496 lines
16 KiB
C
496 lines
16 KiB
C
#pragma
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//科聪控制器请求报文头结构体信息
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typedef struct KC_MESSAGE_HEADER
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{
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unsigned char version; //协议版本号,固定为0x01
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unsigned char type; //报文类型，请求0x00,应答0x01
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unsigned short serial_number; //通信序列号，发送时+1
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unsigned char server_code; //服务码，固定0x10
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unsigned char command_code; //命令码
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unsigned char run_code; //执行码，应答报文填写
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unsigned char reserve1; //预留字段1，固定为0
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unsigned short content_length; //报文数据区长度
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unsigned char reserve2[2]; //预留字段2
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}ST_KC_MESSAGE_HEADER;
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//------------------------------------------------------(0xAF) AGV_STATUS BEGIN--------------------------------------------------//
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//位置状态信息结构体
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typedef struct LOCATION_STATUS_INFO
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{
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float x; //机器人全局位置 x 坐标
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float y; //机器人全局位置 y 坐标
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float angle; //机器人绝对车体方向角
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unsigned int point_id; //AGV 最后一次通过的点 ID
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unsigned int segment_id; //AGV 最后一次通过的段 ID
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unsigned int point_seq; //最后通过点在任务中的序列号
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unsigned char confidence; //置信度0-100
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unsigned char reserve[7]; //预留字段
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}ST_LOCATION_STATUS_INFO;
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//运行状态信息结构体
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typedef struct RUNNING_STATUS_INFO
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{
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float line_speed; //AGV实时线速度
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float acceleration; //AGV实时加速度
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float angular_speed; //AGV实时角速度
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unsigned char mode; //AGV工作模式
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unsigned char status; //AGV状态
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unsigned char capability; //能力集状态，0未设置，1已设置
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unsigned char reserve[5]; //预留字段
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}ST_RUNNING_STATUS_INFO;
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//点状态序列
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typedef struct POINT_STATE_SEQUENCE
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{
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unsigned int sequence; //点序列
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unsigned int point_id; //点ID
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}ST_POINT_STATE_SEQUENCE;
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//段状态序列
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typedef struct PATH_STATE_SEQUENCE
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{
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unsigned int sequence; //点序列
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unsigned int path_id; //段ID
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}ST_PATH_STATE_SEQUENCE;
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//任务状态信息结构体
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typedef struct TASK_STATUS_INFO
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{
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unsigned int order_id; //订单ID
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unsigned int task_key; //任务KEY
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unsigned char point_size; //点状态序列长度
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unsigned char path_size; //段状态序列长度
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unsigned char reserve[2]; //预留字段
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ST_POINT_STATE_SEQUENCE *pPointStateSequence; //已收到且未执行的点序列，长度由point_size确定
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ST_PATH_STATE_SEQUENCE *pPathStateSequence; //已收到且未执行的段序列，长度由path_size确定
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}ST_TASK_STATUS_INFO;
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//电池状态信息结构体
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typedef struct BATTERY_STATUS_INFO
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{
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float power; //电量百分比
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float voltage; //电压
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float current; //电流
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unsigned char status; //充电状态 02满，01充电，00放电
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unsigned char reserve[7]; //预留字段
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}ST_BATTERY_STATUS_INFO;
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//异常事件状态信息结构体
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typedef struct ABNORMAL_EVENT_STATUS_INFO
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{
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unsigned short event_code; //事件码
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unsigned short event_level; //事件等级 信息00, 警告01，错误02
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unsigned char reserve[8]; //预留字段
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}ST_ABNORMAL_EVENT_STATUS_INFO;
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//动作状态信息结构体
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typedef struct ACTION_STATUS_INFO
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{
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unsigned int action_id; //动作id， 0为无效数据
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unsigned char action_status; //动作状态 00等待，01初始化，02执行中，03完成，04失败，05取消，06暂停
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unsigned char reserve[7]; //预留字段
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}ST_ACTION_STATUS_INFO;
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//AGV上报信息结构体
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typedef struct REPORT_INFO
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{
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unsigned short info_size; //消息长度
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unsigned short info_type; //消息类型
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unsigned char *pInfoContent; //消息内容 4字节对齐， 长度由info_size确定
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}ST_REPORT_INFO;
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typedef struct AGV_STATUS
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{
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unsigned char abnormal_size; //异常事件状态信息长度
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unsigned char action_size; //动作状态长度
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unsigned char info_size; //信息数量
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unsigned char reserve1; //预留字段
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ST_LOCATION_STATUS_INFO stLocationStatusInfo; //位置状态信息结构体
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ST_RUNNING_STATUS_INFO stRunningStatusInfo; //运行状态信息结构体
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ST_TASK_STATUS_INFO stTaskStatusInfo; //任务状态信息结构体
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ST_BATTERY_STATUS_INFO stBatteryStatusInfo; //电池状态信息结构体
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ST_ABNORMAL_EVENT_STATUS_INFO *pstAbnormalEventStatusInfo; //异常事件状态信息结构体, 长度由abnormal_size确定
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ST_ACTION_STATUS_INFO *pstActionStatusInfo; //动作状态信息结构体，长度由action_size确定
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ST_REPORT_INFO *pstReportInfo; //上报信息结构体，长度由info_size确定
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}ST_AGV_STATUS;
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//---------------------------------------------------AGV_STATUS END---------------------------------------------//
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//---------------------------------------------------(0xBO) AGV_CARGO_STATUS BEGIN-----------------------------//
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typedef struct LOAD_STATUS_INFO
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{
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unsigned char cargo_id[64]; //需要RFID时填充
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unsigned char cargo_status; //00无货，01有货
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unsigned short cargo_type; //货物类型
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unsigned char cargo_direction; //货物的方位索引
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unsigned char reserve[4]; //预留
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}ST_LOAD_STATUS_INFO;
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//AGV载货状态信息结构体
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typedef struct AGV_CARGO_STATUS
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{
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unsigned char load_size; //载货状态的数量
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unsigned char reserve[3]; //保留
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ST_LOAD_STATUS_INFO *pstLoadStatusInfo; //载货状态结构体，长度由load_size确定
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}ST_AGV_CARGO_STATUS;
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//---------------------------------------------------AGV_CARGO_STATUS END---------------------------------------------//
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//---------------------------------------------------(0xB1) SUBSCRIPTION_COMMAND BEGIN-------------------------------//
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//订阅的信令信息结构体
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typedef struct SUBSCRIPTION_INFO
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{
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unsigned short command_code; //命令码 0不可订阅
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unsigned short interval_time; //间隔时间
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unsigned int duration_time; //持续时间
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unsigned char reserve[8]; //预留
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}ST_SUBSCRIPTION_INFO;
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//订阅请求结构体
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typedef struct SUBSCRIPTION_REQ
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{
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ST_SUBSCRIPTION_INFO info[8]; //订阅的信令信息结构体
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unsigned char uuid[64]; //uuid
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}ST_SUBSCRIPTION_REQ;
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//订阅应答结构体
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typedef struct SUBSCRIPTION_RESP
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{
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unsigned char uuid[64]; //uuid
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unsigned char errcode; //错误码 0成功，1失败
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}ST_SUBSCRIPTION_RESP;
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//---------------------------------------------------SUBSCRIPTION_COMMAND END---------------------------------------------//
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//---------------------------------------------------(0xB2) IMMEDIATE_ACTION_COMMAND BEGIN-------------------------------//
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typedef struct CONTENT_TYPE1
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{
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unsigned int isStopImmediately;
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};
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typedef struct CONTENT_TYPE2
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{
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unsigned int orderId;
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unsigned int taskKey;
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};
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typedef struct CONTENT_TYPE3
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{
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unsigned int orderId;
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unsigned int isStopImmediately;
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};
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//立即动作结构体
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typedef struct IMMEDIATE_ACTION
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{
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unsigned short action_type; //动作类型
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unsigned char action_parallel; //0x00：为移动和动作间都可并行,0x01：为动作间可以并行，不能移动0x02 只能执行当前动作
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unsigned char reserve1; //预留
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unsigned int action_id; //动作id
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unsigned char param_size; //内容长度
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unsigned char reserve2[3]; //预留
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unsigned char *pContent; //参数内容,长度由param_size确定
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}ST_IMMEDIATE_ACTION;
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//---------------------------------------------------IMMEDIATE_ACTION_COMMAND END---------------------------------------------//
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//---------------------------------------------------(0x02) 读多变量值指令 BEGIN-------------------------------//
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typedef struct READ_VALUE_MEMBER
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{
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unsigned short offset;
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unsigned short length;
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}ST_READ_VALUE_MEMBER;
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typedef struct READ_STR_VALUE
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{
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unsigned char name[16];
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unsigned int count;
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READ_VALUE_MEMBER *pReadValueMember; //个数由count确定
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}ST_READ_STR_VALUE;
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//读多变量值请求
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typedef struct READ_MULTIVARIABLE_REQ
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{
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unsigned char variable_count; //变量数量
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unsigned char reserve1[3]; //预留
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unsigned int value_id; //变量序列号
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ST_READ_STR_VALUE *pReadStrValue; //长度由variable_count确定
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}ST_READ_MULTIVARIABLE_REQ;
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//读多变量值应答
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typedef struct READ_MULTIVARIABLE_RESP
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{
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unsigned int value_id; //变量序列号
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unsigned short length; //应答数据总长度
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unsigned char reserve1[2]; //预留
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unsigned char *pRespData; //按照请求变量 4 字节对齐紧凑排列应答
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}ST_READ_MULTIVARIABLE_RESP;
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//---------------------------------------------------读多变量值指令 END---------------------------------------------//
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//---------------------------------------------------(0x03) 写多变量值指令 BEGIN-------------------------------//
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typedef struct WRITE_VALUE_MEMBER
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{
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unsigned short offset;
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unsigned short length;
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unsigned int value;
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}ST_WRITE_VALUE_MEMBER;
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typedef struct WRITE_STR_VALUE
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{
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unsigned char name[16];
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unsigned int count;
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WRITE_VALUE_MEMBER *pWriteValueMember; //个数由count确定
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}ST_WRITE_STR_VALUE;
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//写多变量值请求
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typedef struct WRITE_MULTIVARIABLE_REQ
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{
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unsigned char variable_count; //变量数量
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unsigned char reserve1[3]; //预留
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ST_WRITE_STR_VALUE *pWriteStrValue; //长度由variable_count确定
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}ST_WRITE_MULTIVARIABLE_REQ;
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//---------------------------------------------------写多变量值指令 END---------------------------------------------//
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//---------------------------------------------------(0x14) 手动定位指令 BEGIN-------------------------------//
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typedef struct MANUAL_LOCATION
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{
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double x;
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double y;
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double angular;
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}ST_MANUAL_LOCATION;
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//---------------------------------------------------手动定位指令 END---------------------------------------------//
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//---------------------------------------------------(0x17) 查询机器人运行状态 BEGIN-------------------------------//
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typedef struct AGV_RUN_STATUS
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{
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double temperature; //温度
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double x; //x坐标
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double y; //y坐标
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double angular; //角度
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double power; //电池电量
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unsigned char is_block; //是否被阻挡 0未阻挡，1被阻挡
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unsigned char is_charge; //是否在充电 0未充电，1在充电
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unsigned char mode; //运行模式 0手动，1自动
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unsigned char map_statue; //地图载入状态 0载入成功，1载入失败，2未载入地图，3正在载入地图
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unsigned int point_id; //当前的目标点ID
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double travel_speed; //前进速度
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double turning_speed; //转弯速度
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double voltage; //电压,充电为正，放电为负
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double current; //电流,充电为正，放电为负
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unsigned char task_status; //当前任务状态 (0无导航点任务，1等待，2正在前往导航点，3暂停，4完成，5失败，6退出，7等待开关门)
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unsigned char location_type; //当前定位方式(1二维码定位，2磁定位，3激光无反定位，4 激光有反定位，5高反码定位，6 gps定位)
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unsigned short map_version; //地图版本号
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unsigned char reserve1[4]; //保留字段
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double total_mileage; //累计行驶里程 单位m
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double this_runtime; //本次运行时间
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double total_runtime; //累计运行时间
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unsigned char location_status; //定位状态 0失败，1成功，2定位中，3定位完成
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unsigned char is_traffic_control; //交通管制 0未交通管制，1交通管制
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unsigned char reserve2[2]; //保留
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unsigned int map_count; //地图数量
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unsigned char map_name[64]; //当前地图名称
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float confidence; //置信度
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}ST_AGV_RUN_STATUS;
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//---------------------------------------------------查询机器人运行状态 END---------------------------------------------//
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//------------------------------------------------------(0xAE) 下发指令 BEGIN------------------------------------------//
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typedef struct ACTION
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{
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unsigned short action_type; //动作类型
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unsigned char action_run_type; //执行动作并行方式
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unsigned char reserve1; //预留
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unsigned int action_id; //动作ID
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unsigned char param_size; //参数长度
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unsigned char reserve2[3]; //预留
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unsigned char *pParamContent; //参数内容
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}ST_ACTION;
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typedef struct POINT_INFO
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{
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unsigned int point_id; //地图路径点 ID
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unsigned char reserve[4]; //预留
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}ST_POINT_INFO;
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typedef struct TPOINT
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{
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float x; //x坐标
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float y; //y坐标
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}ST_TPOINT;
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typedef union DYNMIC_POINT
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{
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POINT_INFO point_info; //地图路径点信息
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TPOINT tpoint; //地图坐标系下自由点坐标
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}ST_DYNMIC_POINT;
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typedef struct GUIDE_0_POINT //导航方式为0时点结构
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{
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unsigned int serial_number; //序列号
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unsigned int point_id; //点id
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float angle; //指定角度时路径点的车头角度
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unsigned char is_assign_angle; //是否指定路径点角度,1 指定 0 不指定
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unsigned char action_size; //动作结构体数组结构体个数
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unsigned char reserve[6]; //预留
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ST_ACTION *pAction; //任务中点或边上动作结构体
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}ST_GUIDE_0_POINT;
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typedef struct GUIDE_1_POINT //导航方式为1时点结构
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{
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unsigned int serial_number; //序列号
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float angle; //指定角度时路径点的车头角度
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unsigned char is_assign_angle; //是否指定路径点角度,1 指定 0 不指定
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unsigned char action_size; //动作结构体数组结构体个数
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unsigned char dynmic_point_type; //0:地图路径点ID，1地图自由位置坐标
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unsigned char reserve; //预留
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ST_DYNMIC_POINT dymic_point; //动态数据结构
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ST_ACTION *pAction; //任务中点或边上动作结构体
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}ST_GUIDE_1_POINT;
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typedef union GUIDE_POINT
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{
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ST_GUIDE_0_POINT point_guide_0; //地图路径点信息
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ST_GUIDE_1_POINT point_guide_1; //地图坐标系下自由点坐标
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}ST_GUIDE_POINT;
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typedef struct PATH
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{
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unsigned int serial_number; //序列号
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unsigned int segment_id; //段ID
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float fixed_angle; //固定角
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unsigned char is_fixed_angle; //是否固定角度
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unsigned char driver_pose; //行驶姿态
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unsigned char action_size; //动作结构体数组结构体个数
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unsigned char reserve1; //预留
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float max_speed; //最大速度
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float max_angular_speed; //最大角速度
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unsigned char reserve2[4]; //预留
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ST_ACTION *pAction; //任务中点或边上动作结构体
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}ST_PATH;
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typedef struct PATH_JOINT
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{
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unsigned int order_id; //订单ID
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unsigned int task_key; //子任务ID
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unsigned char point_size; //点信息结构体数组中结构体个数
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unsigned char path_size; //边信息结构体数组中结构体个数
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unsigned char guide_type; //导航方式0：路径拼接 1：自由导航 2：目标点导航
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unsigned char reserve; //预留
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GUIDE_0_POINT *pstPoint;
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ST_PATH *pstPath;
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}ST_PATH_JOINT;
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//------------------------------------------------------(0xAE) 下发指令 END------------------------------------------//
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/*
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//------------------------------------------------------(0x02) 下发指令 BEGIN------------------------------------------//
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typedef struct READ_VALUE_MEMBER
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{
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uint16_t var_offset;
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uint16_t var_length;
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}ST_READ_VALUE_MEMBER;
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typedef struct READ_STR_VALUE
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{
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uint8_t var_name[16]; //变量名称
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uint32_t var_member_number; //变量成员数量
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ST_READ_VALUE_MEMBER *pReadMember; //成员变量
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}ST_READ_STR_VALUE;
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typedef struct READ_MUTI_VARIABLE_REQ
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{
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uint8_t var_number; //变量数量
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uint8_t reserve[3]; //预留
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uint32_t var_servial; //变量序列号
|
||
ST_READ_STR_VALUE *pReadValue;
|
||
}ST_READ_MUTI_VARIABLE_REQ;
|
||
|
||
|
||
typedef struct READ_MUTI_VARIABLE_RES
|
||
{
|
||
uint32_t var_servial; //变量序列号
|
||
uint16_t data_length; //应答数据长度
|
||
uint32_t reserve[2]; //预留
|
||
uint8_t *pData;
|
||
}ST_READ_MUTI_VARIABLE_RES;
|
||
|
||
//------------------------------------------------------(0x02) 下发指令 END------------------------------------------//
|
||
*/ |