修复无法连接小车无线wifi功能
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// -----------------------------------------------------------------------------
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// Copyright (c) 2024 Mu Shibo
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// in the Software without restriction, including without limitation the rights
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// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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// THE SOFTWARE.
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// -----------------------------------------------------------------------------
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#include "robot.h"
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Wrobot wrobot;
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RobotProtocol::RobotProtocol(uint8_t len)
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{
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_len = len;
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_now_buf = new uint8_t[_len];
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_old_buf = new uint8_t[_len];
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for (int i = 0; i < _len; i++)
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{
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_now_buf[i] = 0;
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}
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_now_buf[0] = 0xAA;
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_now_buf[1] = 0x55;
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}
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RobotProtocol::~RobotProtocol()
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{
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delete[] _now_buf;
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delete[] _old_buf;
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}
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void RobotProtocol::spinOnce(void)
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{
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int flag = checkBufRefresh(); // 对比 _now_buf 和 _old_buf,若有更新，函数返回 1；若无更新，返回 0
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if (flag)
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{
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// UART_WriteBuf(); //这个会将web端的控制信息转成串口协议发出
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// Serial.println(wrobot.dir);//测试数据获取
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// Serial.println("date have send\n");
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// Serial.printf("height:%d\n", wrobot.height);
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// Serial.printf("roll:%d\n", wrobot.roll);
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// Serial.printf("linear:%d\n", wrobot.linear);
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// Serial.printf("\n");
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// Serial.printf("joy_X:%d\n", wrobot.joyx);
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// Serial.printf("joy_Y:%d\n", wrobot.joyy);
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}
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}
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/**************如下同时用于串口输出控制协议***************/
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void RobotProtocol::UART_WriteBuf(void)
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{
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for (int i = 0; i < _len; i++)
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{
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Serial.write(_now_buf[i]);
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}
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}
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int RobotProtocol::checkBufRefresh(void)
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{
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int ret = 0;
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for (int i = 0; i < _len; i++)
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{
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if (_now_buf[i] != _old_buf[i])
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{
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ret = 1;
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break;
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}
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else
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{
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ret = 0;
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}
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}
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for (int i = 0; i < _len; i++)
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{
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_old_buf[i] = _now_buf[i];
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}
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return ret;
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}
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void RobotProtocol::parseBasic(StaticJsonDocument<300> &doc)
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{
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_now_buf[2] = BASIC;
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String dir = doc["dir"];
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if (dir == "stop")
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{
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_now_buf[3] = STOP;
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wrobot.dir = STOP;
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}
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else
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{
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if (dir == "jump")
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{
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_now_buf[3] = JUMP;
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wrobot.dir = JUMP;
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}
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// else if (dir == "forward")
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// {
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// _now_buf[3] = FORWARD;
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// wrobot.dir = FORWARD;
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// }
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// else if (dir == "back")
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// {
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// _now_buf[3] = BACK;
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// wrobot.dir = BACK;
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// }
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// else if (dir == "left")
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// {
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// _now_buf[3] = LEFT;
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// wrobot.dir = LEFT;
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// }
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// else if (dir == "right")
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// {
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// _now_buf[3] = RIGHT;
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// wrobot.dir = RIGHT;
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// }
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else
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{
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_now_buf[3] = STOP;
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wrobot.dir = STOP;
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}
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}
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int height = doc["height"];
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_now_buf[4] = height;
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wrobot.height = height;
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int roll = doc["roll"];
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wrobot.roll = roll;
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if (roll >= 0)
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{
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_now_buf[5] = 0;
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}
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else
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{
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_now_buf[5] = 1;
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}
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_now_buf[6] = abs(roll);
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// int linear = doc["linear"];
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// wrobot.linear = linear;
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// if (linear >= 0)
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// {
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// _now_buf[7] = 0;
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// }
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// else
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// {
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// _now_buf[7] = 1;
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// }
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// _now_buf[8] = abs(linear);
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// int angular = doc["angular"];
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// wrobot.angular = angular;
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// if (angular >= 0)
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// {
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// _now_buf[9] = 0;
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// }
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// else
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// {
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// _now_buf[9] = 1;
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// }
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// _now_buf[10] = abs(angular);
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int stable = doc["stable"];
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wrobot.go = stable;
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if (stable)
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{
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_now_buf[11] = 1;
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}
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else
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{
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_now_buf[11] = 0;
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}
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int joy_x = doc["joy_x"];
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wrobot.joyx = joy_x;
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if (joy_x >= 0)
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{
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_now_buf[12] = 0;
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}
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else
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{
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_now_buf[12] = 1;
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}
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_now_buf[13] = abs(joy_x);
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int joy_y = doc["joy_y"];
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wrobot.joyy = joy_y;
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if (joy_y >= 0)
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{
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_now_buf[14] = 0;
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}
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else
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{
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_now_buf[14] = 1;
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}
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_now_buf[15] = abs(joy_y);
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}
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