base/app/app_base.c

#include "app_config.h"
#include "app_dependence.h"
#include "interface.h"

#include "app_base.h"


// 使用内联函数
static inline uint8_t setBaseOn(void) { return 1; }
static inline uint8_t setBaseOff(void) { return 0; }

BaseSystem base_data;

// 输出处理函数
static void baseOutput(void *signal_id)
{
    (void)signal_id;
    // 根据电机状态，填充发送数据结构，发送信号
    switch (base_data.base_command)
    {
        case 1: // 上升状态
            un_lifter_output.bit_data.cmd = BASE_UP;
            un_h_bridge_output1.bit_data.channel_01 = setBaseOn();
            un_h_bridge_output1.bit_data.channel_02 = setBaseOff();
            un_h_bridge_output2.bit_data.channel_01 = setBaseOn();
            un_h_bridge_output2.bit_data.channel_02 = setBaseOff();
//            printf("base: up\n");
            break;

        case 2: // 下降状态
            un_lifter_output.bit_data.cmd = BASE_DOWN;
            un_h_bridge_output1.bit_data.channel_01 = setBaseOff();
            un_h_bridge_output1.bit_data.channel_02 = setBaseOn();
            un_h_bridge_output2.bit_data.channel_01 = setBaseOff();
            un_h_bridge_output2.bit_data.channel_02 = setBaseOn();         
//            printf("base: down\n");
            break;

        default://停止
            un_lifter_output.bit_data.cmd = BASE_STOP;
            un_h_bridge_output1.bit_data.channel_01 = setBaseOff();
            un_h_bridge_output1.bit_data.channel_02 = setBaseOff(); 
            un_h_bridge_output2.bit_data.channel_01 = setBaseOff();
            un_h_bridge_output2.bit_data.channel_02 = setBaseOff();          
//            printf("base: stop\n");
            break;
    }
    publishMessage(&un_h_bridge_output1, 1);
    publishMessage(&un_h_bridge_output2, 1);
    publishMessage(&un_lifter_output, 1);     
}





//处理开关以及模式状态。还需要保存状态防止重启的问题。
static void baseTimerProcess(void *signal_id)
{
   (void)signal_id;

   if( (base_data.emergency_stop_switch) || (base_data.remote_emergency_stop) )//急停只要有一个有效就停止
   { 
       base_data.base_command = BASE_STOP;
   }
   else if(base_data.mode)//自动模式  一直上升就自动
   {
       if(base_data.input_data > REMOTE_DEADBAND)//上升
       {
          base_data.base_command = BASE_UP; 
       }
       else if(base_data.input_data < -REMOTE_DEADBAND)//下降
       {
          base_data.base_command = BASE_DOWN; 
       }
       else//不停止
       {
       } 
     
   }
   else//手动模式-
   {
       if(base_data.input_data > REMOTE_DEADBAND)//上升
       {
          base_data.base_command = BASE_UP; 
       }
       else if(base_data.input_data < -REMOTE_DEADBAND)//下降
       {
          base_data.base_command = BASE_DOWN; 
       }
       else
       {
          base_data.base_command = BASE_STOP; 
       }                  
   }
   baseOutput(signal_id);
}












// 处理所有输入信号的函数
static void baseInput(void *signal_id)
{
//    BaseSystem old_data = base_data; // 定义并初始化old_data
    // 填充数据
    if (signal_id == &un_sw_sample)
    {
        base_data.emergency_stop_switch = (uint8_t)un_sw_sample.bit_data.emergency_stop_switch;
        base_data.Left_switch  = (uint8_t)un_sw_sample.bit_data.Left_switch;        
        base_data.right_switch = (uint8_t)un_sw_sample.bit_data.right_switch;
    }
    else if ( (signal_id == &un_remote_control_input) && (1 == un_remote_control_input.bit_data.enable) )// 遥控器断线，不更新数据
    {
        base_data.remote_emergency_stop = ((uint8_t)un_remote_control_input.bit_data.switch_b == 1) ? 0 : 1;
        base_data.mode = ((uint8_t)un_remote_control_input.bit_data.switch_c == 1) ? 1 : 0;//

    }
    else if( (signal_id == &un_remote_control_input1) && (1 == un_remote_control_input.bit_data.enable) )
    {
        base_data.input_data = (int16_t)(un_remote_control_input1.bit_data.speed) - REMOTE_ZERO; 
//        printf("un_remote_control_input1: %d\n", base_data.input_data);         
    }
    else if (signal_id == &can_fault_info)
    {
//        base_data.remote_fault = !can_fault_info.bit_data.remote_state;
//        base_data.can_bus_fault = !can_fault_info.bit_data.motor1_state || !can_fault_info.bit_data.motor2_state || !can_fault_info.bit_data.navigator_state;
    }                 
    else if (signal_id == &ethernet_fault_Info)
    {
//        base_data.ethernet_fault = !ethernet_fault_Info.bit_data.auto_state && !ethernet_fault_Info.bit_data.manual_state;
    }
    baseTimerProcess(signal_id);
}

// 修改APP模块的初始化函数
void baseAppInit(void)
{
    // 初始化    
    memset(&base_data, 0, sizeof(BaseSystem));

    // 初始化定时器
    timerInit(&base_data.base_timer);

    // 订阅输入信号,处理刹车逻辑
    subscribe(&un_sw_sample, baseInput);
    subscribe(&un_remote_control_input, baseInput);
    subscribe(&un_remote_control_input1, baseInput);
    
    printf("app_base: initial OK \n");
}