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;
}
unsigned int Prepare_UartToROS_Send(unsigned char string_out[])
{
short i = 0;
unsigned char sum = 0,MoveState = 0;
static unsigned char string_len = 0;
float X1speed = 0, X2speed = 0, Xspeed = 0,Y1speed = 0, Y2speed = 0, Yspeed = 0;
if(TongyiStruct1.setSpeed == 0 && TongyiStruct3.setSpeed == 0)
MoveState = 0;
else
MoveState = 1;
X1speed = (float)TongyiStruct1.encodeSpeed / 1000.0f*cos(TongyiStruct2.encodeAngleNum/57.3);
X2speed = (float)TongyiStruct3.encodeSpeed / 1000.0f*cos(TongyiStruct4.encodeAngleNum/57.3);
Xspeed = (X1speed + X2speed) / 2;
Y1speed = (float)TongyiStruct1.encodeSpeed / 1000.0f*sin(TongyiStruct2.encodeAngleNum/57.3);
Y2speed = (float)TongyiStruct3.encodeSpeed / 1000.0f*sin(TongyiStruct4.encodeAngleNum/57.3);
Yspeed = (Y1speed + Y2speed) / 2;
// double TimeStamp = ((double)TIM_GetCounter(TIM7)) / (4000.0f / 0.95);
// TIM_SetCounter(TIM7, 0);
string_len = sprintf((char *)string_out, "$%.3f,%.3f,%.3f,%d,%d,%d,%d*", Xspeed, Yspeed, 0.02, 1,0,MoveState,0);
for (i = 1; i < string_len - 1; i++)
{
sum += string_out[i];
}
string_len += sprintf((char *)string_out + string_len, "%02X#\r\n", sum);
return string_len;
}
void UartToROS_Send_Info_To_Server()
{
static u32 LastTime = 0;
unsigned char atSendBuf[400] = {0};
unsigned int len;
len = Prepare_UartToROS_Send(atSendBuf);
if (agv.Public.SystemTime - LastTime >= 12)
{
LastTime = agv.Public.SystemTime;
WriteUart(COM2, atSendBuf, len);
}
}
unsigned int Prepare_UartToROS_SendTwo(unsigned char string_out[])
{
short i = 0;
unsigned char sum = 0;
static unsigned char string_len = 0;
string_len = sprintf((char *)string_out, "!%d,%d,%d,%d,%d,%d,%d*",85,agv.Command.Length1,agv.Command.Width1,agv.Command.Length2,agv.Command.Width2,agv.Command.Length3,agv.Command.Width3);
for (i = 1; i < string_len - 1; i++)
{
sum += string_out[i];
}
string_len += sprintf((char *)string_out + string_len, "%02X#\r\n", sum);
return string_len;
}
void UartToROS_Send_Info_To_ServerTwo()
{
static u32 LastTime = 0;
unsigned char atSendBuf[400] = {0};
unsigned int len;
len = Prepare_UartToROS_SendTwo(atSendBuf);
if (agv.Public.SystemTime - LastTime >= 500)
{
LastTime = agv.Public.SystemTime;
WriteUart(COM2, atSendBuf, len);
}
}
void ProccessAGVInfo(unsigned char *RecvBuffer, unsigned short BufferLength)
{
unsigned char i = 1;
float XbiasFromros = 0, YbiasFromros = 0, TheataFromros = 0,Theta = 0,locT = 0,palstance = 0;
int Location_State_ = 0;
int SLAMerror = 0,Online_State_ = 0;
static float lastXdata = 0,lastYdata = 0;
static int laserState1 = 0,laserState2 = 0,laserState3 = 0;
if (strncmp("$", (const char *)RecvBuffer, 1) == 0) //地标动作命令
{
unsigned char Sum = 0;
unsigned char GetSum = 0;
// DATA GetSum = 0;
// 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,&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
agv.Public.Coordinate_X = XbiasFromros * 1000 ;
agv.Public.Coordinate_Y = YbiasFromros * 1000;
if (TheataFromros <= -PI)
TheataFromros += 2.0f * PI;
if (TheataFromros >= PI)
TheataFromros -= 2.0f * PI;
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
agv.Public.OnlineState = Online_State_;//上线状态
agv.Public.RosState = SLAMerror;//ROS状态
agv.Public.locT = locT;//可信度
agv.Public.i_RadarSigBack_1 = laserState1;
agv.Public.i_RadarSigBack_2 = laserState2;
agv.Public.i_RadarSigBack_3 = laserState3;
if(lastXdata!=0&&(sqrt(pow((XbiasFromros * 1000 - lastXdata), 2.0f) + pow((YbiasFromros * 1000 - lastYdata), 2.0f))>250))
{
SetAlarm(0x1000);
}
IMU.angle = Theta;
IMU.palstance = palstance;
if(Camera.UpdataFlag == 1)//有码
{
IMU.angleCompensation = Camera.angle - IMU.angle;
}
IMU.angle += IMU.angleCompensation;
}
}
}
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(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
// UartToROS_Send_Info_To_ServerTwo(); //串口发送给ROS
ProcessDataFormUartSlam(); //串口读取ROS数据
}
//#endif