fabs)(agv.Public.Coordinate_W*57.3) < 110 && (fabs)(agv.Public.Coordinate_W*57.3) > 70)//正负90度方向做补偿
{
datax1 = -15;
datay1 = 0;
}
else
{
datax1 = 0;
datay1 = 0;
}
#if P_SETUP_LIDAR2BASE_X != 0//+65
agv.Public.Coordinate_X -= cos(agv.Public.Coordinate_W) * (float)(P_SETUP_LIDAR2BASE_X + datax1);
agv.Public.Coordinate_Y -= sin(agv.Public.Coordinate_W) * (float)(P_SETUP_LIDAR2BASE_X + datax1);
#endif
#if P_SETUP_LIDAR2BASE_Y != 0//+17
agv.Public.Coordinate_X += sin(TheataFromros) * (float)(P_SETUP_LIDAR2BASE_Y + datay1);
agv.Public.Coordinate_Y -= cos(TheataFromros) * (float)(P_SETUP_LIDAR2BASE_Y + datay1);
#endif
//叉车第四层库位补偿
if(DriverLifter1.Public.encoderPose > 4700)//第四层
{
if(agv.Parameter.AGVID != 0xB003)
{
if(agv.Public.Coordinate_W*57.3 > 75 && agv.Public.Coordinate_W*57.3 < 105)
{
agv.Public.Coordinate_Y += 70;
}
else if(agv.Public.Coordinate_W*57.3 > -105 && agv.Public.Coordinate_W*57.3 < -75)
{
agv.Public.Coordinate_Y -= 70;
}
}
else
{
if(agv.Public.Coordinate_W*57.3 > 75 && agv.Public.Coordinate_W*57.3 < 105)
{
agv.Public.Coordinate_Y += 90;
}
else if(agv.Public.Coordinate_W*57.3 > -105 && agv.Public.Coordinate_W*57.3 < -75)
{
agv.Public.Coordinate_Y -= 90;
}
}
}
else if(DriverLifter1.Public.encoderPose > 3000)
{
if(agv.Public.Coordinate_W*57.3 > 75 && agv.Public.Coordinate_W*57.3 < 105)
{
agv.Public.Coordinate_Y += 30;
}
else if(agv.Public.Coordinate_W*57.3 > -105 && agv.Public.Coordinate_W*57.3 < -75)
{
agv.Public.Coordinate_Y -= 30;
}
}
//一层
else if(DriverLifter1.Public.encoderPose < 130 && DriverLifter1.Public.encoderPose > 110 )
{
if(agv.Public.Coordinate_W*57.3 > 75 && agv.Public.Coordinate_W*57.3 < 105)
{
agv.Public.Coordinate_Y -= 35;
}
else if(agv.Public.Coordinate_W*57.3 > -105 && agv.Public.Coordinate_W*57.3 < -75)
{
agv.Public.Coordinate_Y += 35;
}
}
//定位补偿
// if(agv.Parameter.AGVID == 0xB002)
// {
// //P007输送线
// if(agv.Command.NextLandMarkID == 1203)
//
// }
}
}
}
void ProccessAGVDATAInfo(unsigned char *Res) //获取到完整一帧数据
{
static unsigned char Buffer2[120];
static unsigned short iii = 0;
if (iii > 100)
{
iii = 0;
}
if (*Res == '$') // $
{
iii = 0;
}
Buffer2[iii++] = *Res;
if (*Res == '#') // #
{
ProccessAGVInfo((unsigned char *)Buffer2, iii);
memset(Buffer2,0,sizeof(Buffer2));
iii = 0;
}
}
void ProcessDataFormUartSlam()
{
static int ConnectSlamTime = 0, iii = 0;
unsigned char buff[64];
unsigned int len;
unsigned i;
len = ReadUart(COM2, buff, 64);
if (len > 0)
{
for (i = 0; i < len; i++)
{
ProccessAGVDATAInfo(buff + i);
}
ConnectSlamTime = 0;
agv.Public.SlamConnectError = 0;
Reset_Alarm(0x2000);
}
else
{
ConnectSlamTime++;
if (ConnectSlamTime >= 500)
{
agv.Public.SlamConnectError = 1;
SetAlarm(0x2000);
if (iii++ > 500)
{
iii = 0;
Uart_Printf(COM1, "激光定位丢失!!!\r\n");
}
}
}
}
void SlamDataProcess()
{
UartToROS_Send_Info_To_Server(); //串口发送给ROS
ProcessDataFormUartSlam(); //串口读取ROS数据
}
#endif