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assets/User_code/module/cmd/cmd_behavior.c

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+/*
+ * CMD 模块 V2 - 行为处理器实现
+ */
+#include "cmd_behavior.h"
+#include "cmd.h"
+#include "module/gimbal.h"
+#include <string.h>
+
+/* ========================================================================== */
+/*                           行为回调函数                                        */
+/* ========================================================================== */
+
+/* 行为处理函数实现 */
+int8_t CMD_Behavior_Handle_FORE(CMD_t *ctx) {
+    ctx->output.chassis.cmd.ctrl_vec.vy += ctx->config->sensitivity.move_sens;
+    return CMD_OK;
+}
+
+int8_t CMD_Behavior_Handle_BACK(CMD_t *ctx) {
+    ctx->output.chassis.cmd.ctrl_vec.vy -= ctx->config->sensitivity.move_sens;
+    return CMD_OK;
+}
+
+int8_t CMD_Behavior_Handle_LEFT(CMD_t *ctx) {
+    ctx->output.chassis.cmd.ctrl_vec.vx -= ctx->config->sensitivity.move_sens;
+    return CMD_OK;
+}
+
+int8_t CMD_Behavior_Handle_RIGHT(CMD_t *ctx) {
+    ctx->output.chassis.cmd.ctrl_vec.vx += ctx->config->sensitivity.move_sens;
+    return CMD_OK;
+}
+
+int8_t CMD_Behavior_Handle_ACCELERATE(CMD_t *ctx) {
+    ctx->output.chassis.cmd.ctrl_vec.vx *= ctx->config->sensitivity.move_fast_mult;
+    ctx->output.chassis.cmd.ctrl_vec.vy *= ctx->config->sensitivity.move_fast_mult;
+    return CMD_OK;
+}
+
+int8_t CMD_Behavior_Handle_DECELERATE(CMD_t *ctx) {
+    ctx->output.chassis.cmd.ctrl_vec.vx *= ctx->config->sensitivity.move_slow_mult;
+    ctx->output.chassis.cmd.ctrl_vec.vy *= ctx->config->sensitivity.move_slow_mult;
+    return CMD_OK;
+}
+
+int8_t CMD_Behavior_Handle_FIRE(CMD_t *ctx) {
+    ctx->output.shoot.cmd.firecmd = true;
+    return CMD_OK;
+}
+
+int8_t CMD_Behavior_Handle_FIRE_MODE(CMD_t *ctx) {
+    ctx->output.shoot.cmd.mode = (ctx->output.shoot.cmd.mode + 1) % SHOOT_MODE_NUM;
+    return CMD_OK;
+}
+
+int8_t CMD_Behavior_Handle_ROTOR(CMD_t *ctx) {
+  ctx->output.chassis.cmd.mode = CHASSIS_MODE_ROTOR;
+  ctx->output.chassis.cmd.mode_rotor = ROTOR_MODE_RAND;
+  ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELATIVE;
+  return CMD_OK;
+}
+
+int8_t CMD_Behavior_Handle_AUTOAIM(CMD_t *ctx) {
+    /* TODO: 自瞄模式切换 */
+    return CMD_OK;
+}
+
+int8_t CMD_Behavior_Handle_CHECKSOURCERCPC(CMD_t *ctx) {
+    /* TODO: 切换RC和PC输入源 */
+    if (ctx->active_source == CMD_SRC_PC) {
+      ctx->active_source = CMD_SRC_RC;
+      ctx->output.chassis.source = CMD_SRC_RC;
+      ctx->output.gimbal.source = CMD_SRC_RC;
+      ctx->output.shoot.source = CMD_SRC_RC;
+    } else if(ctx->active_source == CMD_SRC_RC) {
+      ctx->active_source = CMD_SRC_PC;
+      ctx->output.chassis.source = CMD_SRC_PC;
+      ctx->output.gimbal.source = CMD_SRC_PC;
+      ctx->output.shoot.source = CMD_SRC_PC;
+    }
+    return CMD_OK;
+}
+
+/* 行为配置表 - 由宏生成 */
+static const CMD_BehaviorConfig_t g_behavior_configs[] = {
+    CMD_BEHAVIOR_TABLE(BUILD_BEHAVIOR_CONFIG)
+};
+
+/* ========================================================================== */
+/*                           API实现                                            */
+/* ========================================================================== */
+
+int8_t CMD_Behavior_Init(void) {
+    /* 当前静态配置，无需初始化 */
+    return CMD_OK;
+}
+
+bool CMD_Behavior_IsTriggered(const CMD_RawInput_t *current,
+                               const CMD_RawInput_t *last,
+                               const CMD_BehaviorConfig_t *config) {
+    if (config == NULL || current == NULL) {
+        return false;
+    }
+    
+        bool now_pressed = false;
+        bool last_pressed = false;
+
+        // 鼠标特殊按键处理
+        if (config->key == (CMD_KEY_L_CLICK)) {
+            now_pressed = current->pc.mouse.l_click;
+            last_pressed = last ? last->pc.mouse.l_click : false;
+        } else if (config->key == (CMD_KEY_R_CLICK)) {
+            now_pressed = current->pc.mouse.r_click;
+            last_pressed = last ? last->pc.mouse.r_click : false;
+        } else if (config->key == (CMD_KEY_M_CLICK)) {
+            now_pressed = current->pc.mouse.m_click;
+            last_pressed = last ? last->pc.mouse.m_click : false;
+        } else if (config->key == 0) {
+            return false;
+        } else {
+            // 多按键组合检测
+            now_pressed = ((current->pc.keyboard.bitmap & config->key) == config->key);
+            last_pressed = last ? ((last->pc.keyboard.bitmap & config->key) == config->key) : false;
+        }
+
+        switch (config->trigger) {
+            case CMD_ACTIVE_PRESSED:
+                return now_pressed;
+            case CMD_ACTIVE_RISING_EDGE:
+                return now_pressed && !last_pressed;
+            case CMD_ACTIVE_FALLING_EDGE:
+                return !now_pressed && last_pressed;
+            default:
+                return false;
+        }
+}
+
+int8_t CMD_Behavior_ProcessAll(CMD_t *ctx,
+                                const CMD_RawInput_t *current,
+                                const CMD_RawInput_t *last,
+                                CMD_ModuleMask_t active_modules) {
+    if (ctx == NULL || current == NULL) {
+        return CMD_ERR_NULL;
+    }
+    
+    for (size_t i = 0; i < BEHAVIOR_CONFIG_COUNT; i++) {
+        const CMD_BehaviorConfig_t *config = &g_behavior_configs[i];
+        
+        /* 过滤模块掩码 */
+        if ((config->module_mask & active_modules) == 0) {
+            continue;
+        }
+        
+        /* 检查是否触发 */
+        if (CMD_Behavior_IsTriggered(current, last, config)) {
+            if (config->handler != NULL) {
+                config->handler(ctx);
+            }
+        }
+    }
+    
+    return CMD_OK;
+}
+
+const CMD_BehaviorConfig_t* CMD_Behavior_GetConfig(CMD_Behavior_t behavior) {
+    for (size_t i = 0; i < BEHAVIOR_CONFIG_COUNT; i++) {
+        if (g_behavior_configs[i].behavior == behavior) {
+            return &g_behavior_configs[i];
+        }
+    }
+    return NULL;
+}