112 lines
2.3 KiB
JavaScript
112 lines
2.3 KiB
JavaScript
var AGV_ID=0;
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var Sys_Mode=0;
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var VehicleCtrlExpThrottle=0;
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var Warning_Code=0;
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var Car_Global_rx=0;
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var Car_Global_ry=0;
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var Car_Global_Theta=0;
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var StartNode=0;
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var EndNode=0;
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var RealAutoChargeState=0;
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var PWR_Percent=0;
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var SVreal_angle=0;
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var Speedm_Tmp=0;
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var VehicleCtrlRealAltitude_mm=0;
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function Lu_HMI_CAN_Reader_Handle(canframeid,data0,data1,data2,data3,data4,data5,data6,data7){
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switch(canframeid){
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case 0x100:
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{
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/*
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var str= canframeid + ': 0x'+data0.toString(16)+' '
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+'0x'+data1.toString(16)+' '
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+'0x'+data2.toString(16)+' '
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+'0x'+data3.toString(16)+' '
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+'0x'+data4.toString(16)+' '
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+'0x'+data5.toString(16)+' '
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+'0x'+data6.toString(16)+' '
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+'0x'+data7.toString(16)+'\n';
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console.log(str);
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*/
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switch(data0){
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case 0x10:
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{
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switch(data1){
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case 0x00:
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{
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switch(data2){
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case 0x00:
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{
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switch(data3){
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case 0x01:
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{
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Car_Global_rx=Lu_Convert4ByteToInt32(data4,data5,data6,data7)/1000.0;
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}
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break;
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case 0x02:
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{
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Car_Global_ry=Lu_Convert4ByteToInt32(data4,data5,data6,data7)/1000.0;
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}
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break;
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case 0x03:
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{
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Car_Global_Theta=Lu_Convert4ByteToInt32(data4,data5,data6,data7)/1000.0;
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}
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break;
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}
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}
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break;
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case 0x01:
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{
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switch(data3){
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case 0x02:
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{
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AGV_ID=data4;
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Sys_Mode=data5;
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VehicleCtrlExpThrottle=Lu_Convert2ByteToInt16(data6,data7);
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//console.log('Sys_Mode='+Sys_Mode+'\n');
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}
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break;
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}
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}
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break;
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case 0x02:
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{
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switch(data3){
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case 0x01:
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{
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StartNode=Lu_Convert2ByteToInt16(data4,data5);
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EndNode=Lu_Convert2ByteToInt16(data6,data7);
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}
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break;
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}
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}
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break;
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}
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}
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break;
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case 0x01:
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{
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switch(data2){
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case 0x00:
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{
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switch(data3){
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case 0x01:
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{
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Warning_Code=Lu_Convert4ByteToUInt32(data4,data5,data6,data7);
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}
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break;
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}
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}
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}
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}
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break;
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}
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}
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break;
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}
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}
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break;
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}
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}
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