From 7924773826f38422860feb1de44040ce467778fe Mon Sep 17 00:00:00 2001
From: root <root@Joker>
Date: Sat, 17 May 2025 15:39:50 +0800
Subject: [PATCH] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E9=81=A5=E6=8E=A7=E4=B8=80?=
 =?UTF-8?q?=E9=94=AE=E6=B8=85=E6=89=AB=E5=8A=9F=E8=83=BD?=
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---
 src/mqtt_report/src/mqtt_report.cpp |  5 +++--
 src/radio_ctrl/src/radio_ctrl.cpp   | 34 +++++++++++++++++++++++++++++
 2 files changed, 37 insertions(+), 2 deletions(-)

diff --git a/src/mqtt_report/src/mqtt_report.cpp b/src/mqtt_report/src/mqtt_report.cpp
index 5e5d8eb..9e9783a 100644
--- a/src/mqtt_report/src/mqtt_report.cpp
+++ b/src/mqtt_report/src/mqtt_report.cpp
@@ -4,6 +4,7 @@
 #include "mqtt_report/get_config.h"
 #include "mqtt_report/report_struct.h"
 #include "mqtt_report/fault_codes.h"
+#include <algorithm>
 
 Config config; // 清扫车配置文件
 
@@ -37,7 +38,6 @@ void Msg_Handler(const mc::msg::CanFrame::SharedPtr msg)
         float gear_ratio = 32.0;
         float wheel_radius = 0.15; // 轮胎半径，单位米
         float vehicle_speed_kmh = (2 * 3.1416 * wheel_radius * (motorspeed / gear_ratio) * 60.0) / 1000.0;
-
         info_report.speed = vehicle_speed_kmh;
         break;
     }
@@ -48,6 +48,7 @@ void Msg_Handler(const mc::msg::CanFrame::SharedPtr msg)
         uint8_t WaterValue_l = (msg->data[1]);
         uint16_t WaterValue = (WaterValue_h & 0x3f) * 16 + (WaterValue_l & 0x0f);
         float WaterLevel = WaterValue * (-0.235) + 199.75;
+        WaterLevel = std::clamp(WaterLevel, 0.0f, 180.0f);
         info_report.waterLevel = static_cast<int>(std::round(WaterLevel / 1.8f)); // 液位百分比
         break;
     }
@@ -221,7 +222,7 @@ public:
 private:
     void topic_callback(const mc::msg::CanFrame::SharedPtr msg)
     {
-        //        RCLCPP_INFO(this->get_logger(), "Received CAN frame ID: %u, DLC: %u", msg->id, msg->dlc);
+        // RCLCPP_INFO(this->get_logger(), "Received CAN frame ID: %u, DLC: %u", msg->id, msg->dlc);
         Msg_Handler(msg);
     }
 
diff --git a/src/radio_ctrl/src/radio_ctrl.cpp b/src/radio_ctrl/src/radio_ctrl.cpp
index 46b0caf..d64148f 100644
--- a/src/radio_ctrl/src/radio_ctrl.cpp
+++ b/src/radio_ctrl/src/radio_ctrl.cpp
@@ -107,6 +107,32 @@ private:
                 msg.rpm = static_cast<uint16_t>(MCU_RPM_MAX * (1016 - ch_data[1]) / (1016 - 216));
             }
 
+            // 一键清扫
+            if (ch_data[6] == 1792)
+            {
+                msg.main_brush_lift = false;
+                msg.edge_brush_lift = false;
+                msg.vacuum = false;
+                msg.spray = false;
+                msg.mud_flap = false;
+                msg.dust_shake = false;
+                msg.main_brush_spin = false;
+                msg.edge_brush_spin = false;
+            }
+            else if (ch_data[6] == 192)
+            {
+                msg.main_brush_lift = true;
+                msg.edge_brush_lift = true;
+                msg.vacuum = true;
+                msg.spray = true;
+                msg.mud_flap = true;
+                msg.dust_shake = true;
+                msg.main_brush_spin = true;
+                msg.edge_brush_spin = true;
+                msg.main_brush_pwm = 100;
+                msg.edge_brush_pwm = 100;
+            }
+
             // 转向逻辑
             float target_angle = (static_cast<float>(ch_data[3]) - 800) / 800 * EPS_ANGLE_MAX;
 
@@ -135,6 +161,14 @@ private:
             msg.brake_time_ms = 500;
             msg.angle = 0;
             msg.angle_speed = 120;
+            msg.main_brush_lift = false;
+            msg.edge_brush_lift = false;
+            msg.vacuum = false;
+            msg.spray = false;
+            msg.mud_flap = false;
+            msg.dust_shake = false;
+            msg.main_brush_spin = false;
+            msg.edge_brush_spin = false;
         }
 
         if (data_safe)