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初始化 shenyuxiang 分支

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yuxiang.shen
2026-07-21 17:38:16 +08:00
parent 7da7a3cb99
commit 2d8726efa2
118 changed files with 854 additions and 14364 deletions
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MedullaAdapter/AlarmRoutine.cs
+1 -21
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@@ -1,21 +1 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using CartActivator;
using FundamentalLib;
using MDCSToolBox.Medulla.Chassis;
using MDCSToolBox.Medulla.Chassis.MultiWheel;
namespace MedullaAdapter
{
public class AlarmRoutine : MultiWheelAlarmRoutine<DiverCartDefinition>
{
public override void SetOtherAlarms()
{
AddAlarm("左夹臂驱动报警", 2, () => cart.LeftArmErrorCode != 0);
AddAlarm("右夹臂驱动报警", 2, () => cart.RightArmErrorCode != 0);
//AddAlarm("夹臂不同步报警", 2, () => cart.ClampOutOfSync);
}
}
}
// 驱动器、急停、夹臂等安全报警
MedullaAdapter/DiverCartDefinition.cs
+67 -166
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@@ -1,63 +1,37 @@
using CartActivator;
// 定义车型、上下层IO、参数和MCU初始化
using CartActivator;
using MCUSerialBridgeCLR;
using MDCSToolBox.Medulla.Chassis.MultiWheel;
using Medulla.Types;
using System;
using System.Collections.Generic;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
namespace MedullaAdapter
{
[UseLadderLogic(logic = typeof(AlarmRoutine), scanInterval = 50)]
[UseLadderLogic(logic = typeof(MotorRoutine), scanInterval = 50)]
[UseLadderLogic(logic = typeof(MCURoutine), scanInterval = 20)]
[UseManualController(manualController = typeof(Remote))]
public partial class DiverCartDefinition : MultiWheelCartDefinition
public class DiverCartDefinition : MultiWheelCartDefinition
{
public DiverCommunication Embedded;
#region 基本成员
public MCUSerialBridge Bridge;
[AsUpperIO(desc = "转弯半径")] public float Radius;
#region MultiVehicleCoordination
[AsInitParam(desc = "遥控器最大线速度")]
public float MaxManualSpeed = 0.3f;
[AsInitParam(desc = "遥控器最大角速度")]
public float MaxManualAngularSpeed = 45f;
[AsLowerIO(desc = "启用（手动）多车联动")] public bool MultiVehicleManualEnabled = false;
[AsLowerIO(desc = "（手动）多车联动模式")] public int MultiVehicleManualMode = 0;
[AsUpperIO(desc = "多车联动：声光同步，-1未启动，0灭，1亮")] public int MultiVehicleLightSync = -1;
[AsLowerIO(desc = "多车联动模式-暂停")] public bool MultiVehicleHold = false;
[AsLowerIO(desc = "多车联动：遥控器Vx")] public float MultiVehicleManualVx = 0f;
[AsLowerIO(desc = "多车联动：蟹行方向比例")] public float MultiVehicleManualVy = 0f;
[AsLowerIO(desc = "多车联动：遥控器Vth")] public float MultiVehicleManualVth = 0f;
internal enum ManualControlMode
{
Normal = 0, // 正常模式
Spin = 1, // 自旋模式
Crab = 2, // 螃蟹模式
}
internal ManualControlMode TransmitterControlMode = ManualControlMode.Normal;
internal DateTime TransmitterLastTime; // 物理遥控器计算两次实体遥控器指令之间的时间间隔
#endregion
[IOObjectMonitor(desc = "左前左轮下发速度")] public float SpeedLFL;
[IOObjectMonitor(desc = "左前右轮下发速度")] public float SpeedLFR;
[IOObjectMonitor(desc = "右前左轮下发速度")] public float SpeedRFL;
[IOObjectMonitor(desc = "右前右轮下发速度")] public float SpeedRFR;
[IOObjectMonitor(desc = "左后左轮下发速度")] public float SpeedLRL;
[IOObjectMonitor(desc = "左后右轮下发速度")] public float SpeedLRR;
[IOObjectMonitor(desc = "右后左轮下发速度")] public float SpeedRRL;
[IOObjectMonitor(desc = "右后右轮下发速度")] public float SpeedRRR;
//[AsUpperIO(desc = "左前左轮下发速度", timeOutReset = true)] public float SpeedLFL;
//[AsUpperIO(desc = "左前右轮下发速度", timeOutReset = true)] public float SpeedLFR;
//[AsUpperIO(desc = "右前左轮下发速度", timeOutReset = true)] public float SpeedRFL;
//[AsUpperIO(desc = "右前右轮下发速度", timeOutReset = true)] public float SpeedRFR;
//[AsUpperIO(desc = "左后左轮下发速度", timeOutReset = true)] public float SpeedLRL;
//[AsUpperIO(desc = "左后右轮下发速度", timeOutReset = true)] public float SpeedLRR;
//[AsUpperIO(desc = "右后左轮下发速度", timeOutReset = true)] public float SpeedRRL;
//[AsUpperIO(desc = "右后右轮下发速度", timeOutReset = true)] public float SpeedRRR;
#region AsUpperIO
[AsUpperIO(desc = "从M上复位")] public bool ResetFromM;
[AsUpperIO(desc = "从M将驱动轮下使能")] public bool DisableFromM;
[AsUpperIO(desc = "从C上复位")] public bool ResetFromC;
[AsUpperIO(desc = "从C将驱动轮下使能")] public bool DisableFromC;
#endregion
#region AsLowerIO
[AsLowerIO(desc = "左前左轮实际位置")] public float LFLActualPos;
[AsLowerIO(desc = "左前右轮实际位置")] public float LFRActualPos;
[AsLowerIO(desc = "右前左轮实际位置")] public float RFLActualPos;
@@ -66,99 +40,75 @@ namespace MedullaAdapter
[AsLowerIO(desc = "左后右轮实际位置")] public float LRRActualPos;
[AsLowerIO(desc = "右后左轮实际位置")] public float RRLActualPos;
[AsLowerIO(desc = "右后右轮实际位置")] public float RRRActualPos;
[AsUpperIO(desc = "左夹臂下发速度", timeOutReset = true)] public float SpeedLeftArm;
[AsUpperIO(desc = "右夹臂下发速度", timeOutReset = true)] public float SpeedRightArm;
[AsUpperIO(desc = "左夹臂实际速度")] public float ActualSpeedLeftArm;
[AsUpperIO(desc = "右夹臂实际速度")] public float ActualSpeedRightArm;
[AsLowerIO(desc = "左夹臂状态字")] public int LeftArmStateCode;
[AsLowerIO(desc = "右夹臂状态字")] public int RightArmStateCode;
[AsLowerIO(desc = "左夹臂错误字")] public int LeftArmErrorCode;
[AsLowerIO(desc = "右夹臂错误字")] public int RightArmErrorCode;
[AsLowerIO(desc = "左夹臂电流")] public float LeftArmElectric;
[AsLowerIO(desc = "右夹臂电流")] public float RightArmElectric;
[AsLowerIO(desc = "左夹臂实际位置")] public float ActualPosLeftArm;
[AsLowerIO(desc = "右夹臂实际位置")] public float ActualPosRightArm;
[AsLowerIO(desc = "test")] public float test;
[AsLowerIO(desc = "test1")] public byte test1;
[AsLowerIO(desc = "test2")] public byte test2;
[AsInitParam(desc = "test3")] public int test3=24;
[IOObjectMonitor(desc = "灯光模式")] public int LightMode = 0;
[AsInitParam(desc = "触发模式")] public int trigger = 0;
[AsInitParam(desc = "手动控制夹臂速度系数")] public float ManualArmSpeedFac = 1.0f;
[AsInitParam(desc = "车号")][AsLowerIO] public int CarNum = 1;
[AsInitParam(desc = "初始音量")] public int MusicVolume = 5;
[AsInitParam(desc = "左夹臂低限位")][AsLowerIO] public int LeftArmLowerPos = -10000;
[AsInitParam(desc = "左夹臂高限位")][AsLowerIO] public int LeftArmUpperPos = 5927610;
[AsInitParam(desc = "右夹臂低限位")][AsLowerIO] public int RightArmLowerPos = -17295;
[AsInitParam(desc = "右夹臂高限位")][AsLowerIO] public int RightArmUpperPos = 5927610;
[AsInitParam(desc = "MCU端口号")] public string MCUPort = "COM4";
[AsLowerIO(desc = "陀螺仪角度")] public float GyrosTh;
[AsLowerIO(desc = "电池健康状态")] public float SOH;
[AsLowerIO(desc = "左前左驱动器远程帧701")] public byte LFLRemoteCode = 0;
[AsLowerIO(desc = "左前右驱动器远程帧702")] public byte LFRRemoteCode = 0;
[AsLowerIO(desc = "右前左驱动器远程帧703")] public byte RFLRemoteCode = 0;
[AsLowerIO(desc = "右前右驱动器远程帧704")] public byte RFRRemoteCode = 0;
[AsLowerIO(desc = "左后左驱动器远程帧705")] public byte LRLRemoteCode = 0;
[AsLowerIO(desc = "左后右驱动器远程帧706")] public byte LRRRemoteCode = 0;
[AsLowerIO(desc = "右后左驱动器远程帧707")] public byte RRLRemoteCode = 0;
[AsLowerIO(desc = "右后右驱动器远程帧708")] public byte RRRRemoteCode = 0;
[AsLowerIO(desc = "左夹臂驱动器远程帧709")] public byte LArmRemoteCode = 0;
[AsLowerIO(desc = "右夹臂驱动器远程帧70A")] public byte RArmRemoteCode = 0;
[AsUpperIO(desc = "从M上复位")] public bool ResetFromM;
[AsUpperIO(desc = "从M将驱动轮下使能")] public bool DisableFromM;
[AsUpperIO(desc = "从C上复位")] public bool ResetFromC;
[AsUpperIO(desc = "从C将驱动轮下使能")] public bool DisableFromC;
[AsUpperIO(desc = "夹臂不同步报警")] public bool ClampOutOfSync;
internal ManualControlMode TransmitterControlMode = ManualControlMode.Normal;
[IOObjectMonitor] public float TransmitterSpeed = 0.3f;
[AsLowerIO(desc = "驱动轮使能状态")] public bool WheelAbleState = true;
[AsLowerIO(desc = "电池健康状态")] public float SOH;
[AsInitParam(desc = "车号")][AsLowerIO] public int CarNum = 1;
#endregion
#region 初始参数
[AsInitParam(desc = "MCU端口号")] public string MCUPort = "COM4";
[AsInitParam(desc = "遥控器速度上限")] public float TransmitterSpeedUpperLimit = 1.0f;
[AsInitParam(desc = "遥控器速度下限")] public float TransmitterSpeedLowerLimit = 0.0f;
internal DateTime TransmitterLastTime;
#endregion
#region 监控参数
[IOObjectMonitor(desc = "左前左轮PID修正后速度")] public float SpeedLFL;
[IOObjectMonitor(desc = "左前右轮PID修正后速度")] public float SpeedLFR;
[IOObjectMonitor(desc = "右前左轮PID修正后速度")] public float SpeedRFL;
[IOObjectMonitor(desc = "右前右轮PID修正后速度")] public float SpeedRFR;
[IOObjectMonitor(desc = "左后左轮PID修正后速度")] public float SpeedLRL;
[IOObjectMonitor(desc = "左后右轮PID修正后速度")] public float SpeedLRR;
[IOObjectMonitor(desc = "右后左轮PID修正后速度")] public float SpeedRRL;
[IOObjectMonitor(desc = "右后右轮PID修正后速度")] public float SpeedRRR;
[IOObjectMonitor(desc = "灯光模式")] public int LightMode = 0;
[IOObjectMonitor(desc = "实体遥控器当前速度倍率")] public float TransmitterSpeed = 0.3f;
[IOObjectMonitor(desc = "左前左驱动器远程帧701")] public byte LFLRemoteCode = 0;
[IOObjectMonitor(desc = "左前右驱动器远程帧702")] public byte LFRRemoteCode = 0;
[IOObjectMonitor(desc = "右前左驱动器远程帧703")] public byte RFLRemoteCode = 0;
[IOObjectMonitor(desc = "右前右驱动器远程帧704")] public byte RFRRemoteCode = 0;
[IOObjectMonitor(desc = "左后左驱动器远程帧705")] public byte LRLRemoteCode = 0;
[IOObjectMonitor(desc = "左后右驱动器远程帧706")] public byte LRRRemoteCode = 0;
[IOObjectMonitor(desc = "右后左驱动器远程帧707")] public byte RRLRemoteCode = 0;
[IOObjectMonitor(desc = "右后右驱动器远程帧708")] public byte RRRRemoteCode = 0;
#endregion
#region 操作按钮
// M层单车硬件：向驱动轮发送复位请求。
[IOObjectUtility]
public void WheelReset()
{
ResetFromM = true;
}
// M层单车硬件：向驱动轮发送下使能请求。
[IOObjectUtility]
public void WheelDisable()
{
DisableFromM = true;
}
#endregion
public override void CommunicationInit()
{
if (GhostMode) return;
State = -1;
Bridge = new MCUSerialBridge();
//Step1:打开指定串口连接
var err = Bridge.Open(MCUPort, 1000000u);
if (err != MCUSerialBridgeError.OK)
{
Console.WriteLine("MCU Open FAILED: {0}", err.ToDescription());
Console.WriteLine($"MCU Open FAILED: {err.ToDescription()}");
return;
}
else
{
Console.WriteLine("MCU Open OK");
}
//Step2:远程复位MCU
err = Bridge.Reset();
if (err != MCUSerialBridgeError.OK)
{
Console.WriteLine("MCU Reset FAILED: {0}", err.ToDescription());
Console.WriteLine($"MCU Reset FAILED: {err.ToDescription()}");
return;
}
else
@@ -166,31 +116,28 @@ namespace MedullaAdapter
Thread.Sleep(500);
Console.WriteLine("MCU Reset OK");
}
//Step3:GetVersion
//Step3:获取MCU版本号
err = Bridge.GetVersion(out var version, 100);
if (err != MCUSerialBridgeError.OK)
{
Console.WriteLine("MCU GetVersion FAILED: {0}", err.ToDescription());
Console.WriteLine($"MCU GetVersion FAILED: {err.ToDescription()}");
return;
}
else
{
Console.WriteLine("MCU GetVersion OK: {0}", version.ToString());
Console.WriteLine($"MCU GetVersion OK: {version}");
}
//Step4:GetState
//Step4:获取MCU状态
err = Bridge.GetState(out var state, 100);
if (err != MCUSerialBridgeError.OK)
{
Console.WriteLine("MCU GetState FAILED: {0}", err.ToDescription());
Console.WriteLine($"MCU GetState FAILED: {err.ToDescription()}");
return;
}
else
{
Console.WriteLine("MCU GetState OK: {0}", state.ToString());
Console.WriteLine($"MCU GetState OK: {state}");
}
//Step5:串口/CAN配置
try
{
@@ -203,18 +150,15 @@ namespace MedullaAdapter
for (int i = 0; i < ports.Count; i++)
{
if (ports[i] is SerialPortConfig s)
Console.WriteLine("Port {0}: Serial, Baud={1}, ReceiveFrameMs={2}",
i,
s.Baud,
s.ReceiveFrameMs);
Console.WriteLine($"Port {i}: Serial, Baud={s.Baud}, ReceiveFrameMs={s.ReceiveFrameMs}");
else if (ports[i] is CANPortConfig c)
Console.WriteLine("Port {0}: CAN, Baud={1}, RetryTimeMs={2}", i, c.Baud, c.RetryTimeMs);
Console.WriteLine($"Port {i}: CAN, Baud={c.Baud}, RetryTimeMs={c.RetryTimeMs}");
}
var ret = Bridge.Configure(ports, 200);
if (ret != MCUSerialBridgeError.OK)
{
Console.WriteLine("MCU Configure FAILED: {0}", ret.ToDescription());
Console.WriteLine($"MCU Configure FAILED: {ret.ToDescription()}");
return;
}
else
@@ -225,54 +169,11 @@ namespace MedullaAdapter
}
catch (Exception ex)
{
Console.WriteLine("Configure Exception: {0}", ex.Message);
Console.WriteLine($"Configure Exception: {ex.Message}");
return;
}
//MCUInterface<DiverCartDefinition>.Start(this);
State = 0;
}
internal void ManualControl(ManualControlMode mode, float x, float y, float frontDirection,
float speedThreshold, TimeSpan? interval = null)
{
if (Chassis == null) return;
var speed = speedThreshold * y;
var thPow = (float)Math.Pow(Math.Abs(x), ManualThetaPow) * Math.Sign(x);
var frontTh = -thPow * MaxManualTheta;
var rearTh = thPow * MaxManualTheta;
switch (mode)
{
case ManualControlMode.Normal:
ManualMode = 0;
Chassis.DirectionAngle = frontDirection;
Chassis.SendMotion(speed, frontTh, rearTh, interval);
break;
case ManualControlMode.Sway:
ManualMode = 1;
Chassis.DirectionAngle = frontDirection;
Chassis.SendMotion(speed, frontTh, -rearTh, interval);
break;
case ManualControlMode.Crab:
ManualMode = 2;
Chassis.DirectionAngle = 90;
Chassis.SendMotion(speed, frontTh, rearTh, interval);
break;
case ManualControlMode.Spin:
ManualMode = 3;
Chassis.SendRotateMotion(speed * MaxAngularSpeed, interval);
break;
}
}
internal enum ManualControlMode
{
Normal = 0,
Spin = 1,
Crab = 2,
Sway = 3
}
}
}
}
MedullaAdapter/DiverCommunication.cs
-144
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@@ -1,144 +0,0 @@
using System;
using System.Collections.Generic;
using System.IO.Ports;
using System.Text;
using System.Threading;
using FundamentalLib;
namespace MedullaAdapter
{
public class DiverCommunication
{
private byte[] _receiveBytes ;
private SerialPort _port;
private int _state = 0;
private List<byte> _receiveList = new List<byte>();
private int _length = 0;
private MCUInterface<DiverCartDefinition> _interface;
public DiverCommunication(string name, int baudRate)
{
_interface = new MCUInterface<DiverCartDefinition>();
_port = new SerialPort();
_port.PortName = name; // 根据你的实际串口名称修改
_port.BaudRate = baudRate;
_port.Parity = Parity.None;
_port.DataBits = 8;
_port.StopBits = StopBits.One;
_port.Handshake = Handshake.None;
_port.Open();
Console.WriteLine($"buffer:{_port.ReadBufferSize}");
//_port.DataReceived += OnDataReceived;
new Thread(() =>
{
while (true)
{
Thread.Sleep(10);
try
{
int bytesToRead = _port.BytesToRead;
if (bytesToRead > 0)
{
var readBuffer = new byte[bytesToRead];
var start = DateTime.Now;
_port.Read(readBuffer, 0, bytesToRead);
var time1 = DateTime.Now - start;
ProcessBuffer(readBuffer);
var time2 = DateTime.Now - start;
Hedingben.ToastText($"total time:{time2.TotalMilliseconds},read time:{time1},read count:{bytesToRead}", "timeDebug");
}
}
catch (Exception exception)
{
Console.WriteLine(exception);
}
}
}).Start();
}
private void ProcessBuffer(byte[] buffer)
{
for (int i = 0; i < buffer.Length; i++)
{
var newByte = buffer[i];
switch (_state)
{
case 0:
_receiveList.Clear();
if (newByte == 0xBB)
{
_receiveList.Add(newByte);
_state = 1;
}
break;
case 1:
if (newByte == 0xAA)
{
_receiveList.Add(newByte);
_state = 2;
}
else
{
_state = 0;
}
break;
case 2:
_receiveList.Add(newByte);
if (_receiveList.Count >= 4)
{
_length = BitConverter.ToUInt16(_receiveList.ToArray(), 2);
}
if (_receiveList.Count == _length + 7)
{
_state = 0;
if (_receiveList[_receiveList.Count - 1] == 0xEE)
{
_receiveBytes = _receiveList.ToArray();
Hedingben.ToastText($"receive from mcu:{BitConverter.ToString(_receiveBytes)}","DiverReceive");
if (_receiveBytes[5] == 0xA0)
{
var dataLength1 = BitConverter.ToUInt32(_receiveBytes, 6);
var data1 = new byte[dataLength1];
Array.Copy(_receiveBytes, 14, data1, 0, dataLength1);
MCUInterface<DiverCartDefinition>.NotifyLowerData("default", data1);
var logBytes = new byte[BitConverter.ToInt32(_receiveBytes, 10)];
var memorySize = BitConverter.ToInt32(_receiveBytes, 6);
if (logBytes.Length > 0)
{
Array.Copy(_receiveBytes, 14 + memorySize, logBytes, 0, logBytes.Length);
string log = System.Text.Encoding.ASCII.GetString(logBytes);
string[] result = log.Split(new[] { "\r\n", "\n" }, StringSplitOptions.None);
for (int j = 0; j < result.Length; j++)
{
Hedingben.ToastText(result[j], $"mcuLog" + j);
}
}
}
}
else
{
_state = 0;
Hedingben.ToastText($"mcu date error,should end with 0xEE , actual {_receiveList[_receiveList.Count - 1]}","DiverError");
}
}
break;
default:break;
}
}
}
public void SendMessage(byte[] data)
{
Hedingben.ToastText($"send to mcu:{BitConverter.ToString(data)}", "DiverSend");
_port.Write(data, 0, data.Length);
}
public byte[] GetMessage()
{
return _receiveBytes;
}
}
}
MedullaAdapter/EmbeddedCommunication.cs
-181
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@@ -1,181 +0,0 @@
using System;
using System.Collections.Generic;
using System.IO.Ports;
using System.Linq;
using System.Threading;
using FundamentalLib;
using Medulla;
namespace MedullaAdapter
{
public class EmbeddedCommunication
{
private SerialPort _port;
private byte[] _receiveBytes;
private byte[] _receiveData;
private const int BufferThreshold = 300; // 缓冲区大小阈值
private List<byte> _buffer = new List<byte>(); // 缓存接收到的数据
public bool CommunicationError = false;
private DateTime _lastTime = DateTime.Now;
private MCUInterface<DiverCartDefinition> _interface;
public EmbeddedCommunication(string name, int baudRate)
{
_interface = new MCUInterface<DiverCartDefinition>();
_port = new SerialPort();
_port.PortName = name; // 根据你的实际串口名称修改
_port.BaudRate = baudRate;
_port.Parity = Parity.None;
_port.DataBits = 8;
_port.StopBits = StopBits.One;
_port.Handshake = Handshake.None;
_port.Open();
_port.DataReceived += OnDataReceived;
}
public void SendMessage(byte[] data)
{
Hedingben.ToastText($"send to mcu:{BitConverter.ToString(data)}","DiverSend");
_port.Write(data, 0, data.Length);
}
public byte[] GetMessage()
{
return _receiveBytes;
}
private void OnDataReceived(object sender, SerialDataReceivedEventArgs e)
{
try
{
int bytesToRead = _port.BytesToRead;
byte[] buffer = new byte[bytesToRead];
var startRead = DateTime.Now;
_port.Read(buffer, 0, bytesToRead);
var time = DateTime.Now - startRead;
// 将新接收到的数据添加到缓冲区
startRead = DateTime.Now;
_buffer.AddRange(buffer);
var time2 = DateTime.Now - startRead;
Hedingben.ToastText($"buffer length:{_buffer.Count}","bufferDebug");
DLog.Log($"buffer length:{_buffer.Count}");
//if (_buffer.Count > BufferThreshold)
//{
// _buffer.Clear();
// return;
//}
// 尝试解析缓冲区中的报文
var parseTime = DateTime.Now;
ParseBuffer();
var time3 = DateTime.Now - parseTime;
Hedingben.ToastText(
$"读取报文时间:{time.TotalMilliseconds},增加到缓存区:{time2.TotalMilliseconds},处理时间:{time3.TotalMilliseconds}",
"timeDebug1");
}
catch (Exception ex)
{
Console.WriteLine($"读取串口数据时发生错误: {ex.Message}"+ex.StackTrace);
}
}
private void ParseBuffer()
{
while (_buffer.Count >= 7) // 报文的最小长度是 7
{
// 查找报文头部
var findTime = DateTime.Now;
int startIndex = _buffer.FindIndex(0, b => b == 0xBB);
var time1 = DateTime.Now - findTime;
if (startIndex == -1)
{
// 如果没有找到头部或剩余长度不足最小报文长度，结束解析
_buffer.Clear();
return;
}
// 确保头部后还有至少 6 个字节
if (startIndex + 1 >= _buffer.Count || _buffer[startIndex + 1] != 0xAA)
{
// 如果第二字节不是 0xAA，丢弃无效字节
_buffer.RemoveAt(startIndex);
continue;
}
// 检查数据段长度
if (startIndex + 4 >= _buffer.Count) break; // 数据不足，等待下次接收
int dataLength = _buffer[startIndex + 2] | (_buffer[startIndex + 3] << 8);
// 计算报文总长度
int totalLength = dataLength + 7;
// 检查总长度是否足够
if (startIndex + totalLength > _buffer.Count) break; // 数据不足，等待下次接收
// 检查尾部是否是 0xCC 0xEE
if (_buffer[startIndex + totalLength - 2] == 0xCC && _buffer[startIndex + totalLength - 1] == 0xEE)
{
var time2 = DateTime.Now - findTime;
var copyTime = DateTime.Now;
// 提取完整报文
_receiveBytes = _buffer.Skip(startIndex).Take(totalLength).ToArray();
var time3 = DateTime.Now - copyTime;
if (_receiveBytes[5] == 0xA0)
{
var dataLength1 = BitConverter.ToUInt32(_receiveBytes, 6);
var data1 = new byte[dataLength1];
Array.Copy(_receiveBytes, 14, data1, 0, dataLength1);
var notifyTime = DateTime.Now;
MCUInterface<DiverCartDefinition>.NotifyLowerData("default", data1);
var time4 = DateTime.Now - notifyTime;
var logBytes = new byte[BitConverter.ToInt32(_receiveBytes, 10)];
var memorySize = BitConverter.ToInt32(_receiveBytes, 6);
if (logBytes.Length > 0)
{
Array.Copy(_receiveBytes, 14 + memorySize, logBytes, 0, logBytes.Length);
string log = System.Text.Encoding.ASCII.GetString(logBytes);
string[] result = log.Split(new[] { "\r\n", "\n" }, StringSplitOptions.None);
for (int i = 0; i < result.Length; i++)
{
Hedingben.ToastText(result[i], $"mcuLog" + i);
}
}
Hedingben.ToastText(
$"find head time:{time1.TotalMilliseconds},find total time:{time2.TotalMilliseconds},copy time:{time3.TotalMilliseconds},notify time:{time4.TotalMilliseconds}","timeDebug2");
}
Hedingben.ToastText(
$"receive from mcu:{BitConverter.ToString(_receiveBytes)},time:{(DateTime.Now - _lastTime).TotalMilliseconds}",
"DiverReceive");
if ((DateTime.Now - _lastTime).TotalMilliseconds > 200)
{
Hedingben.ToastText($"{(DateTime.Now - _lastTime).TotalMilliseconds}ms no message from diver","DiverTimeout");
}
_lastTime = DateTime.Now;
// 从缓冲区中移除已解析的报文
_buffer.RemoveRange(0, startIndex + totalLength);
return; // 成功解析一条报文后退出本轮解析
}
else
{
// 如果尾部无效，丢弃头部并继续解析
DLog.Log("DIVER报文无效");
Console.WriteLine("DIVER报文无效");
var errorBytes = _buffer.Skip(startIndex).Take(totalLength).ToArray();
DLog.Log("错误报文"+string.Join(" ",errorBytes.Select(p=>$"{p:X2}")));
_buffer.RemoveAt(startIndex);
}
}
}
}
}
MedullaAdapter/FleetRemote.cs
-246
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@@ -1,246 +0,0 @@
using System;
using CartActivator;
using CycleGUI;
using CycleGUI.API;
using FundamentalLib;
using Medulla.Types;
namespace MedullaAdapter
{
public partial class DiverCartDefinition
{
private bool _fleetRemoteActive;
private DateTime _fleetDiagLastStick = DateTime.MinValue;
private void FleetDiag(string msg)
{
DLog.Log($"car{CarNum} {msg}", "FleetDiagMedulla");
}
private void ZeroFleetManualFields()
{
MultiVehicleManualEnabled = false;
MultiVehicleManualMode = 0;
MultiVehicleManualVx = 0;
MultiVehicleManualVy = 0;
MultiVehicleManualVth = 0;
}
public float ApplyFleetManualCommand(int mode, float px, float py, float speedRatio)
{
var ratio = Clamp(speedRatio, 0, 1);
px = Clamp(px, -1, 1);
py = Clamp(py, -1, 1);
if (mode < 0 || mode > 2) mode = 0;
MultiVehicleManualMode = mode;
if (mode == 2)
{
MultiVehicleManualVx = 0;
MultiVehicleManualVy = 0;
MultiVehicleManualVth = px * MaxManualAngularSpeed * ratio;
}
else if (mode == 1)
{
MultiVehicleManualVx = py * MaxManualSpeed * ratio;
MultiVehicleManualVy = px * MaxManualSpeed * ratio;
MultiVehicleManualVth = 0;
}
else
{
MultiVehicleManualVx = py * MaxManualSpeed * ratio;
MultiVehicleManualVy = 0;
MultiVehicleManualVth = px * MaxManualAngularSpeed * ratio;
}
return ratio;
}
[IOObjectUtility]
public void FleetRemote()
{
if (_fleetRemoteActive)
{
return;
}
_fleetRemoteActive = true;
var fleetOn = false;
var crabOn = false;
var rotateOn = false;
var speedRatio = 1f;
UseGesture manip = null;
int CurrentMode()
{
if (crabOn) return 1;
if (rotateOn) return 2;
return 0;
}
void ApplyMode()
{
MultiVehicleManualMode = fleetOn ? CurrentMode() : 0;
}
void CleanupFleetRemote()
{
if (manip != null)
{
manip.End();
manip = null;
}
fleetOn = false;
crabOn = false;
rotateOn = false;
ZeroFleetManualFields();
_fleetRemoteActive = false;
}
manip = new UseGesture();
manip.AddWidget(new UseGesture.StickWidget
{
name = "fleet_stick",
text = "速度摇杆",
position = "37.5%+10px, 18%+10px",
size = "37.5%-10px, 32%-10px",
bounceBack = true,
keyboard = "Up,Down,Left,Right",
joystick = "Axis0,Axis1",
OnValue = (pos, manipulating) =>
{
if (!fleetOn)
{
MultiVehicleManualVx = 0;
MultiVehicleManualVy = 0;
MultiVehicleManualVth = 0;
if ((DateTime.Now - _fleetDiagLastStick).TotalMilliseconds >= 200)
{
_fleetDiagLastStick = DateTime.Now;
FleetDiag($"STICK(ignored,fleetOff) pos=({pos.X:0.00},{pos.Y:0.00}) manip={manipulating}");
}
return;
}
var mode = CurrentMode();
var ratio = ApplyFleetManualCommand(mode, pos.X, pos.Y, speedRatio);
if ((DateTime.Now - _fleetDiagLastStick).TotalMilliseconds >= 200)
{
_fleetDiagLastStick = DateTime.Now;
FleetDiag($"STICK mode={mode} pos=({pos.X:0.00},{pos.Y:0.00}) manip={manipulating} ratio={ratio:0.00} " +
$"-> Vx={MultiVehicleManualVx:0.000} Vy={MultiVehicleManualVy:0.000} Vth={MultiVehicleManualVth:0.0} en={MultiVehicleManualEnabled}");
}
}
});
manip.AddWidget(new UseGesture.ToggleWidget
{
name = "fleet_crab",
text = "横移模式",
position = "12.5%+10px, 52%+10px",
size = "37.5%-10px, 10%-10px",
OnValue = b =>
{
crabOn = b;
ApplyMode();
FleetDiag($"TOGGLE crab={b} -> mode={MultiVehicleManualMode}");
}
});
manip.AddWidget(new UseGesture.ToggleWidget
{
name = "fleet_rotate",
text = "原地旋转",
position = "50%+10px, 52%+10px",
size = "37.5%-10px, 10%-10px",
OnValue = b =>
{
rotateOn = b;
ApplyMode();
FleetDiag($"TOGGLE rotate={b} -> mode={MultiVehicleManualMode}");
}
});
manip.AddWidget(new UseGesture.ToggleWidget
{
name = "fleet_enable",
text = "车队联动",
position = "12.5%+10px, 64%+10px",
size = "37.5%-10px, 10%-10px",
OnValue = b =>
{
fleetOn = b;
MultiVehicleManualEnabled = b;
ApplyMode();
if (!b) ZeroFleetManualFields();
FleetDiag($"TOGGLE fleetOn={b} -> ManualEnabled={MultiVehicleManualEnabled} mode={MultiVehicleManualMode}");
}
});
manip.AddWidget(new UseGesture.ThrottleWidget
{
name = "fleet_speed_ratio",
text = "速度比例",
position = "50%+10px, 64%+10px",
size = "37.5%-10px, 10%-10px",
bounceBack = false,
OnValue = (val, _) => speedRatio = Clamp(val, 0, 1)
});
manip.AddWidget(new UseGesture.ButtonWidget
{
name = "fleet_stop",
text = "急停/归零",
position = "31.25%+10px, 76%+10px",
size = "37.5%-10px, 10%-10px",
OnPressed = pressed =>
{
if (!pressed) return;
MultiVehicleManualVx = 0;
MultiVehicleManualVy = 0;
MultiVehicleManualVth = 0;
FleetDiag("BUTTON stop/zero");
}
});
manip.ChangeState(new SetAppearance { drawGuizmo = false });
manip.Start();
GUI.PromptOrBringToFront(pb =>
{
if (pb.Closing())
{
CleanupFleetRemote();
pb.Panel.Exit();
return;
}
pb.Panel.TopMost(true)
.SetDefaultDocking(Panel.Docking.None)
.ShowTitle("车队联动遥控")
.InitSize(340, 190)
.InitPos(false, -32, 32, 1, 0, 1, 0);
pb.SeparatorText("状态");
var modeName = MultiVehicleManualMode == 2 ? "原地旋转" : MultiVehicleManualMode == 1 ? "横移" : "常规";
pb.Label($"车队联动: {MultiVehicleManualEnabled} 模式: {modeName}");
pb.Label($"速度比例: {speedRatio:0.00}");
pb.Label($"Vx={MultiVehicleManualVx:0.000} Vy={MultiVehicleManualVy:0.000} m/s, Vth={MultiVehicleManualVth:0.0}");
pb.Label($"优先级: {CartActivator.CartDefinition.currentPriority} ({CartActivator.CartDefinition.currentPriorityDesc})");
pb.Label("请勿同时打开手动控制面板");
pb.Panel.Repaint();
}, instancingObject: this);
}
private static float Clamp(float value, float min, float max)
{
if (value < min) return min;
if (value > max) return max;
return value;
}
}
}
MedullaAdapter/FodyWeavers.xml
-3
View File
@@ -1,3 +0,0 @@
<Weavers xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="FodyWeavers.xsd">
<DiverCompiler />
</Weavers>
MedullaAdapter/FodyWeavers.xsd
-26
View File
@@ -1,26 +0,0 @@
<?xml version="1.0" encoding="utf-8"?>
<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema">
<!-- This file was generated by Fody. Manual changes to this file will be lost when your project is rebuilt. -->
<xs:element name="Weavers">
<xs:complexType>
<xs:all>
<xs:element name="DiverCompiler" minOccurs="0" maxOccurs="1" type="xs:anyType" />
</xs:all>
<xs:attribute name="VerifyAssembly" type="xs:boolean">
<xs:annotation>
<xs:documentation>'true' to run assembly verification (PEVerify) on the target assembly after all weavers have been executed.</xs:documentation>
</xs:annotation>
</xs:attribute>
<xs:attribute name="VerifyIgnoreCodes" type="xs:string">
<xs:annotation>
<xs:documentation>A comma-separated list of error codes that can be safely ignored in assembly verification.</xs:documentation>
</xs:annotation>
</xs:attribute>
<xs:attribute name="GenerateXsd" type="xs:boolean">
<xs:annotation>
<xs:documentation>'false' to turn off automatic generation of the XML Schema file.</xs:documentation>
</xs:annotation>
</xs:attribute>
</xs:complexType>
</xs:element>
</xs:schema>
MedullaAdapter/MCUInterface.cs
-291
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@@ -1,291 +0,0 @@
using CartActivator;
using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading;
using Newtonsoft.Json;
using FundamentalLib;
namespace MedullaAdapter
{
// todo: currently use this ladderlogic to act interaction with Medulla.
// todo: directly integrate into CartActivator.
// MCU->Medulla is intervally exchanged information.
public class MCUInterface<T> : LadderLogic<T> where T : DiverCartDefinition
{
/// ////////////////////////////// IMPLEMENT THESE ////////////////////////////////////////////
public static void SetMCUProgram(string mcu_device_url, byte[] program)
{
List<byte[]> SplitArrayIntoChunks(byte[] array, int chunkSize)
{
List<byte[]> chunks = new List<byte[]>();
for (int i = 0; i < array.Length; i += chunkSize)
{
int currentChunkSize = Math.Min(chunkSize, array.Length - i);
byte[] chunk = new byte[currentChunkSize];
Array.Copy(array, i, chunk, 0, currentChunkSize);
chunks.Add(chunk);
}
return chunks;
}
//todo: modify this.
var codeList = SplitArrayIntoChunks(program, 1024);
int i = 0;
foreach (var codePack in codeList)
{
var downloadCode =
new DownloadCodePack(program.Length, 1024 * i, codePack.Length, codePack).GetPack();
Console.WriteLine(string.Join(" ", downloadCode.Select(p => $"{p:X2}")));
cart.Embedded.SendMessage(downloadCode);
Console.WriteLine($"send bytes length:{downloadCode.Length}");
i++;
Thread.Sleep(50);
//while (true)
//{
// var receive = cart.Embedded.GetMessage();
// if (receive == null) continue;
// if (receive[5] == 0x90 && (receive[6] == 0x05 || receive[6]==0x06)) break;
//}
}
var controlPack2 = new ControlPack(0x01).GetPack();
cart.Embedded.SendMessage(controlPack2);
Console.WriteLine("下发代码");
//MCUTestRunner.DebugSetMCUProgram(program, (bs) => NotifyLowerData("default", bs));
}
public static void SendUpperData(string mcu_device_url, byte[] data)
{
//todo: this is for VM data exchange, contains upperIO/lowerIO modifications.
var upperPack = new UpperIOPack(data, data.Length).GetPack();
cart.Embedded.SendMessage(upperPack);
//MCUTestRunner.DebugSendUpper(data);
}
/// ////////////////////////////// INTERFACES ////////////////////////////////////////////
public static void NotifyPrint(string mcu_device_url, string message)
{
Console.WriteLine($"{mcu_device_url}:{message}");
}
// whenever a lower io data is uploaded, call this.
public static void NotifyLowerData(string mcu_device_url, byte[] lowerIOData)
{
using var ms = new MemoryStream(lowerIOData);
using var br = new BinaryReader(ms);
if (mcu_logics.TryGetValue(mcu_device_url, out var tup))
{
Hedingben.ToastText($"recv iter {br.ReadInt32()} lowerIO data from {mcu_device_url}, operation {tup.name}", $"DIVER-{tup.name}");
while (ms.Position < lowerIOData.Length)
{
var cid = br.ReadInt16();
if (cid < 0 || cid > tup.fields.Length) throw new Exception("invalid Cartfield id!");
// if it's upperio skip, otherwise write data.
var typeid = br.ReadByte();
if (tup.fields[cid].typeid != typeid)
throw new Exception($"??? typeid not match for {tup.fields[cid].field}({cid}), expected {tup.fields[cid].typeid} got {typeid}");
object value;
switch (tup.fields[cid].typeid)
{
case 0:
value = br.ReadBoolean();
break;
case 1:
value = br.ReadByte();
break;
case 2:
value = br.ReadSByte();
break;
case 3:
value = br.ReadChar();
break;
case 4:
value = br.ReadInt16();
break;
case 5:
value = br.ReadUInt16();
break;
case 6:
value = br.ReadInt32();
break;
case 7:
value = br.ReadUInt32();
break;
case 8:
value = br.ReadSingle();
break;
default:
throw new Exception($"Unsupported type ID: {tup.fields[cid].typeid}");
}
if (tup.fields[cid].isUpper) continue;
tup.fields[cid].fi.SetValue(cart, value);
}
// ok to send current data.
using var sends = new MemoryStream();
using var bw = new BinaryWriter(sends);
bw.Write(tup.iterations++);
for (var cid = 0; cid < tup.fields.Length; cid++)
{
bw.Write((short)cid);
bw.Write((byte)tup.fields[cid].typeid);
var val = tup.fields[cid].fi.GetValue(cart);
switch (tup.fields[cid].typeid)
{
case 0:
bw.Write((bool)val);
break;
case 1:
bw.Write((byte)val);
break;
case 2:
bw.Write((sbyte)val);
break;
case 3:
bw.Write((char)val);
break;
case 4:
bw.Write((short)val);
break;
case 5:
bw.Write((ushort)val);
break;
case 6:
bw.Write((int)val);
break;
case 7:
bw.Write((uint)val);
break;
case 8:
bw.Write((float)val);
break;
}
}
SendUpperData(mcu_device_url, sends.ToArray());
}
else
{
Hedingben.ToastText($"warning: {mcu_device_url} received lowerIOData but not registered","DIVERWarning");
}
}
public static void Start(T c)
{
cart = c;
var logics = typeof(T).Assembly.GetTypes()
.Where(p => p.GetCustomAttribute<LogicRunOnMCUAttribute>() != null).ToArray();
foreach (var logic in logics)
{
var attr = logic.GetCustomAttribute<LogicRunOnMCUAttribute>();
Console.WriteLine($"Set logic {logic.Name} to run on MCU-VM @ device {attr.mcu_url}");
byte[] ReadAllBytes(Stream stream)
{
using (var ms = new MemoryStream())
{
stream.CopyTo(ms);
return ms.ToArray();
}
}
var bytes = ReadAllBytes(Assembly.GetExecutingAssembly().GetManifestResourceStream($"{logic.Name}.bin"));
SetMCUProgram(attr.mcu_url, bytes);
var json = UTF8Encoding.UTF8.GetString(ReadAllBytes(Assembly.GetExecutingAssembly()
.GetManifestResourceStream($"{logic.Name}.bin.json")));
Console.WriteLine(json);
var fields = JsonConvert.DeserializeObject<PField[]>(json);
if (mcu_logics.ContainsKey(attr.mcu_url))
throw new Exception($"Already have logic for {attr.mcu_url}: LadderLogic {logic.Name}");
mcu_logics[attr.mcu_url] = new LogicInfo() { fields = fields, name = logic.Name };
foreach (var pField in fields)
{
pField.fi = typeof(T).GetField(pField.field);
if (pField.fi == null)
throw new Exception($"field {pField.field} doesn't exist in cart object?");
pField.isUpper = pField.fi.IsDefined(typeof(AsUpperIO));
// todo: check type.
}
}
}
/// ///////////////////////////////// DONT CARE /////////////////////////////////////
private static T cart;
class PField
{
public string field;
public FieldInfo fi;
public bool isUpper;
public int typeid, offset;
}
class LogicInfo
{
public string name;
public PField[] fields;
public int iterations;
}
private static Dictionary<string, LogicInfo> mcu_logics = new();
public override void Operation(int iteration)
{
// just send LIO.
}
}
//unsafe class MCUTestRunner
//{
// public delegate void NotifyLowerDelegate(byte* changedStates, int length);
// [DllImport("MCURuntime.dll", CallingConvention = CallingConvention.Cdecl)]
// public static extern void set_lowerio_cb(NotifyLowerDelegate callback);
// private static NotifyLowerDelegate DNotifyStateChanged = StateChanged;
// [DllImport("MCURuntime.dll")]
// static extern void test(byte* bin, int len);
// [DllImport("MCURuntime.dll")]
// static extern void put_upper(byte* bin, int len);
// private static Action<byte[]> lo_notifier;
// private static void StateChanged(byte* changedstates, int length)
// {
// byte[] byteArray = new byte[length];
// Marshal.Copy((IntPtr)changedstates, byteArray, 0, length);
// lo_notifier(byteArray);
// }
// public static void DebugSendUpper(byte[] data)
// {
// fixed (byte* ptr = data)
// {
// put_upper(ptr, data.Length);
// }
// }
// public static void DebugSetMCUProgram(byte[] program, Action<byte[]> notifier)
// {
// lo_notifier = notifier;
// set_lowerio_cb(DNotifyStateChanged);
// new Thread(() =>
// {
// var allb = new byte[10240]; //10K runtime
// Array.Copy(program, allb, program.Length);
// fixed (byte* ptr = allb)
// {
// test(ptr, 10240);
// }
// }).Start();
// }
//}
}
MedullaAdapter/MCURoutine.cs
+1 -879
View File
@@ -1,879 +1 @@
using CartActivator;
using FundamentalLib;
using MCUSerialBridgeCLR;
using System;
using System.Collections.Generic;
namespace MedullaAdapter
{
//[LogicRunOnMCU(scanInterval = 20)]
public class MCURoutine:LadderLogic<DiverCartDefinition>
{
private int _lastIteration = 0;
private int _count = 0;
private int _operationTime = 0;
private bool _driversDisabled;
private bool _canCallbackRegistered;
private bool _serialCallbackRegistered;
private byte _resetCode = 0x86;
private byte _enableCode1 = 0x06;
private byte _enableCode2 = 0x07;
private byte _enableCode3 = 0x0F;
private bool io_bit0 = false;//继电器
private bool io_bit1 = false;//抱闸
private bool io_bit2 = false;//红灯
private bool io_bit3 = false;//绿灯
private bool io_bit4 = false;//黄灯
private const byte BatteryPortIndex = 3;
private static readonly byte[] BatteryRequest = BuildBatteryRequest();
private static float ConvertMps2Rpm(float mps)
{
return (float)(mps / (Math.PI * 85f) * 10.5f * 60f * 1000f);
}
private static float ConvertRpm2Mps(float rpm)
{
return (float)(rpm / 10.5f / 60f * Math.PI * 85f / 1000f);
}
private float ConvertR2MM(float r)
{
return (float)(r / 10.5f * Math.PI * 85);
}
private static float DecodeRpmFromPayload(byte[] payload, int offset = 4)
{
return BitConverter.ToInt32(payload, offset) * 1875f / 512f / 10000f;
}
public override void Operation(int iteration)
{
if (_lastIteration != iteration)
{
_lastIteration = iteration;
_count = 0;
}
else
{
_count++;
}
if (_count >= 15)
{
cart.AlarmLevel = 2;
Console.WriteLine("mcu lost connection \n");
}
if (_count >= 30)
{
return;
}
if (cart?.Bridge == null)
{
return;
}
//注册CAN回调
EnsureCanCallbacksRegistered();
//注册串口回调
EnsureSerialCallbacksRegistered();
PollBatterySerial(iteration);
#region io部分
var ioReadBuffer = new byte[4];
var readInputErr = cart.Bridge.ReadInput(out ioReadBuffer, 20);
if (readInputErr == MCUSerialBridgeError.OK)
{
cart.test = ioReadBuffer[0];
cart.Start = (ioReadBuffer[0] & (1 << 0)) != 0;
cart.ResetPressed = (ioReadBuffer[0] & (1 << 1)) != 0;
cart.ChassisMode = ((ioReadBuffer[0] & (1 << 2)) == 0) ? 0 : 1;
cart.BrakeEnable = (ioReadBuffer[0] & (1 << 3)) != 0;
if ((ioReadBuffer[0] & (1 << 4)) == 0)
{
cart.EmergencyPressed = 1;
}
}
else
{
Console.WriteLine("IO Read FAILED");
}
var ioWriteBuffer = new byte[4];
io_bit0 = cart.ChargePort ? true : false;
io_bit1 = cart.EmergencyPressed == 1 ? false : true;
if (cart.MultiVehicleLightSync == 0)
{
io_bit2 = false;
io_bit3 = false;
io_bit4 = false;
}
else if (cart.MultiVehicleLightSync == 1)
{
io_bit2 = false;
io_bit3 = true;
io_bit4 = false;
}
else
{
if (cart.LightMode == 2)
{
io_bit2 = true;//红
io_bit3 = false;//绿
io_bit4 = false;//黄
}
else if (cart.LightMode == 3)
{
io_bit2 = false;
io_bit3 = false;
io_bit4 = true;
}
else if (cart.LightMode == 1)
{
io_bit2 = false;
io_bit3 = true;
io_bit4 = false;
}
else
{
io_bit2 = false;
io_bit3 = false;
io_bit4 = false;
}
}
ioWriteBuffer[0] = (byte)((io_bit0 ? 1 << 0 : 0) | //继电器
(io_bit1 ? 1 << 1 : 0) | //抱闸
(io_bit2 ? 1 << 2 : 0) | //红灯
(io_bit3 ? 1 << 3 : 0) | //绿灯
(io_bit4 ? 1 << 4 : 0)); //黄灯
if (cart.Bridge.WriteOutput(ioWriteBuffer, 20) != MCUSerialBridgeError.OK)
{
Console.WriteLine("IO Write FAILED");
}
#endregion
#region 驱动部分
cart.ActualSpeedLeftFront = (cart.ActualSpeedLeftFrontLeft + cart.ActualSpeedLeftFrontRight) / 2;
cart.ActualSpeedLeftRear = (cart.ActualSpeedLeftRearLeft + cart.ActualSpeedLeftRearRight) / 2;
cart.ActualSpeedRightFront = (cart.ActualSpeedRightFrontLeft + cart.ActualSpeedRightFrontRight) / 2;
cart.ActualSpeedRightRear = (cart.ActualSpeedRightRearLeft + cart.ActualSpeedRightRearRight) / 2;
MCUSerialBridgeError SendCan(byte port, ushort standardId, byte[] payload, bool RTR = false, uint timeout = 2)
{
var canSend = new CANMessage
{
ID = standardId,
RTR = RTR,
DLC = !RTR ? (byte)8 : (byte)0,
Payload = payload ?? new byte[] { }
};
return cart.Bridge.WriteCAN(port, canSend, timeout);
}
var resetPayload = new byte[8] { 0xFD, _resetCode, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 };
var enable1Payload = new byte[8] { 0xFD, _enableCode1, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 };
var enable2Payload = new byte[8] { 0xFD, _enableCode2, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 };
var enable3Payload = new byte[8] { 0xFD, _enableCode3, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 };
Hedingben.ToastText($"_operationTime:{_operationTime}", "OperationTime");
if (_operationTime == 0)
{
SendCan(0, 0x00, new byte[] { 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 });
_operationTime++;
return;
}
else if (_operationTime == 1)
{
if (cart.LeftFrontLeftErrorCode != 0)
{
SendCan(0, 0x201, enable1Payload);
SendCan(0, 0x201, resetPayload);
}
if (cart.LeftFrontRightErrorCode != 0)
{
SendCan(0, 0x202, enable1Payload);
SendCan(0, 0x202, resetPayload);
}
if (cart.RightFrontLeftErrorCode != 0)
{
SendCan(0, 0x203, enable1Payload);
SendCan(0, 0x203, resetPayload);
}
if (cart.RightFrontRightErrorCode != 0)
{
SendCan(0, 0x204, enable1Payload);
SendCan(0, 0x204, resetPayload);
}
if (cart.LeftRearLeftErrorCode != 0)
{
SendCan(0, 0x205, enable1Payload);
SendCan(0, 0x205, resetPayload);
}
if (cart.LeftRearRightErrorCode != 0)
{
SendCan(0, 0x206, enable1Payload);
SendCan(0, 0x206, resetPayload);
}
if (cart.RightRearLeftErrorCode != 0)
{
SendCan(0, 0x207, enable1Payload);
SendCan(0, 0x207, resetPayload);
}
if (cart.RightRearRightErrorCode != 0)
{
SendCan(0, 0x208, enable1Payload);
SendCan(0, 0x208, resetPayload);
}
if (cart.LeftArmErrorCode != 0)
{
SendCan(0, 0x209, enable1Payload);
SendCan(0, 0x209, resetPayload);
}
if (cart.RightArmErrorCode != 0)
{
SendCan(0, 0x20A, enable1Payload);
SendCan(0, 0x20A, resetPayload);
}
_operationTime++;
return;
}
else if (_operationTime == 2)
{
//SendNodeGuardRequests(SendCan);
//if (AreAllNodesOperational())
//{
// _operationTime++;
//}
_operationTime++;
return;
}
//检查错误是否被消除 若没被消除就得重新返回上一步发复位 若消除了就继续往下
else if (_operationTime == 3)
{
if (cart.LeftFrontLeftErrorCode != 0 || cart.LeftFrontRightErrorCode != 0 ||
cart.LeftRearLeftErrorCode != 0 || cart.LeftRearRightErrorCode != 0
|| cart.RightFrontLeftErrorCode != 0 || cart.RightFrontRightErrorCode != 0 ||
cart.RightRearLeftErrorCode != 0 || cart.RightRearRightErrorCode != 0 ||
cart.LeftArmErrorCode != 0 || cart.RightArmErrorCode != 0)
{
_operationTime = 1;
return;
}
else
{
_operationTime++;
return;
}
}
// 没有错误 没有节点保护 就发06 07 0F使能
else if (_operationTime == 4)
{
SendCan(0, 0x201, enable1Payload);
SendCan(0, 0x202, enable1Payload);
SendCan(0, 0x203, enable1Payload);
SendCan(0, 0x204, enable1Payload);
SendCan(0, 0x205, enable1Payload);
SendCan(0, 0x206, enable1Payload);
SendCan(0, 0x207, enable1Payload);
SendCan(0, 0x208, enable1Payload);
SendCan(0, 0x209, enable1Payload);
SendCan(0, 0x20A, enable1Payload);
_operationTime++;
return;
}
else if (_operationTime == 5)
{
SendCan(0, 0x201, enable2Payload);
SendCan(0, 0x202, enable2Payload);
SendCan(0, 0x203, enable2Payload);
SendCan(0, 0x204, enable2Payload);
SendCan(0, 0x205, enable2Payload);
SendCan(0, 0x206, enable2Payload);
SendCan(0, 0x207, enable2Payload);
SendCan(0, 0x208, enable2Payload);
SendCan(0, 0x209, enable2Payload);
SendCan(0, 0x20A, enable2Payload);
_operationTime++;
return;
}
else if (_operationTime == 6)
{
SendCan(0, 0x201, enable3Payload);
SendCan(0, 0x202, enable3Payload);
SendCan(0, 0x203, enable3Payload);
SendCan(0, 0x204, enable3Payload);
SendCan(0, 0x205, enable3Payload);
SendCan(0, 0x206, enable3Payload);
SendCan(0, 0x207, enable3Payload);
SendCan(0, 0x208, enable3Payload);
SendCan(0, 0x209, enable3Payload);
SendCan(0, 0x20A, enable3Payload);
if (cart.LeftFrontLeftErrorCode != 0 || cart.LeftFrontRightErrorCode != 0 ||
cart.LeftRearLeftErrorCode != 0 || cart.LeftRearRightErrorCode != 0
|| cart.RightFrontLeftErrorCode != 0 || cart.RightFrontRightErrorCode != 0 ||
cart.RightRearLeftErrorCode != 0 || cart.RightRearRightErrorCode != 0 ||
cart.LeftArmErrorCode != 0 || cart.RightArmErrorCode != 0)
{
_operationTime = 1;
return;
}
else
{
_operationTime++;
return;
}
}
if (cart.ResetPressed || cart.ResetFromM || cart.ResetFromC)
{
cart.AlarmLevel = -1;
cart.EmergencyPressed = 0;
_count = 0;
_operationTime = 0;
_driversDisabled = false;
cart.WheelAbleState = true;
cart.ResetFromM = false;
}
if (cart.DisableFromM || cart.DisableFromC)
{
_driversDisabled = true;
cart.WheelAbleState = false;
cart.DisableFromM = false;
}
var lfl = Math.Sign(cart.SpeedLFL) * Math.Min(Math.Max(0, cart.SendThresSpeed), Math.Abs(cart.SpeedLFL));
var lfr = Math.Sign(cart.SpeedLFR) * Math.Min(Math.Max(0, cart.SendThresSpeed), Math.Abs(cart.SpeedLFR));
var rfl = Math.Sign(cart.SpeedRFL) * Math.Min(Math.Max(0, cart.SendThresSpeed), Math.Abs(cart.SpeedRFL));
var rfr = Math.Sign(cart.SpeedRFR) * Math.Min(Math.Max(0, cart.SendThresSpeed), Math.Abs(cart.SpeedRFR));
var lrl = Math.Sign(cart.SpeedLRL) * Math.Min(Math.Max(0, cart.SendThresSpeed), Math.Abs(cart.SpeedLRL));
var lrr = Math.Sign(cart.SpeedLRR) * Math.Min(Math.Max(0, cart.SendThresSpeed), Math.Abs(cart.SpeedLRR));
var rrl = Math.Sign(cart.SpeedRRL) * Math.Min(Math.Max(0, cart.SendThresSpeed), Math.Abs(cart.SpeedRRL));
var rrr = Math.Sign(cart.SpeedRRR) * Math.Min(Math.Max(0, cart.SendThresSpeed), Math.Abs(cart.SpeedRRR));
var v1 = ConvertMps2Rpm(lfl);
var v2 = ConvertMps2Rpm(-lfr);
var v3 = ConvertMps2Rpm(rfl);
var v4 = ConvertMps2Rpm(-rfr);
var v5 = ConvertMps2Rpm(lrl);
var v6 = ConvertMps2Rpm(-lrr);
var v7 = ConvertMps2Rpm(rrl);
var v8 = ConvertMps2Rpm(-rrr);
var v9 = ConvertMps2Rpm(cart.SpeedLeftArm);
var v10 = ConvertMps2Rpm(cart.SpeedRightArm);
if (cart.AlarmLevel == 2 || cart.WaitStart || cart.PreparaStart)
{
v1 = v2 = v3 = v4 = v5 = v6 = v7 = v8 = v9 = v10 = 0;
}
if ((cart.ActualPosLeftArm <= cart.LeftArmLowerPos && cart.SpeedLeftArm < 0) || (cart.ActualPosLeftArm >= cart.LeftArmUpperPos && cart.SpeedLeftArm > 0))
{
v9 = 0;
}
if ((cart.ActualPosRightArm <= cart.RightArmLowerPos && cart.SpeedRightArm < 0) || (cart.ActualPosRightArm >= cart.RightArmUpperPos && cart.SpeedRightArm > 0))
{
v10 = 0;
}
var sendLFL = BitConverter.GetBytes((int)Math.Round(v1 * 512f * 10000f / 1875f));
var sendLFR = BitConverter.GetBytes((int)Math.Round(v2 * 512f * 10000f / 1875f));
var sendRFL = BitConverter.GetBytes((int)Math.Round(v3 * 512f * 10000f / 1875f));
var sendRFR = BitConverter.GetBytes((int)Math.Round(v4 * 512f * 10000f / 1875f));
var sendLRL = BitConverter.GetBytes((int)Math.Round(v5 * 512f * 10000f / 1875f));
var sendLRR = BitConverter.GetBytes((int)Math.Round(v6 * 512f * 10000f / 1875f));
var sendRRL = BitConverter.GetBytes((int)Math.Round(v7 * 512f * 10000f / 1875f));
var sendRRR = BitConverter.GetBytes((int)Math.Round(v8 * 512f * 10000f / 1875f));
var sendLArm = BitConverter.GetBytes((int)Math.Round(v9 * 512f * 10000f / 1875f));
var sendRArm = BitConverter.GetBytes((int)Math.Round(v10 * 512f * 10000f / 1875f));
if (iteration % 2 == 0)
{
//SendNodeGuardRequests(SendCan);
}
if (_driversDisabled)
{
SendCan(0, 0x201, enable1Payload);
SendCan(0, 0x202, enable1Payload);
SendCan(0, 0x203, enable1Payload);
SendCan(0, 0x204, enable1Payload);
SendCan(0, 0x205, enable1Payload);
SendCan(0, 0x206, enable1Payload);
SendCan(0, 0x207, enable1Payload);
SendCan(0, 0x208, enable1Payload);
}
else
{
SendCan(0, 0x201, new byte[] { 0xFD, _enableCode3, 0x00, sendLFL[0], sendLFL[1], sendLFL[2], sendLFL[3], 0x00 });
SendCan(0, 0x202, new byte[] { 0xFD, _enableCode3, 0x00, sendLFR[0], sendLFR[1], sendLFR[2], sendLFR[3], 0x00 });
SendCan(0, 0x203, new byte[] { 0xFD, _enableCode3, 0x00, sendRFL[0], sendRFL[1], sendRFL[2], sendRFL[3], 0x00 });
SendCan(0, 0x204, new byte[] { 0xFD, _enableCode3, 0x00, sendRFR[0], sendRFR[1], sendRFR[2], sendRFR[3], 0x00 });
SendCan(0, 0x205, new byte[] { 0xFD, _enableCode3, 0x00, sendLRL[0], sendLRL[1], sendLRL[2], sendLRL[3], 0x00 });
SendCan(0, 0x206, new byte[] { 0xFD, _enableCode3, 0x00, sendLRR[0], sendLRR[1], sendLRR[2], sendLRR[3], 0x00 });
SendCan(0, 0x207, new byte[] { 0xFD, _enableCode3, 0x00, sendRRL[0], sendRRL[1], sendRRL[2], sendRRL[3], 0x00 });
SendCan(0, 0x208, new byte[] { 0xFD, _enableCode3, 0x00, sendRRR[0], sendRRR[1], sendRRR[2], sendRRR[3], 0x00 });
}
SendCan(0, 0x209, new byte[] { 0xFD, _enableCode3, 0x00, sendLArm[0], sendLArm[1], sendLArm[2], sendLArm[3], 0x00 });
SendCan(0, 0x20A, new byte[] { 0xFD, _enableCode3, 0x00, sendRArm[0], sendRArm[1], sendRArm[2], sendRArm[3], 0x00 });
if (cart.LeftFrontLeftErrorCode != 0 || cart.LeftFrontRightErrorCode != 0 ||
cart.LeftRearLeftErrorCode != 0 || cart.LeftRearRightErrorCode != 0
|| cart.RightFrontLeftErrorCode != 0 || cart.RightFrontRightErrorCode != 0 ||
cart.RightRearLeftErrorCode != 0 || cart.RightRearRightErrorCode != 0)
{
//_errorCount++;
}
#endregion
}
private static bool IsNodeOperational(byte remoteCode)
{
return remoteCode == 5 || remoteCode == 133;
}
private bool AreAllNodesOperational()
{
return IsNodeOperational(cart.LFLRemoteCode)
&& IsNodeOperational(cart.LFRRemoteCode)
&& IsNodeOperational(cart.RFLRemoteCode)
&& IsNodeOperational(cart.RFRRemoteCode)
&& IsNodeOperational(cart.LRLRemoteCode)
&& IsNodeOperational(cart.LRRRemoteCode)
&& IsNodeOperational(cart.RRLRemoteCode)
&& IsNodeOperational(cart.RRRRemoteCode)
&& IsNodeOperational(cart.LArmRemoteCode)
&& IsNodeOperational(cart.RArmRemoteCode);
}
private static void SendNodeGuardRequests(Func<byte, ushort, byte[], bool, uint, MCUSerialBridgeError> sendCan)
{
sendCan(0, 0x709, Array.Empty<byte>(), true, 2);
sendCan(0, 0x70A, Array.Empty<byte>(), true, 2);
sendCan(0, 0x701, Array.Empty<byte>(), true, 2);
sendCan(0, 0x702, Array.Empty<byte>(), true, 2);
sendCan(0, 0x703, Array.Empty<byte>(), true, 2);
sendCan(0, 0x704, Array.Empty<byte>(), true, 2);
sendCan(0, 0x705, Array.Empty<byte>(), true, 2);
sendCan(0, 0x706, Array.Empty<byte>(), true, 2);
sendCan(0, 0x707, Array.Empty<byte>(), true, 2);
sendCan(0, 0x708, Array.Empty<byte>(), true, 2);
}
private void EnsureCanCallbacksRegistered()
{
if (_canCallbackRegistered)
{
return;
}
if (cart?.Bridge == null)
{
return;
}
var dispatch = BuildCanDispatchTable();
var err0 = cart.Bridge.RegisterCANPortCallback(0, msg =>
{
if (msg == null) return;
if (dispatch.TryGetValue(msg.ID, out var handler))
{
handler(msg);
}
});
_canCallbackRegistered = true;
}
private void EnsureSerialCallbacksRegistered()
{
if (_serialCallbackRegistered)
{
return;
}
if (cart?.Bridge == null)
{
return;
}
var err1 = cart.Bridge.RegisterSerialPortCallback(1, msg =>
{
if (msg == null) return;
Hedingben.ToastText($"Callback Serial 1 Callback Received: {BitConverter.ToString(msg)}", "Serial 1");
});
Hedingben.ToastText($"Register Serial 1: {err1}", "Register Serial");
_serialCallbackRegistered = err1 == MCUSerialBridgeError.OK;
}
private void PollBatterySerial(int iteration)
{
if (cart?.Bridge == null) return;
if (iteration % 20 != 0) return;
var writeErr = cart.Bridge.WriteSerial(BatteryPortIndex, BatteryRequest, 60);
if (writeErr != MCUSerialBridgeError.OK)
{
Hedingben.ToastText($"Battery write err: {writeErr}", "Serial 2");
return;
}
var readErr = cart.Bridge.ReadSerial(BatteryPortIndex, out var msg, 40);
if (readErr == MCUSerialBridgeError.NoData) return;
if (readErr != MCUSerialBridgeError.OK)
{
Hedingben.ToastText($"Battery read err: {readErr}", "Serial 2");
return;
}
if (msg == null || msg.Length == 0) return;
Hedingben.ToastText($"Serial 2 RX: {BitConverter.ToString(msg)}", "Serial 2");
TryUpdateBatteryData(msg);
}
private void TryUpdateBatteryData(byte[] msg)
{
// Modbus RTU response: [id,03,08,data(8),crc(2)]
if (msg.Length < 13 || msg[0] != 0x01 || msg[1] != 0x03 || msg[2] < 8) return;
ushort calc = ComputeModbusCrc(msg, msg.Length - 2);
ushort recv = (ushort)(msg[msg.Length - 2] | (msg[msg.Length - 1] << 8));
if (calc != recv) return;
cart.Voltage = ReadInt16BE(msg, 3) * 0.1f;
cart.Soc = ReadUInt16BE(msg, 5);
cart.SOH = ReadUInt16BE(msg, 7);
cart.ElectricCurrent = -ReadInt16BE(msg, 9) * 0.1f;
}
private static byte[] BuildBatteryRequest()
{
// 01 03 00 03 00 04 CRC (读取寄存器 03~06)
byte[] req = new byte[] { 0x01, 0x03, 0x00, 0x03, 0x00, 0x04, 0x00, 0x00 };
ushort crc = ComputeModbusCrc(req, 6);
req[6] = (byte)(crc & 0xFF);
req[7] = (byte)((crc >> 8) & 0xFF);
return req;
}
private static ushort ComputeModbusCrc(byte[] data, int length)
{
ushort crc = 0xFFFF;
for (int i = 0; i < length; i++)
{
crc ^= data[i];
for (int j = 0; j < 8; j++)
{
bool lsb = (crc & 0x0001) != 0;
crc >>= 1;
if (lsb) crc ^= 0xA001;
}
}
return crc;
}
private static short ReadInt16BE(byte[] data, int offset)
{
return (short)((data[offset] << 8) | data[offset + 1]);
}
private static ushort ReadUInt16BE(byte[] data, int offset)
{
return (ushort)((data[offset] << 8) | data[offset + 1]);
}
private Dictionary<ushort, Action<CANMessage>> BuildCanDispatchTable()
{
return new Dictionary<ushort, Action<CANMessage>>
{
// 速度/位置反馈 0x281~0x28A
[0x281] = (msg) =>
{
//Console.WriteLine("Received 0x281 CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 8) return;
var rpm = DecodeRpmFromPayload(payload);
cart.ActualSpeedLeftFrontLeft = ConvertRpm2Mps(rpm);
cart.LFLActualPos = ConvertR2MM(BitConverter.ToInt32(payload, 0) / 10000f);
},
[0x282] = (msg) =>
{
//Console.WriteLine("Received 0x282 CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 8) return;
var rpm = DecodeRpmFromPayload(payload);
cart.ActualSpeedLeftFrontRight = -ConvertRpm2Mps(rpm);
cart.LFRActualPos = ConvertR2MM(-BitConverter.ToInt32(payload, 0) / 10000f);
},
[0x283] = (msg) =>
{
//Console.WriteLine("Received 0x283 CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 8) return;
var rpm = DecodeRpmFromPayload(payload);
cart.ActualSpeedRightFrontLeft = ConvertRpm2Mps(rpm);
cart.RFLActualPos = ConvertR2MM(BitConverter.ToInt32(payload, 0) / 10000f);
},
[0x284] = (msg) =>
{
//Console.WriteLine("Received 0x284 CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 8) return;
var rpm = DecodeRpmFromPayload(payload);
cart.ActualSpeedRightFrontRight = -ConvertRpm2Mps(rpm);
cart.RFRActualPos = ConvertR2MM(-BitConverter.ToInt32(payload, 0) / 10000f);
},
[0x285] = (msg) =>
{
//Console.WriteLine("Received 0x285 CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 8) return;
var rpm = DecodeRpmFromPayload(payload);
cart.ActualSpeedLeftRearLeft = ConvertRpm2Mps(rpm);
cart.LRLActualPos = ConvertR2MM(BitConverter.ToInt32(payload, 0) / 10000f);
},
[0x286] = (msg) =>
{
//Console.WriteLine("Received 0x286 CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 8) return;
var rpm = DecodeRpmFromPayload(payload);
cart.ActualSpeedLeftRearRight = -ConvertRpm2Mps(rpm);
cart.LRRActualPos = ConvertR2MM(-BitConverter.ToInt32(payload, 0) / 10000f);
},
[0x287] = (msg) =>
{
//Console.WriteLine("Received 0x287 CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 8) return;
var rpm = DecodeRpmFromPayload(payload);
cart.ActualSpeedRightRearLeft = ConvertRpm2Mps(rpm);
cart.RRLActualPos = ConvertR2MM(BitConverter.ToInt32(payload, 0) / 10000f);
},
[0x288] = (msg) =>
{
//Console.WriteLine("Received 0x288 CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 8) return;
var rpm = DecodeRpmFromPayload(payload);
cart.ActualSpeedRightRearRight = -ConvertRpm2Mps(rpm);
cart.RRRActualPos = ConvertR2MM(-BitConverter.ToInt32(payload, 0) / 10000f);
},
[0x289] = (msg) =>
{
//Console.WriteLine("Received 0x289 CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 8) return;
var rpm = DecodeRpmFromPayload(payload);
cart.ActualSpeedLeftArm = ConvertRpm2Mps(rpm);
cart.ActualPosLeftArm = ConvertR2MM(BitConverter.ToInt32(payload, 0) / 10000f);
},
[0x28A] = (msg) =>
{
//Console.WriteLine("Received 0x28A CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 8) return;
var rpm = DecodeRpmFromPayload(payload);
cart.ActualSpeedRightArm = ConvertRpm2Mps(rpm);
cart.ActualPosRightArm = ConvertR2MM(BitConverter.ToInt32(payload, 0) / 10000f);
},
// 状态/错误码 0x181~0x18A
[0x181] = (msg) =>
{
//Console.WriteLine("Received 0x181 CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 4) return;
cart.LeftFrontLeftStateCode = BitConverter.ToInt16(payload, 0);
cart.LeftFrontLeftErrorCode = BitConverter.ToInt16(payload, 2);
cart.LeftFrontLeftElectric = BitConverter.ToInt16(payload, 5) * 0.001f;
},
[0x182] = (msg) =>
{
//Console.WriteLine("Received 0x182 CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 4) return;
cart.LeftFrontRightStateCode = BitConverter.ToInt16(payload, 0);
cart.LeftFrontRightErrorCode = BitConverter.ToInt16(payload, 2);
cart.LeftFrontRightElectric = BitConverter.ToInt16(payload, 5) * 0.001f;
},
[0x183] = (msg) =>
{
//Console.WriteLine("Received 0x183 CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 4) return;
cart.RightFrontLeftStateCode = BitConverter.ToInt16(payload, 0);
cart.RightFrontLeftErrorCode = BitConverter.ToInt16(payload, 2);
cart.RightFrontLeftElectric = BitConverter.ToInt16(payload, 5) * 0.001f;
},
[0x184] = (msg) =>
{
//Console.WriteLine("Received 0x184 CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 4) return;
cart.RightFrontRightStateCode = BitConverter.ToInt16(payload, 0);
cart.RightFrontRightErrorCode = BitConverter.ToInt16(payload, 2);
cart.RightFrontRightElectric = BitConverter.ToInt16(payload, 5) * 0.001f;
},
[0x185] = (msg) =>
{
//Console.WriteLine("Received 0x185 CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 4) return;
cart.LeftRearLeftStateCode = BitConverter.ToInt16(payload, 0);
cart.LeftRearLeftErrorCode = BitConverter.ToInt16(payload, 2);
cart.LeftRearLeftElectric = BitConverter.ToInt16(payload, 5) * 0.001f;
},
[0x186] = (msg) =>
{
//Console.WriteLine("Received 0x186 CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 4) return;
cart.LeftRearRightStateCode = BitConverter.ToInt16(payload, 0);
cart.LeftRearRightErrorCode = BitConverter.ToInt16(payload, 2);
cart.LeftRearRightElectric = BitConverter.ToInt16(payload, 5) * 0.001f;
},
[0x187] = (msg) =>
{
//Console.WriteLine("Received 0x187 CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 4) return;
cart.RightRearLeftStateCode = BitConverter.ToInt16(payload, 0);
cart.RightRearLeftErrorCode = BitConverter.ToInt16(payload, 2);
cart.RightRearLeftElectric = BitConverter.ToInt16(payload, 5) * 0.001f;
},
[0x188] = (msg) =>
{
//Console.WriteLine("Received 0x188 CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 4) return;
cart.RightRearRightStateCode = BitConverter.ToInt16(payload, 0);
cart.RightRearRightErrorCode = BitConverter.ToInt16(payload, 2);
cart.RightRearRightElectric = BitConverter.ToInt16(payload, 5) * 0.001f;
},
[0x189] = (msg) =>
{
//Console.WriteLine("Received 0x189 CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 4) return;
cart.LeftArmStateCode = BitConverter.ToInt16(payload, 0);
cart.LeftArmErrorCode = BitConverter.ToInt16(payload, 2);
cart.LeftArmElectric = BitConverter.ToInt16(payload, 5) * 0.001f;
},
[0x18A] = (msg) =>
{
//Console.WriteLine("Received 0x18A CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 4) return;
cart.RightArmStateCode = BitConverter.ToInt16(payload, 0);
cart.RightArmErrorCode = BitConverter.ToInt16(payload, 2);
cart.RightArmElectric = BitConverter.ToInt16(payload, 5) * 0.001f;
},
// 舵角 0x18B~0x18E
[0x18B] = (msg) =>
{
//Console.WriteLine("Received 0x18B CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 4) return;
cart.ActualThLeftFront = BitConverter.ToInt32(payload, 0);
cart.ActualThLeftFront = cart.ActualThLeftFront >= 16384
? (cart.ActualThLeftFront - 98303) / 4096f / 5f * 360 - cart.ThBiasLeftFront
: cart.ActualThLeftFront / 4096f / 5f * 360 - cart.ThBiasLeftFront;
},
[0x18C] = (msg) =>
{
var payload = msg.Payload;
if (payload == null || payload.Length < 4) return;
var raw = BitConverter.ToInt32(payload, 0);
cart.ActualThRightFront = raw >= 16384
? (raw - 98303) / 4096f / 5f * 360 - cart.ThBiasRightFront
: raw / 4096f / 5f * 360 - cart.ThBiasRightFront;
//DLog.Log($"RF raw=0x{raw:X8}({raw}) angle={cart.ActualThRightFront:F2}", "0x18C");
},
[0x18D] = (msg) =>
{
//Console.WriteLine($"Received 0x18D CAN Message {DateTime.Now:yyyy-MM-dd HH:mm:ss.ffffff}");
var payload = msg.Payload;
if (payload == null || payload.Length < 4) return;
cart.ActualThLeftRear = BitConverter.ToInt32(payload, 0);
cart.ActualThLeftRear = cart.ActualThLeftRear >= 16384
? (cart.ActualThLeftRear - 98303) / 4096f / 5f * 360 - cart.ThBiasLeftRear
: cart.ActualThLeftRear / 4096f / 5f * 360 - cart.ThBiasLeftRear;
},
[0x18E] = (msg) =>
{
//Console.WriteLine("Received 0x18E CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 4) return;
cart.ActualThRightRear = BitConverter.ToInt32(payload, 0);
cart.ActualThRightRear = cart.ActualThRightRear >= 16384
? (cart.ActualThRightRear - 98303) / 4096f / 5f * 360 - cart.ThBiasRightRear
: cart.ActualThRightRear / 4096f / 5f * 360 - cart.ThBiasRightRear;
},
// 远程帧
[0x701] = (msg) =>
{
//Console.WriteLine("Received 0x701 CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 1) return;
cart.LFLRemoteCode = payload[0];
},
[0x702] = (msg) =>
{
//Console.WriteLine("Received 0x702 CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 1) return;
cart.LFRRemoteCode = payload[0];
},
[0x703] = (msg) =>
{
//Console.WriteLine("Received 0x703 CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 1) return;
cart.RFLRemoteCode = payload[0];
},
[0x704] = (msg) =>
{
//Console.WriteLine("Received 0x704 CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 1) return;
cart.RFRRemoteCode = payload[0];
},
[0x705] = (msg) =>
{
//Console.WriteLine("Received 0x705 CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 1) return;
cart.LRLRemoteCode = payload[0];
},
[0x706] = (msg) =>
{
//Console.WriteLine("Received 0x706 CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 1) return;
cart.LRRRemoteCode = payload[0];
},
[0x707] = (msg) =>
{
//Console.WriteLine("Received 0x707 CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 1) return;
cart.RRLRemoteCode = payload[0];
},
[0x708] = (msg) =>
{
//Console.WriteLine("Received 0x708 CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 1) return;
cart.RRRRemoteCode = payload[0];
},
[0x709] = (msg) =>
{
//Console.WriteLine("Received 0x709 CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 1) return;
cart.LArmRemoteCode = payload[0];
},
[0x70A] = (msg) =>
{
//Console.WriteLine("Received 0x70A CAN Message");
var payload = msg.Payload;
if (payload == null || payload.Length < 1) return;
cart.RArmRemoteCode = payload[0];
},
};
}
}
}
// 实际CAN协议、反馈解析、IO、电池、急停
MedullaAdapter/MCUSerialBridgeCLR.cs
+44
View File
@@ -1,3 +1,5 @@
// C#调用MCU通信桥
using System;
using System.Collections.Generic;
using System.Linq;
@@ -102,6 +104,7 @@ namespace MCUSerialBridgeCLR
/// 转换为可读字符串
/// </summary>
/// <returns>返回包含产品、Tag、Commit、BuildTime 的字符串</returns>
// M层MCU适配：格式化固件版本信息便于日志显示。
public override string ToString()
{
return $"Product: {ProductionName}, Tag: {GitTag}, Commit: {GitCommit}, Built: {BuildTime}";
@@ -144,6 +147,7 @@ namespace MCUSerialBridgeCLR
/// 返回可读的状态字符串
/// </summary>
/// <returns>例如 "Bridge: Running" 或 "DIVER: Error"</returns>
// M层MCU适配：格式化MCU运行状态便于日志显示。
public override string ToString()
{
string modeStr = IsBridge ? "Bridge" : "DIVER";
@@ -174,6 +178,7 @@ namespace MCUSerialBridgeCLR
/// <summary>序列化端口配置为字节数组（供 P/Invoke 使用）</summary>
/// <returns>返回固定长度字节数组（16 bytes）</returns>
// M层MCU适配：将端口配置序列化为原生接口字节。
public abstract byte[] ToBytes();
}
@@ -185,6 +190,7 @@ namespace MCUSerialBridgeCLR
/// </remarks>
/// <param name="baud">波特率</param>
/// <param name="receiveFrameMs">接收帧间隔</param>
// M层MCU适配：创建串口通信参数配置。
public class SerialPortConfig(uint baud, uint receiveFrameMs) : PortConfig
{
/// <summary>Serial 类型</summary>
@@ -200,6 +206,7 @@ namespace MCUSerialBridgeCLR
/// 转换为字节数组
/// </summary>
/// <returns>16 字节数组</returns>
// M层MCU适配：序列化串口波特率和组帧时间。
public override byte[] ToBytes()
{
var c = new PortStructHelper.SerialPortConfigC
@@ -221,6 +228,7 @@ namespace MCUSerialBridgeCLR
/// </remarks>
/// <param name="baud">波特率</param>
/// <param name="retryTimeMs">重发间隔</param>
// M层MCU适配：创建CAN通信参数配置。
public class CANPortConfig(uint baud, uint retryTimeMs) : PortConfig
{
/// <summary>CAN 类型</summary>
@@ -236,6 +244,7 @@ namespace MCUSerialBridgeCLR
/// 转换为字节数组
/// </summary>
/// <returns>16 字节数组</returns>
// M层MCU适配：序列化CAN波特率和重试时间。
public override byte[] ToBytes()
{
var c = new PortStructHelper.CANPortConfigC
@@ -272,6 +281,7 @@ namespace MCUSerialBridgeCLR
/// <returns>返回字节数组：2 bytes header + Payload</returns>
/// <exception cref="ArgumentOutOfRangeException">如果 DLC > 8</exception>
/// <exception cref="ArgumentException">如果 Payload 长度 != DLC</exception>
// M层CAN适配：将标准或扩展CAN帧序列化为原生布局。
public byte[] ToBytes()
{
if (DLC > 8)
@@ -303,6 +313,7 @@ namespace MCUSerialBridgeCLR
/// <param name="length">实际有效长度</param>
/// <returns>CANMessage 实例</returns>
/// <exception cref="ArgumentException">数据长度错误</exception>
// M层CAN适配：从原生缓冲区还原CAN消息。
public static CANMessage FromBytes(byte[] data, uint length)
{
if (data == null || length > data.Length || length < 2)
@@ -332,6 +343,7 @@ namespace MCUSerialBridgeCLR
return msg;
}
// M层CAN诊断：格式化CAN标识符和数据内容。
public override string ToString()
{
string payloadStr =
@@ -351,6 +363,7 @@ namespace MCUSerialBridgeCLR
private const string DLL = @"mcu_serial_bridge.dll";
[DllImport(DLL, CallingConvention = CallingConvention.Cdecl)]
// M层原生接口：打开MCU串口桥设备。
internal static extern MCUSerialBridgeError msb_open(
out IntPtr handle,
[MarshalAs(UnmanagedType.LPStr)] string port,
@@ -358,12 +371,15 @@ namespace MCUSerialBridgeCLR
);
[DllImport(DLL, CallingConvention = CallingConvention.Cdecl)]
// M层原生接口：关闭MCU串口桥设备。
internal static extern MCUSerialBridgeError msb_close(IntPtr handle);
[DllImport(DLL, CallingConvention = CallingConvention.Cdecl)]
// M层原生接口：复位MCU串口桥。
internal static extern MCUSerialBridgeError msb_reset(IntPtr handle, uint timeout_ms);
[DllImport(DLL, CallingConvention = CallingConvention.Cdecl)]
// M层原生接口：读取MCU固件版本。
public static extern MCUSerialBridgeError msb_version(
IntPtr handle,
out VersionInfo version,
@@ -371,6 +387,7 @@ namespace MCUSerialBridgeCLR
);
[DllImport(DLL, CallingConvention = CallingConvention.Cdecl)]
// M层原生接口：读取MCU当前运行状态。
public static extern MCUSerialBridgeError mcu_state(
IntPtr handle,
out MCUState state,
@@ -378,6 +395,7 @@ namespace MCUSerialBridgeCLR
);
[DllImport(DLL, CallingConvention = CallingConvention.Cdecl)]
// M层原生接口：下发串口桥端口配置。
internal static extern MCUSerialBridgeError msb_configure(
IntPtr handle,
uint num_ports,
@@ -386,6 +404,7 @@ namespace MCUSerialBridgeCLR
);
[DllImport(DLL, CallingConvention = CallingConvention.Cdecl)]
// M层原生接口：读取MCU数字输入。
internal static extern MCUSerialBridgeError msb_read_input(
IntPtr handle,
[Out] byte[] inputs,
@@ -393,6 +412,7 @@ namespace MCUSerialBridgeCLR
);
[DllImport(DLL, CallingConvention = CallingConvention.Cdecl)]
// M层原生接口：写入MCU数字输出。
internal static extern MCUSerialBridgeError msb_write_output(
IntPtr handle,
[In] byte[] outputs,
@@ -400,6 +420,7 @@ namespace MCUSerialBridgeCLR
);
[DllImport(DLL, CallingConvention = CallingConvention.Cdecl)]
// M层原生接口：从指定串口或CAN端口读取数据。
internal static extern MCUSerialBridgeError msb_read_port(
IntPtr handle,
byte port_index,
@@ -410,6 +431,7 @@ namespace MCUSerialBridgeCLR
);
[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
// M层硬件桥接：定义串口或CAN端口收到原生数据时的回调签名。
internal delegate void msb_on_port_data_callback_function_t(
IntPtr dst_data,
uint dst_data_size,
@@ -417,6 +439,7 @@ namespace MCUSerialBridgeCLR
);
[DllImport(DLL, CallingConvention = CallingConvention.Cdecl)]
// M层原生接口：注册端口数据到达回调。
internal static extern MCUSerialBridgeError msb_register_port_data_callback(
IntPtr handle,
byte port_index,
@@ -425,6 +448,7 @@ namespace MCUSerialBridgeCLR
);
[DllImport(DLL, CallingConvention = CallingConvention.Cdecl)]
// M层原生接口：向指定串口或CAN端口写入数据。
internal static extern MCUSerialBridgeError msb_write_port(
IntPtr handle,
byte port_index,
@@ -448,18 +472,21 @@ namespace MCUSerialBridgeCLR
public bool IsOpen => nativeHandle != IntPtr.Zero;
/// <summary>构造函数，初始化对象</summary>
// M层MCU适配：创建串口桥包装器并固定原生回调委托。
public MCUSerialBridge()
{
nativeHandle = IntPtr.Zero;
}
/// <summary>析构函数</summary>
// M层MCU适配：对象回收时兜底释放原生串口桥句柄。
~MCUSerialBridge()
{
Dispose(false);
}
/// <summary>显式释放资源</summary>
// M层MCU适配：释放串口桥句柄和非托管资源。
public void Dispose()
{
Dispose(true);
@@ -468,6 +495,7 @@ namespace MCUSerialBridgeCLR
/// <summary>内部释放资源方法</summary>
/// <param name="disposing">true 表示手动释放，false 表示析构释放</param>
// M层MCU适配：按托管或终结路径关闭原生句柄。
private void Dispose(bool disposing)
{
if (nativeHandle != IntPtr.Zero)
@@ -481,6 +509,7 @@ namespace MCUSerialBridgeCLR
/// <param name="portName">串口名，如 "COM3"</param>
/// <param name="baud">波特率</param>
/// <returns>错误码</returns>
// M层单车通信：按端口名和波特率连接MCU串口桥。
public MCUSerialBridgeError Open(string portName, uint baud)
{
return MCUSerialBridgeCoreAPI.msb_open(out nativeHandle, portName, baud);
@@ -488,6 +517,7 @@ namespace MCUSerialBridgeCLR
/// <summary>关闭串口</summary>
/// <returns>错误码</returns>
// M层单车通信：关闭当前MCU串口桥连接。
public MCUSerialBridgeError Close()
{
if (nativeHandle == IntPtr.Zero)
@@ -500,6 +530,7 @@ namespace MCUSerialBridgeCLR
/// <summary>MCU 复位</summary>
/// <returns>错误码</returns>
// M层单车通信：请求MCU复位并等待结果。
public MCUSerialBridgeError Reset(uint timeout = 200)
{
if (nativeHandle == IntPtr.Zero)
@@ -512,6 +543,7 @@ namespace MCUSerialBridgeCLR
/// <param name="version">输出版本信息</param>
/// <param name="timeout">超时时间（ms）</param>
/// <returns>错误码</returns>
// M层MCU诊断：读取串口桥固件版本。
public MCUSerialBridgeError GetVersion(out VersionInfo version, uint timeout = 200)
{
version = new VersionInfo();
@@ -525,6 +557,7 @@ namespace MCUSerialBridgeCLR
/// <param name="state">输出状态</param>
/// <param name="timeout">超时时间（ms）</param>
/// <returns>错误码</returns>
// M层MCU诊断：读取串口桥运行状态。
public MCUSerialBridgeError GetState(out MCUState state, uint timeout = 200)
{
state = new MCUState();
@@ -538,6 +571,7 @@ namespace MCUSerialBridgeCLR
/// <param name="ports">端口集合</param>
/// <param name="timeout">超时时间（ms）</param>
/// <returns>错误码</returns>
// M层MCU适配：批量配置CAN和串口通道参数。
public MCUSerialBridgeError Configure(IEnumerable<PortConfig> ports, uint timeout = 200)
{
if (nativeHandle == IntPtr.Zero)
@@ -587,6 +621,7 @@ namespace MCUSerialBridgeCLR
/// <param name="inputs">输出数组</param>
/// <param name="timeout">超时（ms）</param>
/// <returns>错误码</returns>
// M层单车IO：读取MCU数字输入状态。
public MCUSerialBridgeError ReadInput(out byte[] inputs, uint timeout = 100)
{
inputs = new byte[4];
@@ -600,6 +635,7 @@ namespace MCUSerialBridgeCLR
/// <param name="outputs">数据数组</param>
/// <param name="timeout">超时（ms）</param>
/// <returns>错误码</returns>
// M层单车IO：写入继电器、灯光等数字输出状态。
public MCUSerialBridgeError WriteOutput(byte[] outputs, uint timeout = 100)
{
if (nativeHandle == IntPtr.Zero)
@@ -629,6 +665,7 @@ namespace MCUSerialBridgeCLR
/// - NoData 当前无可读数据（仅在 timeout == 0 或等待超时）
/// - Win_InvalidParam 参数错误
/// </returns>
// M层串口通信：同步读取指定MCU串口的数据。
public MCUSerialBridgeError ReadSerial(byte portIndex, out byte[] buffer, uint timeout)
{
buffer = Array.Empty<byte>();
@@ -670,6 +707,7 @@ namespace MCUSerialBridgeCLR
/// - OK 成功发送
/// - 其他错误请查看 MCUSerialBridgeError
/// </returns>
// M层串口通信：向指定MCU串口发送数据。
public MCUSerialBridgeError WriteSerial(byte portIndex, byte[] data, uint timeout)
{
if (nativeHandle == IntPtr.Zero)
@@ -706,6 +744,7 @@ namespace MCUSerialBridgeCLR
/// - CAN_DataError CAN数据错误
/// - Win_HandleNotFound 句柄无效
/// </returns>
// M层CAN通信：同步读取指定CAN通道的一帧消息。
public MCUSerialBridgeError ReadCAN(byte portIndex, out CANMessage message, uint timeout)
{
message = null;
@@ -753,6 +792,7 @@ namespace MCUSerialBridgeCLR
/// - CAN_DataError CAN 数据错误
/// - Win_HandleNotFound 句柄无效
/// </returns>
// M层CAN通信：向指定CAN通道发送一帧消息。
public MCUSerialBridgeError WriteCAN(byte portIndex, CANMessage message, uint timeout)
{
if (nativeHandle == IntPtr.Zero)
@@ -796,6 +836,7 @@ namespace MCUSerialBridgeCLR
/// 5. 数据可能随时到来，请保证回调尽快返回，避免影响后续帧接收。
/// 6. 不要把其他类型的端口注册到这个接口，接口不对 portIndex 做类型检查。
/// </remarks>
// M层串口通信：注册指定串口的异步接收回调。
public MCUSerialBridgeError RegisterSerialPortCallback(
byte portIndex,
Action<byte[]> callback
@@ -808,6 +849,7 @@ namespace MCUSerialBridgeCLR
return MCUSerialBridgeError.Config_PortNumOver;
// 包装 C# 回调为 P/Invoke 委托
// M层串口回调：复制原生缓存并转交托管回调处理。
void del(IntPtr dst_data, uint dst_data_size, IntPtr user_ctx)
{
byte[] data = new byte[dst_data_size];
@@ -842,6 +884,7 @@ namespace MCUSerialBridgeCLR
/// 5. 数据可能随时到来，请保证回调尽快返回，避免影响后续帧接收。
/// 6. 不要把其他类型的端口注册到这个接口，接口不对 portIndex 做类型检查。
/// </remarks>
// M层CAN通信：注册指定CAN通道的异步接收回调。
public MCUSerialBridgeError RegisterCANPortCallback(
byte portIndex,
Action<CANMessage> callback
@@ -854,6 +897,7 @@ namespace MCUSerialBridgeCLR
return MCUSerialBridgeError.Config_PortNumOver;
// 包装 C# 回调为 P/Invoke 委托
// M层CAN回调：还原原生CAN帧并转交托管回调处理。
void del(IntPtr dst_data, uint dst_data_size, IntPtr user_ctx)
{
try
MedullaAdapter/MCUSerialBridgeError.cs
+2 -1
View File
@@ -1,4 +1,4 @@
using System;
// MCU通信错误码
namespace MCUSerialBridgeCLR
{
@@ -47,6 +47,7 @@ namespace MCUSerialBridgeCLR
public static class MCUSerialBridgeErrorExtensions
{
// M层MCU适配：把串口桥错误码转换为便于诊断的说明。
public static string ToDescription(this MCUSerialBridgeError err)
{
return err switch
MedullaAdapter/MedullaAdapter.csproj
+33 -30
View File
@@ -1,44 +1,47 @@
<Project Sdk="Microsoft.NET.Sdk">
<PropertyGroup>
<TargetFramework>netstandard2.0</TargetFramework>
<LangVersion>latest</LangVersion>
<TargetFramework>net8.0</TargetFramework>
<ImplicitUsings>enable</ImplicitUsings>
<Nullable>disable</Nullable>
<Platforms>AnyCPU</Platforms>
<AssemblyName>MedullaAdapter</AssemblyName>
<AppendTargetFrameworkToOutputPath>false</AppendTargetFrameworkToOutputPath>
<OutputPath>build\Medulla\plugins\</OutputPath>
</PropertyGroup>
<ItemGroup>
<Compile Remove="EmbeddedCommunication.cs" />
</ItemGroup>
<ItemGroup>
<PackageReference Include="Fody" Version="6.9.3">
<PrivateAssets>all</PrivateAssets>
<IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
</PackageReference>
<PackageReference Include="Newtonsoft.Json" Version="13.0.4" />
<PackageReference Include="System.IO.Ports" Version="6.0.0" />
</ItemGroup>
<ItemGroup>
<Reference Include="CommonUsage">
<HintPath>ref\CommonUsage.dll</HintPath>
</Reference>
<Reference Include="CycleGUI">
<HintPath>ref\CycleGUI.dll</HintPath>
</Reference>
<Reference Include="MDCSToolBox">
<HintPath>ref\MDCSToolBox.dll</HintPath>
</Reference>
<Reference Include="CartActivator">
<HintPath>ref\RefCartActivator.dll</HintPath>
<Private>false</Private>
</Reference>
<Reference Include="FundamentalLib">
<HintPath>ref\RefFundamentalLib.dll</HintPath>
</Reference>
<Reference Include="MedullaCore">
<HintPath>ref\RefMedullaCore.dll</HintPath>
<Private>false</Private>
</Reference>
<Reference Include="FundamentalLib">
<HintPath>ref\RefFundamentalLib.dll</HintPath>
<Private>false</Private>
</Reference>
<Reference Include="CommonUsage">
<HintPath>ref\CommonUsage.dll</HintPath>
<Private>false</Private>
</Reference>
<Reference Include="MDCSToolBox">
<HintPath>ref\MDCSToolBox.dll</HintPath>
<Private>false</Private>
</Reference>
<Reference Include="CycleGUI">
<HintPath>ref\CycleGUI.dll</HintPath>
<Private>false</Private>
</Reference>
</ItemGroup>
<ItemGroup>
<WeaverFiles Include="deps\DiverCompiler.exe" />
</ItemGroup>
</Project>
MedullaAdapter/MotorRoutine.cs
+1 -233
View File
@@ -1,233 +1 @@
using CartActivator;
using CommonUsage.Mathematics;
using FundamentalLib;
using MDCSToolBox.Commons;
using MDCSToolBox.Commons.Controllers;
using System;
using System.Collections.Generic;
using System.Linq;
using static MDCSToolBox.Medulla.Chassis.BasicCartDefinition;
namespace MedullaAdapter
{
public class MotorRoutine:LadderLogic<DiverCartDefinition>
{
private DateTime _lastMoveTime = DateTime.Now;
private DateTime _transmitterFleetDbgLastLog = DateTime.MinValue;
private DateTime _transmitterFleetResetLastLog = DateTime.MinValue;
private void LogTransmitterFleet(string branch, bool force = false)
{
var now = DateTime.Now;
if (!force && (now - _transmitterFleetDbgLastLog).TotalMilliseconds < 200) return;
_transmitterFleetDbgLastLog = now;
DLog.Log(
$"branch={branch} connected={cart.TransmitterConnected} ctrl={cart.TransmitterControlEnable} " +
$"SA={cart.Transmitter_SA} SC={cart.Transmitter_SC} SB={cart.Transmitter_SB} SD={cart.Transmitter_SD} car={cart.CarNum} " +
$"joyLx={cart.TransmitterLeftJoystickValX:0.000} joyRy={cart.TransmitterRightJoystickValY:0.000} joyRx={cart.TransmitterRightJoystickValX:0.000} " +
$"rawLx={cart.TransmitterLeftJoystickValXRaw} rawRy={cart.TransmitterRightJoystickValYRaw} " +
$"remotePanel={cart.MultiVehicleRemoteManualEnabled} outEn={cart.MultiVehicleManualEnabled} outMode={cart.MultiVehicleManualMode} " +
$"outVx={cart.MultiVehicleManualVx:0.000} outVy={cart.MultiVehicleManualVy:0.000} outVth={cart.MultiVehicleManualVth:0.000} hold={cart.MultiVehicleHold}",
"TransmitterFleetDbg");
}
private void LogTransmitterFleetReset(string reason)
{
var now = DateTime.Now;
if ((now - _transmitterFleetResetLastLog).TotalMilliseconds < 500) return;
_transmitterFleetResetLastLog = now;
DLog.Log(
$"reset reason={reason} remotePanel={cart.MultiVehicleRemoteManualEnabled} beforeEn={cart.MultiVehicleManualEnabled} " +
$"beforeMode={cart.MultiVehicleManualMode} beforeVx={cart.MultiVehicleManualVx:0.000} beforeVy={cart.MultiVehicleManualVy:0.000} " +
$"beforeVth={cart.MultiVehicleManualVth:0.000} hold={cart.MultiVehicleHold}",
"TransmitterFleetDbg");
}
public override void Operation(int iteration)
{
void ResetMultiVehicle(string reason)
{
if (cart.MultiVehicleRemoteManualEnabled)
{
LogTransmitterFleet("reset-skipped-remote-panel");
return;
}
if (cart.MultiVehicleManualEnabled || cart.MultiVehicleManualVx != 0 || cart.MultiVehicleManualVy != 0 ||
cart.MultiVehicleManualVth != 0 || cart.MultiVehicleHold)
LogTransmitterFleetReset(reason);
cart.MultiVehicleManualEnabled = false;
cart.MultiVehicleManualVx = 0;
cart.MultiVehicleManualVy = 0;
cart.MultiVehicleManualVth = 0;
cart.MultiVehicleHold = false;
}
TriggerOnce(cart.TransmitterConnected && cart.Transmitter_SA, 700,
() =>
{
Console.WriteLine("遥控器使能!");
cart.TransmitterControlEnable = true;
cart.TransmitterLastTime = DateTime.Now;
LogTransmitterFleet("enable", true);
});
TriggerOnce(cart.TransmitterConnected && !cart.Transmitter_SA, 700,
() =>
{
Console.WriteLine("遥控器断使能!");
cart.TransmitterControlEnable = false;
LogTransmitterFleet("disable", true);
});
if (cart.TransmitterControlEnable && cart.Transmitter_SC == cart.CarNum)
{
CartDefinition.testPriority(5, "TransmitterMode");
ResetMultiVehicle("single-car-control");
LogTransmitterFleet("single-car-control");
TransmitterChassisControl();
cart.TransmitterLastTime = DateTime.Now;
cart.CarStatu = "Transmitter控制模式使能";
}
else if (cart.TransmitterControlEnable && cart.Transmitter_SC == 3)
{
cart.CarStatu = "Transmitter双车联动模式使能";
cart.MultiVehicleManualEnabled = true;
var fleetMode = 0;
if (cart.Transmitter_SB == TransmitterState.Mode0) fleetMode = 0;
else if (cart.Transmitter_SB == TransmitterState.Mode1) fleetMode = 1;
else if (cart.Transmitter_SB == TransmitterState.Mode2) fleetMode = 2;
cart.ApplyFleetManualCommand(fleetMode, -cart.TransmitterLeftJoystickValX,
cart.TransmitterRightJoystickValY, 1f);
// hold multi-vehicle sync, make speed 0
cart.MultiVehicleHold = cart.Transmitter_SD == TransmitterState.Mode1;
LogTransmitterFleet("fleet-control");
}
else
{
ResetMultiVehicle("idle-or-sc-mismatch");
LogTransmitterFleet("idle-or-sc-mismatch");
cart.CarStatu = "正常运行";
}
cart.ClumsyControl = true;
cart.LeftFrontPid.ChangeParameters(cart.DiffSteerKp, cart.DiffSteerKi, cart.DiffSteerKd, cart.DiffSteerMaxI,
cart.DiffSteerDeadZone, cart.DiffSteerThresh, cart.DiffSteerSpeedAcc);
cart.LeftRearPid.ChangeParameters(cart.DiffSteerKp, cart.DiffSteerKi, cart.DiffSteerKd, cart.DiffSteerMaxI,
cart.DiffSteerDeadZone, cart.DiffSteerThresh, cart.DiffSteerSpeedAcc);
cart.RightFrontPid.ChangeParameters(cart.DiffSteerKp, cart.DiffSteerKi, cart.DiffSteerKd, cart.DiffSteerMaxI,
cart.DiffSteerDeadZone, cart.DiffSteerThresh, cart.DiffSteerSpeedAcc);
cart.RightRearPid.ChangeParameters(cart.DiffSteerKp, cart.DiffSteerKi, cart.DiffSteerKd, cart.DiffSteerMaxI,
cart.DiffSteerDeadZone, cart.DiffSteerThresh, cart.DiffSteerSpeedAcc);
var diffLf = cart.LeftFrontPid.GetResponse(cart.ThLeftFront, false, false, "LF");
var diffRf = cart.RightFrontPid.GetResponse(cart.ThRightFront, false, false, "RF");
var diffLr = cart.LeftRearPid.GetResponse(cart.ThLeftRear, false, false, "LR");
var diffRr = cart.RightRearPid.GetResponse(cart.ThRightRear, false, false, "RR");
// Hedingben.ToastText($"LF:{diffLf:0.00},LR:{diffLr:0.00},RF:{diffRf:0.00},RR:{diffRr:0.00}", "wheel-pid");
DLog.Log($"[wheel pid] {cart.ActualThLeftFront:0.00}->{cart.ThLeftFront:0.00} diff:{CommonMath.ThDiff(cart.ThLeftFront, cart.ActualThLeftFront):0.00} pid:{diffLf:0.00}");
cart.SpeedLFL = cart.SpeedLeftFrontLeft - diffLf;
cart.SpeedLFR = cart.SpeedLeftFrontRight + diffLf;
cart.SpeedRFL = cart.SpeedRightFrontLeft - diffRf;
cart.SpeedRFR = cart.SpeedRightFrontRight + diffRf;
cart.SpeedLRL = cart.SpeedLeftRearLeft - diffLr;
cart.SpeedLRR = cart.SpeedLeftRearRight + diffLr;
cart.SpeedRRL = cart.SpeedRightRearLeft - diffRr;
cart.SpeedRRR = cart.SpeedRightRearRight + diffRr;
List<float> wheelSpeed = new float[]
{
Math.Abs(cart.SpeedLFL), Math.Abs(cart.SpeedLFR), Math.Abs(cart.SpeedRFL),
Math.Abs(cart.SpeedRFR), Math.Abs(cart.SpeedLRL),Math.Abs(cart.SpeedLRR), Math.Abs(cart.SpeedRRL),
Math.Abs(cart.SpeedRRR)
}.ToList();
var wheelMaxSpeed = wheelSpeed.Max();
var speedSign = Math.Sign(cart.ThresSpeed - cart.SendThresSpeed);
var acc = Math.Abs(cart.ThresSpeed) > Math.Abs(cart.SendThresSpeed) ? cart.Chassis.AccPerSecond : cart.Chassis.DeAccPerSecond;
cart.SendThresSpeed += speedSign * Math.Min(Math.Abs(cart.ThresSpeed - cart.SendThresSpeed),
acc * (float)(DateTime.Now - _lastMoveTime).TotalSeconds);
if (cart.ThresSpeed < wheelMaxSpeed && cart.SendThresSpeed > wheelMaxSpeed)
cart.SendThresSpeed = Math.Min(cart.SendThresSpeed, wheelMaxSpeed);
_lastMoveTime = DateTime.Now;
//灯光控制
if (cart.AlarmLevel == 2)
{
//故障红灯常亮
cart.LightMode = 2;
}
else if (cart.ThresSpeed != 1)
{
//避障黄灯常亮
cart.LightMode = 3;
}
else if (!cart.WheelAbleState)
{
FlipFlop(ref cart.LightMode, 500, 0, 3);
}
else if (cart.Soc < cart.LowBatteryAlarmThreshold && cart.ElectricCurrent >= -10)
{
cart.LightMode = 3;
}
else if (cart.ElectricCurrent < -10)
{
FlipFlop(ref cart.LightMode, 500, 0, 1);
}
else
{
FlipFlop(ref cart.LightMode, 500, 0, 1);
}
}
public void TransmitterChassisControl()
{
TriggerOnce(cart.Transmitter_SB == TransmitterState.Mode0, 100,
() => cart.TransmitterControlMode = DiverCartDefinition.ManualControlMode.Normal);
TriggerOnce(cart.Transmitter_SB == TransmitterState.Mode1, 100,
() => cart.TransmitterControlMode = DiverCartDefinition.ManualControlMode.Crab);
TriggerOnce(cart.Transmitter_SB == TransmitterState.Mode2, 100,
() => cart.TransmitterControlMode = DiverCartDefinition.ManualControlMode.Spin);
Hedingben.ToastText($"X方向速度: {cart.TransmitterLeftJoystickValX} Y方向速度: {cart.TransmitterRightJoystickValY}");
if (cart.Transmitter_SD == TransmitterState.Mode1)
{
if(cart.Transmitter_T3 == 1694)
cart.WheelReset();
else if(cart.Transmitter_T3 == 151)
cart.WheelDisable();
}
if (cart.Transmitter_SD == TransmitterState.Mode1 && cart.TransmitterLeftJoystickValXRaw == 353)
{
TriggerOnce(cart.TransmitterRightJoystickValYRaw == 353, 100, () => cart.TransmitterSpeed += 0.1f);
TriggerOnce(cart.TransmitterRightJoystickValYRaw == 1694, 100, () => cart.TransmitterSpeed -= 0.1f);
}
cart.TransmitterSpeed = Math.Max(Math.Min(cart.TransmitterSpeed, cart.TransmitterSpeedUpperLimit), cart.TransmitterSpeedLowerLimit);
//cart.TransmitterSpeed = Math.Max(cart.TransmitterSpeed, cart.TransmitterSpeedLowerLimit);
if (!cart.Transmitter_SA)
{
cart.ManualControl(cart.TransmitterControlMode, 0,
0, 0, cart.TransmitterSpeed,
DateTime.Now - cart.TransmitterLastTime);
cart.SpeedLeftArm = 0;
cart.SpeedRightArm = 0;
}
//摇杆控制底盘
else if (cart.Transmitter_SD == TransmitterState.Mode0)
{
cart.ManualControl(cart.TransmitterControlMode, cart.TransmitterLeftJoystickValX,
cart.TransmitterRightJoystickValY, 0, cart.TransmitterSpeed,
DateTime.Now - cart.TransmitterLastTime);
cart.SpeedLeftArm = 0;
cart.SpeedRightArm = 0;
}
//右摇杆同时控制左右夹臂
else if (cart.Transmitter_SD == TransmitterState.Mode1 && cart.TransmitterLeftJoystickValX == 0)
{
cart.ManualControl(cart.TransmitterControlMode, 0,
0, 0, cart.TransmitterSpeed,
DateTime.Now - cart.TransmitterLastTime);
cart.SpeedLeftArm = cart.TransmitterRightJoystickValX * cart.ManualArmSpeedFac;
cart.SpeedRightArm = cart.TransmitterRightJoystickValX * cart.ManualArmSpeedFac;
}
}
}
}
// 计算8个驱动电机的目标速度和舵角PID
MedullaAdapter/PackageStruct.cs
-168
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@@ -1,168 +0,0 @@
using System;
namespace MedullaAdapter
{
public class BasePack
{
private static ushort CalculateCRC16(byte[] data)
{
const ushort polynomial = 0xA001; // CRC-16-IBM多项式
ushort crc = 0xFFFF; // 初始值
foreach (byte b in data)
{
crc ^= b; // 将数据字节与CRC寄存器按位异或
for (int i = 0; i < 8; i++)
{
if ((crc & 0x0001) != 0)
{
crc >>= 1;
crc ^= polynomial;
}
else
{
crc >>= 1;
}
}
}
return crc;
}
private byte[] _data;
public void SetData(byte[] data)
{
_data = data;
}
public byte[] GetPack()
{
var pack = new byte[_data.Length+7];
pack[0] = 0xBB;
pack[1] = 0xAA;
var length = BitConverter.GetBytes(_data.Length);
pack[2] = length[0];
pack[3] = length[1];
for (int i = 0; i < _data.Length; i++)
{
pack[4+i] = _data[i];
}
var crcByes = new byte[pack.Length - 5];
Array.Copy(pack,2,crcByes,0,crcByes.Length);
var crc = BitConverter.GetBytes(CalculateCRC16(crcByes));
pack[pack.Length-1] = 0xEE;
pack[pack.Length-2] = crc[1];
pack[pack.Length-3] = crc[0];
return pack;
}
}
public class ControlPack : BasePack
{
public ControlPack(byte controlCode)
{
byte[] controlData = new byte[3]{0x01,0x00,controlCode};
SetData(controlData);
}
}
public class SetConfigPack : BasePack
{
public SetConfigPack(int can1BaudRate, int can2BaudRate,int modbus0BaudRate, int modbus1BaudRate, int modbus2BaudRate,
int serialBaudRate,int upperSize = 1024,int lowerSize =1024 )
{
var upper = BitConverter.GetBytes(upperSize);
var lower = BitConverter.GetBytes(lowerSize);
var can = BitConverter.GetBytes(can1BaudRate);
var can2 = BitConverter.GetBytes(can2BaudRate);
var modbus0 = BitConverter.GetBytes(modbus0BaudRate);
var modbus1 = BitConverter.GetBytes(modbus1BaudRate);
var modbus2 = BitConverter.GetBytes(modbus2BaudRate);
var serial = BitConverter.GetBytes(serialBaudRate);
var canBuffer = BitConverter.GetBytes(128);
var mbBuffer = BitConverter.GetBytes(512);
var serialBuffer = BitConverter.GetBytes(1024);
byte[] configData = new byte[]
{
0x01, 0x10, 0x02, upper[0], upper[1], upper[2], upper[3], lower[0], lower[1],
lower[2], lower[3], 0x06, 0x00, 0x00, can[0], can[1], can[2], can[3], canBuffer[0], canBuffer[1], 0x00,
can2[0], can2[1], can2[2], can2[3], canBuffer[0], canBuffer[1], 0x10, modbus0[0],
modbus0[1], modbus0[2], modbus0[3], mbBuffer[0], mbBuffer[1], 0x10, modbus1[0],
modbus1[1], modbus1[2], modbus1[3], mbBuffer[0], mbBuffer[1], 0x10, modbus2[0],
modbus2[1], modbus2[2], modbus2[3], mbBuffer[0], mbBuffer[1], 0x20, serial[0], serial[1], serial[2],
serial[3], serialBuffer[0], serialBuffer[1]
};
SetData(configData);
}
}
public class ReadConfigPack : BasePack
{
public ReadConfigPack()
{
var readConfigData = new byte[] { 0x01, 0x10, 0x00 };
SetData(readConfigData);
}
}
public class DownloadCodePack : BasePack
{
public DownloadCodePack(int totalLength, int offset, int currentLength, byte[] codeBytes)
{
var codeData = new byte[12 + codeBytes.Length];
codeData[0] = 0x01;
codeData[1] = 0x11;
var totalLengthBytes = BitConverter.GetBytes(totalLength);
for (int i = 0; i < 4; i++)
{
codeData[2 + i] = totalLengthBytes[i];
}
var offsetBytes = BitConverter.GetBytes(offset);
for (int i = 0; i < 4; i++)
{
codeData[6 + i] = offsetBytes[i];
}
var curLengthBytes = BitConverter.GetBytes(currentLength);
for (int i = 0; i < 2; i++)
{
codeData[10 + i] = curLengthBytes[i];
}
for (int i = 0; i < codeBytes.Length; i++)
{
codeData[12+i] = codeBytes[i];
}
SetData(codeData);
}
}
public class HeartBeatPack : BasePack
{
public HeartBeatPack(int state, int error)
{
var errorBytes = BitConverter.GetBytes(error);
var heartBearData = new byte[] { 0x01, 0xF0, (byte)state, errorBytes[0], errorBytes[1] };
SetData(heartBearData);
}
}
public class UpperIOPack : BasePack
{
public UpperIOPack(byte[] data,int size)
{
byte[] UpperData = new byte[6 + size];
UpperData[0] = 0x01;
UpperData[1] = 0x20;
var length = BitConverter.GetBytes(size);
for (int i = 0; i < 4; i++)
{
UpperData[2+i] = length[i];
}
Array.Copy(data,0,UpperData,6,size);
SetData(UpperData);
}
}
}
MedullaAdapter/Remote.cs
+1 -47
View File
@@ -1,47 +1 @@
using System;
using System.Collections.Generic;
using System.Text;
using CartActivator;
using MDCSToolBox.Medulla.Chassis.MultiWheel;
namespace MedullaAdapter
{
public class Remote:MultiWheelRemote<DiverCartDefinition>
{
[AsControlItem(name = "夹抱速度", LayoutRow = 0, LayoutCol = 4)]
public Throttle ArmSpeed;
[AsControlItem(name = "夹抱打开", LayoutRow = 1, LayoutCol = 0)]
public Button Open;
[AsControlItem(name = "夹抱关闭", LayoutRow = 1, LayoutCol = 2)]
public Button Close;
public override void MultiVehicleModeChassisLogic()
{
// cart.MultiVehicleRemoteManualEnabled = true;
// cart.MultiVehicleManualEnabled = true;
// cart.MultiVehicleManualVx = SpeedPad.y * SpeedThreshold.val;
// cart.MultiVehicleManualVth = -(float)Math.Pow(Math.Abs(SpeedPad.x), cart.ManualThetaPow) * Math.Sign(SpeedPad.x);
}
public override void CustomOperation()
{
if (Open.pressed)
{
cart.SpeedLeftArm = -ArmSpeed.val * cart.ManualArmSpeedFac;
cart.SpeedRightArm = -ArmSpeed.val * cart.ManualArmSpeedFac;
}
else if (Close.pressed)
{
cart.SpeedLeftArm = ArmSpeed.val * cart.ManualArmSpeedFac;
cart.SpeedRightArm = ArmSpeed.val * cart.ManualArmSpeedFac;
}
else
{
cart.SpeedLeftArm = 0;
cart.SpeedRightArm = 0;
}
}
}
}
// Medulla虚拟遥控器和夹臂控制
MedullaAdapter/RunOnMCU.cs
-47
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@@ -1,47 +0,0 @@
using System;
using System.Collections.Generic;
namespace CartActivator
{
public class LogicRunOnMCUAttribute:Attribute
{
public string mcu_url = "default";
public int scanInterval = 50;
}
public class RunOnMCU
{
// if return null: not data, or return payload data excluding CRC
public static byte[] ReadEvent(int port, int event_id) => default;
public static void WriteEvent(byte[] payload, int port, int event_id) { }
// if return null: not data.
public static byte[] ReadStream(int port) => default;
public static void WriteStream(byte[] payload, int port){}
// always have the same sized data.
public static byte[] ReadSnapshot() => default;
public static void WriteSnapshot(byte[] payload)
{
}
public static T BytesToStruct<T>() where T: struct => default;
public static byte[] StructToBytes<T>(T what) where T : struct => default;
public static int GetMillisFromStart() => default;
public static T Iterate<T>(IEnumerable<T> ie) => default;
}
public class MCUManager
{
public static void Use<T>()
{
}
}
}
MedullaAdapter/bin/Debug/netstandard2.0/CommonUsage.dll
BIN
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Binary file not shown.
MedullaAdapter/bin/Debug/netstandard2.0/CycleGUI.dll
BIN
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MedullaAdapter/bin/Debug/netstandard2.0/MDCSToolBox.dll
BIN
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MedullaAdapter/bin/Debug/netstandard2.0/MedullaAdapter.deps.json
-352
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@@ -1,352 +0,0 @@
{
"runtimeTarget": {
"name": ".NETStandard,Version=v2.0/",
"signature": ""
},
"compilationOptions": {},
"targets": {
".NETStandard,Version=v2.0": {},
".NETStandard,Version=v2.0/": {
"MedullaAdapter/1.0.0": {
"dependencies": {
"Fody": "6.9.3",
"NETStandard.Library": "2.0.3",
"Newtonsoft.Json": "13.0.4",
"System.IO.Ports": "6.0.0",
"CommonUsage": "1.0.0.0",
"CycleGUI": "1.0.0.0",
"MDCSToolBox": "1.0.0.0",
"RefCartActivator": "1.0.0.0",
"RefFundamentalLib": "0.0.0.0",
"RefMedullaCore": "1.0.0.0"
},
"runtime": {
"MedullaAdapter.dll": {}
}
},
"Fody/6.9.3": {},
"Microsoft.NETCore.Platforms/1.1.0": {},
"Microsoft.Win32.Registry/5.0.0": {
"dependencies": {
"System.Buffers": "4.5.1",
"System.Memory": "4.5.4",
"System.Security.AccessControl": "5.0.0",
"System.Security.Principal.Windows": "5.0.0"
},
"runtime": {
"lib/netstandard2.0/Microsoft.Win32.Registry.dll": {
"assemblyVersion": "5.0.0.0",
"fileVersion": "5.0.20.51904"
}
}
},
"NETStandard.Library/2.0.3": {
"dependencies": {
"Microsoft.NETCore.Platforms": "1.1.0"
}
},
"Newtonsoft.Json/13.0.4": {
"runtime": {
"lib/netstandard2.0/Newtonsoft.Json.dll": {
"assemblyVersion": "13.0.0.0",
"fileVersion": "13.0.4.30916"
}
}
},
"runtime.linux-arm.runtime.native.System.IO.Ports/6.0.0": {},
"runtime.linux-arm64.runtime.native.System.IO.Ports/6.0.0": {},
"runtime.linux-x64.runtime.native.System.IO.Ports/6.0.0": {},
"runtime.native.System.IO.Ports/6.0.0": {
"dependencies": {
"runtime.linux-arm.runtime.native.System.IO.Ports": "6.0.0",
"runtime.linux-arm64.runtime.native.System.IO.Ports": "6.0.0",
"runtime.linux-x64.runtime.native.System.IO.Ports": "6.0.0",
"runtime.osx-arm64.runtime.native.System.IO.Ports": "6.0.0",
"runtime.osx-x64.runtime.native.System.IO.Ports": "6.0.0"
}
},
"runtime.osx-arm64.runtime.native.System.IO.Ports/6.0.0": {},
"runtime.osx-x64.runtime.native.System.IO.Ports/6.0.0": {},
"System.Buffers/4.5.1": {
"runtime": {
"lib/netstandard2.0/System.Buffers.dll": {
"assemblyVersion": "4.0.3.0",
"fileVersion": "4.6.28619.1"
}
}
},
"System.IO.Ports/6.0.0": {
"dependencies": {
"Microsoft.Win32.Registry": "5.0.0",
"System.Memory": "4.5.4",
"runtime.native.System.IO.Ports": "6.0.0"
},
"runtime": {
"lib/netstandard2.0/System.IO.Ports.dll": {
"assemblyVersion": "6.0.0.0",
"fileVersion": "6.0.21.52210"
}
}
},
"System.Memory/4.5.4": {
"dependencies": {
"System.Buffers": "4.5.1",
"System.Numerics.Vectors": "4.4.0",
"System.Runtime.CompilerServices.Unsafe": "4.5.3"
},
"runtime": {
"lib/netstandard2.0/System.Memory.dll": {
"assemblyVersion": "4.0.1.1",
"fileVersion": "4.6.28619.1"
}
}
},
"System.Numerics.Vectors/4.4.0": {
"runtime": {
"lib/netstandard2.0/System.Numerics.Vectors.dll": {
"assemblyVersion": "4.1.3.0",
"fileVersion": "4.6.25519.3"
}
}
},
"System.Runtime.CompilerServices.Unsafe/4.5.3": {
"runtime": {
"lib/netstandard2.0/System.Runtime.CompilerServices.Unsafe.dll": {
"assemblyVersion": "4.0.4.1",
"fileVersion": "4.6.28619.1"
}
}
},
"System.Security.AccessControl/5.0.0": {
"dependencies": {
"System.Security.Principal.Windows": "5.0.0"
},
"runtime": {
"lib/netstandard2.0/System.Security.AccessControl.dll": {
"assemblyVersion": "5.0.0.0",
"fileVersion": "5.0.20.51904"
}
}
},
"System.Security.Principal.Windows/5.0.0": {
"runtime": {
"lib/netstandard2.0/System.Security.Principal.Windows.dll": {
"assemblyVersion": "5.0.0.0",
"fileVersion": "5.0.20.51904"
}
}
},
"CommonUsage/1.0.0.0": {
"runtime": {
"CommonUsage.dll": {
"assemblyVersion": "1.0.0.0",
"fileVersion": "1.0.0.0"
}
}
},
"CycleGUI/1.0.0.0": {
"runtime": {
"CycleGUI.dll": {
"assemblyVersion": "1.0.0.0",
"fileVersion": "1.0.0.0"
}
}
},
"MDCSToolBox/1.0.0.0": {
"runtime": {
"MDCSToolBox.dll": {
"assemblyVersion": "1.0.0.0",
"fileVersion": "1.0.0.0"
}
}
},
"RefCartActivator/1.0.0.0": {
"runtime": {
"RefCartActivator.dll": {
"assemblyVersion": "1.0.0.0",
"fileVersion": "0.0.0.0"
}
}
},
"RefFundamentalLib/0.0.0.0": {
"runtime": {
"RefFundamentalLib.dll": {
"assemblyVersion": "0.0.0.0",
"fileVersion": "0.0.0.0"
}
}
},
"RefMedullaCore/1.0.0.0": {
"runtime": {
"RefMedullaCore.dll": {
"assemblyVersion": "1.0.0.0",
"fileVersion": "0.0.0.0"
}
}
}
}
},
"libraries": {
"MedullaAdapter/1.0.0": {
"type": "project",
"serviceable": false,
"sha512": ""
},
"Fody/6.9.3": {
"type": "package",
"serviceable": true,
"sha512": "sha512-1CUGgFdyECDKgi5HaUBhdv6k+VG9Iy4OCforGfHyar3xQXAJypZkzymgKtWj/4SPd6nSG0Qi7NH71qHrDSZLaA==",
"path": "fody/6.9.3",
"hashPath": "fody.6.9.3.nupkg.sha512"
},
"Microsoft.NETCore.Platforms/1.1.0": {
"type": "package",
"serviceable": true,
"sha512": "sha512-kz0PEW2lhqygehI/d6XsPCQzD7ff7gUJaVGPVETX611eadGsA3A877GdSlU0LRVMCTH/+P3o2iDTak+S08V2+A==",
"path": "microsoft.netcore.platforms/1.1.0",
"hashPath": "microsoft.netcore.platforms.1.1.0.nupkg.sha512"
},
"Microsoft.Win32.Registry/5.0.0": {
"type": "package",
"serviceable": true,
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MedullaAdapter/build/Clumsy/ClumsyLite.deps.json
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{
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"framework": {
"name": "Microsoft.NETCore.App",
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},
"configProperties": {
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}
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MedullaAdapter/build/Clumsy_AGV2/ClumsyLite.runtimeconfig.json
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{
"runtimeOptions": {
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"framework": {
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"version": "8.0.0"
},
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MedullaAdapter/build/Clumsy_AGV2/ClumsyPilot.pdb
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MedullaAdapter/build/Medulla/plugins/MedullaAdapter.deps.json
+23
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{
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"name": ".NETCoreApp,Version=v8.0",
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"compilationOptions": {},
"targets": {
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MedullaAdapter/native/code.c
-79
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#define i1 char
#define u1 unsigned char
#define i2 short
#define u2 unsigned short
#define i4 int
#define u4 unsigned int
#define r4 float
// function begins
r4 cfun0(r4 arg0 ){
//stack_vars:
r4 stack_0_r4;;
r4 stack_1_r4;;
//local_vars:
r4 var0;
L_0001: stack_0_r4=(arg0); //IL_0001: ldarg.0: s_0, pop0, push1
L_0002: stack_1_r4=(10.5f); //IL_0002: ldc.r4 10.5: s_1, pop0, push1
L_0007: stack_0_r4=((stack_0_r4)/(stack_1_r4)); //IL_0007: div: s_2, pop2, push1
L_0008: stack_1_r4=(60.0f); //IL_0008: ldc.r4 60: s_1, pop0, push1
L_000d: stack_0_r4=((stack_0_r4)/(stack_1_r4)); //IL_000d: div: s_2, pop2, push1
L_000e: stack_0_r4=(stack_0_r4); //IL_000e: conv.r8: s_1, pop1, push1
L_000f: stack_1_r4=(3.1f); //IL_000f: ldc.r8 3.14159265358979: s_1, pop0, push1
L_0018: stack_0_r4=((stack_0_r4)*(stack_1_r4)); //IL_0018: mul: s_2, pop2, push1
L_0019: stack_1_r4=(85.0f); //IL_0019: ldc.r8 85: s_1, pop0, push1
L_0022: stack_0_r4=((stack_0_r4)*(stack_1_r4)); //IL_0022: mul: s_2, pop2, push1
L_0023: stack_1_r4=(1000.0f); //IL_0023: ldc.r8 1000: s_1, pop0, push1
L_002c: stack_0_r4=((stack_0_r4)/(stack_1_r4)); //IL_002c: div: s_2, pop2, push1
L_002d: stack_0_r4=(stack_0_r4); //IL_002d: conv.r4: s_1, pop1, push1
L_002e: var0=stack_0_r4; //IL_002e: stloc.0: s_1, pop1, push0
L_002f: goto L_0031; //IL_002f: br.s IL_0031: s_0, pop0, push0
L_0031: stack_0_r4=(var0); //IL_0031: ldloc.0: s_0, pop0, push1
L_0032: return stack_0_r4; //IL_0032: ret: s_1, pop1, push0
}
r4 cfun1(void* arg0, r4 arg1 ){
//stack_vars:
r4 stack_0_r4;;
r4 stack_1_r4;;
//local_vars:
r4 var0;
L_0001: stack_0_r4=(arg1); //IL_0001: ldarg.1: s_0, pop0, push1
L_0002: stack_1_r4=(10.5f); //IL_0002: ldc.r4 10.5: s_1, pop0, push1
L_0007: stack_0_r4=((stack_0_r4)/(stack_1_r4)); //IL_0007: div: s_2, pop2, push1
L_0008: stack_0_r4=(stack_0_r4); //IL_0008: conv.r8: s_1, pop1, push1
L_0009: stack_1_r4=(3.1f); //IL_0009: ldc.r8 3.14159265358979: s_1, pop0, push1
L_0012: stack_0_r4=((stack_0_r4)*(stack_1_r4)); //IL_0012: mul: s_2, pop2, push1
L_0013: stack_1_r4=(85.0f); //IL_0013: ldc.r8 85: s_1, pop0, push1
L_001c: stack_0_r4=((stack_0_r4)*(stack_1_r4)); //IL_001c: mul: s_2, pop2, push1
L_001d: stack_0_r4=(stack_0_r4); //IL_001d: conv.r4: s_1, pop1, push1
L_001e: var0=stack_0_r4; //IL_001e: stloc.0: s_1, pop1, push0
L_001f: goto L_0021; //IL_001f: br.s IL_0021: s_0, pop0, push0
L_0021: stack_0_r4=(var0); //IL_0021: ldloc.0: s_0, pop0, push1
L_0022: return stack_0_r4; //IL_0022: ret: s_1, pop1, push0
}
r4 cfun2(r4 arg0 ){
//stack_vars:
r4 stack_0_r4;;
r4 stack_1_r4;;
//local_vars:
r4 var0;
L_0001: stack_0_r4=(arg0); //IL_0001: ldarg.0: s_0, pop0, push1
L_0002: stack_0_r4=(stack_0_r4); //IL_0002: conv.r8: s_1, pop1, push1
L_0003: stack_1_r4=(267.0f); //IL_0003: ldc.r8 267.035375555132: s_1, pop0, push1
L_000c: stack_0_r4=((stack_0_r4)/(stack_1_r4)); //IL_000c: div: s_2, pop2, push1
L_000d: stack_1_r4=(10.5f); //IL_000d: ldc.r8 10.5: s_1, pop0, push1
L_0016: stack_0_r4=((stack_0_r4)*(stack_1_r4)); //IL_0016: mul: s_2, pop2, push1
L_0017: stack_1_r4=(60.0f); //IL_0017: ldc.r8 60: s_1, pop0, push1
L_0020: stack_0_r4=((stack_0_r4)*(stack_1_r4)); //IL_0020: mul: s_2, pop2, push1
L_0021: stack_1_r4=(1000.0f); //IL_0021: ldc.r8 1000: s_1, pop0, push1
L_002a: stack_0_r4=((stack_0_r4)*(stack_1_r4)); //IL_002a: mul: s_2, pop2, push1
L_002b: stack_0_r4=(stack_0_r4); //IL_002b: conv.r4: s_1, pop1, push1
L_002c: var0=stack_0_r4; //IL_002c: stloc.0: s_1, pop1, push0
L_002d: goto L_002f; //IL_002d: br.s IL_002f: s_0, pop0, push0
L_002f: stack_0_r4=(var0); //IL_002f: ldloc.0: s_0, pop0, push1
L_0030: return stack_0_r4; //IL_0030: ret: s_1, pop1, push0
}
MedullaAdapter/obj/Debug/netstandard2.0/.NETStandard,Version=v2.0.AssemblyAttributes.cs
-4
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// <autogenerated />
using System;
using System.Reflection;
[assembly: global::System.Runtime.Versioning.TargetFrameworkAttribute(".NETStandard,Version=v2.0", FrameworkDisplayName = ".NET Standard 2.0")]
MedullaAdapter/obj/Debug/netstandard2.0/MedullaA.645DEFF4.Up2Date
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MedullaAdapter/obj/Debug/netstandard2.0/MedullaAdapter.AssemblyInfo.cs
-23
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//------------------------------------------------------------------------------
// <auto-generated>
// 此代码由工具生成。
// 运行时版本:4.0.30319.42000
//
// 对此文件的更改可能会导致不正确的行为，并且如果
// 重新生成代码，这些更改将会丢失。
// </auto-generated>
//------------------------------------------------------------------------------
using System;
using System.Reflection;
[assembly: System.Reflection.AssemblyCompanyAttribute("MedullaAdapter")]
[assembly: System.Reflection.AssemblyConfigurationAttribute("Debug")]
[assembly: System.Reflection.AssemblyFileVersionAttribute("1.0.0.0")]
[assembly: System.Reflection.AssemblyInformationalVersionAttribute("1.0.0")]
[assembly: System.Reflection.AssemblyProductAttribute("MedullaAdapter")]
[assembly: System.Reflection.AssemblyTitleAttribute("MedullaAdapter")]
[assembly: System.Reflection.AssemblyVersionAttribute("1.0.0.0")]
// 由 MSBuild WriteCodeFragment 类生成。
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2eac81d674c264ce890b4225c419fa343e662bbba0825694002aaadff6e734b7
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is_global = true
build_property.RootNamespace = MedullaAdapter
build_property.ProjectDir = D:\@FariyLandTask\@FRLD-GitProject\ParkingRobot\MedullaAdapter\
build_property.EnableComHosting =
build_property.EnableGeneratedComInterfaceComImportInterop =
build_property.CsWinRTUseWindowsUIXamlProjections = false
build_property.EffectiveAnalysisLevelStyle =
build_property.EnableCodeStyleSeverity =
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D:\@FariyLandTask\@FRLD-GitProject\ParkingRobot\MedullaAdapter\bin\Debug\netstandard2.0\MDCSToolBox.dll
D:\@FariyLandTask\@FRLD-GitProject\ParkingRobot\MedullaAdapter\bin\Debug\netstandard2.0\RefCartActivator.dll
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D:\@FariyLandTask\@FRLD-GitProject\ParkingRobot\MedullaAdapter\bin\Debug\netstandard2.0\RefMedullaCore.dll
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MedullaAdapter/obj/Debug/netstandard2.0/MedullaAdapter.csproj.Fody.CopyLocal.cache
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