rgv-kinco/applications/env.h

/*
 * @file env.h
 *
 * @brief description
 * @details description
 *
 * @copyright (c) 2006-2021, Huali Development Team
 *
 *             (c) Copyright 2021, Shandong Huali electromechanical Co., Ltd..
 *             This is protected by international copyright laws. Knowledge of the
 *             source code may not be used to write a similar product. This file may
 *             only be used in accordance with a license and should not be redistributed
 *             in any way. We appreciate your understanding and fairness.
 *
 * Change Logs:
 * @date           @author       @note
 * 2021-10-16     Simon       the first version
 */

#ifndef ENV_H_
#define ENV_H_

#include <stdint.h>
#include <stdbool.h>
#include "hardware.h"
#include "board.h"
#include "status.h"

#define _VERSION "001"
/* bool */
#define False                       0
#define True                        1
#define MIN_S16                 -32768

typedef struct {
    volatile uint16_t AgvId;
    /* 状态信息 */
    uint16_t Status;	//小车状态
    uint16_t BatteryVolt;
    /* 实时速度 */
    uint16_t Speed;
    uint16_t TaskStatus;	//任务状态
//    uint16_t TaskCnt;
    uint32_t Station;		//站点
    uint32_t TgtStation;	//目标站点
    uint32_t Point;			//地标
    uint16_t CargoStatus;	//货物状态
    uint16_t NavStatus;		//导航状态
    uint16_t FR;			//
    uint16_t CrossType;		//十字架的类型
    /* 目标速度 */
    uint16_t TgtSpeed;
    uint16_t LiftStatus;
    uint16_t QYPreStatus;	//没用

    /* 实时操作 */
    uint16_t PreStatus;	
    uint16_t PrePoint;
    /* 目标操作 */
    uint16_t TgtAction;		//前后
    uint16_t DRAction;		//
    uint16_t Action;	//
    uint16_t Direction;	//方向
    uint16_t Branch;	//分支，没用到
    uint16_t StopAtCross;	//
    // 板载LED灯
    uint16_t Light1Red;
    uint16_t Light1Yellow;
    uint16_t Light1Green;
    uint16_t OBSArea;
    /* rfid */
    uint16_t RfidNeedHandle;	
    uint16_t RfidType;
    uint8_t RfidData2;
    uint8_t RfidData1;
    uint8_t RfidData4;
    uint8_t RfidData3;
    uint8_t RfidData6;
    uint8_t RfidData5;

    uint8_t RfidData8;
    uint8_t RfidData7;
    uint16_t Led0Status;
    uint16_t Light2Red;
    uint16_t Light2Yellow;
    uint16_t Light2Green;

    uint16_t ObsStatus;	//光电开关状态

uint16_t BlkNum;	//用不到
    uint16_t BlkStat;
    /* 获取次数 */
    uint16_t BlkReqCnt;

    /* 速度类型 */
    uint16_t IdleSecond;

    /* 电池信息 */
    uint16_t Driver1Volt;
    uint16_t Driver2Volt;
    uint16_t BatteryStatus;	//电池状态

    /* 驱动信息 */
    uint16_t DRStatus;	//驱动器状态

    uint8_t FFLmtSw;	//
    uint8_t FRLmtSw;	//
    uint8_t BFLmtSw;	//
    uint8_t BRLmtSw;	//

    int FAngle;
    int BAngle;
    int FPos;
    int BPos;
    short FWlkRpm;	//行走电机的转速
    short BWlkRpm;
    uint16_t FWlkZj;
    uint16_t BWlkZj;
    uint8_t FMgsOnline;
    uint8_t BMgsOnline;
    uint8_t LMgsOnline;
    uint8_t RMgsOnline;

    short FMgsOffset;	//
    short BMgsOffset;
    short LMgsOffset;
    short RMgsOffset;

    uint16_t FWlkError;
    uint16_t BWlkError;
    uint16_t FStrError;
    uint16_t BStrError;

    uint16_t LogSwMain :1;
    uint16_t LogSwMsg :1;
    uint16_t LogSwCan :1;
    uint16_t LogSwDriver :1;
    uint16_t LogSwGuide :1;
    uint16_t LogSwRfid :1;
    uint16_t LogSwMns :1;
    uint16_t LogSwBtn :1;
    uint16_t LogSwRoad :1;
    char * TaskId;
    uint16_t TaskSrc;
    int LiftPosL;
    int LiftPosR;
    uint16_t DemoTaskStatus;
    uint16_t TimerChargeStatus;
    uint16_t HH;	//时
    uint16_t MM;	//分
    uint16_t SS;

    uint8_t DmS;
    short xValue;	//x的实际值
    short yValue;
    uint16_t cValue;
    short xOffset;	//x的偏移量
    short yOffset;
    uint16_t Angle;
    uint32_t TagNum;
    uint8_t AtStation;
    uint8_t DirStatus;
    uint8_t DirLiftStatus;
    uint8_t RoadNum_xxxxx;
    uint16_t TgtStationXvalue;
    uint16_t TgtStationYvalue;
    uint16_t TgtStationCvalue;	//
    uint16_t DirPauseStatus;	//
    uint16_t DecPressStatus;	//

    uint16_t InTsjStatus;	//
    uint16_t StartCvalue;	//
    uint16_t TgtCvalue;

    uint16_t TsjStatus;
    uint16_t TsjId;
    uint16_t TsjFloorStatus;
    uint16_t TsjStationXvalue;
    uint16_t TsjStationYvalue;
	
	uint16_t near_time_out;
	uint8_t estop_flag;
	uint8_t reset_flag;
	uint16_t motor_err;
} Status_t;

extern Status_t S;

#define TO_DIGIT(a)     ((a) - '0')
#define TO_ASCII(a)     ((a) + '0')
#define NEAR(c, t, d)       (((c) < ((t) + (d))) && ((c) > ((t) - (d))))
#define FAngleReach         NEAR(S.FAngle, Set.FAngle, Cfg.MtsAglAcy)
#define BAngleReach         NEAR(S.BAngle, Set.BAngle, Cfg.MtsAglAcy)

/*********************************************************************************************************
 *                                              GLOBAL CFG
 *********************************************************************************************************/

#define CFG_REMOTE_CTRL_NUM 8
#define CFG_RFID_TYPE_HS    0
#define CFG_RFID_TYPE_EMR   1
#define CFG_IS_RfidType(a)     (((a) == CFG_RFID_TYPE_HS) || ((a) == CFG_RFID_TYPE_EMR))

#define CFG_BATTERY_TYPE_24V    24
#define CFG_BATTERY_TYPE_48V    48
#define CFG_IS_BtyType(a)  (((a) == CFG_BATTERY_TYPE_24V) || ((a) == CFG_BATTERY_TYPE_48V))

#define CFG_CARGO_TYPE_NULL         0
#define CFG_CARGO_TYPE_LIFT         1
#define CFG_CARGO_TYPE_QIANYI       2
#define CFG_CARGO_TYPE_CHUANSONG    3
#define CFG_CARGO_TYPE_LIFT_SCREW   4

#define CFG_IS_CargoType(a)         (((a) == CFG_CARGO_TYPE_CHUANSONG) || ((a) == CFG_CARGO_TYPE_LIFT) || ((a) == CFG_CARGO_TYPE_QIANYI) || ((a) == CFG_CARGO_TYPE_NULL))

#define CFG_OBS_TYPE_KL    0
#define CFG_OBS_TYPE_PX24  1
#define CFG_IS_ObsType(a)      (((a) == CFG_OBS_TYPE_KL) || ((a) == CFG_OBS_TYPE_PX24))


//#define CFG_STEER_TYPE_SPEED    0
//#define CFG_STEER_TYPE_POSITION 1
//#define CFG_IS_SteerType(a)     (((a) == CFG_STEER_TYPE_SPEED) || ((a) == CFG_STEER_TYPE_POSITION))

#define CFG_WlkMcType_Hs               0
#define CFG_WlkMcType_SenChuang        1
#define CFG_WlkMcType_Motec          2
#define CFG_WlkMcType_Leisai           3
#define CFG_WlkMcType_Curtis           4
//#define CFG_WlkMcType_RoboteQ        5

#define CFG_StrMcType_Hs               0
#define CFG_StrMcType_SenChuang        1
#define CFG_StrMcType_Motec            2
//#define CFG_StrMcType_Leisai         3
//#define CFG_StrMcType_Curtis         4
#define CFG_StrMcType_RoboteQ          5

typedef struct {
    uint16_t Saved;
    uint16_t AgvId;
    // 类型
    uint16_t Type;
    uint16_t Version;

    // 最大转速
    uint16_t MaxRpm;
    /* 速度因子, 一米转数  = 减速比/轮子直周长   */
    uint16_t SpdFctr;

    uint16_t Speed;
    uint16_t SpdMxDft;
    uint16_t SpdHigh;
    uint16_t SpdMid;
    uint16_t SpdLow;

    //接近速度
    uint16_t SpdNear;
    //手动速度
    uint16_t SpdMan;
    //旋转速度
    uint16_t SpdRota;

    //电池电压
    uint16_t BtyType;
    //电池满电电压
    uint16_t VoltFull;
    //电池高电压
    uint16_t VoltHigh;
    //电池中电压
    uint16_t VoltMid;
    //电池低电压
    uint16_t VoltLow;
    //电池报警电压
    uint16_t VoltWarn;
    //电池停止电压
    uint16_t VoltStop;

    uint16_t RfidType;  //depreciated
    uint16_t CargoType; //depreciated
    uint16_t ObsType;   //depreciated
    uint16_t CscType;   //depreciated

    uint16_t WlkMcType;
    uint16_t StrMcType; //depreciated
    /* 每度脉冲数  大齿轮*编码器线数*编码器倍数 /编码器齿轮数/360 */
    uint16_t FStrPlsDeg;
    uint16_t BStrPlsDeg;
    uint16_t NavSP;
    uint16_t NavSI;
    uint16_t NavSD;
    uint16_t NavWP;
    uint16_t DftWP;
    uint16_t MtsAglAcy;
//    uint16_t SteerType;
    /* 角度为arctan(舵轮-横向中心线/舵轮-纵向中心线) */
    short RoteAngle;
    // todo need Test to short
    int FZeroAng;
    int BZeroAng;
    uint16_t FWlkAcc;
    uint16_t FWlkDcc;
    uint16_t BWlkAcc;
    uint16_t BWlkDcc;
    uint16_t StartAct;
    uint16_t ZeroSt;

    uint32_t ipaddr;
    uint32_t netmask;
    uint32_t gateway;
    uint16_t dhcp;
	
	uint16_t stop_dist;         /* 停止距离 */ 
	uint16_t reduce_dist;       /* 减速距离 */
	
	
} Cfg_t;

extern Cfg_t Cfg;
/**
 * @brief 初始化配置
 * @param
 * @return
 */
void Cfg_Init(void);
/*
 *********************************************************************************************************
 *                                            GOLBAL STATUS
 *********************************************************************************************************
 */
/* 未设置状态 */
#define STATUS_INIT                             0
/* 就绪状态 */
#define STATUS_READY                            1
/* 运行状态 */
#define STATUS_RUN                              2
/* 停止状态 */
//#define STATUS_STOP                           3
/* 急停按钮急停状态 */
#define STATUS_ESTOP                            4
/* 刹车停止 */
//#define STATUS_BREAK                          5
/* 驱动器错误 */
#define STATUS_DRIVER_ERROR                     6
/* 导航错误 */
#define STATUS_TARGET_ST_ERROR                  7
/* 任务错误 */
#define STATUS_TASK_ERROR                       8
/* 手动控制状态 */
#define STATUS_REMOTE_MANUAL                    9

/* 1 开头为停止  */
/* 遇到障碍物停止 或者 冲突区域  */
#define STATUS_STOP_OBS                         11
/* 防撞条紧急停止 */
#define STATUS_STOP_BUMPER                      12
/* 冲突区域  */
//#define STATUS_STOP_BLOCK                     13
/* 电压低  */
#define STATUS_STOP_LOW_POWER                   15


/* 2开头为 警告 一般情况下只是警告，车辆正常运行  */
/* 车辆低电压运行：电压低但是还未到必须停止，亮黄灯提示充电 */
#define STATUS_RUN_LOW_POWER                    21
/* 车辆遇到障碍物靠近：遇到障碍物比较远，低速运行 */
#define STATUS_RUN_OBS_LOW_SPEED                22

/* 正方向磁导航脱线 */
#define STATUS_ERROR_FMGS_OFFLINE               31
/* 反方向磁导航脱线 */
#define STATUS_ERROR_BMGS_OFFLINE               32
/* 正方向磁导航脱线 */
#define STATUS_ERROR_LMGS_OFFLINE               33
/* 反方向磁导航脱线 */
#define STATUS_ERROR_RMGS_OFFLINE               34
#define STATUS_ERROR_ROTE_OFFLINE               35
/* 取货物时举升不为空  */
#define STATUS_ERROR_CARGO_START_FULL                    71//取货失败1/
#define STATUS_ERROR_CARGO_PICKUP_FAIL                   72//取货失败2/
#define STATUS_ERROR_CARGO_RELEASE_FAIL                  73//放货失败/
//
//#define ERROR_STATUS_FORWARD_LIMIT                 0x32//前驱动器限位保护
//#define ERROR_STATUS_FORWARD_CONNECT_FAILS         0x33//前驱动器上位机连接失败
//#define ERROR_STATUS_FORWARD_LOW_VOLT              0x34//前驱动器欠压
//#define ERROR_STATUS_FORWARD_OFFLINE               0x35//前磁导航脱线
//
//#define ERROR_STATUS_BACK_LIMIT                    0x3C//后驱动器限位保护
//#define ERROR_STATUS_BACK_CONNECT_FAILS            0x3D//后驱动器上位机连接失败
//#define ERROR_STATUS_BACK_OFFLINE                  0x3E//后磁导航脱线
//#define ERROR_STATUS_BACK_LOW_VOLT                 0x3F//后驱动器欠压

/* 初始化状态 */
#define NAV_STATUS_INIT                         0
/* 在路上 */
#define NAV_STATUS_NAV                          1
/* 已经进入站点 */
#define NAV_STATUS_STATION_IN                   2
/* 在站点分支 */
#define NAV_STATUS_STATION_BRANCH               3
/* 到达站点 */
#define NAV_STATUS_STATION_ON                   4

#define WARN_NULL                               0
#define WARN_OBS_NEAR                           100
#define WARN_OBS_STOP                           50
#define WARN_LOW_POWER                          200

/**
 * @brief 顶升状态定义
 */
// 初始化状态，未检测状态时为此状态
#define LIFT_STATUS_INIT        0
#define LIFT_STATUS_TOP         1
#define LIFT_STATUS_BOTTOM      2
#define LIFT_STATUS_UP          3
#define LIFT_STATUS_DOWN        4
#define LIFT_STATUS_MANUAL_UP   5
#define LIFT_STATUS_MANUAL_DOWN 6
#define LIFT_STATUS_CENTER      7
#define LIFT_STATUS_MANUAL_STOP 8
/**
 * @brief 顶升货物状态
 */
#define DIR_STATUS_INIT             0
#define DIR_STATUS_FB               1
#define DIR_STATUS_LR               2
#define DIR_STATUS_UP               3
#define DIR_STATUS_DOWN             4
#define DIR_STATUS_MANUAL_UP        5
#define DIR_STATUS_MANUAL_DOWN      6

#define DIR_STOP_STATUS             2
#define DIR_RUN_STATUS              1

//换向延时时间10=10*100ms=1s
#define DIR_LIFT_TIMER              10

// 初始化状态
#define CARGO_STATUS_INIT                                                   'I'
// 无货物
#define CARGO_STATUS_NULL                                                   'N'
// 货物在中间
#define CARGO_STATUS_CENTER                                                 'C'
// 货物偏置
#define CARGO_STATUS_SIDE                                                   'S'

//#define TASK_STATUS_INIT                                                  'I'
//#define TASK_STATUS_NULL                                                  'N'
//#define TASK_STATUS_IDLE                                                  'D'
//#define TASK_STATUS_TO_ST                                                 'T'
//#define TASK_STATUS_ST_ACTION                                             'A'
//#define TASK_STATUS_MANUAL                                                'M'

#define BATTERY_STATUS_NULL                                                 0
#define BATTERY_STATUS_STOP                                                 00
#define BATTERY_STATUS_WARN                                                 20
#define BATTERY_STATUS_LOW                                                  40
#define BATTERY_STATUS_MID                                                  60
#define BATTERY_STATUS_HIGH                                                 80
#define BATTERY_STATUS_FULL                                                 100

/* 灯光状态FF表示常亮，0表示不亮 其他的数值表示间隔多少个0.1秒切换一次 */
#define LIGHT_STATUS_OFF                                                    0x0
#define LIGHT_STATUS_ON                                                     0xFF
#define LIGHT_STATUS_TOGGLE_05                                              05
#define LIGHT_STATUS_TOGGLE_1S                                              10
#define LIGHT_STATUS_TOGGLE_2S                                              20

#define IDLE_TIMEOUT 1800

#define ACT_NULL                            0x0
#define ACT_RESET                           0x7
#define ACT_BRAKE                           0x6

#define ACT_STOP                            0x5

#define ACT_FORWARD                         0x1
#define ACT_FORWARD_LEFT                    0x13
#define ACT_FORWARD_RIGHT                   0x14
#define ACT_FORWARD_STOP_CROSS              0x15

#define ACT_BACKWARD                        0x2
#define ACT_BACKWARD_LEFT                   0x23
#define ACT_BACKWARD_RIGHT                  0x24
#define ACT_BACKWARD_STOP_CROSS             0x25

#define ACT_LEFT                            0x3
#define ACT_LEFT_FORWARD                    0x31
#define ACT_LEFT_BACKWARD                   0x32
#define ACT_LEFT_STOP_CROSS                 0x35

#define ACT_RIGHT                           0x4
#define ACT_RIGHT_FORWARD                   0x41
#define ACT_RIGHT_BACKWARD                  0x42
#define ACT_RIGHT_STOP_CROSS                0x45

#define ACT_MANUAL_FORWARD                  0x91
#define ACT_MANUAL_BACKWARD                 0x92
#define ACT_MANUAL_DRIFT_LEFT               0x93
#define ACT_MANUAL_DRIFT_RIGHT              0x94
#define ACT_MANUAL_STOP                     0x95
#define ACT_MANUAL_ROTATE_LEFT              0x97
#define ACT_MANUAL_ROTATE_RIGHT             0x98

#define ACT_SPEED_NORMAL                    0x80
#define ACT_SPEED_LOW                       0x81
//#define ACT_SPEED_MID                     0x82
//#define ACT_SPEED_HIGH                    0x83

#define ACT_BRANCH_LEFT                     0xA
#define ACT_BRANCH_RIGHT                    0xB
#define ACT_ROTATE_LEFT                     0xC
#define ACT_ROTATE_RIGHT                    0xD
#define ACT_ROUND_LEFT                      0xE
#define ACT_ROUND_RIGHT                     0xF

#define ActIsManual(act)  (((act) >> 4) == 9)
#define ActIsNav(act)   (((act)==ACT_FORWARD)                   || \
                         ((act)==ACT_FORWARD_LEFT)              || \
                         ((act)==ACT_FORWARD_RIGHT)             || \
                         ((act)==ACT_FORWARD_STOP_CROSS)        || \
                         ((act)==ACT_BACKWARD)                  || \
                         ((act)==ACT_BACKWARD_LEFT)             || \
                         ((act)==ACT_BACKWARD_RIGHT)            || \
                         ((act)==ACT_BACKWARD_STOP_CROSS)       || \
                         ((act)==ACT_LEFT)                      || \
                         ((act)==ACT_LEFT_FORWARD)              || \
                         ((act)==ACT_LEFT_BACKWARD)             || \
                         ((act)==ACT_LEFT_STOP_CROSS)           || \
                         ((act)==ACT_RIGHT)                     || \
                         ((act)==ACT_RIGHT_FORWARD)             || \
                         ((act)==ACT_RIGHT_BACKWARD)            || \
                         ((act)==ACT_RIGHT_STOP_CROSS)          || \
                         ((act)==ACT_STOP))

#define NULL_POINT                                    0xFFFF
#define NULL_STATION                                  NULL_POINT

#define RFID_TYPE_POINT                               0
#define RFID_TYPE_STATION                             1
#define RFID_TYPE_CMD                                 2
#define RFID_TYPE_ACT                                 3
#define RFID_TYPE_BLOCK                               4
#define RFID_TYPE_BLOCK_OUT                           5
#define RFID_TYPE_OBS_AREA                            6

#define DIRECTION_NULL                                0x0
#define DIRECTION_FORWARD                             0x1
#define DIRECTION_BACKWARD                            0x2
#define DIRECTION_LEFT                                0x3
#define DIRECTION_RIGHT                               0x4
#define DIRECTION_ROTATE                              0x5

#define OBS_STATUS_NULL                               0
#define OBS_STATUS_FAR                                1	//
#define OBS_STATUS_NEAR                               2

/**
 * @brief RDM Relative Direction Model 相对方向模式
 */
#define RDM_PASS                                 0x0 /*直接通过*/
#define RDM_BRANCH_LEFT                          0x1
#define RDM_BRANCH_RIGHT                         0x2
#define RDM_DRIFT_LEFT                           0x3
#define RDM_DRIFT_RIGHT                          0x4
#define RDM_TRUN_LEFT                            0x5
#define RDM_TRUN_RIGHT                           0x6
#define RDM_STOP                                 0x7
#define RDM_STOP_CROSS                           0x8
#define RDM_BACK                                 0xF
#define RDM_LIFT_UP                              0x11
#define RDM_LIFT_DOWN                            0x12

#define FR_NULL                                   0
#define FR_FORWARD                                1
#define FR_BACKWARD                               2

#define BRANCH_CENTER                               0
#define BRANCH_LEFT                                 1
#define BRANCH_RIGHT                                2

#define CROSS_OFF                                   0
#define CROSS_FB                                    1
#define CROSS_LR                                    2
#define CROSS_XY                                    3

/* 因队列判满需要最后一个不存任务，因此任务总数为16个 */
#define MAX_TASK_Q                                  64
/* 接收命令的返回值 */
#define TASK_LIST                                   0
#define TASK_ASCCEPT                                1
#define TASK_FINISH                                 2
#define TASK_LIST_FULL                              9
#define TASK_ERROR_LEN                              61
#define TASK_ERROR_SRC_NOT_NUM                      62
#define TASK_ERROR_DST_NOT_NUM                      63
#define TASK_ERROR_SRC_NOT_DEFINE                   64
#define TASK_ERROR_DST_NOT_DEFINE                   65
#define TASK_ERROR_PICKUP                           73   // 取货失败
#define TASK_ERROR_RELEASE                          74   // 放货失败

#define TRANS_STATUS_NULL                           0
#define TRANS_STATUS_INIT                           1
#define TRANS_STATUS_TO_SRC                         2
#define TRANS_STATUS_PICKUP                         3
#define TRANS_STATUS_TO_DST                         4
#define TRANS_STATUS_RELEASE                        5
#define TRANS_STATUS_ACTION                         6
#define TRANS_STATUS_TO_STN                         10

#define RUNTYPE_INIT 0
#define RUNTYPE_FR 1
#define RUNTYPE_STATION 2
#define RUNTYPE_TRANS 3

#define TIMER_STATUS_TO_CHARGE 1
#define TIMER_STATUS_TO_TASK   2

/* 任务从SRC站点取货到DST站点放货 */
typedef struct {
    char Id[65];
    int Src;
    int Dst;
    int DstFloor;
    uint8_t Act;
} TASK_Transport_t;
typedef struct {
    uint8_t Status;
    TASK_Transport_t Elems[MAX_TASK_Q];
    uint8_t Current;
    uint8_t Last;
} TransportQueue_t;

typedef struct {
    /* 按钮 */
    uint8_t BtnRun :1;
    uint8_t BtnRev :1;
    uint8_t BtnEStop :1;
    uint8_t BtnCStop :1;
    uint8_t BtnLiftUp :1;
    uint8_t BtnLiftDown :1;
    uint8_t :2;

    // 遥控器
    uint8_t RmcStart :1;
    uint8_t RmcStop :1;
    uint8_t RmcEStop :1;
    uint8_t RmcLiftUp :1;
    uint8_t RmcLiftDown :1;
    uint8_t :3;

    uint8_t RmcForward :1;
    uint8_t RmcBackward :1;
    uint8_t RmcDriftLeft :1;
    uint8_t RmcDriftRight :1;
    uint8_t RmcRoteLeft :1;
    uint8_t RmcRoteRight :1;
    uint8_t :2;
    // 避障
    // OBS1
    uint8_t OBS1In1 :1;
    uint8_t OBS1In2 :1;
    uint8_t OBS1In3 :1;
    uint8_t OBS1In4 :1;
    uint8_t :4;
    // OBS2
    uint8_t OBS2In1 :1;
    uint8_t OBS2In2 :1;
    uint8_t OBS2In3 :1;
    uint8_t OBS2In4 :1;
    uint8_t :4;
    // OBS3
    uint8_t OBS3In1 :1;
    uint8_t OBS3In2 :1;
    uint8_t OBS3In3 :1;
    uint8_t OBS3In4 :1;
    uint8_t :6;
    /* OBS4 */
    uint8_t OBS4In1 :1;
    uint8_t OBS4In2 :1;
    uint8_t OBS4In3 :1;
    uint8_t OBS4In4 :1;
    uint8_t :6;

    /* NPN */
    uint8_t Npn1 :1;
    uint8_t Npn2 :1;
    uint8_t Npn3 :1;
    uint8_t Npn4 :1;
    uint8_t Npn5 :1;
    uint8_t Npn6 :1;
    uint8_t Npn7 :1;
    uint8_t Npn8 :1;
    uint8_t Npn9 :1;
    uint8_t Npn10 :1;

    /* Lift */
    uint8_t Lft1InTop :1;
    uint8_t Lft1InBottom :1;
    uint8_t :6;

    uint8_t Lft2InTop :1;
    uint8_t Lft2InBottom :1;
    uint8_t :6;

    uint8_t Motor1DET :1;
    uint8_t Motor2DET :1;
} IN_t;
extern IN_t I;
typedef struct {
    /* 信号灯1 */
    uint8_t Light1Red :1;
    uint8_t Light1Yellow :1;
    uint8_t Light1Green :1;
    uint8_t :5;
    // 信号灯2
    uint8_t Light2Red :1;
    uint8_t Light2Yellow :1;
    uint8_t Light2Green :1;
    uint8_t :5;

    uint8_t OBS1Out1 :1;
    uint8_t OBS1Out2 :1;
    uint8_t OBS1Out3 :1;
    uint8_t OBS1Out4 :1;
    uint8_t :4;

    uint8_t OBS2Out1 :1;
    uint8_t OBS2Out2 :1;
    uint8_t OBS2Out3 :1;
    uint8_t OBS2Out4 :1;
    uint8_t :4;

    uint8_t OBS3Out1 :1;
    uint8_t OBS3Out2 :1;
    uint8_t :6;

    uint8_t OBS4Out1 :1;
    uint8_t OBS4Out2 :1;
    uint8_t :6;

    /* Lift */
    uint8_t Lft1Up24 :1;
    uint8_t Lft1Down24 :1;
    uint8_t Lft1Out1 :1;
    uint8_t Lft1Out2 :1;
    uint8_t :4;

    uint8_t Lft2Up24 :1;
    uint8_t Lft2Down24 :1;
    uint8_t Lft2up1 :1;
    uint8_t Lft2Down2 :1;
    uint8_t :4;

    /* KDS */
    uint8_t KDS1Out241 :1;
    uint8_t KDS1Out242 :1;
    uint8_t KDS1Out243 :1;
    uint8_t KDS1Out244 :1;

    uint8_t :4;
    uint8_t KDS2Out241 :1;
    uint8_t KDS2Out242 :1;
    uint8_t KDS2Out243 :1;
    uint8_t KDS2Out244 :1;
    uint8_t :4;

    /* Motor */
    uint8_t Motor1FR :1;
    uint8_t Motor1EN :1;
    uint8_t Motor1BR :1;
    uint8_t :5;

    uint8_t Motor2FR :1;
    uint8_t Motor2EN :1;
    uint8_t Motor2BR :1;
    uint8_t :5;
} OUT_t;
extern OUT_t O;
#ifndef MgsNA
#define MgsNA   MIN_S16
#endif
#ifndef AngleNA
#define AngleNA MIN_S16
#endif
#ifndef PosNA
#define PosNA   MIN_S16
#endif

#define DR_STATUS_INIT 0
#define DR_STATUS_RUN  1

/* 无冲突 */
#define BLOCK_NULL    0
/* 冲突获取 */
#define BLOCK_ACK     1
/* 冲突申请 */
#define BLOCK_REQ     2
/* 冲突释放 */
#define BLOCK_RLS     3

#define OBS_AREA_OFF  0
#define OBS_AREA_ON   0xFF

#define DEMO_TASK_TIME   50


#define AGV_ON_FB       (S.CrossType == CROSS_FB)
#define AGV_ON_LR       (S.CrossType == CROSS_LR)
#define AGV_ON_CROSS    (S.CrossType == CROSS_XY)
#define AGV_OFF_LINE    (S.CrossType == CROSS_OFF)
#define DM_READ_CODE    (S.DmS == 0)

/**
 * @brief 初始化配置
 * @param
 * @return
 */
void Stat_Init(void);

typedef struct {
    uint16_t RpmNav;
    uint16_t RpmDft;
    uint16_t RpmNear;
    uint16_t RpmManual;
    uint16_t RpmRotate;
    uint16_t Branch;
    uint16_t SpeedAct;
    uint16_t Speed;
    uint16_t SpeedDrift;
    uint16_t RotateAct;
    uint16_t RotateCnt;

    uint16_t DRAction;
    uint16_t DRRpmNav;
    uint16_t DRRpmDft;
    short FStrRpm;
    short BStrRpm;
    short FWlkRpm;
    short BWlkRpm;
    short FAngle;
    short BAngle;

    short LiftRpmUp;
    short LiftRpmDown;
    int LiftUpPos;
    int LiftDownPos;
    int LiftPos;

    uint16_t FWlkAAcc;
    uint16_t FWlkMAcc;
    uint16_t FWlkADcc;
    uint16_t FWlkMDcc;
    uint32_t ChargeStation;
    short LiftRpm;
    uint16_t StationDcc;
    uint32_t TsjStation;
	//专为唐山修改,2排11列与3排11列不起作用
	uint32_t TsjPoint;			//地标
} Set_t;
extern Set_t Set;

void Set_Init(void);
void SetSpeed(uint16_t speed);

#define JSON_O_SetCfg       "SetCfg"
#define JSON_O_GetCfg       "GetCfg"
#define JSON_O_SaveCfg      "SaveCfg"
#define JSON_O_Status       "Status"
#define JSON_O_SetLog       "SetLog"
#define JSON_O_ClearTask    "ClearTask"
#define JSON_O_SetAct       "SetAct"
#define JSON_O_ToStation    "ToStn"
#define JSON_O_AddTask      "AddTsk"
#define JSON_O_BlkReq       "BlkReq"
#define JSON_O_BlkRls       "BlkRls"
#define JSON_O_Time         "Time"

#define OP_SET_ACTION       0x2
#define OP_SET_SPEED        0x4
#define OP_SET_STATION      0x5

#define OP_RUN              'R'
#define OP_ADDTASK          '1'
#define OP_CLEAR_TASK       '2'
#define OP_STOP             'S'
#define OP_TO_STATION       'T'
#define OP_LOG              ':'

#define OP_GET_TASK         0xA4
#define OP_SET_TASK         0xA5
//#define OP_SAVE_TASK      0xA6

#define OP_GET_ROADINFO     0xB1
#define OP_SET_ROADINFO     0xB2
#define OP_SAVE_ROADINFO    0xB3

#define OPT_STOP            0x01
#define OPT_STOP_LIFT_UP    0x02
#define OPT_STOP_LIFT_DOWN  0x03
#define OPT_TURN_LEFT       0x04
#define OPT_TURN_RIGHT      0x05
#define OPT_SET_SPEED       0x06
#define OPT_SWITCH_LINE     0x07
#define OPT_SET_OBS         0x08
#define OPT_LEFT            0x09
#define OPT_RIGHT           0x0A

typedef struct {
    uint16_t Station;
    uint8_t Opertaion;
    uint8_t param;
} Trans_t;

#define GD_MAX_STATION 128
#define GD_MAX_POINT 128

extern TransportQueue_t Trans;

uint8_t FLASH_Write(uint32_t startAddr, const uint8_t *pBuffer, uint32_t size);
uint16_t FLASH_ReadHalfWord(uint32_t addr) ;
#endif /* ENV_H_ */