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583 @@ -3603,7 +3603,7 @@ 0 100 - 4 + 5 ..\usersrc\usermain.c 0 @@ -3651,9 +3651,9 @@ ..\usersrc\udpclient.c - 0 - 273 - 296 + 65 + 97 + 120 1 0 diff --git a/usersrc/encoder.c b/usersrc/encoder.c index 3494217..ca15201 100644 --- a/usersrc/encoder.c +++ b/usersrc/encoder.c @@ -144,8 +144,8 @@ encoder_light_state_t encoder_get_state(encoder_usage_t encoder) void encoder_all_encoder_clear_counter_and_structer_count(void) { - udp_client_get_active_report_data_structer()->encoder_1_count = 0; - udp_client_get_active_report_data_structer()->encoder_2_count = 0; + udp_client_get_active_report_data_structer()->encoder1 = 0; + udp_client_get_active_report_data_structer()->encoder2 = 0; encoder_all_clear_counter(); } @@ -155,11 +155,11 @@ void encoder_switch_encoder_clear_count_and_structer_count(encoder_usage_t encod switch (encoder) { case CAMERA_ENCODER: - udp_client_get_active_report_data_structer()->encoder_1_count = 0; + udp_client_get_active_report_data_structer()->encoder1 = 0; encoder_clear_counter(CAMERA_ENCODER); break; case DRIVEN_ENCODER_GEAR: - udp_client_get_active_report_data_structer()->encoder_2_count = 0; + udp_client_get_active_report_data_structer()->encoder2 = 0; encoder_clear_counter(DRIVEN_ENCODER_GEAR); break; diff --git a/usersrc/protocol.h b/usersrc/protocol.h index 15dccd3..bd25002 100644 --- a/usersrc/protocol.h +++ b/usersrc/protocol.h @@ -11,14 +11,6 @@ typedef enum { - CMD_SET_AUTOMATIC_REPORTING_FREQUENCY = 0X01, - CMD_GET_ENCODER_DATA = 0X02, - CMD_SET_ACTIVE = 0X03, - CMD_CLEAR_ENCODER = 0X04, -} cmd_id_type; - -typedef enum -{ PROTOCOL_CMD_CLEAR_ENCODER = 0X01, PROTOCOL_CMD_READ_ENCODER = 0X02, PROTOCOL_CMD_ACTIVE = 0X03, @@ -52,41 +44,6 @@ typedef struct uint64_t fixed_bit_6; /* 固定位6:00 00 00 00 00 00 00 00 */ } adwin_config_protocol_t; -typedef struct -{ - uint16_t index; /* */ - uint16_t cmd_id; /* 指令id */ - uint32_t time_stamp_s; /* 时间戳 */ - uint32_t encoder_1_count; /* 编码器1计数 */ - uint32_t encoder_2_count; /* 编码器2计数 */ - uint8_t device_id; /* 设备ID号 */ - uint8_t checksum; /* 校验和 */ -} active_report_data_t; - -typedef struct -{ - uint16_t index; /* */ - uint16_t cmd_id; /* 指令id */ - uint16_t data; /* 数据 */ - uint8_t checksum; /* 校验和 */ -} basic_report_data_t; - -typedef struct -{ - uint16_t index; /* */ - uint16_t cmd_id; /* 指令id */ - uint8_t checksum; /* 校验和 */ -} get_encoder_report_t; - -typedef struct -{ - uint16_t index; /* */ - uint16_t cmd_id; /* 指令id */ - uint32_t encoder1; /* 编码器1的数据 */ - uint32_t encoder2; /* 编码器2的数据 */ - uint8_t checksum; /* 校验和 */ -} get_encoder_respont_t; - /*********************************************************************************************************************** * *******************************************************basic******************************************************* * ***********************************************************************************************************************/ @@ -207,8 +164,8 @@ typedef struct uint16_t cmd_id; /* 指令id */ uint32_t placeholder_1; /* 占位符1 */ uint32_t placeholder_2; /* 占位符2 */ - int32_t encoder1; /* 编码器1的数据 */ - int32_t encoder2; /* 编码器2的数据 */ + uint32_t encoder1; /* 编码器1的数据 */ + uint32_t encoder2; /* 编码器2的数据 */ uint8_t checksum; /* 校验和 */ } protocol_active_and_trigger_report_t; diff --git a/usersrc/udpclient.c b/usersrc/udpclient.c index 93f0803..2f95d87 100644 --- a/usersrc/udpclient.c +++ b/usersrc/udpclient.c @@ -26,7 +26,8 @@ static bool genlock_and_esync_active_flag; #define SOCKET_ERROR -1 #define BUFFER_SIZE 256 // 缓冲区大小 -#define ACTIVE_ID 0XDD +#define ACTIVE_CMD_ID 0XC003 +#define TRIGGER_ID 0XC004 #define DEVICE_ID 0X01 #define AVTIVE_DISABLE 0 @@ -48,83 +49,52 @@ static struct sockaddr_in addr_client; static struct sockaddr_in sock; socklen_t sock_len = sizeof(sock); -static active_report_data_t active_report_data_structer; +static protocol_active_and_trigger_report_t active_report_data_structer; static int active_report_cycle; -static void active_report_data_structer_init(void) -{ - /* index在每次上报一次主动上报数据后+1,时间戳在获取ESync命令时更新,编码器数值在 active_report_data_structer_update中更新,校验和在上传数据前(udp_client_active_response)进行更新*/ - active_report_data_structer.index = 0; /* */ - active_report_data_structer.cmd_id = ACTIVE_ID; /* 指令id */ - active_report_data_structer.time_stamp_s = 0; /* 时间戳 */ - active_report_data_structer.encoder_1_count = 0; /* 编码器1计数 */ - active_report_data_structer.encoder_2_count = 0; /* 编码器2计数 */ - active_report_data_structer.device_id = DEVICE_ID; /* 设备ID号 */ -} - -static void active_report_data_structer_update(void) -{ - /* 时间戳暂时先不管,后续完善 */ - encoder_read_with_encoder(CAMERA_ENCODER, &active_report_data_structer.encoder_1_count); - encoder_read_with_encoder(DRIVEN_ENCODER_GEAR, &active_report_data_structer.encoder_2_count); -} - -static void get_encoder_response_encoder_update(get_encoder_respont_t *get_encoder_respont_structer) -{ - /* 时间戳暂时先不管,后续完善 */ - active_report_data_structer_update(); - get_encoder_respont_structer->encoder1 = active_report_data_structer.encoder_1_count; - get_encoder_respont_structer->encoder2 = active_report_data_structer.encoder_2_count; -} - -static void udp_client_create_basic_response(basic_report_data_t *rxcmd, int recv_datalen) +static void udp_client_all_encoder_light_set(encoder_light_state_t state) { - /* 因为发送和接收是一致的,所以不需要二次校验,直接把接收的数据发送即可 */ - if (sendto(sock_Client, rxcmd, sizeof(basic_report_data_t), 0, (struct sockaddr *)&addr_server, sizeof(struct sockaddr_in)) == SOCKET_ERROR) + if (state == STANDBY) { - printf("send basic_response error\r\n"); + encoder_set_state(CAMERA_ENCODER, STANDBY); + encoder_set_state(DRIVEN_ENCODER_GEAR, STANDBY); + } + else if (state == WORKING) + { + encoder_set_state(CAMERA_ENCODER, WORKING); + encoder_set_state(DRIVEN_ENCODER_GEAR, WORKING); } } -static void udp_client_create_get_encoder_response(get_encoder_report_t *get_encoder_cmd, int recv_datalen) +/* ===================================================================== */ +static void active_report_data_structer_init(void) { - get_encoder_respont_t get_encoder_respont_structer; - - get_encoder_respont_structer.index = get_encoder_cmd->index; - get_encoder_respont_structer.cmd_id = get_encoder_cmd->cmd_id; - get_encoder_response_encoder_update(&get_encoder_respont_structer); - get_encoder_respont_structer.checksum = computesum8((char *)&get_encoder_respont_structer, sizeof(get_encoder_respont_t) - 1); - - if (sendto(sock_Client, &get_encoder_respont_structer, sizeof(get_encoder_respont_t), 0, (struct sockaddr *)&addr_server, sizeof(struct sockaddr_in)) == SOCKET_ERROR) - { - printf("send basic_response error\r\n"); - } + /* index在每次上报一次主动上报数据后+1,时间戳在获取ESync命令时更新,编码器数值在 active_report_data_structer_update中更新,校验和在上传数据前(udp_client_active_response)进行更新*/ + active_report_data_structer.index = 0; /* */ + active_report_data_structer.cmd_id = ACTIVE_CMD_ID; /* 指令id */ + active_report_data_structer.placeholder_1 = 0; + active_report_data_structer.placeholder_2 = 0; + active_report_data_structer.encoder1 = 0; + active_report_data_structer.encoder2 = 0; } -static void udp_client_active_response(void) +static void active_report_data_structer_update(void) { - active_report_data_structer.checksum = computesum8((char *)&active_report_data_structer, sizeof(active_report_data_t) - 1); - if (sendto(sock_Client, &active_report_data_structer, sizeof(active_report_data_t), 0, (struct sockaddr *)&addr_server, sizeof(struct sockaddr_in)) == SOCKET_ERROR) - { - printf("send basic_response error\r\n"); - } + /* 时间戳暂时先不管,后续完善 */ + encoder_read_with_encoder(CAMERA_ENCODER, &active_report_data_structer.encoder1); + encoder_read_with_encoder(DRIVEN_ENCODER_GEAR, &active_report_data_structer.placeholder_2); } -static void udp_client_all_encoder_light_set(encoder_light_state_t state) +/* 主动上报格式 */ +static void udp_client_active_report(void) { - if (state == STANDBY) - { - encoder_set_state(CAMERA_ENCODER, STANDBY); - encoder_set_state(DRIVEN_ENCODER_GEAR, STANDBY); - } - else if (state == WORKING) + active_report_data_structer.checksum = computesum8((char *)&active_report_data_structer, sizeof(protocol_active_and_trigger_report_t) - 1); + if (sendto(sock_Client, &active_report_data_structer, sizeof(protocol_active_and_trigger_report_t), 0, (struct sockaddr *)&addr_server, sizeof(struct sockaddr_in)) == SOCKET_ERROR) { - encoder_set_state(CAMERA_ENCODER, WORKING); - encoder_set_state(DRIVEN_ENCODER_GEAR, WORKING); + printf("send basic_response error\r\n"); } } -/* ===================================================================== */ /* 清除编码器数据指令回执 */ static void udp_client_clear_encoder_cmd_receipt(protocol_clear_encoder_order_t *order, protocol_status_code_type state_code) { @@ -146,8 +116,8 @@ static void udp_client_read_encoder_cmd_receipt(protocol_read_encoder_order_t *o receipt.index = order->index; receipt.cmd_id = order->cmd_id + ORDER_RECEIPT_INTERCONVERSION; active_report_data_structer_update(); - receipt.encoder1 = active_report_data_structer.encoder_1_count; - receipt.encoder2 = active_report_data_structer.encoder_2_count; + receipt.encoder1 = active_report_data_structer.encoder1; + receipt.encoder2 = active_report_data_structer.placeholder_2; receipt.checksum = computesum8((char *)&receipt, sizeof(protocol_read_encoder_receipt_t) - 1); if (sendto(sock_Client, &receipt, sizeof(protocol_read_encoder_receipt_t), 0, (struct sockaddr *)&addr_server, sizeof(struct sockaddr_in)) == SOCKET_ERROR) { @@ -270,77 +240,12 @@ void udp_client_parse(int recv_datalen) bool checksum_flag = true; if (recv_datalen >= adwin_config_protocol_size) { - adwin_config_protocol_t *rxcmd = (adwin_config_protocol_t *)s_receBuf; - active_report_data_structer.time_stamp_s = rxcmd->time_stamp_s; + // adwin_config_protocol_t *rxcmd = (adwin_config_protocol_t *)s_receBuf; + // active_report_data_structer.time_stamp_s = rxcmd->time_stamp_s; genlock_and_esync_active_flag = true; } else if (recv_datalen >= protocol_basic_size) { - // basic_report_data_t *rxcmd = (basic_report_data_t *)s_receBuf; - // get_encoder_report_t *get_encoder_cmd = (get_encoder_report_t *)s_receBuf; - // switch (rxcmd->cmd_id) - // { - // case CMD_SET_AUTOMATIC_REPORTING_FREQUENCY: /* 设置自动上报频率 */ - // cmd_checksum(rxcmd); - // if (rxcmd->data >= 10) - // { - // active_report_cycle = rxcmd->data; - // } - // udp_client_create_basic_response(rxcmd, recv_datalen); - // break; - // case CMD_GET_ENCODER_DATA: /* 获取编码器数据 */ - // cmd_checksum(get_encoder_cmd); - // udp_client_create_get_encoder_response(get_encoder_cmd, recv_datalen); - - // if (!udp_client_active_flag) - // { - // udp_client_all_encoder_light_set(STANDBY); - // } - - // break; - // case CMD_SET_ACTIVE: /* 设置主动上报 */ - // cmd_checksum(rxcmd); - // if ((rxcmd->data == AVTIVE_DISABLE) || (rxcmd->data == ACTIVE_ENABLE)) - // { - // udp_client_active_flag = rxcmd->data; - // if (udp_client_active_flag) - // { - // udp_client_all_encoder_light_set(WORKING); - // } - // else - // { - // udp_client_all_encoder_light_set(STANDBY); - // } - // } - // udp_client_create_basic_response(rxcmd, recv_datalen); - // break; - // case CMD_CLEAR_ENCODER: /* 清除编码器数据 */ - // cmd_checksum(rxcmd); - - // switch (rxcmd->data) - // { - // case CLEAR_ENCODER_ALL: - // encoder_all_encoder_clear_counter_and_structer_count(); - // break; - // case CLEAR_ENCODER_1: - // encoder_switch_encoder_clear_count_and_structer_count(CAMERA_ENCODER); - // break; - // case CLEAR_ENCODER_2: - // encoder_switch_encoder_clear_count_and_structer_count(DRIVEN_ENCODER_GEAR); - // break; - - // default: - // printf("not find clear encoder cmd\r\n"); - // break; - // } - - // udp_client_create_basic_response(rxcmd, recv_datalen); - - // break; - - // default: - // break; - // } protocol_basic_t *protocol_basic_cmd = (protocol_basic_t *)s_receBuf; protocol_clear_encoder_order_t *protocol_clear_encoder_cmd = (protocol_clear_encoder_order_t *)s_receBuf; protocol_read_encoder_order_t *protocol_read_encoder_cmd = (protocol_read_encoder_order_t *)s_receBuf; @@ -437,7 +342,7 @@ void udp_client_active(void) { lastprocess = HAL_GetTick(); active_report_data_structer_update(); - udp_client_active_response(); + udp_client_active_report(); active_report_data_structer.index += 1; } } @@ -448,7 +353,7 @@ void udp_client_genlock_and_esync_active(void) if (genlock_and_esync_active_flag) { active_report_data_structer_update(); - udp_client_active_response(); + udp_client_active_report(); if (!udp_client_active_flag) { @@ -456,7 +361,7 @@ void udp_client_genlock_and_esync_active(void) } active_report_data_structer.index += 1; - active_report_data_structer.time_stamp_s = 0; + // active_report_data_structer.time_stamp_s = 0; genlock_and_esync_active_flag = false; } } @@ -466,7 +371,7 @@ bool *udp_client_genlock_and_esync_active_flag_ret(void) return &genlock_and_esync_active_flag; } -active_report_data_t *udp_client_get_active_report_data_structer(void) +protocol_active_and_trigger_report_t *udp_client_get_active_report_data_structer(void) { return &active_report_data_structer; } diff --git a/usersrc/udpclient.h b/usersrc/udpclient.h index 8cf945c..d22fc21 100644 --- a/usersrc/udpclient.h +++ b/usersrc/udpclient.h @@ -12,4 +12,4 @@ void udp_client_active(void); void udp_client_genlock_and_esync_active(void); bool *udp_client_genlock_and_esync_active_flag_ret(void); -active_report_data_t *udp_client_get_active_report_data_structer(void); +protocol_active_and_trigger_report_t *udp_client_get_active_report_data_structer(void);