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#include "serial.h"
#include <math.h>
lcm_t *lcm;
// TODO 屏蔽停止指令
bool stopFlag = false;
////////////////////////
int curStatus = -1, curSpeed = 0; // 这里的速度指百分比速度
double curOmega = 0.0;
// 临界区数据
pthread_mutex_t curPoseMutex;
clock_t lastTime;
double curPose[3] = {0, 0, 0};
int main() {
if (!whellInit()) {
goto err;
}
lcm = lcm_create(NULL);
if (!lcm) {
fprintf(stderr, "Failed to create LCM\n");
goto err;
}
// 订阅来自手机端的轮控消息
lastTime = clock();
path_ctrl_t_subscribe(lcm, "wheel_ctrl", parseCmd, NULL);
// 订阅来自算法模块的路径规划消息
path_t_subscribe(lcm, "PATH", parsePath, NULL);
// 来自算法模块的当前位置信息
pthread_mutex_init(&curPoseMutex, NULL);
pose_t_subscribe(lcm, "CURRENTPOSE", setCurPose, NULL);
// 新线程，定时发送当前位置信息
pthread_t thread;
if (pthread_create(&thread, NULL, sendCurPose, NULL) != 0) {
fprintf(stderr, "Error: Failed to create thread\n");
goto err;
}
while (true) {
lcm_handle(lcm);
}
err:
// close(fd);
return 0;
}
void parseCmd(const lcm_recv_buf_t *rbuf, const char *channel,
const path_ctrl_t *msg, void *userdata) {
byte status = msg->cmd, speed = msg->speed;
// 手机端在转弯过程中只能设置状态，速度是默认的
// 所以对于转弯，只需要判断状态是否改变
if (curStatus == status && curSpeed == speed) {
return;
}
// 状态改变，计算新的位置
renewCurPose();
// 下发新的指令
switch (status) {
case 1:
wheelSend(0x01, speed, 0x01, speed);
curSpeed = speed;
curOmega = 0;
break;
case 2:
wheelSend(0x02, DEFAULT_SPEED, 0x01, DEFAULT_SPEED);
curOmega = (double)DEFAULT_SPEED * FULLSPEED / 100 / RADIUS;
curSpeed = 0;
break;
case 3:
wheelSend(0x01, DEFAULT_SPEED, 0x02, DEFAULT_SPEED);
curOmega = (double)-DEFAULT_SPEED * FULLSPEED / 100 / RADIUS;
curSpeed = 0;
break;
// TODO 屏蔽停止指令
case 4:
wheelSend(0x00, 0x00, 0x00, 0x00);
curOmega = 0;
curSpeed = 0;
stopFlag = true;
printf("Stop for 2 seconds\n");
break;
// 取消屏蔽
case 5:
wheelSend(0x00, 0x00, 0x00, 0x00);
curOmega = 0;
curSpeed = 0;
stopFlag = false;
printf("Stop but can recieve cmd\n");
break;
////////////////////////////////////
case 0:
default:
wheelSend(0x00, 0x00, 0x00, 0x00);
curOmega = 0;
curSpeed = 0;
break;
}
// 更新状态
curStatus = status;
}
void parsePath(const lcm_recv_buf_t *rbuf, const char *channel,
const path_t *msg, void *userdata) {
// TODO
if (stopFlag) {
return;
}
/////////////////
int16_t length = msg->length;
double v, w;
int8_t vWheels[2];
int8_t bWheels[2];
if (length <= 0) {
fprintf(stderr, "Error: Invalid path\n");
return;
}
v = msg->xyr[0][0];
w = msg->xyr[0][1];
printf("v: %f m/s, w: %f rad/s\n", v, w);
if (fabs(v) <= 0.01 && fabs(w) <= 0.01) {
wheelSend(0x00, 0x00, 0x00, 0x00);
renewCurPose();
curSpeed = 0;
curOmega = 0;
} else {
if (w <= 0.2) {
w *= 2;
}
vWheels[0] = (int8_t)((double)(v - w * RADIUS) / FULLSPEED * 100);
vWheels[1] = (int8_t)((double)(v + w * RADIUS) / FULLSPEED * 100);
bWheels[0] = vWheels[0] > 0 ? 0x01 : 0x02;
bWheels[1] = vWheels[1] > 0 ? 0x01 : 0x02;
wheelSend(bWheels[0], fabs(vWheels[0]), bWheels[1], fabs(vWheels[1]));
renewCurPose();
curSpeed = (int8_t)((double)v / FULLSPEED * 100);
curOmega = (int8_t)w;
}
printf("curSpeed: %d, curOmega: %f\n", curSpeed, curOmega);
}
void setCurPose(const lcm_recv_buf_t *rbuf, const char *channel,
const pose_t *msg, void *userdata) {
pthread_mutex_lock(&curPoseMutex);
curPose[0] = msg->pos[0];
curPose[1] = msg->pos[1];
curPose[2] = msg->pos[2];
lastTime = clock();
pthread_mutex_unlock(&curPoseMutex);
}
void *sendCurPose(void *args) {
pose_t pose;
while (true) {
renewCurPose();
pthread_mutex_lock(&curPoseMutex);
pose.pos[0] = curPose[0];
pose.pos[1] = curPose[1];
pose.pos[2] = curPose[2];
pthread_mutex_unlock(&curPoseMutex);
pose_t_publish(lcm, "POSE", &pose);
usleep(15 * 1000);
}
}
void renewCurPose() {
clock_t curTime = clock();
double dt = (double)(curTime - lastTime) / CLOCKS_PER_SEC;
double speed = (double)curSpeed * FULLSPEED / 100;
pthread_mutex_lock(&curPoseMutex);
curPose[0] += speed * cos(curPose[2]) * dt;
curPose[1] += speed * sin(curPose[2]) * dt;
curPose[2] += curOmega * dt;
lastTime = clock();
pthread_mutex_unlock(&curPoseMutex);
}
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