【类 型】：fix
【原 因】：1.飞机声音模块死机bug 在声音函数里面最后延迟300毫秒解决 2.播放声音函数第二个参数给位音量控制 V1 至 V9 3.mqtt监听playText 前端穿过来得声音json数据 并播放 4.送餐放钩时播放声音改为V9 最大声音 【过 程】： 【影 响】： # 类型 包含: # feat：新功能（feature） # fix：修补bug # docs：文档（documentation） # style： 格式（不影响代码运行的变动） # refactor：重构（即不是新增功能，也不是修改bug的代码变动） # test：增加测试 # chore：构建过程或辅助工具的变动
This commit is contained in:
air
parent
408c52bf37
commit
a571f30aa7
@ -265,58 +265,47 @@ void FoodCube::SetplayvolMax()
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SWrite(volcommand, sizeof(volcommand), voiceSerial);
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}
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/**
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* @description: 声音播放
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* @param {String} str 播放内容
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* @brief 播放语音文本（可指定音量）
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* @param str 播放的文本内容（UTF-8 编码）
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* @param vol 音量等级（枚举 V1~V9），默认为 V1（最小音量）
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*/
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void FoodCube::playText(String str, bool flying)
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void FoodCube::playText(String str, VoiceVolume vol)
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{
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// 拼接音量控制前缀，例如 "[v5]起飞"
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String vstr = "[v" + String((int)vol) + "]" + str;
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String vstr;
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// 输出音量开到最大
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// uint8_t volcommand[10]={0xFD,0x00,0x07,0x01,0x01,0x5B,0x76,0x31,0x30,0x5D};
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// SWrite(volcommand, sizeof(volcommand), voiceSerial);
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// 字符串里面的音量
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// 空中音量开到最大，地面防止刺耳开到小
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if (flying)
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vstr = "[v9]" + str;
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else
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vstr = "[v1]" + str;
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// return ;
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/*消息长度*/
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int len = vstr.length(); // 修改信息长度 消息长度
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// if (len >= 3996) { //限制信息长度 超长的不播放
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// return;
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// }
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/*长度高低位*/
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int frameLength = len + 2; // 5 bytes for header and length bytes
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byte highByte = (frameLength >> 8) & 0xFF; // extract high byte of length
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byte lowByte = frameLength & 0xFF; // extract low byte of length
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/*帧命令头*/
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uint8_t command[len + 5];
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// 已知 帧头0xFD z信息长度高位 x信息长度低位 0x01命令字1是开始命令 0x04utf8编码 先给值
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int index = 0;
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command[index++] = 0xFD;
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command[index++] = highByte;
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command[index++] = lowByte;
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command[index++] = 0x01;
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command[index++] = 0x04;
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/*帧命令 消息段*/
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for (int i = 0; i < vstr.length(); i++)
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// 计算消息长度，语音模块要求帧数据 = 内容长度 + 2
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int len = vstr.length();
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if (len >= 3996)
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{
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command[index++] = (int)vstr[i];
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// 防止超长导致模块错误
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return;
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}
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logln("playText");
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/*
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log("sendplay:");
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for (int i = 0; i < sizeof(command); i++) {
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log(command[i]);
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log(" ");
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int frameLength = len + 2;
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byte highByte = (frameLength >> 8) & 0xFF;
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byte lowByte = frameLength & 0xFF;
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// 构造完整命令帧：帧头 + 长度 + 命令 + 编码类型 + 内容
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uint8_t command[len + 5];
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int index = 0;
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command[index++] = 0xFD; // 帧头
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command[index++] = highByte; // 长度高位
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command[index++] = lowByte; // 长度低位
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command[index++] = 0x01; // 命令字：播放合成
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command[index++] = 0x04; // 编码方式：UTF-8
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// 填充文本内容部分
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for (int i = 0; i < len; i++)
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{
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command[index++] = (uint8_t)vstr[i];
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}
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logln("");
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*/
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// 串口发送 播放声音
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// 发送数据到语音串口
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SWrite(command, sizeof(command), voiceSerial);
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// 延时等待模块处理，防止连续播放死机
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delay(300); // 可根据模块处理时间调节
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}
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/**
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@ -58,7 +58,20 @@ public:
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void pubMQTTmsg(String topicString, String messageString);
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/*声音模块控制*/
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void playText(String str, bool flying = false);
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// 枚举，音量
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enum VoiceVolume
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{
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V1 = 1,
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V2 = 2,
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V3 = 3,
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V4 = 4,
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V5 = 5,
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V6 = 6,
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V7 = 7,
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V8 = 8,
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V9 = 9
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};
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void playText(String str, VoiceVolume vol = V1);
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void SetplayvolMax();
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uint8_t chekVoiceMcu();
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void stopVoice();
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186
src/commser.cpp
186
src/commser.cpp
@ -90,6 +90,24 @@ void mqtt_receiveCallback(char *topic, byte *payload, unsigned int length)
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String todo = value; // 转换值
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writeRoute(todo); // 写入航点
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}
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else if (key == "playText")
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{
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JsonObject obj = value.as<JsonObject>(); // 获取嵌套的对象
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String todo = obj["val"] | ""; // 获取文本内容，默认空字符串
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int volInt = obj["vol"] | 1; // 获取音量，默认1
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// 转为枚举，确保在 1~9 范围内
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volInt = constrain(volInt, 1, 9);
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FoodCube::VoiceVolume volume = (FoodCube::VoiceVolume)volInt;
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fc.playText(todo, volume); // 播放声音
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}
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else if (key == "questAss")
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{ // 飞行航点任务 questAss
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String todo = value; // 转换值
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writeRoute(todo); // 写入航点
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}
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else if (key == "setQuestState")
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{
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// 设置飞机任务状态
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@ -104,25 +122,19 @@ void mqtt_receiveCallback(char *topic, byte *payload, unsigned int length)
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topicPubMsg[10] = fc.setNBit(topicPubMsg[10], n, state);
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if (n = 5 && state == 1) // 执行任务 ps:切自动
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{
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delay(3000);
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// 切模式
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set_mode(AUTO); // 设置飞控为自动模式
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// 油门
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uint16_t chan[] = {1500, 1500, 1500, 1500};
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int8_t i = 0;
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while (topicPubMsg[12] == "自动" && i < 10)
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{
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fc.mav_channels_override(chan); // 控制油门
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delay(50);
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i++;
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}
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if (topicPubMsg[12] != "自动")
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{
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topicPubMsg[18] = "自动模式切换失败，请检查飞控是否正常工作"; // 终端 打印日志
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}
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}
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}
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else if (key == "unlock") // 解锁
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{
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// 油门
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uint16_t chan[] = {1500, 1500, 1100, 1500}; // 加解锁 油门到底
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fc.mav_channels_override(chan); // 控制油门
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set_mode(LOITER); // 设置飞控为定点模式
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delay(2000); // 可以根据需要调整延迟时间，确保模式切换生效
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lock_or_unlock(false); // 解锁
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@ -162,27 +174,17 @@ void mqtt_receiveCallback(char *topic, byte *payload, unsigned int length)
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}
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else if (key == "autoMode") // 自动auto模式
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{
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delay(3000);
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// 切模式
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set_mode(AUTO); // 设置飞控为定高模式
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set_mode(AUTO); // 设置飞控为自动模式
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// 油门
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uint16_t chan[] = {1500, 1500, 1500, 1500};
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int8_t i = 0;
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while (topicPubMsg[12] == "自动" && i < 10)
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{
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fc.mav_channels_override(chan); // 控制油门
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delay(50);
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i++;
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}
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if (topicPubMsg[12] != "自动")
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{
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fc.playText("自动模式切换失败，请检查飞控是否正常工作");
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}
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}
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else if (key == "loiterMode") // 悬停定点loiter模式
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{
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// 油门
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uint16_t chan[] = {1500, 1500, 1500, 1500}; // 加解锁 油门到底
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uint16_t chan[] = {1500, 1500, 1500, 1500};
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fc.mav_channels_override(chan); // 控制油门
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delay(500);
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// 切模式
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@ -194,7 +196,7 @@ void mqtt_receiveCallback(char *topic, byte *payload, unsigned int length)
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else if (key == "holdAltMode") // 定高
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{
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// 油门
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uint16_t chan[] = {1500, 1500, 1500, 1500}; // 加解锁 油门到底
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uint16_t chan[] = {1500, 1500, 1500, 1500};
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fc.mav_channels_override(chan); // 控制油门
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delay(500);
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// 切模式
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@ -442,9 +444,74 @@ void mavlink_receiveCallback(uint8_t c)
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// mavlink_msg_rc_channels_decode(&msg, &rc_channels);
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// uint16_t throttle_value = rc_channels.chan3_raw; // ch3_raw 是油门通道的原始输
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// Serial.println(throttle_value);
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// if (topicPubMsg[18] != "油门：" + String(throttle_value))
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// {
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// topicPubMsg[18] = "油门：" + String(throttle_value); // 油门值
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// }
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// }
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// break;
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case MAVLINK_MSG_ID_COMMAND_LONG: // #47: 航点提交成果反馈
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{
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uint16_t fc_hook_cmd = mavlink_msg_command_long_get_command(&msg);
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uint16_t rngalt_cm = (uint16_t)mavlink_msg_command_long_get_param1(&msg);
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// printf("COMMAND_LONG ID:%d,rng:%dcm \n", fc_hook_cmd, rngalt_cm);
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topicPubMsg[18] = "COMMAND_LONG ID:" + String(fc_hook_cmd) + ",rng:" + String(rngalt_cm) + "cm"; // 终端 打印日志
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switch (fc_hook_cmd)
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{
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// 自动放线
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case MAV_CMD_FC_HOOK_AUTODOWN:
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{
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HookStatus hss = motocontrol.gethooktatus();
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// printf("MAV_CMD_FC_HOOK_AUTODOWN Hook:%d,rng:%dcm \n", hss, rngalt_cm);
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topicPubMsg[18] = "MAV_CMD_FC_HOOK_AUTODOWN Hook:" + String(hss) + ",rng:" + String(rngalt_cm) + "cm"; // 终端 打印日志
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// 没有激光高度直接退出
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if (rngalt_cm == 0)
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{
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rngalt_cm == 500;
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// printf("exit rngalt_cm==0");
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topicPubMsg[18] = "exit rngalt_cm==0，激光高度异常";
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// break;
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}
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if (hss == HS_Locked)
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{
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Hook_autodown(rngalt_cm);
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topicPubMsg[18] = "Hook_autodown";
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// 语音播报3次
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if (fc.questVoiceStr != "")
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{
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fc.playText(fc.questVoiceStr + "。" + fc.questVoiceStr + "。" + fc.questVoiceStr, fc.V9);
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}
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}
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else
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{
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if (hss == HS_Stop)
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Hook_resume();
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else
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// printf("exit hooktatus error");
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topicPubMsg[18] = "exit hooktatus error";
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}
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break;
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}
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// 暂停
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case MAV_CMD_FC_HOOK_PAUSE:
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{
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// printf("MAV_CMD_FC_HOOK_PAUSE \n");
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topicPubMsg[18] = "MAV_CMD_FC_HOOK_PAUSE";
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Hook_stop();
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break;
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}
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// 收线 收钩
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case MAV_CMD_FC_HOOK_RECOVERY:
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{
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// printf("MAV_CMD_FC_HOOK_RECOVERY \n");
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topicPubMsg[18] = "MAV_CMD_FC_HOOK_PAUSE";
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Hook_recovery();
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break;
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}
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}
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}
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break;
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case MAVLINK_MSG_ID_HOME_POSITION: // #242 返航点位置
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{
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char buf[120];
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@ -526,7 +593,7 @@ void mavlink_receiveCallback(uint8_t c)
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if (!curr_armed)
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{
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printf("armed\n");
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fc.playText("[v1]已解锁");
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fc.playText("已解锁");
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}
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curr_armed = true;
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topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 4, 1); // 设置飞机状态为已解锁状态 1xxxx 第四位为1 代表已解锁
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@ -537,7 +604,7 @@ void mavlink_receiveCallback(uint8_t c)
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if (curr_armed)
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{
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printf("disarm\n");
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fc.playText("[v1]已加锁");
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fc.playText("已加锁");
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}
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curr_armed = false; // 心跳里面 判断没有解锁
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topicPubMsg[10] = fc.setNBit(topicPubMsg[10], 4, 0); // 设置飞机状态为未解锁状态 0xxxx 第四位为0 代表未解锁
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@ -560,7 +627,7 @@ void mavlink_receiveCallback(uint8_t c)
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{
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case 0:
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{
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topicPubMsg[12] = "姿态";
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topicPubMsg[12] = "稳定";
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}
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break;
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case 2:
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@ -580,7 +647,7 @@ void mavlink_receiveCallback(uint8_t c)
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break;
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case 5:
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{
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topicPubMsg[12] = "悬停"; // Loiter 定点
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topicPubMsg[12] = "定点"; // Loiter 定点
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}
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break;
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case 6:
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@ -605,7 +672,7 @@ void mavlink_receiveCallback(uint8_t c)
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break;
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}
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fc.playText(topicPubMsg[12]);
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topicPubMsg[18] = "飞控模式切换为" + topicPubMsg[12]; // 终端 打印日志
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topicPubMsg[18] = "飞控模式已切换为" + topicPubMsg[12]; // 终端 打印日志
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}
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}
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break;
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@ -811,65 +878,6 @@ void mavlink_receiveCallback(uint8_t c)
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}
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break;
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case MAVLINK_MSG_ID_COMMAND_LONG: // #47: 航点提交成果反馈
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{
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uint16_t fc_hook_cmd = mavlink_msg_command_long_get_command(&msg);
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uint16_t rngalt_cm = (uint16_t)mavlink_msg_command_long_get_param1(&msg);
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// printf("COMMAND_LONG ID:%d,rng:%dcm \n", fc_hook_cmd, rngalt_cm);
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topicPubMsg[18] = "COMMAND_LONG ID:" + String(fc_hook_cmd) + ",rng:" + String(rngalt_cm) + "cm"; // 终端 打印日志
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switch (fc_hook_cmd)
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{
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// 自动放线
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case MAV_CMD_FC_HOOK_AUTODOWN:
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{
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HookStatus hss = motocontrol.gethooktatus();
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// printf("MAV_CMD_FC_HOOK_AUTODOWN Hook:%d,rng:%dcm \n", hss, rngalt_cm);
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topicPubMsg[18] = "MAV_CMD_FC_HOOK_AUTODOWN Hook:" + String(hss) + ",rng:" + String(rngalt_cm) + "cm"; // 终端 打印日志
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// 没有激光高度直接退出
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if (rngalt_cm == 0)
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{
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// printf("exit rngalt_cm==0");
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topicPubMsg[18] = "exit rngalt_cm==0，激光高度异常";
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break;
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}
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if (hss == HS_Locked)
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{
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Hook_autodown(rngalt_cm);
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topicPubMsg[18] = "Hook_autodown";
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// 语音播报3次
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if (fc.questVoiceStr != "")
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fc.playText(fc.questVoiceStr + "。" + fc.questVoiceStr + "。" + fc.questVoiceStr);
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}
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else
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{
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if (hss == HS_Stop)
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Hook_resume();
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else
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// printf("exit hooktatus error");
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topicPubMsg[18] = "exit hooktatus error";
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}
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break;
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}
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// 暂停
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case MAV_CMD_FC_HOOK_PAUSE:
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{
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// printf("MAV_CMD_FC_HOOK_PAUSE \n");
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topicPubMsg[18] = "MAV_CMD_FC_HOOK_PAUSE";
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Hook_stop();
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break;
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}
|
||||
// 收线 收钩
|
||||
case MAV_CMD_FC_HOOK_RECOVERY:
|
||||
{
|
||||
// printf("MAV_CMD_FC_HOOK_RECOVERY \n");
|
||||
topicPubMsg[18] = "MAV_CMD_FC_HOOK_PAUSE";
|
||||
Hook_recovery();
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case MAVLINK_MSG_ID_PARAM_VALUE: // #22:获取飞控参数信息
|
||||
{
|
||||
mavlink_param_value_t param_value;
|
||||
|
||||
Loading…
Reference in New Issue
Block a user