init

MainCarRunner/MainCarRunner.sln

@@ -0,0 +1,31 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Version 17
+VisualStudioVersion = 17.3.32804.467
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "MainCarRunner", "MainCarRunner\MainCarRunner.vcxproj", "{77AEFD24-DB8B-4FBD-8456-441A897012A5}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|x64 = Debug|x64
+		Debug|x86 = Debug|x86
+		Release|x64 = Release|x64
+		Release|x86 = Release|x86
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{77AEFD24-DB8B-4FBD-8456-441A897012A5}.Debug|x64.ActiveCfg = Debug|x64
+		{77AEFD24-DB8B-4FBD-8456-441A897012A5}.Debug|x64.Build.0 = Debug|x64
+		{77AEFD24-DB8B-4FBD-8456-441A897012A5}.Debug|x86.ActiveCfg = Debug|Win32
+		{77AEFD24-DB8B-4FBD-8456-441A897012A5}.Debug|x86.Build.0 = Debug|Win32
+		{77AEFD24-DB8B-4FBD-8456-441A897012A5}.Release|x64.ActiveCfg = Release|x64
+		{77AEFD24-DB8B-4FBD-8456-441A897012A5}.Release|x64.Build.0 = Release|x64
+		{77AEFD24-DB8B-4FBD-8456-441A897012A5}.Release|x86.ActiveCfg = Release|Win32
+		{77AEFD24-DB8B-4FBD-8456-441A897012A5}.Release|x86.Build.0 = Release|Win32
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {E0EC1F10-AA8D-41A4-AAFB-C713621A26FD}
+	EndGlobalSection
+EndGlobal

MainCarRunner/MainCarRunner/MainCarRunner.cpp

@@ -0,0 +1,373 @@
+/* MainCarRunner.cpp : 此文件包含 "main" 函数。程序执行将在此处开始并结束。
+BY 王昱博
+*/
+
+#include <map>
+#include <vector>
+#include <string>
+#include <iostream>
+
+#pragma warning(disable : 4996)
+
+/*
+				XY Map
+	x+--------------------------->
+	y
+	+	A1  B1  C1  D1  E1  F1  G1
+	|	A2  B2  C2  D2  E2  F2  G2
+	|	A3  B3  C3  D3  E3  F3  G3
+	|	A4  B4  C4  D4  E4  F4  G4
+	|	A5  B5  C5  D5  E5  F5  G5
+	|	A6  B6  C6  D6  E6  F6  G6
+	⬇	A7  B7  C7  D7  E7  F7  G7
+*/
+
+enum class TurnDirection
+{
+	Null,
+	Left,
+	Right
+};
+
+enum class CarHeadPosition
+{
+	X_Positive,
+	Y_Positive,
+	X_Negitive,
+	Y_Negitive
+};
+
+class MapPoint
+{
+private:
+	int x, y;
+public:
+	MapPoint();
+	MapPoint(int x, int y);
+public:
+	int GetX();
+	int GetY();
+	void SetX(int x);
+	void SetY(int y);
+	bool NeedTurn(MapPoint next, CarHeadPosition pos);
+	TurnDirection CalcTurnDirection(MapPoint next, CarHeadPosition pos);
+public:
+	MapPoint operator=(const MapPoint& obj);
+	bool operator==(const MapPoint& obj);
+};
+
+std::map<std::string, MapPoint> std_points =
+{
+	{"A1", MapPoint(0,0)},
+	{"A2", MapPoint(0,1)},
+	{"A3", MapPoint(0,2)},
+	{"A4", MapPoint(0,3)},
+	{"A5", MapPoint(0,4)},
+	{"A6", MapPoint(0,5)},
+	{"A7", MapPoint(0,6)},
+	{"B1", MapPoint(1,0)},
+	{"B2", MapPoint(1,1)},
+	{"B3", MapPoint(1,2)},
+	{"B4", MapPoint(1,3)},
+	{"B5", MapPoint(1,4)},
+	{"B6", MapPoint(1,5)},
+	{"B7", MapPoint(1,6)},
+	{"C1", MapPoint(2,0)},
+	{"C2", MapPoint(2,1)},
+	{"C3", MapPoint(2,2)},
+	{"C4", MapPoint(2,3)},
+	{"C5", MapPoint(2,4)},
+	{"C6", MapPoint(2,5)},
+	{"C7", MapPoint(2,6)},
+	{"D1", MapPoint(3,0)},
+	{"D2", MapPoint(3,1)},
+	{"D3", MapPoint(3,2)},
+	{"D4", MapPoint(3,3)},
+	{"D5", MapPoint(3,4)},
+	{"D6", MapPoint(3,5)},
+	{"D7", MapPoint(3,6)},
+	{"E1", MapPoint(4,0)},
+	{"E2", MapPoint(4,1)},
+	{"E3", MapPoint(4,2)},
+	{"E4", MapPoint(4,3)},
+	{"E5", MapPoint(4,4)},
+	{"E6", MapPoint(4,5)},
+	{"E7", MapPoint(4,6)},
+	{"F1", MapPoint(5,0)},
+	{"F2", MapPoint(5,1)},
+	{"F3", MapPoint(5,2)},
+	{"F4", MapPoint(5,3)},
+	{"F5", MapPoint(5,4)},
+	{"F6", MapPoint(5,5)},
+	{"F7", MapPoint(5,6)},
+	{"G1", MapPoint(6,0)},
+	{"G2", MapPoint(6,1)},
+	{"G3", MapPoint(6,2)},
+	{"G4", MapPoint(6,3)},
+	{"G5", MapPoint(6,4)},
+	{"G6", MapPoint(6,5)},
+	{"G7", MapPoint(6,6)}
+};
+
+using PointList = std::vector<MapPoint>;
+using CommandList = std::vector<std::string>;
+
+const std::string move_forward = "MasterCar_SmartRunMP(MasterCar_GoSpeed,MasterCar_GoMpValue);";
+const std::string move_to_black_line = "MasterCar_SmartRun(MasterCar_GoSpeed);";
+const std::string turn_left = "MasterCar_Left(MasterCar_TrunSpeed,1);";
+const std::string turn_right = "MasterCar_Right(MasterCar_TrunSpeed,1);";
+const std::string move_backward = "MasterCar_BackMP(MasterCar_GoSpeed,800);";
+
+MapPoint::MapPoint()
+{
+	x = 0;
+	y = 0;
+}
+
+MapPoint::MapPoint(int x, int y)
+{
+	this->x = x;
+	this->y = y;
+}
+
+int MapPoint::GetX()
+{
+	return x;
+}
+
+int MapPoint::GetY()
+{
+	return y;
+}
+
+void MapPoint::SetX(int x)
+{
+	this->x = x;
+}
+
+void MapPoint::SetY(int y)
+{
+	this->y = y;
+}
+
+bool MapPoint::NeedTurn(MapPoint next, CarHeadPosition pos)
+{
+	if ((pos == CarHeadPosition::X_Positive) || (pos == CarHeadPosition::X_Negitive))
+		return (x != next.GetX());
+	else
+		return (y != next.GetY());
+}
+
+TurnDirection MapPoint::CalcTurnDirection(MapPoint next, CarHeadPosition pos)
+{
+	TurnDirection direction;
+	if (x == next.GetX())
+	{
+		if (y < next.GetY())
+			direction = TurnDirection::Right;
+		else if (y > next.GetY())
+			direction = TurnDirection::Left;
+		else
+			direction = TurnDirection::Null;
+	}
+	else if (y == next.GetY())
+	{
+		if (x < next.GetX())
+			direction = TurnDirection::Right;
+		else if (x > next.GetX())
+			direction = TurnDirection::Left;
+		else
+			direction = TurnDirection::Null;
+	}
+	else
+		direction = TurnDirection::Null;
+	if ((pos == CarHeadPosition::X_Negitive) || (pos == CarHeadPosition::Y_Negitive))
+	{
+		if (direction == TurnDirection::Left)
+			direction = TurnDirection::Right;
+		else if (direction == TurnDirection::Right)
+			direction = TurnDirection::Left;
+	}
+	return direction;
+}
+
+MapPoint MapPoint::operator=(const MapPoint& obj)
+{
+	this->x = obj.x;
+	this->y = obj.y;
+	return (*this);
+}
+
+bool MapPoint::operator==(const MapPoint& obj)
+{
+	return ((x == obj.x) && (y == obj.y));
+}
+
+std::string ReverseMapping(MapPoint point)
+{
+	for (auto& [key, value] : std_points)
+		if (value == point)
+			return key;
+	return "";
+}
+
+void ChangePositon(CarHeadPosition& pos, TurnDirection turn)
+{
+	switch (pos)
+	{
+	case CarHeadPosition::X_Positive:
+		if (turn == TurnDirection::Left)
+			pos = CarHeadPosition::Y_Negitive;
+		else if (turn == TurnDirection::Right)
+			pos = CarHeadPosition::Y_Positive;
+		break;
+	case CarHeadPosition::X_Negitive:
+		if (turn == TurnDirection::Left)
+			pos = CarHeadPosition::Y_Positive;
+		else if (turn == TurnDirection::Right)
+			pos = CarHeadPosition::Y_Negitive;
+		break;
+	case CarHeadPosition::Y_Positive:
+		if (turn == TurnDirection::Left)
+			pos = CarHeadPosition::X_Positive;
+		else if (turn == TurnDirection::Right)
+			pos = CarHeadPosition::X_Negitive;
+		break;
+	case CarHeadPosition::Y_Negitive:
+		if (turn == TurnDirection::Left)
+			pos = CarHeadPosition::X_Negitive;
+		else if (turn == TurnDirection::Right)
+			pos = CarHeadPosition::X_Positive;
+		break;
+	}
+	return;
+}
+
+CarHeadPosition Int2Position(int pos)
+{
+	switch (pos)
+	{
+	case 0:
+		return CarHeadPosition::X_Positive;
+	case 1:
+		return CarHeadPosition::X_Negitive;
+	case 2:
+		return CarHeadPosition::Y_Positive;
+	default:
+		return CarHeadPosition::Y_Negitive;
+	}
+}
+
+std::string Int2PositionString(int pos)
+{
+	switch (pos)
+	{
+	case 0:
+		return "X+";
+	case 1:
+		return "X-";
+	case 2:
+		return "Y+";
+	default:
+		return "Y-";
+	}
+}
+
+std::string GenereateComment(MapPoint last, MapPoint now)
+{
+	return "//" + ReverseMapping(last) + " to " + ReverseMapping(now);
+}
+
+PointList DecodeRoute(std::string route)
+{
+	PointList list;
+	std::string temp;
+	std::vector<std::string> points;
+	for (char ch : route)
+	{
+		if (ch == '-')
+		{
+			points.push_back(temp);
+			temp.clear();
+		}
+		else
+			temp.push_back(ch);
+	}
+	//points.push_back(temp);	//这里是最后一个点，但生成的时候不需要用到，因此屏蔽掉
+	for (std::string point : points)
+	{
+		if (std_points.find(point) != std_points.end())
+			list.push_back(std_points.at(point));
+	}
+	return list;
+}
+
+CommandList GetCommandList(PointList points, CarHeadPosition pos)
+{
+	CommandList cmd_list;
+	MapPoint last_point = points[0];
+	for (int i = 1; i < points.size(); i++)
+	{
+		//printf("Move From (%d,%d) To (%d,%d)\n", last_point.GetX(), last_point.GetY(), points[i].GetX(), points[i].GetY());
+		if ((i != 1) && (cmd_list[cmd_list.size() - 1].find("Trun") == -1))
+			cmd_list.push_back(move_forward);
+		cmd_list.push_back(GenereateComment(last_point, points[i]));
+		if (last_point.NeedTurn(points[i], pos))
+		{
+			switch (last_point.CalcTurnDirection(points[i], pos))
+			{
+			case TurnDirection::Left:
+				cmd_list.push_back(turn_left);
+				ChangePositon(pos, TurnDirection::Left);
+				break;
+			case TurnDirection::Right:
+				cmd_list.push_back(turn_right);
+				ChangePositon(pos, TurnDirection::Right);
+			default:
+				break;
+			}
+			cmd_list.push_back(move_to_black_line);
+		}
+		else
+			cmd_list.push_back(move_to_black_line);
+		//std::cout << cmd_list[cmd_list.size() - 1] << std::endl;
+		last_point = points[i];
+	}
+	return cmd_list;
+}
+
+std::string Point2String(MapPoint point)
+{
+	char str[20] = { 0 };
+	sprintf(str, "(%d,%d)", point.GetX(), point.GetY());
+	return str;
+}
+
+int main()
+{
+	std::string route;
+	int current_pos = -1;
+	std::cout << "----------主车路径代码生成程序----------" << std::endl;
+	std::cout << "输入说明：车头朝向需要反转输入（如：朝向Y-，则输入X+）" << std::endl;
+	do
+	{
+		std::cout << "输入车头朝向（0: X+，1: X-，2: Y+，3: Y-）> ";
+		std::cin >> current_pos;
+	} while ((current_pos < 0) || (current_pos > 3));
+	std::cout << "输入行进路线（以‘-’分隔）> ";
+	do
+	{
+		std::getline(std::cin, route);
+	} while (route.size() < 10);
+	clock_t start = clock();
+	std::cout << "路径代码生成中 【初始方向：" << Int2PositionString(current_pos) << "，路径：" << route << "】" << std::endl;
+	PointList route_point_list = DecodeRoute(route);
+	CarHeadPosition car_head_pos = Int2Position(current_pos);
+	CommandList cmd_list = GetCommandList(route_point_list, car_head_pos);
+	std::cout << "路径代码：" << std::endl;
+	for (auto& cmd : cmd_list)
+		std::cout << cmd << std::endl;
+	clock_t stop = clock();
+	std::cout << "路径代码生成完毕，共耗时：" << (stop - start) / (double)CLOCKS_PER_SEC << "秒。" << std::endl;
+	return 0;
+}

MainCarRunner/MainCarRunner/MainCarRunner.vcxproj

@@ -0,0 +1,136 @@
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MainCarRunner/MainCarRunner/MainCarRunner.vcxproj.filters

@@ -0,0 +1,22 @@
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MainCarRunner/MainCarRunner/MainCarRunner.vcxproj.user

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MainCarRunner/MainCarRunner/x64/Release/MainCarRunner.exe.recipe

@@ -0,0 +1,11 @@
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+<Project>
+  <ProjectOutputs>
+    <ProjectOutput>
+      <FullPath>D:\嵌入式开发\路径自动生成\MainCarRunner\x64\Release\MainCarRunner.exe</FullPath>
+    </ProjectOutput>
+  </ProjectOutputs>
+  <ContentFiles />
+  <SatelliteDlls />
+  <NonRecipeFileRefs />
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MainCarRunner/MainCarRunner/x64/Release/MainCarRunner.log

@@ -0,0 +1,6 @@
+  MainCarRunner.cpp
+  正在生成代码
+  Previous IPDB and IOBJ mismatch, fall back to full compilation.
+  All 10 functions were compiled because no usable IPDB/IOBJ from previous compilation was found.
+  已完成代码的生成
+  MainCarRunner.vcxproj -> D:\嵌入式开发\路径自动生成\MainCarRunner\x64\Release\MainCarRunner.exe

MainCarRunner/MainCarRunner/x64/Release/MainCarRunner.tlog/MainCarRunner.lastbuildstate

@@ -0,0 +1,2 @@
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+Release|x64|D:\嵌入式开发\路径自动生成\MainCarRunner\|

MainCarRunner/MainCarRunner/x64/Release/vcpkg.applocal.log

@@ -0,0 +1 @@
+

主-从车路径代码生成程序(MCR)/FunctionConfig.json

@@ -0,0 +1,7 @@
+{
+   "MoveBackward" : "MasterCar_BackMP(MasterCar_GoSpeed,800);",
+   "MoveForward" : "MasterCar_SmartRunMP(MasterCar_GoSpeed,MasterCar_GoMpValue);",
+   "MoveToBalckLine" : "MasterCar_SmartRun(MasterCar_GoSpeed);",
+   "TurnLeft" : "MasterCar_Left(MasterCar_TrunSpeed,1);",
+   "TurnRight" : "MasterCar_Right(MasterCar_TrunSpeed,1);"
+}