主流程

CMakeLists.txt

@@ -4,3 +4,6 @@ cmake_minimum_required(VERSION 3.22)
 
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
 project(edc-mcu)
+
+# 调试开关: 注释掉以下行以禁用 WiFi / Web 服务器
+add_compile_definitions(EDC_DEBUG_WEB)

components/actuator/CMakeLists.txt

@@ -1,3 +1,3 @@
 idf_component_register(SRCS "actuator.c"
                        INCLUDE_DIRS "."
-                       REQUIRES emm_v5 servo protocol driver freertos)
+                       REQUIRES emm_v5 servo magnet rgb protocol driver freertos)

components/actuator/actuator.c

@@ -6,6 +6,8 @@
 #include "actuator.h"
 #include "emm_v5.h"
 #include "servo.h"
+#include "magnet.h"
+#include "rgb.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 #include "esp_log.h"
@@ -36,6 +38,19 @@ static inline void _frame_gap(void)
     vTaskDelay(pdMS_TO_TICKS(ACTUATOR_FRAME_GAP_MS));
 }
 
+/* 内部: 带 RGB 闪烁的延时 (周期 ms, 亮灭各半) */
+static void _wait_flash(uint32_t ms, uint8_t r, uint8_t g, uint8_t b, uint32_t period_ms)
+{
+    uint32_t half = pdMS_TO_TICKS(period_ms / 2);
+    int cycles = (int)(ms / period_ms);
+    for (int i = 0; i < cycles; i++) {
+        rgb_set(r, g, b);
+        vTaskDelay(half);
+        rgb_off();
+        vTaskDelay(half);
+    }
+}
+
 /* ================================================================
  * 初始化
  * ================================================================ */
@@ -49,7 +64,7 @@ void actuator_init(void)
     servo_init(ACTUATOR_SERVO_GPIO);
 
     /* 配置舵机限位: 抬起=80°, 放下=160° */
-    servo_set_limits(80.0f, 160.0f);
+    servo_set_limits(0.0f, 95.0f);
 
     /* 上电默认归位到抬起状态 */
     servo_set_up();
@@ -105,11 +120,8 @@ static void _actuator_move_abs(uint8_t addr, uint8_t dir, uint32_t pulses,
  * 内部: Y 轴双电机同步运动
  * ================================================================ */
 
-static void _actuator_move_y_sync(uint32_t pulses_y)
+static void _actuator_move_y_sync(uint32_t pulses_y, uint16_t vel, uint8_t acc)
 {
-    uint16_t vel = ACTUATOR_DEFAULT_VEL;
-    uint8_t  acc = ACTUATOR_DEFAULT_ACC;
-
     /* Y 轴正向 = CCW (dir=1), 双电机同步 */
     _actuator_move_abs(ACTUATOR_ADDR_Y1, ACTUATOR_DIR_Y, pulses_y, vel, acc, true);
     _frame_gap();
@@ -119,9 +131,9 @@ static void _actuator_move_y_sync(uint32_t pulses_y)
     /* 广播地址触发一次, 两台电机同时开始运动 */
     Emm_V5_Synchronous_motion(0);
 
-    ESP_LOGD(TAG, "Y 同步(CCW): addr%d+%d -> %lu pulses (%.2fmm)",
+    ESP_LOGD(TAG, "Y 同步(CCW): addr%d+%d -> %lu pulses (%.2fmm) vel=%d acc=%d",
              ACTUATOR_ADDR_Y1, ACTUATOR_ADDR_Y2, pulses_y,
-             (double)pulses_y / (double)ACTUATOR_SCALE_Y);
+             (double)pulses_y / (double)ACTUATOR_SCALE_Y, vel, acc);
 }
 
 /* ================================================================
@@ -130,28 +142,83 @@ static void _actuator_move_y_sync(uint32_t pulses_y)
 
 static void _actuator_move_fragment(const edc_fragment_t *frag)
 {
-    uint16_t vel = ACTUATOR_DEFAULT_VEL;
+    /* 固定速度/加速度 */
-    uint8_t  acc = ACTUATOR_DEFAULT_ACC;
+    uint16_t vel_xy    = 1500;
+    uint8_t  acc_xy    = 200;
+    uint16_t vel_angle = 50;
+    uint8_t  acc_angle = 100;
+
+    /* source 坐标 → 脉冲数 */
+    uint32_t src_pulses_x     = (uint32_t)(frag->source.x         * s_scale_x);
+    uint32_t src_pulses_y     = (uint32_t)(frag->source.y         * s_scale_y);
+    uint32_t src_pulses_angle = (uint32_t)(frag->source.angle_x10 * s_scale_angle);
 
     /* target 坐标 → 脉冲数 */
-    uint32_t pulses_x     = (uint32_t)(frag->target.x         * s_scale_x);
+    uint32_t dst_pulses_x     = (uint32_t)(frag->target.x         * s_scale_x);
-    uint32_t pulses_y     = (uint32_t)(frag->target.y         * s_scale_y);
+    uint32_t dst_pulses_y     = (uint32_t)(frag->target.y         * s_scale_y);
-    uint32_t pulses_angle = (uint32_t)(frag->target.angle_x10 * s_scale_angle);
+    uint32_t dst_pulses_angle = (uint32_t)(frag->target.angle_x10 * s_scale_angle);
 
-    ESP_LOGI(TAG, "Fragment: X=%lu Y=%lu Angle=%lu (raw x=%u y=%u a=%u)",
+    ESP_LOGI(TAG, "Fragment: SRC(X=%lu Y=%lu A=%lu) → DST(X=%lu Y=%lu A=%lu)",
-             pulses_x, pulses_y, pulses_angle,
+             src_pulses_x, src_pulses_y, src_pulses_angle,
-             frag->target.x, frag->target.y, frag->target.angle_x10);
+             dst_pulses_x, dst_pulses_y, dst_pulses_angle);
 
-    /* Angle / Z 旋转轴 (独立, CW) */
+    /* ---- 1. 磁铁掉电 ---- */
-    _actuator_move_abs(ACTUATOR_ADDR_ANGLE, ACTUATOR_DIR_ANGLE, pulses_angle, vel, acc, false);
+    magnet_set(false);
+
+    /* ---- 2. 运动到 source 位置 ---- */
+    /* Angle / Z 旋转轴 */
+    _actuator_move_abs(ACTUATOR_ADDR_ANGLE, ACTUATOR_DIR_ANGLE,
+                       src_pulses_angle, vel_angle, acc_angle, false);
     _frame_gap();
 
-    /* X 轴 (独立, CW) */
+    /* X 轴 */
-    _actuator_move_abs(ACTUATOR_ADDR_X, ACTUATOR_DIR_X, pulses_x, vel, acc, false);
+    _actuator_move_abs(ACTUATOR_ADDR_X, ACTUATOR_DIR_X,
+                       src_pulses_x, vel_xy, acc_xy, false);
     _frame_gap();
 
     /* Y 轴 (双电机同步) */
-    _actuator_move_y_sync(pulses_y);
+    _actuator_move_y_sync(src_pulses_y, vel_xy, acc_xy);
+
+    /* ---- 3. 等待 2s 运动到位 (红灯快闪) ---- */
+    _wait_flash(2000, 128, 0, 0, 200);
+
+    /* ---- 4. 舵机放下 ---- */
+    servo_set_down();
+    _wait_flash(500, 128, 0, 0, 200);
+
+    /* ---- 5. 磁铁吸合 ---- */
+    magnet_set(true);
+    _wait_flash(500, 128, 0, 0, 200);
+
+    /* ---- 6. 舵机抬起 ---- */
+    servo_set_up();
+    _wait_flash(500, 128, 0, 0, 200);
+
+    /* ---- 7. 运动到 target 位置 ---- */
+    _actuator_move_abs(ACTUATOR_ADDR_ANGLE, ACTUATOR_DIR_ANGLE,
+                       dst_pulses_angle, vel_angle, acc_angle, false);
+    _frame_gap();
+
+    _actuator_move_abs(ACTUATOR_ADDR_X, ACTUATOR_DIR_X,
+                       dst_pulses_x, vel_xy, acc_xy, false);
+    _frame_gap();
+
+    _actuator_move_y_sync(dst_pulses_y, vel_xy, acc_xy);
+
+    /* ---- 8. 等待 2s 运动到位 (红灯快闪) ---- */
+    _wait_flash(2000, 128, 0, 0, 200);
+
+    /* ---- 9. 舵机放下 ---- */
+    servo_set_down();
+    _wait_flash(500, 128, 0, 0, 200);
+
+    /* ---- 10. 磁铁掉电 ---- */
+    magnet_set(false);
+    _wait_flash(500, 128, 0, 0, 200);
+
+    /* ---- 11. 舵机抬起 ---- */
+    servo_set_up();
+    _wait_flash(500, 128, 0, 0, 200);
 }
 
 /* ================================================================
@@ -180,16 +247,8 @@ int actuator_execute_cycle(const edc_cycle_t *cycle)
     for (int i = 0; i < cycle->frag_count; i++) {
         ESP_LOGI(TAG, "-- Fragment %d/%d --", i + 1, cycle->frag_count);
         _actuator_move_fragment(&cycle->fragments[i]);
-
-        /* 等待当前片段运动完成 (TODO: 改为轮询到位标志) */
-        if (i < cycle->frag_count - 1) {
-            vTaskDelay(pdMS_TO_TICKS(ACTUATOR_FRAG_DELAY_MS));
-        }
     }
 
-    /* 最后一个 fragment 也等待 */
-    vTaskDelay(pdMS_TO_TICKS(ACTUATOR_FRAG_DELAY_MS));
-
     ESP_LOGI(TAG, "=== Cycle #%u 完成 ===", cycle->cycle_id);
     return 0;
 }
@@ -368,3 +427,54 @@ void actuator_motor_stop(uint8_t addr)
         ESP_LOGD(TAG, "Y 同步: 电机%d 同停", peer);
     }
 }
+
+/* ================================================================
+ * 协议回调: 收到 Cycle → 执行 → DONE
+ * ================================================================ */
+
+static edc_cycle_t      s_last_cycle;
+static bool             s_last_cycle_valid;
+static portMUX_TYPE     s_cycle_lock = portMUX_INITIALIZER_UNLOCKED;
+
+const edc_cycle_t *actuator_get_last_cycle(void)
+{
+    return s_last_cycle_valid ? &s_last_cycle : NULL;
+}
+
+bool actuator_is_last_cycle_valid(void)
+{
+    return s_last_cycle_valid;
+}
+
+void edc_proto_on_cycle(const edc_cycle_t *cycle, edc_channel_t ch)
+{
+    static uint16_t s_last_exec_id = 0xFFFF;
+
+    /* 保存快照 */
+    portENTER_CRITICAL(&s_cycle_lock);
+    memcpy(&s_last_cycle, cycle, sizeof(edc_cycle_t));
+    s_last_cycle_valid = true;
+    portEXIT_CRITICAL(&s_cycle_lock);
+
+    ESP_LOGI(TAG, "Cycle #%u via %s, %u frags",
+             cycle->cycle_id, ch == EDC_CH_I2C ? "I2C" : "UART",
+             cycle->frag_count);
+
+    /* I2C / UART 冗余下发, 同一 cycle_id 只执行一次 */
+    if (cycle->cycle_id == s_last_exec_id) {
+        ESP_LOGD(TAG, "Cycle #%u 重复, 跳过执行", cycle->cycle_id);
+        return;
+    }
+    s_last_exec_id = cycle->cycle_id;
+
+    /* 执行电机运动 (阻塞, 含拾放全流程) */
+    ESP_LOGI(TAG, "开始执行 Cycle #%u ...", cycle->cycle_id);
+    actuator_execute_cycle(cycle);
+
+    /* 全部 Fragment 执行完成后回复 DONE */
+    edc_proto_send_done(cycle->cycle_id);
+    ESP_LOGI(TAG, "Cycle #%u 执行完毕, DONE 已发送", cycle->cycle_id);
+
+    /* 设置 RGB 状态为 DONE, 主循环将持续绿灯慢闪 */
+    rgb_set_state(RGB_STATE_DONE);
+}

components/actuator/actuator.h

@@ -231,7 +231,16 @@ void actuator_motor_mm(uint8_t addr, float distance_mm, uint16_t vel,
  * @param  addr  电机地址 (1~4)
  */
 void actuator_motor_stop(uint8_t addr);
+/**
+ * @brief  获取最近一次执行的 Cycle 快照 (供外部读取, 如 Web 面板)
+ * @return 有效时返回指针, 否则 NULL
+ */
+const edc_cycle_t *actuator_get_last_cycle(void);
 
+/**
+ * @brief  最近 Cycle 是否有效
+ */
+bool actuator_is_last_cycle_valid(void);
 #ifdef __cplusplus
 }
 #endif

components/rgb/rgb.c

@@ -221,3 +221,17 @@ void rgb_off(void)
 {
     rgb_transmit(0, 0, 0);
 }
+
+/* ── 系统状态 ── */
+
+static rgb_state_t s_rgb_state = RGB_STATE_IDLE;
+
+void rgb_set_state(rgb_state_t state)
+{
+    s_rgb_state = state;
+}
+
+rgb_state_t rgb_get_state(void)
+{
+    return s_rgb_state;
+}

components/rgb/rgb.h

@@ -42,6 +42,25 @@ void rgb_set_hsv(uint16_t h, uint8_t s, uint8_t v);
  */
 void rgb_off(void);
 
+/* ================================================================
+ * 系统状态指示 (供 main 循环读取)
+ * ================================================================ */
+
+typedef enum {
+    RGB_STATE_IDLE = 0,   /* 待机: 黄灯慢闪 */
+    RGB_STATE_DONE = 1,   /* 完成: 绿灯慢闪 */
+} rgb_state_t;
+
+/**
+ * @brief   设置系统指示状态
+ */
+void rgb_set_state(rgb_state_t state);
+
+/**
+ * @brief   获取当前系统指示状态
+ */
+rgb_state_t rgb_get_state(void);
+
 #ifdef __cplusplus
 }
 #endif

components/web_ctrl/CMakeLists.txt

@@ -1,3 +1,3 @@
 idf_component_register(SRCS "web_ctrl.c"
                        INCLUDE_DIRS "."
-                       REQUIRES emm_v5 magnet servo esp_http_server esp_wifi nvs_flash protocol actuator)
+                       REQUIRES emm_v5 magnet servo rgb esp_http_server esp_wifi nvs_flash protocol actuator)

components/web_ctrl/web_ctrl.c

@@ -9,6 +9,7 @@
 #include "servo.h"
 #include "protocol.h"
 #include "actuator.h"
+#include "rgb.h"
 
 #include <string.h>
 #include <stdlib.h>
@@ -22,6 +23,8 @@
 #include "esp_netif.h"
 #include "nvs_flash.h"
 
+#ifdef EDC_DEBUG_WEB
+
 static const char *TAG = "WEB_CTRL";
 
 /* ---- WiFi 配置 ---- */
@@ -791,37 +794,9 @@ static esp_err_t favicon_handler(httpd_req_t *req)
 }
 
 /* ============================================================
- * 协议状态 API
+ * 协议状态 API (从 actuator 读取最近 Cycle 快照)
  * ============================================================ */
 
-/* 最近收到的 Cycle 快照 (由 edc_proto_on_cycle 更新, web 读取) */
-static edc_cycle_t      s_web_cycle;
-static volatile bool    s_web_cycle_valid;
-static portMUX_TYPE     s_web_lock = portMUX_INITIALIZER_UNLOCKED;
-
-void edc_proto_on_cycle(const edc_cycle_t *cycle, edc_channel_t ch)
-{
-    static uint16_t s_last_done_id = 0xFFFF;
-
-    portENTER_CRITICAL(&s_web_lock);
-    memcpy(&s_web_cycle, cycle, sizeof(edc_cycle_t));
-    s_web_cycle_valid = true;
-    portEXIT_CRITICAL(&s_web_lock);
-
-    ESP_LOGI(TAG, "Cycle #%u via %s, %u frags",
-             cycle->cycle_id, ch == EDC_CH_I2C ? "I2C" : "UART",
-             cycle->frag_count);
-
-    /* I2C / UART 冗余下发, 同一 cycle_id 只回一次 DONE */
-    if (cycle->cycle_id == s_last_done_id) {
-        return;
-    }
-    s_last_done_id = cycle->cycle_id;
-
-    /* 回复 MPU: Cycle 已收到 (后续实际执行电机后应移到执行完毕处) */
-    edc_proto_send_done(cycle->cycle_id);
-}
-
 static esp_err_t api_proto_status_handler(httpd_req_t *req)
 {
     edc_proto_stat_t stat;
@@ -837,18 +812,13 @@ static esp_err_t api_proto_status_handler(httpd_req_t *req)
         (stat.last_channel == EDC_CH_UART) ? "UART" : "none",
         stat.done_sent, stat.request_sent);
 
-    portENTER_CRITICAL(&s_web_lock);
+    const edc_cycle_t *cycle = actuator_get_last_cycle();
-    bool valid = s_web_cycle_valid;
+    if (cycle) {
-    edc_cycle_t cycle;
-    if (valid) memcpy(&cycle, &s_web_cycle, sizeof(edc_cycle_t));
-    portEXIT_CRITICAL(&s_web_lock);
-
-    if (valid) {
         off += snprintf(json + off, sizeof(json) - off,
             ",\"cycle\":{\"id\":%u,\"frags\":%u,\"data\":[",
-            cycle.cycle_id, cycle.frag_count);
+            cycle->cycle_id, cycle->frag_count);
-        for (int i = 0; i < cycle.frag_count; i++) {
+        for (int i = 0; i < cycle->frag_count; i++) {
-            edc_fragment_t *f = &cycle.fragments[i];
+            const edc_fragment_t *f = &cycle->fragments[i];
             off += snprintf(json + off, sizeof(json) - off,
                 "%s{\"sx\":%u,\"sy\":%u,\"sa\":%.1f,\"tx\":%u,\"ty\":%u,\"ta\":%.1f}",
                 (i > 0) ? "," : "",
@@ -874,7 +844,6 @@ static esp_err_t api_proto_request_handler(httpd_req_t *req)
 
 static esp_err_t api_proto_done_handler(httpd_req_t *req)
 {
-    edc_cycle_t cycle;
     edc_proto_stat_t stat;
     edc_proto_get_stats(&stat);
     /* 对最近收到的 cycle 发送 DONE */
@@ -1084,3 +1053,5 @@ void web_ctrl_init(void)
     wifi_init_sta();
     http_server_init();
 }
+
+#endif /* EDC_DEBUG_WEB */

components/web_ctrl/web_ctrl.h

@@ -13,12 +13,20 @@
 extern "C" {
 #endif
 
+#ifdef EDC_DEBUG_WEB
+
 /**
  * @brief  初始化 WiFi (STA 模式) 并启动 HTTP 服务器
  * @note   阻塞直到 WiFi 连接成功, 然后启动 HTTP 服务器
  */
 void web_ctrl_init(void);
 
+#else  /* !EDC_DEBUG_WEB */
+
+#define web_ctrl_init()  ((void)0)
+
+#endif /* EDC_DEBUG_WEB */
+
 #ifdef __cplusplus
 }
 #endif

main/main.c

@@ -58,13 +58,21 @@ void app_main(void)
     /* 启动 WiFi + HTTP 网页控制服务器 */
     web_ctrl_init();
 
-    /* 系统就绪: 绿灯 (低亮) */
+    /* 系统就绪: 黄灯 (低亮) */
-    rgb_set(0, 32, 0);
+    rgb_set(32, 32, 0);
+    rgb_set_state(RGB_STATE_IDLE);
     ESP_LOGI(TAG, "系统就绪, 等待网页指令...");
 
     while (1) {
-        /* 心跳指示: 绿灯慢闪 (低亮) */
+        /* 根据系统状态选择闪烁颜色 */
-        rgb_set(0, 32, 0);
+        rgb_state_t st = rgb_get_state();
+        if (st == RGB_STATE_DONE) {
+            /* 绿灯慢闪: Cycle 执行完毕 */
+            rgb_set(0, 32, 0);
+        } else {
+            /* 黄灯慢闪: 待机 */
+            rgb_set(32, 32, 0);
+        }
         vTaskDelay(pdMS_TO_TICKS(500));
         rgb_off();
         vTaskDelay(pdMS_TO_TICKS(500));