Laser.c
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#include "Laser.h"
#if P_SETUP_NAV_TYPE == 2
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;
X1speed = (float)DriverMotor1.Public.encoderSpeed / 1000.0f;
X2speed = (float)DriverMotor2.Public.encoderSpeed / 1000.0f;
Xspeed = (X1speed + X2speed) / 2;
// double TimeStamp = ((double)TIM_GetCounter(TIM7)) / (4000.0f / 0.95);
// TIM_SetCounter(TIM7, 0);
string_len = sprintf((char *)string_out, "$%.3f,%d,%.3f,%d*", Xspeed, 0, 0.011, 1);
for (i = 1; i < string_len - 1; i++)
{
sum += string_out[i];
}
string_len += sprintf((char *)string_out + string_len, "%02X#\r\n", sum);
return string_len;
}
void UartToROS_Send_Info_To_Server()
{
static u32 LastTime = 0;
unsigned char atSendBuf[400] = {0};
unsigned int len;
len = Prepare_UartToROS_Send(atSendBuf);
if (agv.Public.SystemTime - LastTime >= 12)
{
LastTime = agv.Public.SystemTime;
WriteUart(COM2, atSendBuf, len);
}
}
int QRDataFlag;
float QR_XbiasFromros = 0, QR_YbiasFromros = 0;
void ProccessAGVInfo(unsigned char *RecvBuffer, unsigned short BufferLength)
{
unsigned char i = 1;
float XbiasFromros = 0, YbiasFromros = 0, TheataFromros = 0;
int Location_State_ = 0;
int SLAMerror = 0;
if (strncmp("$", (const char *)RecvBuffer, 1) == 0) //地标动作命令
{
unsigned char Sum = 0;
unsigned char GetSum = 0;
sscanf((const char *)RecvBuffer + 1, "%f,%f,%f,%d,%d,%f,%f,%d*%02X#", &XbiasFromros, &YbiasFromros, &TheataFromros, &Location_State_, &SLAMerror, &QR_XbiasFromros, &QR_YbiasFromros, &QRDataFlag, &GetSum);
while (RecvBuffer[i] != '*') /*校验起始到结束信号*/
{
Sum += RecvBuffer[i];
i++;
if (i > BufferLength)
{
return;
}
}
if (Sum == GetSum)
{
#if P_SETUP_LIDAR2BASE_THETA != 0
TheataFromros += ((float)P_SETUP_LIDAR2BASE_THETA / 10) * 0.017453; //得到车体正前方角度
#endif
if (TheataFromros >= 2.0f * PI)
{
TheataFromros -= 2.0f * PI;
}
else if (TheataFromros < 0)
{
TheataFromros += 2.0f * PI;
}
agv.Public.Coordinate_X = XbiasFromros * 1000;
agv.Public.Coordinate_Y = YbiasFromros * 1000;
agv.Public.Coordinate_W = (TheataFromros);
#if P_SETUP_LIDAR2BASE_X != 0
agv.Public.Coordinate_X -= cos(TheataFromros) * (float)P_SETUP_LIDAR2BASE_X;
agv.Public.Coordinate_Y -= sin(TheataFromros) * (float)P_SETUP_LIDAR2BASE_X;
#endif
#if P_SETUP_LIDAR2BASE_Y != 0
agv.Public.Coordinate_X += sin(TheataFromros) * (float)P_SETUP_LIDAR2BASE_Y;
agv.Public.Coordinate_Y -= cos(TheataFromros) * (float)P_SETUP_LIDAR2BASE_Y;
#endif
if (QRDataFlag) //悬臂轴扫到二位码补偿并自动纠偏
{
agv.Public.QR_XbiasFromros = QR_XbiasFromros + agv.Public.QR_Compensation_X; //向左
agv.Public.QR_YbiasFromros = QR_YbiasFromros + agv.Public.QR_Compensation_Y; //向下
}
else //无二维码不补偿
{
agv.Public.QR_XbiasFromros = 0;
agv.Public.QR_YbiasFromros = 0;
}
}
}
}
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);
iii = 0;
}
}
void ProcessDataFormUartSlam()
{
static int ConnectSlamTime = 0, iii = 0;
unsigned char buff[64];
unsigned int len;
unsigned i;
len = ReadUart(COM1, buff, 64);
if (len > 0)
{
for (i = 0; i < len; i++)
{
ProccessAGVDATAInfo(buff + i);
}
ConnectSlamTime = 0;
agv.Public.SlamConnectError = 0;
Reset_Alarm(0x0008);
}
else
{
ConnectSlamTime++;
if (ConnectSlamTime >= 500)
{
agv.Public.SlamConnectError = 1;
SetAlarm(0x0008);
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