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fix logic

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DashyFox 2024-09-27 17:28:49 +03:00
parent e4cc2cecf5
commit 3424b775aa
5 changed files with 45 additions and 21 deletions
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4
Core/Inc/RobotFunctions.h
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@ -37,6 +37,7 @@ typedef struct CurrentShot {
uint8_t indexGlobal; uint8_t indexGlobal;
uint16_t currentBallCount; uint16_t currentBallCount;
Shot shot; Shot shot;
uint16_t doneCount;
} CurrentShot; } CurrentShot;
typedef struct CurrentProgram { typedef struct CurrentProgram {
@ -45,6 +46,7 @@ typedef struct CurrentProgram {
CurrentShot currentShot; CurrentShot currentShot;
uint8_t currentShotIndexLocal; uint8_t currentShotIndexLocal;
uint16_t currentBallCount; uint16_t currentBallCount;
uint16_t doneCount;
} CurrentProgram; } CurrentProgram;
typedef struct CurrentMacro { typedef struct CurrentMacro {
@ -53,6 +55,7 @@ typedef struct CurrentMacro {
CurrentProgram currentProgram; CurrentProgram currentProgram;
uint8_t currentProgramIndexLocal; uint8_t currentProgramIndexLocal;
uint16_t currentBallCount; uint16_t currentBallCount;
uint16_t doneCount;
} CurrentMacro; } CurrentMacro;
//typedef struct CurrentState { //typedef struct CurrentState {
@ -82,6 +85,7 @@ uint8_t prepareProgramm(uint8_t number);
uint8_t prepareMacro(uint8_t number); uint8_t prepareMacro(uint8_t number);
void startShooting(uint32_t delayTime); void startShooting(uint32_t delayTime);
void stopShooting(); void stopShooting();

1
Core/Inc/UART3_CMD_Handler.h
View File

@ -28,6 +28,7 @@ void UART3_SetServoMaxAngle(uint8_t *dataPtr, uint8_t len);
void UART3_GetServoMaxAngle(uint8_t *dataPtr, uint8_t len); void UART3_GetServoMaxAngle(uint8_t *dataPtr, uint8_t len);
void UART3_SetServoMinAngle(uint8_t *dataPtr, uint8_t len); void UART3_SetServoMinAngle(uint8_t *dataPtr, uint8_t len);
void UART3_GetServoMinAngle(uint8_t *dataPtr, uint8_t len); void UART3_GetServoMinAngle(uint8_t *dataPtr, uint8_t len);
void UART3_ResetServoMinAngle(uint8_t *dataPtr, uint8_t len);
void UART3_MoveServoToInitialPosition(uint8_t *dataPtr, uint8_t len); void UART3_MoveServoToInitialPosition(uint8_t *dataPtr, uint8_t len);
void UART3_SetStartupDelay(uint8_t *dataPtr, uint8_t len); void UART3_SetStartupDelay(uint8_t *dataPtr, uint8_t len);
void UART3_GetStartupDelay(uint8_t *dataPtr, uint8_t len); void UART3_GetStartupDelay(uint8_t *dataPtr, uint8_t len);

32
Core/Src/RobotFunctions.c
View File

@ -143,11 +143,12 @@ void RobotTick() {
uint8_t prepareShot(uint8_t number) { uint8_t prepareShot(uint8_t number) {
Shot shot; Shot shot;
memset(&shot, 0x00, sizeof(shot));
getShot(number, &shot); getShot(number, &shot);
if (shot.isExist) { if (shot.isExist) {
currentInfo.mode = ShotMode; currentInfo.mode = ShotMode;
currentInfo.shot.shot = shot; currentInfo.shot.shot = shot;
currentInfo.shot.currentBallCount = 0; currentInfo.shot.indexGlobal = number;
return 1; return 1;
} else { } else {
// TODO: sound_ERR(); ledFX_ERR(); // TODO: sound_ERR(); ledFX_ERR();
@ -157,13 +158,12 @@ uint8_t prepareShot(uint8_t number) {
} }
uint8_t prepareProgramm(uint8_t number) { uint8_t prepareProgramm(uint8_t number) {
Program program; Program program;
memset(&program, 0x00, sizeof(program));
getProg(number, &program); getProg(number, &program);
if (program.header.shotCount) { // isExist if (program.header.shotCount) { // isExist
currentInfo.mode = ProgramMode; currentInfo.mode = ProgramMode;
currentInfo.program.program = program; currentInfo.program.program = program;
currentInfo.program.indexGlobal = number; currentInfo.program.indexGlobal = number;
currentInfo.program.currentShotIndexLocal = 0;
currentInfo.program.currentBallCount = 0;
return 1; return 1;
} else { } else {
// TODO: sound_ERR(); ledFX_ERR(); // TODO: sound_ERR(); ledFX_ERR();
@ -174,13 +174,12 @@ uint8_t prepareProgramm(uint8_t number) {
uint8_t prepareMacro(uint8_t number) { uint8_t prepareMacro(uint8_t number) {
Macro macro; Macro macro;
memset(&macro, 0x00, sizeof(macro));
getMacro(number, &macro); getMacro(number, &macro);
if (macro.header.programmCount) { if (macro.header.programmCount) {
currentInfo.mode = MacroMode; currentInfo.mode = MacroMode;
currentInfo.macro.macro = macro; currentInfo.macro.macro = macro;
currentInfo.macro.indexGlobal = number; currentInfo.macro.indexGlobal = number;
currentInfo.macro.currentProgramIndexLocal = 0;
currentInfo.macro.currentBallCount = 0;
return 1; return 1;
} else { } else {
@ -283,11 +282,13 @@ uint8_t loadNextShotInProgram(CurrentProgram *currentProg) {
if (random) { if (random) {
*currentProgramShotId = rand() % currentProg->program.header.shotCount; *currentProgramShotId = rand() % currentProg->program.header.shotCount;
} else { } else {
if ((*currentProgramShotId) + 1 if ((*currentProgramShotId) + 1
< currentProg->program.header.shotCount) { < currentProg->program.header.shotCount) {
++(*currentProgramShotId); ++(*currentProgramShotId);
} else { } else {
currentProg->doneCount++;
*currentProgramShotId = 0; *currentProgramShotId = 0;
} }
} }
@ -344,6 +345,7 @@ uint8_t loadNextProgramInMacro(CurrentMacro *currentMacro) {
currentMacro->currentProgramIndexLocal++; currentMacro->currentProgramIndexLocal++;
} else { } else {
currentMacro->currentProgramIndexLocal = 0; currentMacro->currentProgramIndexLocal = 0;
currentMacro->doneCount++;
} }
return loadProgramFromMacro(currentMacro); return loadProgramFromMacro(currentMacro);
} }
@ -365,6 +367,7 @@ uint8_t nextBallInShot(CurrentShot *shot) {
return 0; return 0;
} else { } else {
print("Shot DONE\n"); print("Shot DONE\n");
shot->doneCount++;
return 1; return 1;
} }
} }
@ -394,25 +397,24 @@ uint8_t nextShotInProgram(CurrentProgram *prog) {
} }
uint8_t nextProgramInMacro(CurrentMacro *currentMacro) { uint8_t nextProgramInMacro(CurrentMacro *currentMacro) {
// uint8_t shotApply_f = 0; uint8_t shotApply_f = 0;
if (nextShotInProgram(&currentMacro->currentProgram)) { if (nextShotInProgram(&currentMacro->currentProgram)) {
print("\nSwitch program\n"); print("\nSwitch program\n");
if (!loadNextProgramInMacro(currentMacro)) { if (!loadNextProgramInMacro(currentMacro)) {
print("loadNextProgramInMacro ERR\n"); print("loadNextProgramInMacro ERR\n");
return 0; return 0;
} }
shotApply(&currentMacro->currentProgram.currentShot); shotApply_f = 1;
// shotApply_f = 1;
} }
// Проверка на завершение макро // Проверка на завершение макро
// if (currentMacro->currentProgramIndexLocal < currentMacro->macro.header.programmCount) { if (currentMacro->doneCount) {
// } else { print("Macro DONE\n");
// print("Macro DONE\n"); return 1;
// return 1; }
// }
// if (shotApply_f) if (shotApply_f)
// shotApply(&currentMacro->currentProgram.currentShot); shotApply(&currentMacro->currentProgram.currentShot);
return 0; return 0;
} }

23
Core/Src/UART3_CMD_Handler.c
View File

@ -54,6 +54,7 @@ void UART3_SaveShot(uint8_t *dataPtr, uint8_t len) {
SendResponse(dataPtr[0], 0, NULL, 0); SendResponse(dataPtr[0], 0, NULL, 0);
} }
// 101
void UART3_SaveProgram(uint8_t *dataPtr, uint8_t len) { void UART3_SaveProgram(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 5; const uint8_t MIN_PARAM_LENGTH = 5;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH)) if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
@ -80,6 +81,7 @@ void UART3_SaveProgram(uint8_t *dataPtr, uint8_t len) {
SendResponse(dataPtr[0], 0, NULL, 0); SendResponse(dataPtr[0], 0, NULL, 0);
} }
// 100
void UART3_SaveMacro(uint8_t *dataPtr, uint8_t len) { void UART3_SaveMacro(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 5; const uint8_t MIN_PARAM_LENGTH = 5;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH)) if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
@ -115,7 +117,7 @@ void UART3_StartMacro(uint8_t *dataPtr, uint8_t len) {
return; return;
uint8_t macroIndx = dataPtr[1]; uint8_t macroIndx = dataPtr[1];
if(prepareMacro(macroIndx)) if (prepareMacro(macroIndx))
startShooting(infoBlock.hwInfo.timings.preRun); startShooting(infoBlock.hwInfo.timings.preRun);
SendResponse(dataPtr[0], 0, NULL, 0); SendResponse(dataPtr[0], 0, NULL, 0);
@ -128,7 +130,7 @@ void UART3_StartProgram(uint8_t *dataPtr, uint8_t len) {
return; return;
uint8_t progIndx = dataPtr[1]; uint8_t progIndx = dataPtr[1];
if(prepareProgramm(progIndx)) if (prepareProgramm(progIndx))
startShooting(infoBlock.hwInfo.timings.preRun); startShooting(infoBlock.hwInfo.timings.preRun);
SendResponse(dataPtr[0], 0, NULL, 0); SendResponse(dataPtr[0], 0, NULL, 0);
@ -141,7 +143,7 @@ void UART3_StartShot(uint8_t *dataPtr, uint8_t len) {
return; return;
uint8_t shotIndx = dataPtr[1]; uint8_t shotIndx = dataPtr[1];
if(prepareShot(shotIndx)) if (prepareShot(shotIndx))
startShooting(infoBlock.hwInfo.timings.preRun); startShooting(infoBlock.hwInfo.timings.preRun);
SendResponse(dataPtr[0], 0, NULL, 0); SendResponse(dataPtr[0], 0, NULL, 0);
@ -302,6 +304,21 @@ void UART3_SetServoMinAngle(uint8_t *dataPtr, uint8_t len) {
SendResponse(dataPtr[0], 0, NULL, 0); SendResponse(dataPtr[0], 0, NULL, 0);
} }
// 204
void UART3_ResetServoMinAngle(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 1;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
return;
ServoMap servo = dataPtr[1];
infoBlock.hwInfo.servos[servo].min = 0;
infoBlock.hwInfo.servos[servo].max = 180;
saveInfoBlock();
SendResponse(dataPtr[0], 0, NULL, 0);
}
void UART3_GetServoMaxAngle(uint8_t *dataPtr, uint8_t len) { void UART3_GetServoMaxAngle(uint8_t *dataPtr, uint8_t len) {
const uint8_t MIN_PARAM_LENGTH = 1; const uint8_t MIN_PARAM_LENGTH = 1;
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH)) if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))

6
Core/Src/UART3_Handler.c
View File

@ -294,9 +294,9 @@ void UART3_CMD_Handler(uint8_t *dataPtr, uint8_t len) {
case 203: case 203:
UART3_MoveServoToInitialPosition(dataPtr, len); UART3_MoveServoToInitialPosition(dataPtr, len);
break; break;
// case 204: case 204:
// UART3_GetServoOffset(dataPtr, len); UART3_ResetServoMinAngle(dataPtr, len) ;
// break; break;
case 205: case 205:
UART3_GetServoOffset(dataPtr, len); UART3_GetServoOffset(dataPtr, len);
break; break;