431 lines
17 KiB
C#
431 lines
17 KiB
C#
// 定义车型、上下层IO、参数和MCU初始化
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using CartActivator;
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using MCUSerialBridgeCLR;
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using MDCSToolBox.Medulla.Chassis.MultiWheel;
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using Medulla.Types;
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using System;
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using System.Collections.Generic;
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using System.Threading;
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using MyParking.Shared;
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namespace MedullaAdapter
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{
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[UseLadderLogic(logic = typeof(AlarmRoutine), scanInterval = 50)]
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[UseLadderLogic(logic = typeof(MotorRoutine), scanInterval = 50)]
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[UseLadderLogic(logic = typeof(MCURoutine), scanInterval = 20)]
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[UseManualController(manualController = typeof(Remote))]
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public class DiverCartDefinition : MultiWheelCartDefinition
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{
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#region 基本成员
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public MCUSerialBridge Bridge;
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internal enum ManualControlMode
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{
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Normal = 0, // 正常模式
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Crab = 1, // 螃蟹模式
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Spin = 2, // 自旋模式
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}
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internal ManualControlMode TransmitterControlMode = ManualControlMode.Normal;
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internal DateTime TransmitterLastTime = DateTime.Now; // 物理遥控器计算两次实体遥控器指令之间的时间间隔
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private ManualControlMode? _pendingManualMode;
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private ManualControlMode? _activeManualMode;
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#endregion
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#region AsUpperIO
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[AsUpperIO(desc = "从C上复位")] public bool ResetFromC;
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[AsUpperIO(desc = "从C将驱动轮下使能")] public bool DisableFromC;
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[AsUpperIO(desc = "左夹臂下发速度", timeOutReset = true)] public float SpeedLeftArm;
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[AsUpperIO(desc = "右夹臂下发速度", timeOutReset = true)] public float SpeedRightArm;
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[AsUpperIO(desc = "夹臂不同步报警")] public bool ClampOutOfSync;
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#endregion
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#region AsLowerIO
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[AsLowerIO(desc = "左前左轮实际位置")] public float LFLActualPos;
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[AsLowerIO(desc = "左前右轮实际位置")] public float LFRActualPos;
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[AsLowerIO(desc = "右前左轮实际位置")] public float RFLActualPos;
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[AsLowerIO(desc = "右前右轮实际位置")] public float RFRActualPos;
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[AsLowerIO(desc = "左后左轮实际位置")] public float LRLActualPos;
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[AsLowerIO(desc = "左后右轮实际位置")] public float LRRActualPos;
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[AsLowerIO(desc = "右后左轮实际位置")] public float RRLActualPos;
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[AsLowerIO(desc = "右后右轮实际位置")] public float RRRActualPos;
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[AsLowerIO(desc = "左夹臂实际速度")] public float ActualSpeedLeftArm;
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[AsLowerIO(desc = "右夹臂实际速度")] public float ActualSpeedRightArm;
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[AsLowerIO(desc = "左夹臂状态字")] public int LeftArmStateCode;
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[AsLowerIO(desc = "右夹臂状态字")] public int RightArmStateCode;
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[AsLowerIO(desc = "左夹臂错误字")] public int LeftArmErrorCode;
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[AsLowerIO(desc = "右夹臂错误字")] public int RightArmErrorCode;
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[AsLowerIO(desc = "左夹臂电流")] public float LeftArmElectric;
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[AsLowerIO(desc = "右夹臂电流")] public float RightArmElectric;
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[AsLowerIO(desc = "左夹臂实际位置")] public float ActualPosLeftArm;
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[AsLowerIO(desc = "右夹臂实际位置")] public float ActualPosRightArm;
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[AsLowerIO(desc = "驱动轮使能状态")] public bool WheelAbleState = true;
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[AsLowerIO(desc = "电池健康状态")] public float SOH;
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[AsInitParam(desc = "车号")][AsLowerIO] public int CarNum = 1;
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#endregion
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#region 初始参数
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[AsInitParam(desc = "MCU端口号")] public string MCUPort = "COM4";
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[AsInitParam(desc = "遥控器速度上限")] public float TransmitterSpeedUpperLimit = 1.0f;
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[AsInitParam(desc = "遥控器速度下限")] public float TransmitterSpeedLowerLimit = 0.0f;
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[AsInitParam(desc = "手动控制夹臂速度系数")] public float ManualArmSpeedFac = 1.0f;
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[AsInitParam(desc = "遥控转弯舵角同步限速宽度，单位为度")]
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public float ManualSteeringAlignmentSigmaDegrees = 8.0f;
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[AsInitParam(desc = "左夹臂低限位")][AsLowerIO] public int LeftArmLowerPos = -10000;
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[AsInitParam(desc = "左夹臂高限位")][AsLowerIO] public int LeftArmUpperPos = 5927610;
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[AsInitParam(desc = "右夹臂低限位")][AsLowerIO] public int RightArmLowerPos = -17295;
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[AsInitParam(desc = "右夹臂高限位")][AsLowerIO] public int RightArmUpperPos = 5927610;
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#endregion
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#region 监控参数
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[IOObjectMonitor(desc = "从M上复位")] public bool ResetFromM;
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[IOObjectMonitor(desc = "从M将驱动轮下使能")] public bool DisableFromM;
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[IOObjectMonitor(desc = "左前左轮PID修正后速度")] public float SpeedLFL;
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[IOObjectMonitor(desc = "左前右轮PID修正后速度")] public float SpeedLFR;
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[IOObjectMonitor(desc = "右前左轮PID修正后速度")] public float SpeedRFL;
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[IOObjectMonitor(desc = "右前右轮PID修正后速度")] public float SpeedRFR;
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[IOObjectMonitor(desc = "左后左轮PID修正后速度")] public float SpeedLRL;
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[IOObjectMonitor(desc = "左后右轮PID修正后速度")] public float SpeedLRR;
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[IOObjectMonitor(desc = "右后左轮PID修正后速度")] public float SpeedRRL;
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[IOObjectMonitor(desc = "右后右轮PID修正后速度")] public float SpeedRRR;
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[IOObjectMonitor(desc = "灯光模式")] public int LightMode = 0;
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[IOObjectMonitor(desc = "实体遥控器当前速度倍率")] public float TransmitterSpeed = 0.3f;
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[IOObjectMonitor(desc = "左前左驱动器远程帧701")] public byte LFLRemoteCode = 0;
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[IOObjectMonitor(desc = "左前右驱动器远程帧702")] public byte LFRRemoteCode = 0;
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[IOObjectMonitor(desc = "右前左驱动器远程帧703")] public byte RFLRemoteCode = 0;
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[IOObjectMonitor(desc = "右前右驱动器远程帧704")] public byte RFRRemoteCode = 0;
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[IOObjectMonitor(desc = "左后左驱动器远程帧705")] public byte LRLRemoteCode = 0;
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[IOObjectMonitor(desc = "左后右驱动器远程帧706")] public byte LRRRemoteCode = 0;
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[IOObjectMonitor(desc = "右后左驱动器远程帧707")] public byte RRLRemoteCode = 0;
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[IOObjectMonitor(desc = "右后右驱动器远程帧708")] public byte RRRRemoteCode = 0;
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[IOObjectMonitor(desc = "左夹臂驱动器远程帧709")] public byte LArmRemoteCode = 0;
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[IOObjectMonitor(desc = "右夹臂驱动器远程帧70A")] public byte RArmRemoteCode = 0;
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#endregion
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#region 操作按钮
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// M层单车硬件：向驱动轮发送复位请求。
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[IOObjectUtility]
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public void WheelReset()
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{
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ResetFromM = true;
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}
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// M层单车硬件：向驱动轮发送下使能请求。
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[IOObjectUtility]
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public void WheelDisable()
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{
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DisableFromM = true;
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}
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#endregion
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public override void CommunicationInit()
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{
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if (GhostMode) return;
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State = -1;
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Bridge = new MCUSerialBridge();
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//Step1:打开指定串口连接
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var err = Bridge.Open(MCUPort, 1000000u);
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if (err != MCUSerialBridgeError.OK)
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{
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Console.WriteLine($"MCU Open FAILED: {err.ToDescription()}");
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return;
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}
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else
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{
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Console.WriteLine("MCU Open OK");
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}
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//Step2:远程复位MCU
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err = Bridge.Reset();
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if (err != MCUSerialBridgeError.OK)
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{
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Console.WriteLine($"MCU Reset FAILED: {err.ToDescription()}");
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return;
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}
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else
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{
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Thread.Sleep(500);
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Console.WriteLine("MCU Reset OK");
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}
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//Step3:获取MCU版本号
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err = Bridge.GetVersion(out var version, 100);
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if (err != MCUSerialBridgeError.OK)
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{
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Console.WriteLine($"MCU GetVersion FAILED: {err.ToDescription()}");
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return;
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}
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else
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{
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Console.WriteLine($"MCU GetVersion OK: {version}");
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}
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//Step4:获取MCU状态
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err = Bridge.GetState(out var state, 100);
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if (err != MCUSerialBridgeError.OK)
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{
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Console.WriteLine($"MCU GetState FAILED: {err.ToDescription()}");
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return;
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}
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else
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{
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Console.WriteLine($"MCU GetState OK: {state}");
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}
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//Step5:串口/CAN配置
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try
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{
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var ports = new List<PortConfig>();
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for (int i = 0; i < 1; i++)
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ports.Add(new CANPortConfig(500000, 10));
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for (int i = 0; i < 3; i++)
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ports.Add(new SerialPortConfig(9600, 10));
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Console.WriteLine("=== Port Configuration ===");
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for (int i = 0; i < ports.Count; i++)
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{
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if (ports[i] is SerialPortConfig s)
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Console.WriteLine($"Port {i}: Serial, Baud={s.Baud}, ReceiveFrameMs={s.ReceiveFrameMs}");
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else if (ports[i] is CANPortConfig c)
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Console.WriteLine($"Port {i}: CAN, Baud={c.Baud}, RetryTimeMs={c.RetryTimeMs}");
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}
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var ret = Bridge.Configure(ports, 200);
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if (ret != MCUSerialBridgeError.OK)
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{
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Console.WriteLine($"MCU Configure FAILED: {ret.ToDescription()}");
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return;
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}
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else
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{
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Console.WriteLine("MCU Configure OK");
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}
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Console.WriteLine("MCU Configure {0}", ret == MCUSerialBridgeError.OK ? "OK" : $"FAILED: 0x{(uint)ret:X8}");
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}
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catch (Exception ex)
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{
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Console.WriteLine($"Configure Exception: {ex.Message}");
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return;
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}
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State = 0;
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}
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internal void ManualControl(
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ManualControlMode mode,
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float x,
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float y,
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float frontDirection,
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float speedThreshold,
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TimeSpan? interval = null)
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{
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if (Chassis == null) return;
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var adapter = GetChassisAdapter();
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if (adapter == null) return;
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// 模式变化时先停车并下发舵轮准备角度；
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// 在实际舵角到位之前，不开放驱动速度。
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if (!EnsureManualModeReady(mode, interval))
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{
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adapter.StopImmediately();
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return;
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}
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var speed = speedThreshold * y;
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var normalizedSteering =
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(float)Math.Pow(
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Math.Abs(x),
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ManualThetaPow) *
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Math.Sign(x);
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var steeringDegrees =
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-normalizedSteering * MaxManualTheta;
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var omega = CalculateManualOmega(
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speed,
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steeringDegrees,
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adapter.HalfWheelBaseMeters);
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ManualMode = (int)mode;
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switch (mode)
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{
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case ManualControlMode.Normal:
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// 普通模式统一使用车体速度命令：
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// X向前，行驶中连续改变角速度时舵轮边转、车辆边走。
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SendBodyCommand(
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vx: speed,
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vy: 0.0,
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omegaRadiansPerSecond: omega,
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interval);
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break;
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case ManualControlMode.Crab:
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SendBodyCommand(vx: 0.0, vy: speed, omegaRadiansPerSecond: omega, interval);
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break;
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case ManualControlMode.Spin:
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// 自转时speed表示最外侧舵轮的目标切向速度。
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// 根据v=omega*r换算角速度，不能把m/s与deg/s直接相乘。
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var spinOmega =
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speed /
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adapter.MaximumWheelRadiusMeters;
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SendBodyCommand(
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vx: 0.0,
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vy: 0.0,
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omegaRadiansPerSecond: spinOmega,
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interval);
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break;
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default:
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ManualMode = -1;
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adapter.StopImmediately();
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break;
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}
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}
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// 停车后切换模式：先预转舵轮，实际角度到位后才允许发送运动命令。
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private bool EnsureManualModeReady(
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ManualControlMode mode,
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TimeSpan? interval)
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{
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var adapter = GetChassisAdapter();
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if (adapter == null)
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return false;
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// 当前模式已经完成准备，可以直接接受运动命令。
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if (_activeManualMode == mode &&
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_pendingManualMode == null)
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{
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return true;
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}
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// 第一次收到新模式时，停车并下发一次舵轮准备姿态。
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if (_pendingManualMode != mode)
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{
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adapter.StopImmediately();
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var preparationAccepted = mode switch
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{
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ManualControlMode.Normal =>
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adapter.PrepareParallelDirection(0.0),
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ManualControlMode.Crab =>
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adapter.PrepareParallelDirection(
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Math.PI / 2.0),
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ManualControlMode.Spin =>
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adapter.PrepareSpin(interval),
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_ => false
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};
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if (!preparationAccepted)
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{
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_pendingManualMode = null;
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return false;
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}
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_pendingManualMode = mode;
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return false;
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}
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// 后续控制周期保持停车，并读取实际舵角判断是否到位。
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adapter.StopImmediately();
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const double toleranceRadians =
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2.0 * Math.PI / 180.0;
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bool aligned;
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if (mode == ManualControlMode.Spin)
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{
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// 自转的四个舵轮目标角不同，等待期间持续刷新其目标。
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var preparationAccepted =
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adapter.PrepareSpin(interval);
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aligned =
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preparationAccepted &&
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adapter.AreSpinWheelsAligned;
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}
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else
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{
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var targetDirection = mode ==
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ManualControlMode.Crab
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? Math.PI / 2.0
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: 0.0;
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aligned =
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adapter.AreParallelWheelsAligned(
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targetDirection,
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toleranceRadians);
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}
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if (!aligned)
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return false;
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_activeManualMode = mode;
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_pendingManualMode = null;
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return true;
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}
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private double CalculateManualOmega(
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float speed,
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float steeringDegrees,
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double halfWheelBaseMeters)
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{
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var steeringRadians =
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steeringDegrees * Math.PI / 180.0;
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return speed *
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Math.Tan(steeringRadians) /
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Math.Max(halfWheelBaseMeters, 0.01);
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}
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internal void SendBodyCommand(double vx, double vy, double omegaRadiansPerSecond, TimeSpan? interval = null)
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{
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var adapter = GetChassisAdapter();
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if (adapter == null)
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return;
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var command = new ChassisCommand(
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CarNum,
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new Twist2D(vx, vy, omegaRadiansPerSecond));
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if (!adapter.Send(command, interval))
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{
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adapter.StopImmediately();
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Console.WriteLine(
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"底盘命令分解失败，车辆已经停车：" +
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adapter.LastFailureReason);
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}
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}
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private MultiWheelChassisAdapter _chassisAdapter;
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private MultiWheelChassisAdapter GetChassisAdapter()
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{
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if (Chassis == null)
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return null;
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if (_chassisAdapter == null ||
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_chassisAdapter.VehicleId != CarNum)
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{
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_chassisAdapter =
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new MultiWheelChassisAdapter(Chassis, CarNum);
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}
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_chassisAdapter.SteeringAlignmentSigmaDegrees =
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Math.Max(
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ManualSteeringAlignmentSigmaDegrees,
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0.1f);
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return _chassisAdapter;
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}
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#region MCURoutine兼容参数（暂保留原硬件协议）
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// 保存MCU读取到的原始输入字节，供M层监控和硬件排查使用。
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[AsLowerIO(desc = "MCU原始输入字节")]
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public float test;
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// 保留原MCU灯光分支；单车默认值-1表示使用本车LightMode。
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[AsUpperIO(desc = "多车灯光同步兼容值，-1使用本车灯光")]
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public int MultiVehicleLightSync = -1;
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#endregion
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}
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}
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