GMC_DCL(char**, argv)
{
boolean Abort, NewFlag;
int i;
Init_IO();
Init_Err();
Init_Env();
Init_Sigs(FALSE);
IPC_Init();
IPC_Action = TopLevelCI;
if (IsServer) {
Init_Sigs(TRUE);
Read_DrvGrf();
Init_Info(&NewFlag);
Init_FilHdrs();
Init_FilInps();
Init_FilElms();
Init_FilPrm();
Init_FilHdrTree();
Activate_Client(LocalClient);
if (NewFlag) {
Write_ENV2(); }/*if*/; }/*if*/;
if (IsClient) {
IsTTY = GetIsTTY();
Init_Vars();
Init_CWD(); }/*if*/;
Read_ENV2();
if (IsClient) {
if (VerifyLevel >= 1) Test_All();
if (argc <= 1) {
Get_Commands(&Abort);
Exit((Abort?1:0)); }/*if*/;
for (i=1; i<argc; i+=1) {
;/*select*/{
if (strlen(argv[i]) == 0) {
Get_Commands(&Abort);
}else{
TopLevelCI(&Abort, argv[i]); };}/*select*/;
if (Abort) {
Exit(1); }/*if*/; }/*for*/;
Exit(0); }/*if*/;
IPC_Get_Commands(&Abort, (tp_Str)NIL);
Exit((Abort?1:0));
return 0; /*to make lint happy*/
}/*main*/
/*****************************************************************
功能：定点清扫程序
*****************************************************************/
void Do_Spot(void)
{
static uint8 piv_out; //机器是否向外展开，1为向外展开，0为向里缩小
static uint8 piv_left; //机器是否向左转，1为向左转，0为向右转
uint32 m ;
//=============电池电压低时进入自动回充
if(battery_voltage < LOWPOWER)
{
if(battery_voltage < NOPOWER)
{
giv_sys_err = 18;
Init_Err();
}
else
{
Init_Docking() ;
Enable_Beep_Five();
}
return;
}
//============在最开始启动时判断左右轮是否离地，否则退出扫地模式
if((giv_sys_time - mode.time) < 5000)
{
if((l_lidi.key == 0)||(r_lidi.key == 0))
{
Init_Cease();
}
return ;
}
if((giv_sys_time - mode.time) < 10000)
{
if(CheckMDustMotor())
{
return;
}
}
//===========遥控器按键管理
if(Spot_YaoKong_Manage() == 1)
{
return;
}
//===========在面板上有三个按键中的任意一个按下了
if((key1.sign == 0) || (key2.sign == 0) || (key3.sign == 0))
{
key1.sign = 1;
key2.sign = 1;
key3.sign = 1;
Init_Cease();
Enable_Beep();
return;
}
//===========显示显示屏的内容
Display_Real();
comm_rap();
clr_hw_effect(&l_hw);
clr_hw_effect(&m_hw);
clr_hw_effect(&r_hw);
clr_hw_effect(&up_hw);
clr_hw_effect(&dummy_wall);
//=========下面是一些需要驱动的行动========
Io_Driver();
Dis_Power = Get_Dispower();
//=========有遥控器时机器停止按照遥控方向运动
if(YaoKongFangXiang())
{
return;
}
//========是否有需要保护的内容
if(Action_Protect())
{
return;
}
m=read_bump1();//故障检测
switch(mode.bump) //故障种类分析以及处理
{
//---------------------------
case 1://E_L
switch (mode.step_bp)
{
case 0:
if(do_action(7,angle360)) //左半身旋转向左旋转，左边抽身后退
{
giv_sys_err = mode.bump;
Init_Err();
return ;
}
if((m==1)) // mode.bump=mode.step_bp=m; do not action
{
return ;
}
stop_rap();
mode.step_bp=1;
case 1:
if(do_action(7,angle30)) //继续抽身后退
{
mode.step_bp++;
}
return ;
case 2:
if(do_action(8,angle15)) //右边半身抽身后退
{
mode.step_bp++;
}
read_earth();
return ;
case 3:
if(do_action(2,angle30)) //全身右向旋转
{
mode.bump = 0;
}
read_earth();
return;
default :
stop_rap();
mode.step_bp = 0;
}
return ;
//--------------------------------------------
case 4://E_R:
switch (mode.step_bp)
{
case 0:
if(do_action(8,angle360))
{
giv_sys_err = mode.bump;
Init_Err();
return ;
}
if((m==4))
{
return ;
}
stop_rap();
mode.step_bp=1;
case 1:
if(do_action(8,angle30))
{
mode.step_bp++;
}
return ;
case 2:
if(do_action(7,angle15))
{
mode.step_bp++;
}
read_earth();
return ;
case 3:
if(do_action(1,angle30))
{
mode.bump = 0;
}
read_earth();
return;
default :
stop_rap();
mode.step_bp = 0;
}
return ;
//-------------------------------mode.bump
case 2://E_LM
case 3://E_RM:
case 5://L_BUMP:
case 6://R_BUMP:
case 7://W_L:
case 8://W_LM:
case 9://W_M:
case 10://up_hw
case 11://l_hw
case 12://m_hw
case 13://r_hw
case 14://W_R:
case 15://W_RM:
switch(mode.step_bp)
{
case 0:
if(do_action(4,angle360))
{
giv_sys_err = mode.bump;
Init_Err();
return ;
}
read_sideearth();
if(m == 0)
{
stop_rap();
mode.step_bp = 1;
}
return ;
case 1:
if(do_action(1,angle30))
{
mode.bump = 0;
}
read_earth();
return;
default :
mode.bump = 0;
}
return ;
default :
mode.bump = 0;
break;
} //结束 switch(mode.bump)
//======================================================
switch (mode.step)
{
case 0:
left(angle360);//原地转圈1圈
mode.step++;
piv_out = 1;
piv_left = 1;
break;
case 1:
case 2:
case 3:
case 4:
if((!l_rap.sign)&&(!r_rap.sign))
{
action.step++;
if(piv_out == 0)
{
Init_Cease();
return;
}
if(piv_left != 0) //全身向左旋转
{
enable_rap(BACK,(angle180-mode.step*angle45), FRONT,(angle180+mode.step*angle45)); //1940
}
else //全身向右旋转
{
enable_rap(FRONT,(angle180+mode.step*angle45),BACK,(angle180-mode.step*angle45) );
}
mode.step++;
}
break;
case 5:
case 6:
case 7:
case 8:
case 9:
case 10:
case 11:
case 12:
case 13:
case 14:
case 15:
case 16:
case 17:
if((!l_rap.sign)&&(!r_rap.sign))
{
action.step++;
if(piv_left != 0)
{
enable_rap(FRONT, (mode.step-4)*angle45, FRONT, (mode.step-4)*angle45+angle360);
}
else
{
enable_rap(FRONT, (mode.step-4)*angle45+angle360, FRONT, (mode.step-4)*angle45);
}
if(mode.step == 17)
{
piv_out = 0;
}
if(piv_out != 0) //向外展开
{
mode.step++;
}
else //向内收拢
{
mode.step--;
}
}
}
}
/******************************************************************
功能：在清扫时的工作
******************************************************************/
void Do_Sweep(void)
{
static uint8 y = 0;//有碰撞信号时 y = 1;否则为0
//static uint8 z = 0;//在执行来回扫时 z = 1,否则为0
//NVIC_GenerateSystemReset();
//-----------电池电压低时进入自动回充
if(battery_voltage < LOWPOWER)
{
if(battery_voltage < NOPOWER)
{
giv_sys_err = 18;
Init_Err();
}
else
{
Init_Docking() ;
Enable_Beep_Five();
}
return;
}
//-----------在最开始启动时判断左右轮是否离地，否则退出扫地模式
if((giv_sys_time - mode.time) < 5000)
{
if((l_lidi.key == 0)||(r_lidi.key == 0))
{
Init_Cease();
}
return ;
}
if((giv_sys_time - mode.time) < 10000)
{
if(CheckMDustMotor())
{
return;
}
}
//----------遥控器按键管理
if(Sweep_YaoKong_Manage() == 1)
{
return;
}
//----------在面板上有三个按键中的任意一个按下了
if((key1.sign == 0) || (key2.sign == 0) || (key3.sign == 0))
{
key1.sign = 1;
key2.sign = 1;
key3.sign = 1;
Init_Cease();
Enable_Beep();
return;
}
//-----------显示显示屏的内容
Display_Real();
comm_rap();
clr_hw_effect(&l_hw);
clr_hw_effect(&m_hw);
clr_hw_effect(&r_hw);
clr_hw_effect(&up_hw);
clr_hw_effect(&dummy_wall);
//----------下面是一些需要驱动的行动-----------------
Io_Driver();
Dis_Power = Get_Dispower();
//----------在靠近墙壁时机器减速
if((w_l.high_sign == NEAR)||(w_lm.high_sign == NEAR)||(w_m.high_sign == NEAR)||
(w_r.high_sign == NEAR)||(w_rm.high_sign == NEAR))
{
if((l_rap.rap > 1000)||(r_rap.rap > 1000))
{
l_rap.rap = (l_rap.rap*2)/3;
r_rap.rap = (r_rap.rap*2)/3;
}
}
else
{
if((l_rap.rap < Speed)&&(r_rap.rap < Speed)&&(mode.bump == 0))
{
l_rap.rap = (l_rap.rap*3)/2;
r_rap.rap = (r_rap.rap*3)/2;
}
}
//-----------在回充座附近将墙检的灵敏度设置为高
if((up_hw.sign != 0) && ((up_hw.data&0x8f)==0))
{
Wall_SensitivityHigh();
mode.angle_wall = 0;
}
else
{
Wall_SensitivityLow();
}
//-------------有遥控器时机器停止按照遥控方向运动
if(YaoKongFangXiang())
{
return;
}
//-------------是否有需要保护的内容
if(Action_Protect())
{
return;
}
if(mode.fangxiang>2)mode.fangxiang = 0;
if((mode.fangxiang != 0)&&(mode.fangxiang != 1)&&(mode.fangxiang != 2))
{
mode.fangxiang = 0;
}
//--------------下面是正常扫地的路径
if(action_bump())
{
y=1;
return;
}
//============================下面是正常在扫地时的路径===========================
//--------------------------有过碰撞，碰撞后主路径只能是直线和Z字形动作
if(1 == y)
{
y = 0;
if((mode.step==0xfe) || (mode.step==0xff))
{
mode.step = 0;
}
do
{
mode.step++;
if(22 < mode.step)
{
mode.step = 0;
}
}
while(3 != zhulujing[mode.step]);
}
if(mode.step==0xfe) //在最开始的时候
{
if(!do_action(3,METE))
{
return;
}
mode.step++;
}
if(mode.step ==0xff) //掉头
{
if(!do_action(1,angle180))
{
return;
}
mode.step++;
}
if((18 == zhulujing[mode.step]) || (19 == zhulujing[mode.step]))
{ //mode.step=1,5,9,11,17,21
mode.sum_bump = 0;
mode.fangxiang = 0;
}
if((18 == zhulujing[mode.step]) || (19 == zhulujing[mode.step])||(mode.sum_bump > 10))
{ //mode.step=1,5,9,11,17,21
mode.ybs_sign = 1;
mode.angle_wall=angle720;
mode.long_wall = 0;
}
else
{
mode.ybs_sign = 0;
Enable_wall();
}
if(do_action(zhulujing[mode.step],zhulujinglong[mode.step]))
{
mode.step++;
if(mode.step > 22)
{
mode.step=0;
}
}
}
