713 lines
26 KiB
C
713 lines
26 KiB
C
/**
|
||
* @file global_nav.c
|
||
* @brief 赛道级总控 — 混合导航状态机实现
|
||
*
|
||
* 场地结构: 垄沟沿X轴(横向)分布，左右两端各有纵向端部通道
|
||
* 启动区在左下角，入口对齐左端通道
|
||
*
|
||
* S 型遍历:
|
||
* 入场(北行)→右转入C1(→东)→右端到端→左转→北行→左转入C2(←西)
|
||
* →左端到端→右转→北行→右转入C3(→东)→...→C6(←西)
|
||
* →左端到端→左转(朝南)→南行出场→回停启动区
|
||
*
|
||
* 端部通道特点:
|
||
* - 一侧贴围栏(VL53能测到), 另一侧交替出现垄背端面和垄沟开口
|
||
* - 不能依赖双侧VL53做EKF, 必须用IMU航向保持+前后激光到端检测
|
||
*/
|
||
|
||
#include "global_nav.h"
|
||
#include "est/corridor_filter.h"
|
||
#include "preproc/corridor_preproc.h"
|
||
#include "robot_params.h"
|
||
#include <math.h>
|
||
#include <string.h>
|
||
|
||
/* =========================================================
|
||
* 内部状态
|
||
* ========================================================= */
|
||
static struct {
|
||
GlobalNavStage_t stage;
|
||
bool running;
|
||
bool initialized;
|
||
|
||
/* 赛道级 */
|
||
uint8_t current_corridor_id;
|
||
uint8_t corridors_completed;
|
||
|
||
/* 转向 */
|
||
float turn_start_yaw_deg; /* IMU yaw_continuous at turn start */
|
||
float turn_target_delta_deg; /* 90° */
|
||
int8_t turn_sign; /* +1 (CCW) or -1 (CW) */
|
||
|
||
/* 里程 (用里程计积分距离) */
|
||
float stage_entry_odom_vx_accum; /* 进入阶段时的里程计累计距离 */
|
||
float odom_distance_accum; /* 运行中持续积分的里程 */
|
||
|
||
/* 超时 */
|
||
uint32_t stage_start_ms;
|
||
|
||
/* 重捕获 */
|
||
uint8_t reacquire_ok_count;
|
||
|
||
/* 出场 */
|
||
bool exit_vl53_lost;
|
||
float exit_lost_distance;
|
||
|
||
/* 航向保持 */
|
||
float heading_ref_deg;
|
||
|
||
/* 连接段: 多传感器辅助 */
|
||
float link_d_front_start; /* 进入连接段时前激光读数 (m) */
|
||
bool link_d_front_valid; /* 进入时前激光是否有效 */
|
||
uint8_t link_gap_count; /* 非围栏侧 VL53 连续丢失计数 (沟口确认) */
|
||
|
||
/* EKF 进度保存 */
|
||
float corridor_entry_s;
|
||
|
||
/* 配置 */
|
||
GlobalNavConfig_t cfg;
|
||
} s_nav;
|
||
|
||
/* 上一个周期的里程计速度，用于积分 */
|
||
static float s_last_odom_vx = 0.0f;
|
||
static uint32_t s_last_update_ms = 0;
|
||
|
||
/* =========================================================
|
||
* 辅助函数
|
||
* ========================================================= */
|
||
static inline float gnav_clampf(float val, float lo, float hi)
|
||
{
|
||
if (val < lo) return lo;
|
||
if (val > hi) return hi;
|
||
return val;
|
||
}
|
||
|
||
static inline float gnav_fabsf(float x)
|
||
{
|
||
return x < 0.0f ? -x : x;
|
||
}
|
||
|
||
/** 简单 P 控制航向保持，输入偏差 (deg)，输出角速度 (rad/s) */
|
||
static float heading_hold_pd(float current_yaw_deg, float ref_yaw_deg, float kp)
|
||
{
|
||
float err_deg = ref_yaw_deg - current_yaw_deg;
|
||
float w = kp * err_deg; /* kp 把 ° 映射到 rad/s */
|
||
return gnav_clampf(w, -1.0f, 1.0f);
|
||
}
|
||
|
||
/** 检查侧向 VL53 是否探到壁 (至少有一侧的前后都有效) — 仅用于重捕获 */
|
||
static bool side_walls_detected(const CorridorObs_t* obs)
|
||
{
|
||
bool left_ok = (obs->valid_mask & CORRIDOR_OBS_MASK_LF) &&
|
||
(obs->valid_mask & CORRIDOR_OBS_MASK_LR);
|
||
bool right_ok = (obs->valid_mask & CORRIDOR_OBS_MASK_RF) &&
|
||
(obs->valid_mask & CORRIDOR_OBS_MASK_RR);
|
||
return left_ok || right_ok;
|
||
}
|
||
|
||
/**
|
||
* @brief 检测非围栏侧 VL53 是否发现垄沟开口 (连接段沟口辅助判定)
|
||
*
|
||
* 在纵向端部通道面朝北行驶时：
|
||
* - 刚走完向东(EAST)的沟 → 当前在右端通道 → 右侧贴围栏 → 检查左侧VL53
|
||
* - 刚走完向西(WEST)的沟 → 当前在左端通道 → 左侧贴围栏 → 检查右侧VL53
|
||
*
|
||
* 经过垄背端面时: VL53 测到约 (通道宽/2 - 车宽/2 - VL53内缩) ≈ 10cm → 有效
|
||
* 经过垄沟开口时: VL53 射入沟内 220cm+ → 超出有效距离 → 无效或读数 > 1.2m
|
||
*
|
||
* 因为 VL53 前后两颗间距 12cm，车身 20cm 宽，沟口 40cm 宽，
|
||
* 当车身中心对准沟口时，前后 VL53 都已进入开口区域，两颗均应丢失。
|
||
* 但过渡区有边缘效应，所以只要求 "前后至少一颗丢失" 即视为探到沟口。
|
||
*
|
||
* @param obs 当前观测
|
||
* @param prev_travel_dir 刚走完的那条沟的行驶方向 (EAST/WEST)
|
||
* @return true = 非围栏侧检测到开口
|
||
*/
|
||
static bool gap_detected_on_open_side(const CorridorObs_t* obs,
|
||
TravelDirection_t prev_travel_dir)
|
||
{
|
||
if (prev_travel_dir == TRAVEL_DIR_EAST) {
|
||
/* 在右端通道，右侧贴围栏 → 检查左侧 VL53 */
|
||
bool lf_lost = !(obs->valid_mask & CORRIDOR_OBS_MASK_LF)
|
||
|| (obs->d_lf > 0.5f); /* >50cm 视为沟口 (正常贴壁约10cm) */
|
||
bool lr_lost = !(obs->valid_mask & CORRIDOR_OBS_MASK_LR)
|
||
|| (obs->d_lr > 0.5f);
|
||
return lf_lost || lr_lost;
|
||
} else {
|
||
/* 在左端通道，左侧贴围栏 → 检查右侧 VL53 */
|
||
bool rf_lost = !(obs->valid_mask & CORRIDOR_OBS_MASK_RF)
|
||
|| (obs->d_rf > 0.5f);
|
||
bool rr_lost = !(obs->valid_mask & CORRIDOR_OBS_MASK_RR)
|
||
|| (obs->d_rr > 0.5f);
|
||
return rf_lost || rr_lost;
|
||
}
|
||
}
|
||
|
||
/** 检查侧向 VL53 是否全丢 */
|
||
static bool all_side_lost(const CorridorObs_t* obs)
|
||
{
|
||
uint8_t side_mask = CORRIDOR_OBS_MASK_LF | CORRIDOR_OBS_MASK_LR |
|
||
CORRIDOR_OBS_MASK_RF | CORRIDOR_OBS_MASK_RR;
|
||
return (obs->valid_mask & side_mask) == 0U;
|
||
}
|
||
|
||
/** 检查重捕获条件 */
|
||
static bool check_reacquire(const CorridorObs_t* obs, const CorridorState_t* state)
|
||
{
|
||
/* 条件 1: 至少 3 个侧向传感器有效 */
|
||
uint8_t side_mask = CORRIDOR_OBS_MASK_LF | CORRIDOR_OBS_MASK_LR |
|
||
CORRIDOR_OBS_MASK_RF | CORRIDOR_OBS_MASK_RR;
|
||
uint8_t active = obs->valid_mask & side_mask;
|
||
int count = 0;
|
||
for (int i = 0; i < 4; i++) {
|
||
if (active & (1U << i)) count++;
|
||
}
|
||
if (count < 3) return false;
|
||
|
||
/* 条件 2: 左右距离和 ≈ 走廊宽度 */
|
||
bool left_ok = (obs->valid_mask & CORRIDOR_OBS_MASK_LF) &&
|
||
(obs->valid_mask & CORRIDOR_OBS_MASK_LR);
|
||
bool right_ok = (obs->valid_mask & CORRIDOR_OBS_MASK_RF) &&
|
||
(obs->valid_mask & CORRIDOR_OBS_MASK_RR);
|
||
|
||
if (left_ok && right_ok) {
|
||
float d_left = (obs->d_lf + obs->d_lr) * 0.5f;
|
||
float d_right = (obs->d_rf + obs->d_rr) * 0.5f;
|
||
float total_width = d_left + d_right + PARAM_ROBOT_WIDTH;
|
||
float err = gnav_fabsf(total_width - s_nav.cfg.corridor_width);
|
||
if (err > s_nav.cfg.reacquire_width_tol) return false;
|
||
}
|
||
|
||
/* 条件 3: EKF 置信度 */
|
||
if (state->conf < s_nav.cfg.reacquire_conf_thresh) return false;
|
||
|
||
return true;
|
||
}
|
||
|
||
/** 获取当前阶段的已行驶里程 */
|
||
static float odom_since_entry(void)
|
||
{
|
||
return s_nav.odom_distance_accum - s_nav.stage_entry_odom_vx_accum;
|
||
}
|
||
|
||
/** 阶段转移 — 通用初始化 */
|
||
static void transition_to(GlobalNavStage_t next, const RobotBlackboard_t* board);
|
||
|
||
/* =========================================================
|
||
* 阶段名称表
|
||
* ========================================================= */
|
||
static const char* const s_stage_names[] = {
|
||
"IDLE",
|
||
"ENTRY_STRAIGHT",
|
||
"TURN_INTO_CORRIDOR",
|
||
"REACQUIRE",
|
||
"CORRIDOR_TRACK",
|
||
"TURN_OUT",
|
||
"LINK_STRAIGHT",
|
||
"TURN_INTO_NEXT",
|
||
"EXIT_STRAIGHT",
|
||
"DOCK",
|
||
"FINISHED",
|
||
"ERROR"
|
||
};
|
||
|
||
/* =========================================================
|
||
* 转向执行 (统一的 90° 转向逻辑)
|
||
* ========================================================= */
|
||
static void execute_turn(const CorridorObs_t* obs,
|
||
const CorridorState_t* state,
|
||
const RobotBlackboard_t* board,
|
||
uint32_t now_ms,
|
||
GlobalNavOutput_t* out)
|
||
{
|
||
float imu_yaw = board->imu_yaw_continuous.is_valid
|
||
? board->imu_yaw_continuous.value : 0.0f;
|
||
|
||
/* 已转过的角度 (取绝对值) */
|
||
float delta = (imu_yaw - s_nav.turn_start_yaw_deg) * s_nav.turn_sign;
|
||
float target = s_nav.turn_target_delta_deg;
|
||
float remaining_deg = target - delta;
|
||
|
||
float omega = s_nav.cfg.turn_omega;
|
||
|
||
/* 接近目标时减速 */
|
||
float decel_zone_deg = PARAM_RAD2DEG(s_nav.cfg.turn_decel_zone_rad);
|
||
if (remaining_deg < decel_zone_deg && decel_zone_deg > 0.01f) {
|
||
float ratio = remaining_deg / decel_zone_deg;
|
||
if (ratio < 0.0f) ratio = 0.0f;
|
||
omega = s_nav.cfg.turn_min_omega +
|
||
ratio * (s_nav.cfg.turn_omega - s_nav.cfg.turn_min_omega);
|
||
}
|
||
|
||
out->override_v = 0.0f;
|
||
out->override_w = (float)s_nav.turn_sign * omega;
|
||
out->use_override = true;
|
||
out->request_corridor = false;
|
||
out->safety_mode = SAFETY_MODE_TURN;
|
||
|
||
/* 转向完成判定 */
|
||
float tolerance_deg = PARAM_RAD2DEG(s_nav.cfg.turn_tolerance_rad);
|
||
if (delta >= target - tolerance_deg) {
|
||
switch (s_nav.stage) {
|
||
case GNAV_TURN_INTO_CORRIDOR:
|
||
case GNAV_TURN_INTO_NEXT:
|
||
transition_to(GNAV_REACQUIRE, board);
|
||
break;
|
||
case GNAV_TURN_OUT_OF_CORRIDOR:
|
||
if (TrackMap_IsLastCorridor(s_nav.current_corridor_id)) {
|
||
transition_to(GNAV_EXIT_STRAIGHT, board);
|
||
} else {
|
||
transition_to(GNAV_LINK_STRAIGHT, board);
|
||
}
|
||
break;
|
||
default:
|
||
break;
|
||
}
|
||
return;
|
||
}
|
||
|
||
/* 超时保护 */
|
||
if (now_ms - s_nav.stage_start_ms > s_nav.cfg.turn_timeout_ms) {
|
||
transition_to(GNAV_ERROR, board);
|
||
}
|
||
}
|
||
|
||
/* =========================================================
|
||
* 阶段转移
|
||
* ========================================================= */
|
||
static void transition_to(GlobalNavStage_t next, const RobotBlackboard_t* board)
|
||
{
|
||
float imu_yaw = (board != NULL && board->imu_yaw_continuous.is_valid)
|
||
? board->imu_yaw_continuous.value : 0.0f;
|
||
|
||
/* 通用: 记录进入时间和里程 */
|
||
s_nav.stage_start_ms = s_last_update_ms;
|
||
s_nav.stage_entry_odom_vx_accum = s_nav.odom_distance_accum;
|
||
s_nav.reacquire_ok_count = 0;
|
||
|
||
switch (next) {
|
||
case GNAV_ENTRY_STRAIGHT:
|
||
s_nav.heading_ref_deg = imu_yaw;
|
||
s_nav.current_corridor_id = TrackMap_Get()->entry_corridor_id;
|
||
break;
|
||
|
||
case GNAV_TURN_INTO_CORRIDOR: {
|
||
const CorridorDescriptor_t* cd = TrackMap_GetCorridor(s_nav.current_corridor_id);
|
||
s_nav.turn_sign = (int8_t)cd->entry_turn_dir;
|
||
s_nav.turn_start_yaw_deg = imu_yaw;
|
||
s_nav.turn_target_delta_deg = 90.0f;
|
||
break;
|
||
}
|
||
case GNAV_TURN_OUT_OF_CORRIDOR: {
|
||
const CorridorDescriptor_t* cd = TrackMap_GetCorridor(s_nav.current_corridor_id);
|
||
s_nav.turn_sign = (int8_t)cd->exit_turn_dir;
|
||
s_nav.turn_start_yaw_deg = imu_yaw;
|
||
s_nav.turn_target_delta_deg = 90.0f;
|
||
break;
|
||
}
|
||
case GNAV_TURN_INTO_NEXT: {
|
||
uint8_t next_id = TrackMap_GetNextCorridorId(s_nav.current_corridor_id);
|
||
const CorridorDescriptor_t* cd = TrackMap_GetCorridor(next_id);
|
||
s_nav.turn_sign = (int8_t)cd->entry_turn_dir;
|
||
s_nav.turn_start_yaw_deg = imu_yaw;
|
||
s_nav.turn_target_delta_deg = 90.0f;
|
||
s_nav.current_corridor_id = next_id;
|
||
break;
|
||
}
|
||
case GNAV_REACQUIRE:
|
||
/* EKF 重置: 新沟的 e_y 参考不同，必须重建 */
|
||
CorridorFilter_Reset();
|
||
s_nav.heading_ref_deg = imu_yaw;
|
||
break;
|
||
|
||
case GNAV_CORRIDOR_TRACK:
|
||
s_nav.corridor_entry_s = 0.0f; /* EKF 已 reset, s 从 0 开始 */
|
||
break;
|
||
|
||
case GNAV_LINK_STRAIGHT:
|
||
s_nav.heading_ref_deg = imu_yaw;
|
||
s_nav.link_d_front_start = 0.0f;
|
||
s_nav.link_d_front_valid = false; /* 首拍再记录 */
|
||
s_nav.link_gap_count = 0;
|
||
break;
|
||
|
||
case GNAV_EXIT_STRAIGHT:
|
||
s_nav.heading_ref_deg = imu_yaw;
|
||
s_nav.exit_vl53_lost = false;
|
||
s_nav.exit_lost_distance = 0.0f;
|
||
break;
|
||
|
||
case GNAV_DOCK:
|
||
break;
|
||
|
||
case GNAV_FINISHED:
|
||
s_nav.running = false;
|
||
break;
|
||
|
||
case GNAV_ERROR:
|
||
break;
|
||
|
||
default:
|
||
break;
|
||
}
|
||
|
||
s_nav.stage = next;
|
||
}
|
||
|
||
/* =========================================================
|
||
* 公开 API
|
||
* ========================================================= */
|
||
|
||
void GlobalNav_Init(const GlobalNavConfig_t* cfg)
|
||
{
|
||
memset(&s_nav, 0, sizeof(s_nav));
|
||
s_nav.cfg = *cfg;
|
||
s_nav.stage = GNAV_IDLE;
|
||
s_nav.running = false;
|
||
s_nav.initialized = true;
|
||
s_last_odom_vx = 0.0f;
|
||
s_last_update_ms = 0;
|
||
}
|
||
|
||
void GlobalNav_Start(void)
|
||
{
|
||
if (!s_nav.initialized) return;
|
||
s_nav.running = true;
|
||
s_nav.corridors_completed = 0;
|
||
s_nav.odom_distance_accum = 0.0f;
|
||
s_nav.stage_entry_odom_vx_accum = 0.0f;
|
||
s_nav.current_corridor_id = TrackMap_Get()->entry_corridor_id;
|
||
/* 不在这里 transition_to，因为还没有 board 数据。
|
||
下一个 Update 周期里发现 running && IDLE 时再 transition。 */
|
||
s_nav.stage = GNAV_IDLE;
|
||
}
|
||
|
||
void GlobalNav_Stop(void)
|
||
{
|
||
s_nav.running = false;
|
||
s_nav.stage = GNAV_FINISHED;
|
||
}
|
||
|
||
void GlobalNav_Reset(void)
|
||
{
|
||
s_nav.stage = GNAV_IDLE;
|
||
s_nav.running = false;
|
||
s_nav.corridors_completed = 0;
|
||
s_nav.odom_distance_accum = 0.0f;
|
||
}
|
||
|
||
GlobalNavStage_t GlobalNav_GetStage(void)
|
||
{
|
||
return s_nav.stage;
|
||
}
|
||
|
||
const char* GlobalNav_GetStageName(GlobalNavStage_t stage)
|
||
{
|
||
if (stage <= GNAV_ERROR) {
|
||
return s_stage_names[stage];
|
||
}
|
||
return "UNKNOWN";
|
||
}
|
||
|
||
/* =========================================================
|
||
* 核心 Update
|
||
* ========================================================= */
|
||
void GlobalNav_Update(const CorridorObs_t* obs,
|
||
const CorridorState_t* state,
|
||
const RobotBlackboard_t* board,
|
||
GlobalNavOutput_t* out)
|
||
{
|
||
if (!s_nav.initialized) {
|
||
memset(out, 0, sizeof(*out));
|
||
return;
|
||
}
|
||
|
||
uint32_t now_ms = s_last_update_ms;
|
||
/* 用 HAL_GetTick 代理 — 实际上 app_tasks 会传入 board 里的时间 */
|
||
{
|
||
/* 里程计积分: Δd = vx * dt */
|
||
float odom_vx = board->odom_vx;
|
||
if (s_last_update_ms > 0) {
|
||
/* 使用 board 中的时间戳估计当前时间 */
|
||
uint32_t cur_ms = board->imu_wz.timestamp_ms;
|
||
if (cur_ms == 0) cur_ms = s_last_update_ms + 20U;
|
||
float dt = (float)(cur_ms - s_last_update_ms) * 0.001f;
|
||
if (dt > 0.0f && dt < 0.5f) {
|
||
s_nav.odom_distance_accum += gnav_fabsf(odom_vx) * dt;
|
||
}
|
||
now_ms = cur_ms;
|
||
} else {
|
||
now_ms = board->imu_wz.timestamp_ms;
|
||
if (now_ms == 0) now_ms = 1;
|
||
}
|
||
s_last_update_ms = now_ms;
|
||
s_last_odom_vx = odom_vx;
|
||
}
|
||
|
||
float imu_yaw_deg = board->imu_yaw_continuous.is_valid
|
||
? board->imu_yaw_continuous.value : 0.0f;
|
||
|
||
/* 默认输出 */
|
||
out->use_override = true;
|
||
out->request_corridor = false;
|
||
out->override_v = 0.0f;
|
||
out->override_w = 0.0f;
|
||
out->safety_mode = SAFETY_MODE_IDLE;
|
||
out->stage = s_nav.stage;
|
||
out->corridor_id = s_nav.current_corridor_id;
|
||
out->corridors_done = s_nav.corridors_completed;
|
||
out->active = s_nav.running;
|
||
out->stage_name = GlobalNav_GetStageName(s_nav.stage);
|
||
|
||
if (!s_nav.running) return;
|
||
|
||
/* IDLE → 自动进入 ENTRY_STRAIGHT */
|
||
if (s_nav.stage == GNAV_IDLE) {
|
||
transition_to(GNAV_ENTRY_STRAIGHT, board);
|
||
out->stage = s_nav.stage;
|
||
out->stage_name = GlobalNav_GetStageName(s_nav.stage);
|
||
}
|
||
|
||
uint32_t elapsed_ms = now_ms - s_nav.stage_start_ms;
|
||
|
||
switch (s_nav.stage) {
|
||
|
||
/* ============================================================
|
||
* 入场直线 (从启动区沿左端纵向通道北行)
|
||
*
|
||
* 传感器情况：
|
||
* - 左侧 VL53 贴围栏，始终有效（不能用来判"到了C1入口"）
|
||
* - 右侧 VL53 一出启动区就对着C1开口(260cm)，测不到
|
||
* - 入场距离极短（启动区入口到C1入口仅约 10~30cm）
|
||
* - 主要靠里程计推进足够距离后即可转向
|
||
* ============================================================ */
|
||
case GNAV_ENTRY_STRAIGHT:
|
||
out->override_v = s_nav.cfg.entry_v;
|
||
out->override_w = heading_hold_pd(imu_yaw_deg, s_nav.heading_ref_deg,
|
||
s_nav.cfg.heading_kp);
|
||
out->safety_mode = SAFETY_MODE_STRAIGHT;
|
||
|
||
/* 里程计 + 超时判定 (不用 side_walls_detected，因为左侧围栏始终有效会误触发) */
|
||
if (odom_since_entry() >= s_nav.cfg.entry_distance ||
|
||
elapsed_ms > s_nav.cfg.entry_timeout_ms)
|
||
{
|
||
transition_to(GNAV_TURN_INTO_CORRIDOR, board);
|
||
}
|
||
break;
|
||
|
||
/* ============================================================
|
||
* 三种转向状态统一处理
|
||
* ============================================================ */
|
||
case GNAV_TURN_INTO_CORRIDOR:
|
||
case GNAV_TURN_OUT_OF_CORRIDOR:
|
||
case GNAV_TURN_INTO_NEXT:
|
||
execute_turn(obs, state, board, now_ms, out);
|
||
break;
|
||
|
||
/* ============================================================
|
||
* 重捕获走廊
|
||
* ============================================================ */
|
||
case GNAV_REACQUIRE:
|
||
out->override_v = s_nav.cfg.reacquire_v;
|
||
out->override_w = heading_hold_pd(imu_yaw_deg, s_nav.heading_ref_deg,
|
||
s_nav.cfg.heading_kp);
|
||
out->safety_mode = SAFETY_MODE_STRAIGHT;
|
||
|
||
if (check_reacquire(obs, state)) {
|
||
s_nav.reacquire_ok_count++;
|
||
} else {
|
||
s_nav.reacquire_ok_count = 0;
|
||
}
|
||
|
||
if (s_nav.reacquire_ok_count >= s_nav.cfg.reacquire_confirm_ticks) {
|
||
transition_to(GNAV_CORRIDOR_TRACK, board);
|
||
}
|
||
if (elapsed_ms > s_nav.cfg.reacquire_timeout_ms) {
|
||
transition_to(GNAV_ERROR, board);
|
||
}
|
||
break;
|
||
|
||
/* ============================================================
|
||
* 沟内闭环跟踪 (交给 corridor_ctrl)
|
||
* ============================================================ */
|
||
case GNAV_CORRIDOR_TRACK:
|
||
out->use_override = false;
|
||
out->request_corridor = true;
|
||
out->safety_mode = SAFETY_MODE_CORRIDOR;
|
||
|
||
/* 到端检测 */
|
||
{
|
||
bool front_valid = (obs->valid_mask & CORRIDOR_OBS_MASK_FRONT) != 0U;
|
||
if (front_valid && obs->d_front <= s_nav.cfg.corridor_end_detect_dist) {
|
||
/* 里程下限保护: 至少走了 1.0m 才允许认定到端，避免假阳性 */
|
||
float corridor_odom = odom_since_entry();
|
||
if (corridor_odom > 1.0f) {
|
||
s_nav.corridors_completed++;
|
||
transition_to(GNAV_TURN_OUT_OF_CORRIDOR, board);
|
||
}
|
||
}
|
||
}
|
||
/* 里程超长保护 */
|
||
if (odom_since_entry() > s_nav.cfg.corridor_length_max) {
|
||
s_nav.corridors_completed++;
|
||
transition_to(GNAV_TURN_OUT_OF_CORRIDOR, board);
|
||
}
|
||
break;
|
||
|
||
/* ============================================================
|
||
* 连接段直行 (纵向端部通道北行, 方案2: 三信号联合判定)
|
||
*
|
||
* 传感器情况（转向完成后面朝北）：
|
||
* - 前激光（朝北）→ 上围栏，d_front 随北行递减 [精度高]
|
||
* - 后激光（朝南）→ 下围栏，d_back 随北行递增 [精度高]
|
||
* - 围栏侧 VL53 → 始终有效 (~10cm) [不用于判定]
|
||
* - 非围栏侧 VL53 → 贴垄背端面时有效，到垄沟开口时丢失 [沟口标志]
|
||
*
|
||
* 信号定义：
|
||
* A: 里程计 odom >= link_distance * 0.85 (打滑衰减, 权重低)
|
||
* B: 前激光变化 d_front缩小 >= link_distance * 0.85 (权重高)
|
||
* C: 非围栏侧VL53 丢失/跳到>50cm，连续2拍确认 (直接探测沟口, 权重中)
|
||
*
|
||
* 触发逻辑: B || (A && C)
|
||
* - 前激光变化量足够 → 直接触发（最可靠的单一信号）
|
||
* - 里程计到位 + VL53探到沟口 → 联合触发（互相校验）
|
||
* ============================================================ */
|
||
case GNAV_LINK_STRAIGHT:
|
||
out->override_v = s_nav.cfg.link_v;
|
||
out->override_w = heading_hold_pd(imu_yaw_deg, s_nav.heading_ref_deg,
|
||
s_nav.cfg.heading_kp);
|
||
out->safety_mode = SAFETY_MODE_STRAIGHT;
|
||
|
||
{
|
||
bool front_valid = (obs->valid_mask & CORRIDOR_OBS_MASK_FRONT) != 0U;
|
||
|
||
/* 首拍记录前激光基准值 */
|
||
if (!s_nav.link_d_front_valid && front_valid) {
|
||
s_nav.link_d_front_start = obs->d_front;
|
||
s_nav.link_d_front_valid = true;
|
||
}
|
||
|
||
/* ---- 信号 A: 里程计 (考虑打滑, 用 85% 容差) ---- */
|
||
bool odom_ok = odom_since_entry() >= s_nav.cfg.link_distance * 0.85f;
|
||
|
||
/* ---- 信号 B: 前激光变化量 (高精度) ---- */
|
||
bool laser_ok = false;
|
||
if (s_nav.link_d_front_valid && front_valid) {
|
||
float d_front_delta = s_nav.link_d_front_start - obs->d_front;
|
||
/* 车身中心到前激光有偏置(FRONT_LASER_OFFSET)，但这里用的是差值，偏置抵消 */
|
||
laser_ok = (d_front_delta >= s_nav.cfg.link_distance * 0.85f);
|
||
}
|
||
|
||
/* ---- 信号 C: 非围栏侧 VL53 沟口检测 (需连续2拍确认) ----
|
||
*
|
||
* 判定阈值 0.5m 的来源:
|
||
* 正常贴垄背端面时 VL53 读数 ≈ (通道宽/2 - 车宽/2 - VL53内缩)
|
||
* = (0.40/2 - 0.20/2 - 0.0)
|
||
* = 0.10m
|
||
* 到垄沟开口时 VL53 读数 > 1.2m (超出有效距离) 或无效
|
||
* 阈值 0.5m 在两者之间，足够区分
|
||
*/
|
||
const CorridorDescriptor_t* cd = TrackMap_GetCorridor(s_nav.current_corridor_id);
|
||
/* 在 LINK_STRAIGHT 阶段，current_corridor_id 仍是刚走完的沟 (尚未更新)
|
||
所以 cd->travel_dir 就是刚走完那条沟的方向，直接用来判断当前在哪个端部通道 */
|
||
bool gap_now = gap_detected_on_open_side(obs, cd->travel_dir);
|
||
|
||
if (gap_now) {
|
||
if (s_nav.link_gap_count < 255) s_nav.link_gap_count++;
|
||
} else {
|
||
s_nav.link_gap_count = 0;
|
||
}
|
||
bool gap_confirmed = (s_nav.link_gap_count >= 2); /* 连续2拍 (40ms @ 20ms周期) */
|
||
|
||
/* ---- 联合判定: B || (A && C) ---- */
|
||
if (laser_ok || (odom_ok && gap_confirmed))
|
||
{
|
||
transition_to(GNAV_TURN_INTO_NEXT, board);
|
||
}
|
||
}
|
||
if (elapsed_ms > s_nav.cfg.link_timeout_ms) {
|
||
transition_to(GNAV_ERROR, board);
|
||
}
|
||
break;
|
||
|
||
/* ============================================================
|
||
* 出场直行
|
||
* ============================================================ */
|
||
case GNAV_EXIT_STRAIGHT:
|
||
out->override_v = s_nav.cfg.exit_v;
|
||
out->override_w = heading_hold_pd(imu_yaw_deg, s_nav.heading_ref_deg,
|
||
s_nav.cfg.heading_kp);
|
||
out->safety_mode = SAFETY_MODE_STRAIGHT;
|
||
|
||
/* 检测侧向全丢 */
|
||
if (!s_nav.exit_vl53_lost && all_side_lost(obs)) {
|
||
s_nav.exit_vl53_lost = true;
|
||
s_nav.exit_lost_distance = s_nav.odom_distance_accum;
|
||
}
|
||
if (s_nav.exit_vl53_lost) {
|
||
float since_lost = s_nav.odom_distance_accum - s_nav.exit_lost_distance;
|
||
if (since_lost >= s_nav.cfg.exit_runout) {
|
||
transition_to(GNAV_DOCK, board);
|
||
}
|
||
}
|
||
/* 里程上限保护 */
|
||
if (odom_since_entry() >= s_nav.cfg.exit_max_dist) {
|
||
transition_to(GNAV_DOCK, board);
|
||
}
|
||
if (elapsed_ms > s_nav.cfg.exit_timeout_ms) {
|
||
transition_to(GNAV_DOCK, board);
|
||
}
|
||
break;
|
||
|
||
/* ============================================================
|
||
* 回停启动区
|
||
* ============================================================ */
|
||
case GNAV_DOCK:
|
||
out->override_v = s_nav.cfg.dock_v;
|
||
out->override_w = 0.0f;
|
||
out->safety_mode = SAFETY_MODE_STRAIGHT;
|
||
|
||
if (odom_since_entry() >= s_nav.cfg.dock_distance ||
|
||
elapsed_ms > 5000U)
|
||
{
|
||
transition_to(GNAV_FINISHED, board);
|
||
}
|
||
break;
|
||
|
||
/* ============================================================
|
||
* 终态
|
||
* ============================================================ */
|
||
case GNAV_FINISHED:
|
||
out->override_v = 0.0f;
|
||
out->override_w = 0.0f;
|
||
out->safety_mode = SAFETY_MODE_IDLE;
|
||
out->active = false;
|
||
break;
|
||
|
||
/* ============================================================
|
||
* 异常态
|
||
* ============================================================ */
|
||
case GNAV_ERROR:
|
||
out->override_v = 0.0f;
|
||
out->override_w = 0.0f;
|
||
out->safety_mode = SAFETY_MODE_IDLE;
|
||
|
||
if (elapsed_ms > 2000U) {
|
||
transition_to(GNAV_FINISHED, board);
|
||
}
|
||
break;
|
||
|
||
default:
|
||
out->override_v = 0.0f;
|
||
out->override_w = 0.0f;
|
||
break;
|
||
}
|
||
|
||
/* 更新输出阶段 (可能在 switch 内已经 transition) */
|
||
out->stage = s_nav.stage;
|
||
out->stage_name = GlobalNav_GetStageName(s_nav.stage);
|
||
out->corridor_id = s_nav.current_corridor_id;
|
||
out->corridors_done = s_nav.corridors_completed;
|
||
out->active = s_nav.running;
|
||
}
|