CommunicationForCenter.h
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#ifndef _COMMUNICATIONFORCENTER_H_
#define _COMMUNICATIONFORCENTER_H_
#include "bsp.h"
//-----------------------
#define STRING_SIZE 40 //字符串大小
#define LIST_SIZE 70
#define WifiBUFF_SIZE 400
#define ZIGBEEBUFF_SIZE_NEW 2000
#define ParamSize 400
#define NameSize 40
#define UART8BUFFSTRING 1400
typedef enum
{
teERR = 0,
teDecoding,
teDecodLost,
teDecodCRC,
teDecodSuccess
}ctDecodestate; //解碼狀態
//应答或则接收状态
typedef enum
{
sort_Send = 0, //发送
sort_Receive = 1,//接收
sort_Default, //位置状态
sort_Size
}teSendOrReplyType;//发送和回复类型
typedef enum
{
et_smtagv = 0, //agv
et_B123, //料架
et_B124, //充电机
et_A001,
et_A002,
et_A003,
et_Default, //未知设备
et_Size
}teEquipmentType;//设备类型
typedef enum
{
ct_rptac=0,
ct_getac ,
ct_getvol,
ct_geterr,
ct_getspd,
ct_getmt,
ct_rpterr,
ct_rptscan,
ct_rptmt,
ct_rptrtp,
ct_rptvol,
ct_rptvmot,
ct_rptin,
ct_rptlac,
ct_rptstart,
ct_rpttravel,
ct_rptmt_th,
ct_rptspd,
ct_rptmode,//手自动模式
ct_rptgo,
ct_rptpos,
ct_rptback,
ct_rtplayer,
ct_rptangle,
ct_releagv,
ct_callagv,
ct_settask,
ct_setrout,
ct_setstp,
ct_setspd,
ct_setrtp,
ct_settra,
ct_setmov,
ct_setvmot,
ct_setlock,
ct_setavoid,
ct_setmusic,
ct_setLaser,
ct_setout,
ct_setlrout,
ct_setlayer,
ct_setangle,
ct_delrtp,
ct_settcvoice,
ct_rptnode,
ct_rptline,//上报路线
ct_settips,//空闲放行
ct_print,
// ct_setreach,
ct_Default,
ct_Size
}teContentType;//运动状态
//数据重发机制结构体
typedef struct
{
//将以上状态字符复制到ReStructor.Matmes
char Matmes[ct_Size][STRING_SIZE];
/****************把所有的数据连成字符窜***********************/
//存储到Matmesseg
char Matmesseg[ct_Size][WifiBUFF_SIZE];
bool MatmesEnable[ct_Size];
int Matmestime[ct_Size];
uint8_t Matmes_Num[ct_Size];
}ResendStruct;
//--------------提取之前命令-----------------
typedef struct
{
char ReceiveData[ZIGBEEBUFF_SIZE_NEW];
char Cmd_List[LIST_SIZE][STRING_SIZE];//存储拆分后的参数
char Cmd_Lt[ZIGBEEBUFF_SIZE_NEW];
char Cmd_parameters[ParamSize][NameSize]; //分解后的参数（字符）
char Cmd_RoadParam[ZIGBEEBUFF_SIZE_NEW];
int Cmd_ListSize;
int Cmd_ParametersSize;
int RecesiveDate;//接收单次数据量
}tsCmdList;//命令提取之前的所有接收的字符
typedef struct
{
char Cmd_ListSize;//记录多少个解
char Cmd_List[7][30];//存储拆分后的参数
char Cmd_Dir[2];//存储对应的运动方向
char Cmd_RotateDir[2];//存储对应的旋转方向
int Cmd_parameters[3]; //分解后的参数（字符）
int land_mark_id;
}tsCmdListParam;//命令提取之前的所有接收的字符
//--------------提取後抽取出來分類後的命令-----------------
/******************************************
有效數據結構體成員 ~ （6個） ！
方向（sendOrReply）
设备名称(equipmentType)
子模块(SubEquipmentType)
指令类型(dictateType)
动作(content)
参数(param)
*******************************************/
typedef struct
{
tsCmdListParam CmdListParam[50];//最多解析50条路径
tsCmdList CmdList;
teSendOrReplyType SendOrReply; //方向（sendOrReply）
teEquipmentType EquipmentType; //设备名称(equipmentType)
teContentType Content; //动作(content)
int Param[ParamSize]; //参数(param)
unsigned int Paramcount;
unsigned int RoadParamcount; ////道路参数计数
unsigned char RFIDCtrB;
unsigned char RFIDDIR;
unsigned short ID_CountryB;
int RandomID;
bool NewReceive;
unsigned int ReadyStopCtronl[2];
}tsCommand;//提取之後的有效命令
//保存系统下发路径
typedef struct
{
float pose[3];//坐标
u8 LaserArea;//雷达区域
short Direction;//方向
int DispatchSpeed;//调度速度
u8 LightStopSig;//对接信号
u8 RunState;//0沿0度方向 1沿90度方向 2沿180度方向 3沿270度方向
int LandMarkID;
}LandMark;//底盘控制信号
typedef struct
{
char SendLineEndIDSig;
char ChargingState;
int size;
int curr_id;
LandMark land_marks[LIST_SIZE];
}TrafficLandMarks;
extern TrafficLandMarks traffic_land_marks;
extern char Original_Command_String[ZIGBEEBUFF_SIZE_NEW];
extern char ParamBuff[40];
extern char GeCmddate[20];
extern ResendStruct ReStructor;
extern tsCommand CenterCommand;
//extern bool bk;
//解碼接收到的中控
//接收到的字符串，解碼並拆填充到iList
ctDecodestate CenterDecode(char Byte, tsCmdList* iList);
uint16_t AddCheckSum(char* cBuffer, short iBufLen);
int GetKeyWords(tsCmdList * iList);
int Getparameters(tsCmdList * iList);
char CommandAnalysis(void);
void SendOrReplyTypeHandle(void);
void Bady_DictateTypeHandle(void);
/***************************************************
车体动作/查询/握手
***************************************************/
void Create_BodyTreaty(bool AskAgainEnable,teEquipmentType EquipmentType ,teSendOrReplyType SendOrReplyType, teContentType ContentType, char *Parameter);
char* ParameterTransform(char *fmt, ...);
int vspf(char *fmt, ...);
void SysACKcheck(void);
void Recive_check(void);
uint16_t AddCheckSumCRC(char* cBuffer, short iBufLen);
int GetKeyWordschar(tsCmdListParam * iList,char *cmd,const char *str);
extern char Uart8SendBuff[UART8BUFFSTRING];
void UartReceiveDataFromSystem();
#endif