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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 diff --git a/MainCarRunner/MainCarRunner/MainCarRunner.cpp b/MainCarRunner/MainCarRunner/MainCarRunner.cpp new file mode 100644 index 0000000..ef8523a --- /dev/null +++ b/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 +#include +#include +#include + +#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_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; +using CommandList = std::vector; + +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 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; +} diff --git a/MainCarRunner/MainCarRunner/MainCarRunner.vcxproj b/MainCarRunner/MainCarRunner/MainCarRunner.vcxproj new file mode 100644 index 0000000..09cf7af --- /dev/null +++ b/MainCarRunner/MainCarRunner/MainCarRunner.vcxproj @@ -0,0 +1,136 @@ + + + + + Debug + Win32 + + + Release + Win32 + + + Debug + x64 + + + Release + x64 + + + + 16.0 + Win32Proj + {77aefd24-db8b-4fbd-8456-441a897012a5} + MainCarRunner + 10.0 + + + + Application + true + v143 + Unicode + + + Application + false + v143 + true + Unicode + + + Application + true + v143 + Unicode + + + Application + false + v143 + true + Unicode + + + + + + + + + + + + + + + + + + + + + + Level3 + true + WIN32;_DEBUG;_CONSOLE;%(PreprocessorDefinitions) + true + + + Console + true + + + + + Level3 + true + true + true + WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions) + true + + + Console + true + true + true + + + + + Level3 + true + _DEBUG;_CONSOLE;%(PreprocessorDefinitions) + true + + + Console + true + + + + + Level3 + true + true + true + NDEBUG;_CONSOLE;%(PreprocessorDefinitions) + true + stdcpp17 + + + Console + true + true + true + + + + + + + + + \ No newline at end of file diff --git a/MainCarRunner/MainCarRunner/MainCarRunner.vcxproj.filters b/MainCarRunner/MainCarRunner/MainCarRunner.vcxproj.filters new file mode 100644 index 0000000..891859f --- /dev/null +++ b/MainCarRunner/MainCarRunner/MainCarRunner.vcxproj.filters @@ -0,0 +1,22 @@ + + + + + {4FC737F1-C7A5-4376-A066-2A32D752A2FF} + cpp;c;cc;cxx;c++;cppm;ixx;def;odl;idl;hpj;bat;asm;asmx + + + {93995380-89BD-4b04-88EB-625FBE52EBFB} + h;hh;hpp;hxx;h++;hm;inl;inc;ipp;xsd + + + {67DA6AB6-F800-4c08-8B7A-83BB121AAD01} + rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms + + + + + 源文件 + + + \ No newline at end of file diff --git a/MainCarRunner/MainCarRunner/MainCarRunner.vcxproj.user b/MainCarRunner/MainCarRunner/MainCarRunner.vcxproj.user new file mode 100644 index 0000000..88a5509 --- /dev/null +++ b/MainCarRunner/MainCarRunner/MainCarRunner.vcxproj.user @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/MainCarRunner/MainCarRunner/x64/Release/MainCarRunner.exe.recipe b/MainCarRunner/MainCarRunner/x64/Release/MainCarRunner.exe.recipe new file mode 100644 index 0000000..b407b21 --- /dev/null +++ b/MainCarRunner/MainCarRunner/x64/Release/MainCarRunner.exe.recipe @@ -0,0 +1,11 @@ + + + + + D:\嵌入式开发\路径自动生成\MainCarRunner\x64\Release\MainCarRunner.exe + + + + + + \ No newline at end of file diff --git a/MainCarRunner/MainCarRunner/x64/Release/MainCarRunner.iobj b/MainCarRunner/MainCarRunner/x64/Release/MainCarRunner.iobj new file mode 100644 index 0000000..7ae7546 Binary files /dev/null and b/MainCarRunner/MainCarRunner/x64/Release/MainCarRunner.iobj differ diff --git a/MainCarRunner/MainCarRunner/x64/Release/MainCarRunner.ipdb b/MainCarRunner/MainCarRunner/x64/Release/MainCarRunner.ipdb new file mode 100644 index 0000000..632a17e Binary files /dev/null and b/MainCarRunner/MainCarRunner/x64/Release/MainCarRunner.ipdb differ diff --git a/MainCarRunner/MainCarRunner/x64/Release/MainCarRunner.log b/MainCarRunner/MainCarRunner/x64/Release/MainCarRunner.log new file mode 100644 index 0000000..fd612ab --- /dev/null +++ b/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 diff --git a/MainCarRunner/MainCarRunner/x64/Release/MainCarRunner.obj b/MainCarRunner/MainCarRunner/x64/Release/MainCarRunner.obj new file mode 100644 index 0000000..d662675 Binary files /dev/null and b/MainCarRunner/MainCarRunner/x64/Release/MainCarRunner.obj differ diff --git a/MainCarRunner/MainCarRunner/x64/Release/MainCarRunner.tlog/CL.command.1.tlog b/MainCarRunner/MainCarRunner/x64/Release/MainCarRunner.tlog/CL.command.1.tlog new file mode 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/dev/null and b/MainCarRunner/x64/Release/MainCarRunner.exe differ diff --git a/MainCarRunner/x64/Release/MainCarRunner.pdb b/MainCarRunner/x64/Release/MainCarRunner.pdb new file mode 100644 index 0000000..c610756 Binary files /dev/null and b/MainCarRunner/x64/Release/MainCarRunner.pdb differ diff --git a/主-从车路径代码生成程序(MCR)/FunctionConfig.json b/主-从车路径代码生成程序(MCR)/FunctionConfig.json new file mode 100644 index 0000000..db3a8a1 --- /dev/null +++ b/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);" +} diff --git a/主-从车路径代码生成程序(MCR)/MainCarRunnerGUI.exe b/主-从车路径代码生成程序(MCR)/MainCarRunnerGUI.exe new file mode 100644 index 0000000..ebe3368 Binary files /dev/null and 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