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Robofish
2025-12-19 22:43:01 +08:00
parent 8f4636ab5a
commit 8101d2c3a0
49 changed files with 3926 additions and 32 deletions
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184
assets/User_code/module/cmd/cmd_adapter.c Normal file
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/*
* CMD 模块 V2 - 输入适配器实现
*/
#include "cmd_adapter.h"
#include <string.h>
/* ========================================================================== */
/* 适配器存储 */
/* ========================================================================== */
// static CMD_InputAdapter_t *g_adapters[CMD_SRC_NUM] = {0};
CMD_InputAdapter_t *g_adapters[CMD_SRC_NUM] = {0};
/* ========================================================================== */
/* DR16 抽象实现 */
/* ========================================================================== */
#if CMD_RC_DEVICE_TYPE == 0
int8_t CMD_DR16_Init(void *data) {
DR16_t *dr16 = (DR16_t *)data;
return DR16_Init(dr16);
}
int8_t CMD_DR16_RC_GetInput(void *data, CMD_RawInput_t *output) {
DR16_t *dr16 = (DR16_t *)data;
memset(&output->rc, 0, sizeof(CMD_RawInput_RC_t));
output->online[CMD_SRC_RC] = dr16->header.online;
/* 遥控器摇杆映射 */
output->rc.joy_left.x = dr16->data.rc.ch_l_x;
output->rc.joy_left.y = dr16->data.rc.ch_l_y;
output->rc.joy_right.x = dr16->data.rc.ch_r_x;
output->rc.joy_right.y = dr16->data.rc.ch_r_y;
/* 拨杆映射 */
switch (dr16->data.rc.sw_l) {
case DR16_SW_UP: output->rc.sw[0] = CMD_SW_UP; break;
case DR16_SW_MID: output->rc.sw[0] = CMD_SW_MID; break;
case DR16_SW_DOWN: output->rc.sw[0] = CMD_SW_DOWN; break;
default: output->rc.sw[0] = CMD_SW_ERR; break;
}
switch (dr16->data.rc.sw_r) {
case DR16_SW_UP: output->rc.sw[1] = CMD_SW_UP; break;
case DR16_SW_MID: output->rc.sw[1] = CMD_SW_MID; break;
case DR16_SW_DOWN: output->rc.sw[1] = CMD_SW_DOWN; break;
default: output->rc.sw[1] = CMD_SW_ERR; break;
}
/* 拨轮映射 */
output->rc.dial = dr16->data.rc.ch_res;
return CMD_OK;
}
int8_t CMD_DR16_PC_GetInput(void *data, CMD_RawInput_t *output) {
DR16_t *dr16 = (DR16_t *)data;
memset(&output->pc, 0, sizeof(CMD_RawInput_PC_t));
output->online[CMD_SRC_PC] = dr16->header.online;
/* PC端鼠标映射 */
output->pc.mouse.x = dr16->data.pc.mouse.x;
output->pc.mouse.y = dr16->data.pc.mouse.y;
output->pc.mouse.l_click = dr16->data.pc.mouse.l_click;
output->pc.mouse.r_click = dr16->data.pc.mouse.r_click;
/* 键盘映射 */
output->pc.keyboard.bitmap = dr16->raw_data.key;
return CMD_OK;
}
bool CMD_DR16_IsOnline(void *data) {
DR16_t *dr16 = (DR16_t *)data;
return dr16->header.online;
}
extern DR16_t cmd_dr16;
/* 定义适配器实例 */
CMD_DEFINE_ADAPTER(DR16_RC, cmd_dr16, CMD_SRC_RC, CMD_DR16_Init, CMD_DR16_RC_GetInput, CMD_DR16_IsOnline)
CMD_DEFINE_ADAPTER(DR16_PC, cmd_dr16, CMD_SRC_PC, CMD_DR16_Init, CMD_DR16_PC_GetInput, CMD_DR16_IsOnline)
#endif /* CMD_RC_DEVICE_TYPE == 0 */
/* ========================================================================== */
/* AT9S 抽象实现 (示例框架) */
/* ========================================================================== */
#if CMD_RC_DEVICE_TYPE == 1
int8_t CMD_AT9S_Init(void *data) {
AT9S_t *at9s = (AT9S_t *)data;
return AT9S_Init(at9s);
}
int8_t CMD_AT9S_GetInput(void *data, CMD_RawInput_t *output) {
AT9S_t *at9s = (AT9S_t *)data;
memset(output, 0, sizeof(CMD_RawInput_RC_t));
output->online[CMD_SRC_RC] = at9s->header.online;
/* TODO: 按照AT9S的数据格式进行映射 */
output->joy_left.x = at9s->data.rc.ch_l_x;
output->joy_left.y = at9s->data.rc.ch_l_y;
output->joy_right.x = at9s->data.rc.ch_r_x;
output->joy_right.y = at9s->data.rc.ch_r_y;
/* 拨杆映射需要根据AT9S的实际定义 */
return CMD_OK;
}
bool CMD_AT9S_IsOnline(void *data) {
AT9S_t *at9s = (AT9S_t *)data;
return at9s->header.online;
}
CMD_DEFINE_ADAPTER(AT9S, at9s, CMD_SRC_RC, CMD_AT9S_Init, CMD_AT9S_GetInput, CMD_AT9S_IsOnline)
#endif /* CMD_RC_DEVICE_TYPE == 1 */
/* ========================================================================== */
/* 适配器管理实现 */
/* ========================================================================== */
int8_t CMD_Adapter_Register(CMD_InputAdapter_t *adapter) {
if (adapter == NULL || adapter->source >= CMD_SRC_NUM) {
return CMD_ERR_NULL;
}
g_adapters[adapter->source] = adapter;
return CMD_OK;
}
int8_t CMD_Adapter_InitAll(void) {
/* 注册编译时选择的RC设备适配器 */
#if CMD_RC_DEVICE_TYPE == 0
/* DR16 支持 RC 和 PC 输入 */
CMD_Adapter_Register(&g_adapter_DR16_RC);
CMD_Adapter_Register(&g_adapter_DR16_PC);
#elif CMD_RC_DEVICE_TYPE == 1
/* AT9S 目前只支持 RC 输入 */
CMD_Adapter_Register(&g_adapter_AT9S);
#endif
/* 注册NUC适配器 */
/* 注册REF适配器 */
/* 初始化所有已注册的适配器 */
for (int i = 0; i < CMD_SRC_NUM; i++) {
if (g_adapters[i] != NULL && g_adapters[i]->init != NULL) {
g_adapters[i]->init(g_adapters[i]->device_data);
}
}
return CMD_OK;
}
int8_t CMD_Adapter_GetInput(CMD_InputSource_t source, CMD_RawInput_t *output) {
if (source >= CMD_SRC_NUM || output == NULL) {
return CMD_ERR_NULL;
}
CMD_InputAdapter_t *adapter = g_adapters[source];
if (adapter == NULL || adapter->get_input == NULL) {
output->online[adapter->source] = false;
return CMD_ERR_NO_INPUT;
}
return adapter->get_input(adapter->device_data, output);
}
bool CMD_Adapter_IsOnline(CMD_InputSource_t source) {
if (source >= CMD_SRC_NUM) {
return false;
}
CMD_InputAdapter_t *adapter = g_adapters[source];
if (adapter == NULL || adapter->is_online == NULL) {
return false;
}
return adapter->is_online(adapter->device_data);
}