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shuai.li
2026-07-21 11:11:01 +08:00
commit a420e9ae74
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MedullaAdapter/AlarmRoutine.cs
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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);
}
}
}
MedullaAdapter/DiverCartDefinition.cs
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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 DiverCommunication Embedded;
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;
#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;
[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;
[AsLowerIO(desc = "右前右轮实际位置")] public float RFRActualPos;
[AsLowerIO(desc = "左后左轮实际位置")] public float LRLActualPos;
[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;
[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;
[IOObjectUtility]
public void WheelReset()
{
ResetFromM = true;
}
[IOObjectUtility]
public void WheelDisable()
{
DisableFromM = true;
}
public override void CommunicationInit()
{
if (GhostMode) return;
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());
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());
return;
}
else
{
Thread.Sleep(500);
Console.WriteLine("MCU Reset OK");
}
//Step3:GetVersion
err = Bridge.GetVersion(out var version, 100);
if (err != MCUSerialBridgeError.OK)
{
Console.WriteLine("MCU GetVersion FAILED: {0}", err.ToDescription());
return;
}
else
{
Console.WriteLine("MCU GetVersion OK: {0}", version.ToString());
}
//Step4:GetState
err = Bridge.GetState(out var state, 100);
if (err != MCUSerialBridgeError.OK)
{
Console.WriteLine("MCU GetState FAILED: {0}", err.ToDescription());
return;
}
else
{
Console.WriteLine("MCU GetState OK: {0}", state.ToString());
}
//Step5:串口/CAN配置
try
{
var ports = new List<PortConfig>();
for (int i = 0; i < 1; i++)
ports.Add(new CANPortConfig(500000, 10));
for (int i = 0; i < 3; i++)
ports.Add(new SerialPortConfig(9600, 10));
Console.WriteLine("=== Port Configuration ===");
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);
else if (ports[i] is CANPortConfig c)
Console.WriteLine("Port {0}: CAN, Baud={1}, RetryTimeMs={2}", i, c.Baud, c.RetryTimeMs);
}
var ret = Bridge.Configure(ports, 200);
if (ret != MCUSerialBridgeError.OK)
{
Console.WriteLine("MCU Configure FAILED: {0}", ret.ToDescription());
return;
}
else
{
Console.WriteLine("MCU Configure OK");
}
Console.WriteLine("MCU Configure {0}", ret == MCUSerialBridgeError.OK ? "OK" : $"FAILED: 0x{(uint)ret:X8}");
}
catch (Exception ex)
{
Console.WriteLine("Configure Exception: {0}", ex.Message);
}
//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
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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($"send to mcu:{BitConverter.ToString(data)}", "DiverSend");
_port.Write(data, 0, data.Length);
}
public byte[] GetMessage()
{
return _receiveBytes;
}
}
}
MedullaAdapter/EmbeddedCommunication.cs
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using System;
using System.Collections.Generic;
using System.IO.Ports;
using System.Linq;
using System.Threading;
using FundamentalLib;
using Medulla;
namespace MedullaAdapter
{
public class EmbeddedCommunication
{
private SerialPort _port;
private byte[] _receiveBytes;
private byte[] _receiveData;
private const int BufferThreshold = 300; // 缓冲区大小阈值
private List<byte> _buffer = new List<byte>(); // 缓存接收到的数据
public bool CommunicationError = false;
private DateTime _lastTime = DateTime.Now;
private MCUInterface<DiverCartDefinition> _interface;
public EmbeddedCommunication(string name, int baudRate)
{
_interface = new MCUInterface<DiverCartDefinition>();
_port = new SerialPort();
_port.PortName = name; // 根据你的实际串口名称修改
_port.BaudRate = baudRate;
_port.Parity = Parity.None;
_port.DataBits = 8;
_port.StopBits = StopBits.One;
_port.Handshake = Handshake.None;
_port.Open();
_port.DataReceived += OnDataReceived;
}
public void SendMessage(byte[] data)
{
Hedingben.ToastText($"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=>$"{p:X2}")));
_buffer.RemoveAt(startIndex);
}
}
}
}
}
MedullaAdapter/FleetRemote.cs
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using System;
using CartActivator;
using CycleGUI;
using CycleGUI.API;
using FundamentalLib;
using Medulla.Types;
namespace MedullaAdapter
{
public partial class DiverCartDefinition
{
private bool _fleetRemoteActive;
private DateTime _fleetDiagLastStick = DateTime.MinValue;
private void FleetDiag(string msg)
{
DLog.Log($"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
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@@ -0,0 +1,3 @@
<Weavers xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="FodyWeavers.xsd">
<DiverCompiler />
</Weavers>
MedullaAdapter/FodyWeavers.xsd
+26
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@@ -0,0 +1,26 @@
<?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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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
+879
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@@ -0,0 +1,879 @@
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];
},
};
}
}
}
MedullaAdapter/MCUSerialBridgeCLR.cs
+884
View File
@@ -0,0 +1,884 @@
using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.InteropServices;
namespace MCUSerialBridgeCLR
{
/// <summary>
/// 辅助方法与内部 C 结构体封装，用于 P/Invoke 交互
/// </summary>
internal static class PortStructHelper
{
/// <summary>
/// 将任意结构体序列化为字节数组
/// </summary>
/// <typeparam name="T">结构体类型</typeparam>
/// <param name="str">要序列化的结构体</param>
/// <returns>返回结构体对应的字节数组</returns>
/// <remarks>使用 Marshal 分配内存并复制内容</remarks>
public static byte[] StructToBytes<T>(T str)
where T : struct
{
int size = Marshal.SizeOf<T>();
byte[] arr = new byte[size];
IntPtr ptr = Marshal.AllocHGlobal(size);
try
{
Marshal.StructureToPtr(str, ptr, false);
Marshal.Copy(ptr, arr, 0, size);
}
finally
{
Marshal.FreeHGlobal(ptr);
}
return arr;
}
/// <summary>
/// 串口端口配置的原生结构体（与 MCU C 层对应）
/// </summary>
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct SerialPortConfigC
{
/// <summary>端口类型（0x01 = Serial）</summary>
public byte port_type;
/// <summary>波特率</summary>
public uint baud;
/// <summary>接收帧时间间隔</summary>
public uint receive_frame_ms;
/// <summary>保留字节，填 0</summary>
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 7)]
public byte[] reserved;
}
/// <summary>
/// CAN 端口配置的原生结构体（与 MCU C 层对应）
/// </summary>
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct CANPortConfigC
{
/// <summary>端口类型（0x02 = CAN）</summary>
public byte port_type;
/// <summary>波特率</summary>
public uint baud;
/// <summary>最大重发时间</summary>
public uint retry_time_ms;
/// <summary>保留字节，填 0</summary>
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 7)]
public byte[] reserved;
}
}
/// <summary>
/// MCU 固件版本信息结构体
/// </summary>
[StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)]
public struct VersionInfo
{
/// <summary>产品型号</summary>
[MarshalAs(UnmanagedType.ByValTStr, SizeConst = 16)]
public string ProductionName;
/// <summary>Git 标签</summary>
[MarshalAs(UnmanagedType.ByValTStr, SizeConst = 8)]
public string GitTag;
/// <summary>Git commit 哈希值</summary>
[MarshalAs(UnmanagedType.ByValTStr, SizeConst = 8)]
public string GitCommit;
/// <summary>编译时间（字符串）</summary>
[MarshalAs(UnmanagedType.ByValTStr, SizeConst = 24)]
public string BuildTime;
/// <summary>
/// 转换为可读字符串
/// </summary>
/// <returns>返回包含产品、Tag、Commit、BuildTime 的字符串</returns>
public override string ToString()
{
return $"Product: {ProductionName}, Tag: {GitTag}, Commit: {GitCommit}, Built: {BuildTime}";
}
}
/// <summary>
/// MCU 当前运行状态
/// </summary>
[StructLayout(LayoutKind.Explicit)]
public struct MCUState
{
/// <summary>原始 32 位状态值</summary>
[FieldOffset(0)]
public uint RawValue;
/// <summary>状态子字段 0</summary>
[FieldOffset(0)]
public byte Substate0;
/// <summary>状态子字段 1</summary>
[FieldOffset(1)]
public byte Substate1;
/// <summary>状态子字段 2</summary>
[FieldOffset(2)]
public byte Substate2;
/// <summary>高字节模式标志</summary>
[FieldOffset(3)]
public byte Mode;
/// <summary>是否处于 Bridge 模式</summary>
public bool IsBridge => (Mode & 0x80) == 0;
/// <summary>是否处于 DIVER 模式</summary>
public bool IsDIVER => (Mode & 0x80) != 0;
/// <summary>
/// 返回可读的状态字符串
/// </summary>
/// <returns>例如 "Bridge: Running" 或 "DIVER: Error"</returns>
public override string ToString()
{
string modeStr = IsBridge ? "Bridge" : "DIVER";
uint substate = (uint)(Substate0 | (Substate1 << 8) | (Substate2 << 16));
string subStr = substate switch
{
0x00000000 => "Idle",
0x0000000F => "Running",
0x000000FF => "Error",
0x00000001 => "Configured", // DIVER specific
0x8000000F => "Running",
0x800000FF => "Error",
_ => $"Unknown (0x{substate:X6})",
};
return $"{modeStr}: {subStr}";
}
}
/// <summary>
/// 抽象端口配置基类
/// </summary>
public abstract class PortConfig
{
/// <summary>端口类型（由子类实现）</summary>
public abstract byte PortType { get; }
/// <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>
public abstract byte[] ToBytes();
}
/// <summary>
/// 串口配置
/// </summary>
/// <remarks>
/// 构造函数
/// </remarks>
/// <param name="baud">波特率</param>
/// <param name="receiveFrameMs">接收帧间隔</param>
public class SerialPortConfig(uint baud, uint receiveFrameMs) : PortConfig
{
/// <summary>Serial 类型</summary>
public override byte PortType => 0x01;
/// <summary>波特率</summary>
public uint Baud { get; set; } = baud;
/// <summary>接收帧间隔</summary>
public uint ReceiveFrameMs { get; set; } = receiveFrameMs;
/// <summary>
/// 转换为字节数组
/// </summary>
/// <returns>16 字节数组</returns>
public override byte[] ToBytes()
{
var c = new PortStructHelper.SerialPortConfigC
{
port_type = PortType,
baud = Baud,
receive_frame_ms = ReceiveFrameMs,
reserved = new byte[7],
};
return PortStructHelper.StructToBytes(c);
}
}
/// <summary>
/// CAN 端口配置
/// </summary>
/// <remarks>
/// 构造函数
/// </remarks>
/// <param name="baud">波特率</param>
/// <param name="retryTimeMs">重发间隔</param>
public class CANPortConfig(uint baud, uint retryTimeMs) : PortConfig
{
/// <summary>CAN 类型</summary>
public override byte PortType => 0x02;
/// <summary>波特率</summary>
public uint Baud { get; set; } = baud;
/// <summary>重发间隔</summary>
public uint RetryTimeMs { get; set; } = retryTimeMs;
/// <summary>
/// 转换为字节数组
/// </summary>
/// <returns>16 字节数组</returns>
public override byte[] ToBytes()
{
var c = new PortStructHelper.CANPortConfigC
{
port_type = PortType,
baud = Baud,
retry_time_ms = RetryTimeMs,
reserved = new byte[7],
};
return PortStructHelper.StructToBytes(c);
}
}
/// <summary>
/// CAN 帧结构（标准帧 11-bit ID + 1-bit RTR + 4-bit DLC + Payload）
/// </summary>
public class CANMessage
{
/// <summary>标准帧 ID（0~0x7FF，11 位）</summary>
public ushort ID { get; set; }
/// <summary>远程帧标志：false = 数据帧，true = 远程帧</summary>
public bool RTR { get; set; }
/// <summary>数据长度码：0~8</summary>
public byte DLC { get; set; }
/// <summary>数据负载，长度必须严格等于 DLC（DLC=0 时可为 null）</summary>
public byte[] Payload { get; set; }
/// <summary>
/// 序列化为 MCU 协议字节流
/// </summary>
/// <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>
public byte[] ToBytes()
{
if (DLC > 8)
throw new ArgumentOutOfRangeException(nameof(DLC), "DLC must be 0-8");
if (DLC > 0 && (Payload == null || Payload.Length != DLC))
throw new ArgumentException("Payload length must equal DLC");
// 构造 2 字节 header
ushort header = 0;
header |= (ushort)(ID & 0x7FF); // bits 0-10
if (RTR)
header |= (1 << 11); // bit 11
header |= (ushort)((DLC & 0xF) << 12); // bits 12-15
byte[] result = new byte[2 + DLC];
byte[] headerBytes = BitConverter.GetBytes(header); // 小端序
result[0] = headerBytes[0];
result[1] = headerBytes[1];
if (DLC > 0)
Buffer.BlockCopy(Payload, 0, result, 2, DLC);
return result;
}
/// <summary>
/// 反序列化 MCU 协议字节流为 CANMessage
/// </summary>
/// <param name="data">原始字节数组</param>
/// <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>
public static CANMessage FromBytes(byte[] data, uint length)
{
if (data == null || length > data.Length || length < 2)
throw new ArgumentException("Data must be at least 2 bytes");
ushort header = BitConverter.ToUInt16(data, 0);
var msg = new CANMessage
{
ID = (ushort)(header & 0x7FF),
RTR = (header & (1 << 11)) != 0,
DLC = (byte)((header >> 12) & 0xF),
};
if (msg.DLC > 0)
{
if (length < 2 + msg.DLC)
throw new ArgumentException("Data length less than DLC");
msg.Payload = new byte[msg.DLC];
Buffer.BlockCopy(data, 2, msg.Payload, 0, msg.DLC);
}
else
{
msg.Payload = Array.Empty<byte>();
}
return msg;
}
public override string ToString()
{
string payloadStr =
(Payload == null || Payload.Length == 0)
? "[]"
: "0x[" + string.Join(" ", Payload.Select(b => $"{b:X2}")) + "]";
return $"CANMessage(ID=0x{ID:X3}, RTR={RTR}, DLC={DLC}, Payload={payloadStr})";
}
}
/// <summary>
/// 内部 P/Invoke 层，直接映射 C DLL 函数
/// </summary>
internal static class MCUSerialBridgeCoreAPI
{
private const string DLL = @"mcu_serial_bridge.dll";
[DllImport(DLL, CallingConvention = CallingConvention.Cdecl)]
internal static extern MCUSerialBridgeError msb_open(
out IntPtr handle,
[MarshalAs(UnmanagedType.LPStr)] string port,
uint baud
);
[DllImport(DLL, CallingConvention = CallingConvention.Cdecl)]
internal static extern MCUSerialBridgeError msb_close(IntPtr handle);
[DllImport(DLL, CallingConvention = CallingConvention.Cdecl)]
internal static extern MCUSerialBridgeError msb_reset(IntPtr handle, uint timeout_ms);
[DllImport(DLL, CallingConvention = CallingConvention.Cdecl)]
public static extern MCUSerialBridgeError msb_version(
IntPtr handle,
out VersionInfo version,
uint timeout_ms
);
[DllImport(DLL, CallingConvention = CallingConvention.Cdecl)]
public static extern MCUSerialBridgeError mcu_state(
IntPtr handle,
out MCUState state,
uint timeout
);
[DllImport(DLL, CallingConvention = CallingConvention.Cdecl)]
internal static extern MCUSerialBridgeError msb_configure(
IntPtr handle,
uint num_ports,
IntPtr ports,
uint timeout
);
[DllImport(DLL, CallingConvention = CallingConvention.Cdecl)]
internal static extern MCUSerialBridgeError msb_read_input(
IntPtr handle,
[Out] byte[] inputs,
uint timeout_ms
);
[DllImport(DLL, CallingConvention = CallingConvention.Cdecl)]
internal static extern MCUSerialBridgeError msb_write_output(
IntPtr handle,
[In] byte[] outputs,
uint timeout_ms
);
[DllImport(DLL, CallingConvention = CallingConvention.Cdecl)]
internal static extern MCUSerialBridgeError msb_read_port(
IntPtr handle,
byte port_index,
[Out] byte[] dst_data,
uint dst_capacity,
out uint out_length,
uint timeout_ms
);
[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
internal delegate void msb_on_port_data_callback_function_t(
IntPtr dst_data,
uint dst_data_size,
IntPtr user_ctx
);
[DllImport(DLL, CallingConvention = CallingConvention.Cdecl)]
internal static extern MCUSerialBridgeError msb_register_port_data_callback(
IntPtr handle,
byte port_index,
msb_on_port_data_callback_function_t callback,
IntPtr user_ctx
);
[DllImport(DLL, CallingConvention = CallingConvention.Cdecl)]
internal static extern MCUSerialBridgeError msb_write_port(
IntPtr handle,
byte port_index,
[In] byte[] src_data,
uint src_data_len,
uint timeout_ms
);
}
/// <summary>
/// MCU 串口/端口操作托管封装类
/// 实现 IDisposable 管理底层句柄生命周期
/// </summary>
public class MCUSerialBridge : IDisposable
{
public static uint MaxPortNumber = 16;
private IntPtr nativeHandle = IntPtr.Zero;
/// <summary>判断是否已打开</summary>
public bool IsOpen => nativeHandle != IntPtr.Zero;
/// <summary>构造函数，初始化对象</summary>
public MCUSerialBridge()
{
nativeHandle = IntPtr.Zero;
}
/// <summary>析构函数</summary>
~MCUSerialBridge()
{
Dispose(false);
}
/// <summary>显式释放资源</summary>
public void Dispose()
{
Dispose(true);
GC.SuppressFinalize(this);
}
/// <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>
private void Dispose(bool disposing)
{
if (nativeHandle != IntPtr.Zero)
{
MCUSerialBridgeCoreAPI.msb_close(nativeHandle);
nativeHandle = IntPtr.Zero;
}
}
/// <summary>打开串口</summary>
/// <param name="portName">串口名，如 "COM3"</param>
/// <param name="baud">波特率</param>
/// <returns>错误码</returns>
public MCUSerialBridgeError Open(string portName, uint baud)
{
return MCUSerialBridgeCoreAPI.msb_open(out nativeHandle, portName, baud);
}
/// <summary>关闭串口</summary>
/// <returns>错误码</returns>
public MCUSerialBridgeError Close()
{
if (nativeHandle == IntPtr.Zero)
return MCUSerialBridgeError.Win_HandleNotFound;
MCUSerialBridgeError error = MCUSerialBridgeCoreAPI.msb_close(nativeHandle);
nativeHandle = IntPtr.Zero;
return error;
}
/// <summary>MCU 复位</summary>
/// <returns>错误码</returns>
public MCUSerialBridgeError Reset(uint timeout = 200)
{
if (nativeHandle == IntPtr.Zero)
return MCUSerialBridgeError.Win_HandleNotFound;
return MCUSerialBridgeCoreAPI.msb_reset(nativeHandle, timeout);
}
/// <summary>获取固件版本</summary>
/// <param name="version">输出版本信息</param>
/// <param name="timeout">超时时间（ms）</param>
/// <returns>错误码</returns>
public MCUSerialBridgeError GetVersion(out VersionInfo version, uint timeout = 200)
{
version = new VersionInfo();
if (nativeHandle == IntPtr.Zero)
return MCUSerialBridgeError.Win_HandleNotFound;
return MCUSerialBridgeCoreAPI.msb_version(nativeHandle, out version, timeout);
}
/// <summary>获取 MCU 当前状态</summary>
/// <param name="state">输出状态</param>
/// <param name="timeout">超时时间（ms）</param>
/// <returns>错误码</returns>
public MCUSerialBridgeError GetState(out MCUState state, uint timeout = 200)
{
state = new MCUState();
if (nativeHandle == IntPtr.Zero)
return MCUSerialBridgeError.Win_HandleNotFound;
return MCUSerialBridgeCoreAPI.mcu_state(nativeHandle, out state, timeout);
}
/// <summary>配置端口</summary>
/// <param name="ports">端口集合</param>
/// <param name="timeout">超时时间（ms）</param>
/// <returns>错误码</returns>
public MCUSerialBridgeError Configure(IEnumerable<PortConfig> ports, uint timeout = 200)
{
if (nativeHandle == IntPtr.Zero)
return MCUSerialBridgeError.Win_HandleNotFound;
if (ports == null)
return MCUSerialBridgeError.Win_InvalidParam;
// 转换成数组
PortConfig[] portArray = ports as PortConfig[] ?? ports.ToArray();
int count = portArray.Length;
// 分配连续原生内存
int structSize = 16; // 每个 PortConfig 固定 16 字节
IntPtr nativePorts = Marshal.AllocHGlobal(structSize * count);
try
{
for (int i = 0; i < count; i++)
{
byte[] bytes = portArray[i].ToBytes();
if (bytes.Length != structSize)
return MCUSerialBridgeError.Win_InvalidParam;
Marshal.Copy(bytes, 0, nativePorts + i * structSize, structSize);
}
// 调用底层 API
return MCUSerialBridgeCoreAPI.msb_configure(
nativeHandle,
(uint)count,
nativePorts,
timeout
);
}
catch
{
return MCUSerialBridgeError.Win_InvalidParam;
}
finally
{
Marshal.FreeHGlobal(nativePorts);
}
}
/// <summary>读取输入（4 字节）</summary>
/// <param name="inputs">输出数组</param>
/// <param name="timeout">超时（ms）</param>
/// <returns>错误码</returns>
public MCUSerialBridgeError ReadInput(out byte[] inputs, uint timeout = 100)
{
inputs = new byte[4];
if (nativeHandle == IntPtr.Zero)
return MCUSerialBridgeError.Win_HandleNotFound;
return MCUSerialBridgeCoreAPI.msb_read_input(nativeHandle, inputs, timeout);
}
/// <summary>写输出（4 字节）</summary>
/// <param name="outputs">数据数组</param>
/// <param name="timeout">超时（ms）</param>
/// <returns>错误码</returns>
public MCUSerialBridgeError WriteOutput(byte[] outputs, uint timeout = 100)
{
if (nativeHandle == IntPtr.Zero)
return MCUSerialBridgeError.Win_HandleNotFound;
return MCUSerialBridgeCoreAPI.msb_write_output(nativeHandle, outputs, timeout);
}
/// <summary>
/// 读取 Serial 端口的一帧数据。
/// Serial 上报的数据按帧入队；本接口每次调用最多读取一帧。
/// 注意，如果不及时调用该接口，数据可能会丢失。
/// </summary>
/// <param name="portIndex">Serial 端口索引</param>
/// <param name="buffer">接收到的数据</param>
/// <param name="timeout">
/// 超时时间（毫秒）
/// - 0：不等待，有数据立即返回，没有数据立即返回 MSB_Error_NoData
/// - >0：若当前无数据，最多等待 timeout，期间有新帧到达则立即返回
/// </param>
/// <remarks>
/// 如果已经注册回调，本函数将始终返回 MSB_Error_NoData
/// </remarks>
/// <returns>
/// 错误码 MCUSerialBridgeError
/// - OK 成功读取一帧
/// - NoData 当前无可读数据（仅在 timeout == 0 或等待超时）
/// - Win_InvalidParam 参数错误
/// </returns>
public MCUSerialBridgeError ReadSerial(byte portIndex, out byte[] buffer, uint timeout)
{
buffer = Array.Empty<byte>();
if (nativeHandle == IntPtr.Zero)
return MCUSerialBridgeError.Win_HandleNotFound;
const int MAX_PORT_FRAME = 2048;
byte[] tmp = new byte[MAX_PORT_FRAME];
var err = MCUSerialBridgeCoreAPI.msb_read_port(
nativeHandle,
portIndex,
tmp,
(uint)tmp.Length,
out uint outLen,
timeout
);
if (err != MCUSerialBridgeError.OK)
return err;
buffer = new byte[outLen];
Buffer.BlockCopy(tmp, 0, buffer, 0, (int)outLen);
return MCUSerialBridgeError.OK;
}
/// <summary>
/// 写 Serial 端口数据。
/// 注意：对于单个Serial端口，不支持多线程并行发送，不要在上一条数据没有发送完成之前调用该函数，否则有可能导致数据错误。
/// 注意：超时时间一定要大于波特率和数据长度综合得出的帧时间
/// </summary>
/// <param name="portIndex">Serial 端口索引</param>
/// <param name="data">待发送数据</param>
/// <param name="timeout">超时时间（毫秒）</param>
/// <returns>
/// 错误码 MCUSerialBridgeError
/// - OK 成功发送
/// - 其他错误请查看 MCUSerialBridgeError
/// </returns>
public MCUSerialBridgeError WriteSerial(byte portIndex, byte[] data, uint timeout)
{
if (nativeHandle == IntPtr.Zero)
return MCUSerialBridgeError.Win_HandleNotFound;
if (data == null || data.Length == 0)
return MCUSerialBridgeError.Win_InvalidParam;
return MCUSerialBridgeCoreAPI.msb_write_port(
nativeHandle,
portIndex,
data,
(uint)data.Length,
timeout
);
}
/// <summary>
/// 读取 CAN 端口的一帧数据。
/// CAN 上报的数据按帧入队；本接口每次调用最多读取一帧。
/// 注意，如果不及时调用该接口，数据可能会丢失。
/// </summary>
/// <param name="portIndex">CAN 端口索引</param>
/// <param name="message">输出 CAN 消息对象</param>
/// <param name="timeout">超时时间（毫秒）</param>
/// <remarks>
/// 如果已经注册回调，本函数将始终返回 MSB_Error_NoData
/// </remarks>
/// <returns>
/// 错误码 MCUSerialBridgeError
/// - OK 成功读取一帧
/// - NoData 当前无可读数据（仅在 timeout == 0 或等待超时）
/// - Win_InvalidParam 参数错误
/// - CAN_DataError CAN数据错误
/// - Win_HandleNotFound 句柄无效
/// </returns>
public MCUSerialBridgeError ReadCAN(byte portIndex, out CANMessage message, uint timeout)
{
message = null;
if (nativeHandle == IntPtr.Zero)
return MCUSerialBridgeError.Win_HandleNotFound;
const int MAX_FRAME = 16;
byte[] tmp = new byte[MAX_FRAME];
var err = MCUSerialBridgeCoreAPI.msb_read_port(
nativeHandle,
portIndex,
tmp,
(uint)tmp.Length,
out uint outLen,
timeout
);
if (err != MCUSerialBridgeError.OK)
return err;
try
{
message = CANMessage.FromBytes(tmp, outLen);
}
catch
{
return MCUSerialBridgeError.CAN_DataError;
}
return MCUSerialBridgeError.OK;
}
/// <summary>
/// 写 CAN 端口数据。
/// 注意：CAN 支持多线程发送，最多可同时发送 16 个消息。
/// 但是，多个CAN消息会进入排队队列等待发送，如果消息太多，可能引起超时。
/// </summary>
/// <param name="portIndex">CAN 端口索引</param>
/// <param name="message">待发送 CAN 消息对象</param>
/// <param name="timeout">超时时间（毫秒），默认 500ms</param>
/// <returns>
/// 错误码 MCUSerialBridgeError
/// - OK 成功发送
/// - Win_InvalidParam 参数错误
/// - CAN_DataError CAN 数据错误
/// - Win_HandleNotFound 句柄无效
/// </returns>
public MCUSerialBridgeError WriteCAN(byte portIndex, CANMessage message, uint timeout)
{
if (nativeHandle == IntPtr.Zero)
return MCUSerialBridgeError.Win_HandleNotFound;
if (message == null)
return MCUSerialBridgeError.Win_InvalidParam;
try
{
byte[] buffer = message.ToBytes();
return MCUSerialBridgeCoreAPI.msb_write_port(
nativeHandle,
portIndex,
buffer,
(uint)buffer.Length,
timeout
);
}
catch
{
return MCUSerialBridgeError.CAN_DataError;
}
}
private readonly Dictionary<
byte,
MCUSerialBridgeCoreAPI.msb_on_port_data_callback_function_t
> _portCallbacks = [];
/// <summary>
/// 注册指定端口(Serial)的回调函数
/// </summary>
/// <param name="portIndex">端口索引</param>
/// <param name="callback">接收数据回调，byte[] 为接收到的原始数据</param>
/// <returns>错误码</returns>
/// <remarks>
/// 注意事项：
/// 1. 回调会在底层 C 层线程中直接调用，请**不要在回调内阻塞**，例如等待 I/O 或 Sleep。
/// 2. 回调内**不能调用 WriteSerial/WriteCAN 等发送函数**，否则可能导致死锁或丢帧。
/// 3. 回调内只能做轻量级操作，例如简单解析、统计或打标记。
/// 4. 若需要复杂处理（例如长时间解析、解码、存储数据库等），请**将数据入队到另一个线程**，再在后台处理。
/// 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>
public MCUSerialBridgeError RegisterSerialPortCallback(
byte portIndex,
Action<byte[]> callback
)
{
if (callback == null)
return MCUSerialBridgeError.Win_InvalidParam;
if (portIndex > MaxPortNumber)
return MCUSerialBridgeError.Config_PortNumOver;
// 包装 C# 回调为 P/Invoke 委托
void del(IntPtr dst_data, uint dst_data_size, IntPtr user_ctx)
{
byte[] data = new byte[dst_data_size];
Marshal.Copy(dst_data, data, 0, (int)dst_data_size);
callback(data);
}
// 保存引用，防止 GC 回收
_portCallbacks[portIndex] = del;
// 调用 C 层注册
return MCUSerialBridgeCoreAPI.msb_register_port_data_callback(
nativeHandle,
portIndex,
_portCallbacks[portIndex],
IntPtr.Zero
);
}
/// <summary>
/// 注册指定端口(CAN)的回调函数
/// </summary>
/// <param name="portIndex">端口索引</param>
/// <param name="callback">接收数据回调，CANMessage 为接收到的原始数据</param>
/// <returns>错误码</returns>
/// <remarks>
/// 注意事项：
/// 1. 回调会在底层 C 层线程中直接调用，请**不要在回调内阻塞**，例如等待 I/O 或 Sleep。
/// 2. 回调内**不能调用 WriteSerial/WriteCAN 等发送函数**，否则可能导致死锁或丢帧。
/// 3. 回调内只能做轻量级操作，例如简单解析、统计或打标记。
/// 4. 若需要复杂处理（例如长时间解析、解码、存储数据库等），请**将数据入队到另一个线程**，再在后台处理。
/// 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>
public MCUSerialBridgeError RegisterCANPortCallback(
byte portIndex,
Action<CANMessage> callback
)
{
if (callback == null)
return MCUSerialBridgeError.Win_InvalidParam;
if (portIndex > MaxPortNumber)
return MCUSerialBridgeError.Config_PortNumOver;
// 包装 C# 回调为 P/Invoke 委托
void del(IntPtr dst_data, uint dst_data_size, IntPtr user_ctx)
{
try
{
byte[] data = new byte[dst_data_size];
Marshal.Copy(dst_data, data, 0, (int)dst_data_size);
CANMessage msg = CANMessage.FromBytes(data, dst_data_size);
callback(msg);
}
catch
{
// 解析失败直接忽略，保证回调不会抛异常阻塞 C 层线程
}
}
// 保存引用，防止 GC 回收
_portCallbacks[portIndex] = del;
// 调用 C 层注册
return MCUSerialBridgeCoreAPI.msb_register_port_data_callback(
nativeHandle,
portIndex,
_portCallbacks[portIndex],
IntPtr.Zero
);
}
}
}
MedullaAdapter/MCUSerialBridgeError.cs
+97
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using System;
namespace MCUSerialBridgeCLR
{
public enum MCUSerialBridgeError : uint
{
OK = 0x00000000, // Success
NoData = 0x00000001, // Port no new data
Win_Unknown = 0x80000001, // Unknown Windows error
Win_InvalidParam = 0x80000002, // Invalid parameter
Win_AllocFail = 0x80000003, // Memory allocation failed
Win_HandleNotFound = 0x80000004, // Handle not found
Win_ResourceBusy = 0x80000005, // Resource busy
Win_BufferFull = 0x80000006, // Buffer is full
Win_UserBufferTooSmall = 0x80000007, // Buffer is too small
Win_CannotOpenPort = 0x80000010, // Cannot open port
Win_CannotGetCommState = 0x80000011, // Cannot get comm state
Win_CannotSetCommState = 0x80000012, // Cannot set comm state
Win_CannotCreateThread = 0x80000013, // Cannot create thread
Proto_Invalid = 0xE0000001, // Protocol invalid
Proto_Checksum = 0xE0000002, // CRC check failed
Proto_Timeout = 0xE0000003, // Protocol timeout
Proto_FrameTooLong = 0xE0000004, // Frame too long
Proto_UnknownCommand = 0xE0000005, // Unknown command
Proto_InvalidPayload = 0xE0000006, // Invalid payload
State_NotRunning = 0xF0000000, // Not running, configure
State_Running = 0xF0000001, // Can not configure, already running
Config_PortNumOver = 0xC0000000, // Port number over
Config_SerialNumOver = 0xC0000001, // Serial port number over
Config_CANNumOver = 0xC0000002, // CAN number over
Config_UnknownPortType = 0xC0000010, // Unknown Port Type
Serial_OpenFail = 0x01000001, // Serial open failed
Serial_NotOpen = 0x01000002, // Serial not open
Serial_ReadFail = 0x01000003, // Serial read failed
Serial_WriteFail = 0x01000004, // Serial write failed
Serial_Busy = 0x01000005, // Serial is busy
CAN_DataError = 0x02000000, // CAN data error
CAN_SendFail = 0x02000001, // CAN send failed
CAN_RecvFail = 0x02000002, // CAN receive failed
CAN_BufferFull = 0x02000003, // CAN buffer full
CAN_NotInit = 0x02000004, // CAN not initialized
Port_WriteBusy = 0x10000001, // Port is busy now
MCU_Unknown = 0x00010001, // MCU unknown error
MCU_IOSizeError = 0x00010002, // IO Should be 4 bytes
MCU_OverTemperature = 0x00010010, // MCU over temperature
}
public static class MCUSerialBridgeErrorExtensions
{
public static string ToDescription(this MCUSerialBridgeError err)
{
return err switch
{
MCUSerialBridgeError.OK => "OK|Success",
MCUSerialBridgeError.NoData => "NoData|Port no new data",
MCUSerialBridgeError.Win_Unknown => "Win_Unknown|Unknown Windows error",
MCUSerialBridgeError.Win_InvalidParam => "Win_InvalidParam|Invalid parameter",
MCUSerialBridgeError.Win_AllocFail => "Win_AllocFail|Memory allocation failed",
MCUSerialBridgeError.Win_HandleNotFound => "Win_HandleNotFound|Handle not found",
MCUSerialBridgeError.Win_ResourceBusy => "Win_ResourceBusy|Resource busy",
MCUSerialBridgeError.Win_BufferFull => "Win_BufferFull|Buffer is full",
MCUSerialBridgeError.Win_UserBufferTooSmall => "Win_UserBufferTooSmall|Buffer is too small",
MCUSerialBridgeError.Win_CannotOpenPort => "Win_CannotOpenPort|Cannot open port",
MCUSerialBridgeError.Win_CannotGetCommState => "Win_CannotGetCommState|Cannot get comm state",
MCUSerialBridgeError.Win_CannotSetCommState => "Win_CannotSetCommState|Cannot set comm state",
MCUSerialBridgeError.Win_CannotCreateThread => "Win_CannotCreateThread|Cannot create thread",
MCUSerialBridgeError.Proto_Invalid => "Proto_Invalid|Protocol invalid",
MCUSerialBridgeError.Proto_Checksum => "Proto_Checksum|CRC check failed",
MCUSerialBridgeError.Proto_Timeout => "Proto_Timeout|Protocol timeout",
MCUSerialBridgeError.Proto_FrameTooLong => "Proto_FrameTooLong|Frame too long",
MCUSerialBridgeError.Proto_UnknownCommand => "Proto_UnknownCommand|Unknown command",
MCUSerialBridgeError.Proto_InvalidPayload => "Proto_InvalidPayload|Invalid payload",
MCUSerialBridgeError.State_NotRunning => "State_NotRunning|Not running, configure",
MCUSerialBridgeError.State_Running => "State_Running|Can not configure, already running",
MCUSerialBridgeError.Config_PortNumOver => "Config_PortNumOver|Port number over",
MCUSerialBridgeError.Config_SerialNumOver => "Config_SerialNumOver|Serial port number over",
MCUSerialBridgeError.Config_CANNumOver => "Config_CANNumOver|CAN number over",
MCUSerialBridgeError.Config_UnknownPortType => "Config_UnknownPortType|Unknown Port Type",
MCUSerialBridgeError.Serial_OpenFail => "Serial_OpenFail|Serial open failed",
MCUSerialBridgeError.Serial_NotOpen => "Serial_NotOpen|Serial not open",
MCUSerialBridgeError.Serial_ReadFail => "Serial_ReadFail|Serial read failed",
MCUSerialBridgeError.Serial_WriteFail => "Serial_WriteFail|Serial write failed",
MCUSerialBridgeError.Serial_Busy => "Serial_Busy|Serial is busy",
MCUSerialBridgeError.CAN_DataError => "CAN_DataError|CAN data error",
MCUSerialBridgeError.CAN_SendFail => "CAN_SendFail|CAN send failed",
MCUSerialBridgeError.CAN_RecvFail => "CAN_RecvFail|CAN receive failed",
MCUSerialBridgeError.CAN_BufferFull => "CAN_BufferFull|CAN buffer full",
MCUSerialBridgeError.CAN_NotInit => "CAN_NotInit|CAN not initialized",
MCUSerialBridgeError.Port_WriteBusy => "Port_WriteBusy|Port is busy now",
MCUSerialBridgeError.MCU_Unknown => "MCU_Unknown|MCU unknown error",
MCUSerialBridgeError.MCU_IOSizeError => "MCU_IOSizeError|IO Should be 4 bytes",
MCUSerialBridgeError.MCU_OverTemperature => "MCU_OverTemperature|MCU over temperature",
_ => "Unknown Error",
};
}
}
}
MedullaAdapter/MedullaAdapter.csproj
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<Project Sdk="Microsoft.NET.Sdk">
<PropertyGroup>
<TargetFramework>netstandard2.0</TargetFramework>
<LangVersion>latest</LangVersion>
</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>
</Reference>
<Reference Include="FundamentalLib">
<HintPath>ref\RefFundamentalLib.dll</HintPath>
</Reference>
<Reference Include="MedullaCore">
<HintPath>ref\RefMedullaCore.dll</HintPath>
</Reference>
</ItemGroup>
<ItemGroup>
<WeaverFiles Include="deps\DiverCompiler.exe" />
</ItemGroup>
</Project>
MedullaAdapter/MotorRoutine.cs
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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;
}
}
}
}
MedullaAdapter/PackageStruct.cs
+168
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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
+47
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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;
}
}
}
}
MedullaAdapter/RunOnMCU.cs
+47
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@@ -0,0 +1,47 @@
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
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MedullaAdapter/bin/Debug/netstandard2.0/MedullaAdapter.deps.json
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{
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},
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},
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},
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}
}
}
}
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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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@@ -0,0 +1,4 @@
// <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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@@ -0,0 +1,23 @@
//------------------------------------------------------------------------------
// <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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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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+19
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