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Robofish 2025-10-21 00:59:19 +08:00
parent 49545dd232
commit d1c3b2747a
13 changed files with 600 additions and 875 deletions
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71
app/code_page/bsp_interface.py
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@ -6,42 +6,8 @@ from app.tools.analyzing_ioc import analyzing_ioc
from app.tools.code_generator import CodeGenerator
import os
import csv
import shutil
import re
def preserve_all_user_regions(new_code, old_code):
""" Preserves all user-defined regions in the new code based on the old code.
This function uses regex to find user-defined regions in the old code and replaces them in the new code.
Args:
new_code (str): The new code content.
old_code (str): The old code content.
Returns:
str: The new code with preserved user-defined regions.
"""
import re
pattern = re.compile(
r"/\*\s*(USER [A-Z0-9_ ]+)\s*BEGIN\s*\*/(.*?)/\*\s*\1\s*END\s*\*/",
re.DOTALL
)
old_regions = {m.group(1): m.group(2) for m in pattern.finditer(old_code or "")}
def repl(m):
region = m.group(1)
old_content = old_regions.get(region)
if old_content is not None:
return m.group(0).replace(m.group(2), old_content)
return m.group(0)
return pattern.sub(repl, new_code)
def save_with_preserve(path, new_code):
if os.path.exists(path):
with open(path, "r", encoding="utf-8") as f:
old_code = f.read()
new_code = preserve_all_user_regions(new_code, old_code)
# 确保目录存在
os.makedirs(os.path.dirname(path), exist_ok=True)
with open(path, "w", encoding="utf-8") as f:
f.write(new_code)
class BspSimplePeripheral(QWidget):
def __init__(self, project_path, peripheral_name, template_names):
super().__init__()
@ -50,7 +16,7 @@ class BspSimplePeripheral(QWidget):
self.template_names = template_names
# 加载描述
describe_path = os.path.join(CodeGenerator.get_assets_dir("User_code/bsp"), "describe.csv")
self.descriptions = load_descriptions(describe_path)
self.descriptions = CodeGenerator.load_descriptions(describe_path)
self._init_ui()
self._load_config()
@ -102,7 +68,7 @@ class BspSimplePeripheral(QWidget):
if not template_content:
return False
output_path = os.path.join(self.project_path, f"User/bsp/{filename}")
save_with_preserve(output_path, template_content) # 使用保留用户区域的写入
CodeGenerator.save_with_preserve(output_path, template_content) # 使用保留用户区域的写入
self._save_config()
return True
@ -133,7 +99,7 @@ class BspPeripheralBase(QWidget):
self.available_list = []
# 新增：加载描述
describe_path = os.path.join(CodeGenerator.get_assets_dir("User_code/bsp"), "describe.csv")
self.descriptions = load_descriptions(describe_path)
self.descriptions = CodeGenerator.load_descriptions(describe_path)
self._init_ui()
self._load_config()
@ -249,7 +215,7 @@ class BspPeripheralBase(QWidget):
template_content, f"AUTO GENERATED {self.enum_prefix}_NAME", "\n".join(enum_lines)
)
output_path = os.path.join(self.project_path, f"User/bsp/{self.template_names['header']}")
save_with_preserve(output_path, content) # 使用保留用户区域的写入
CodeGenerator.save_with_preserve(output_path, content) # 使用保留用户区域的写入
return True
def _generate_source_file(self, configs, template_dir):
@ -283,7 +249,7 @@ class BspPeripheralBase(QWidget):
content, f"AUTO GENERATED {self.enum_prefix}_GET_HANDLE", "\n".join(handle_lines)
)
output_path = os.path.join(self.project_path, f"User/bsp/{self.template_names['source']}")
save_with_preserve(output_path, content) # 使用保留用户区域的写入
CodeGenerator.save_with_preserve(output_path, content) # 使用保留用户区域的写入
return True
def _save_config(self, configs):
@ -337,17 +303,6 @@ class BspPeripheralBase(QWidget):
self._save_config(configs)
return True
def load_descriptions(csv_path):
descriptions = {}
if os.path.exists(csv_path):
with open(csv_path, encoding='utf-8') as f:
reader = csv.reader(f)
for row in reader:
if len(row) >= 2:
key, desc = row[0].strip(), row[1].strip()
descriptions[key.lower()] = desc
return descriptions
# 各外设的可用列表获取函数
def get_available_i2c(project_path):
ioc_files = [f for f in os.listdir(project_path) if f.endswith('.ioc')]
@ -474,7 +429,7 @@ class bsp_can(BspPeripheralBase):
)
output_path = os.path.join(self.project_path, f"User/bsp/{self.template_names['source']}")
save_with_preserve(output_path, content)
CodeGenerator.save_with_preserve(output_path, content)
return True
def _generate_single_can_init(self, init_lines, configs, fifo_assignment):
@ -744,7 +699,7 @@ class bsp_gpio(QWidget):
self.available_list = self._get_all_gpio_list()
# 加载描述
describe_path = os.path.join(CodeGenerator.get_assets_dir("User_code/bsp"), "describe.csv")
self.descriptions = load_descriptions(describe_path)
self.descriptions = CodeGenerator.load_descriptions(describe_path)
self._init_ui()
self._load_config()
@ -891,7 +846,7 @@ class bsp_gpio(QWidget):
)
output_path = os.path.join(self.project_path, "User/bsp/gpio.h")
save_with_preserve(output_path, content)
CodeGenerator.save_with_preserve(output_path, content)
return True
def _generate_source_file(self, configs, template_dir):
@ -932,7 +887,7 @@ class bsp_gpio(QWidget):
)
output_path = os.path.join(self.project_path, "User/bsp/gpio.c")
save_with_preserve(output_path, content)
CodeGenerator.save_with_preserve(output_path, content)
return True
@ -983,7 +938,7 @@ class bsp_pwm(QWidget):
self.available_list = self._get_pwm_channels()
# 加载描述
describe_path = os.path.join(CodeGenerator.get_assets_dir("User_code/bsp"), "describe.csv")
self.descriptions = load_descriptions(describe_path)
self.descriptions = CodeGenerator.load_descriptions(describe_path)
self._init_ui()
self._load_config()
@ -1148,7 +1103,7 @@ class bsp_pwm(QWidget):
)
output_path = os.path.join(self.project_path, "User/bsp/pwm.h")
save_with_preserve(output_path, content)
CodeGenerator.save_with_preserve(output_path, content)
return True
def _generate_source_file(self, configs, template_dir):
@ -1169,7 +1124,7 @@ class bsp_pwm(QWidget):
)
output_path = os.path.join(self.project_path, "User/bsp/pwm.c")
save_with_preserve(output_path, content)
CodeGenerator.save_with_preserve(output_path, content)
return True
def _save_config(self, configs):
@ -1245,7 +1200,7 @@ class bsp(QWidget):
if os.path.exists(src_bsp_h):
with open(src_bsp_h, 'r', encoding='utf-8') as f:
content = f.read()
save_with_preserve(dst_bsp_h, content)
CodeGenerator.save_with_preserve(dst_bsp_h, content)
total = 0
success_count = 0

69
app/code_page/component_interface.py
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@ -4,66 +4,7 @@ from qfluentwidgets import InfoBar
from PyQt5.QtCore import Qt, pyqtSignal
from app.tools.code_generator import CodeGenerator
import os
import csv
import shutil
import re
def preserve_all_user_regions(new_code, old_code):
""" Preserves all user-defined regions in the new code based on the old code.
This function uses regex to find user-defined regions in the old code and replaces them in the new code.
Args:
new_code (str): The new code content.
old_code (str): The old code content.
Returns:
str: The new code with preserved user-defined regions.
"""
pattern = re.compile(
r"/\*\s*(USER [A-Z0-9_ ]+)\s*BEGIN\s*\*/(.*?)/\*\s*\1\s*END\s*\*/",
re.DOTALL
)
old_regions = {m.group(1): m.group(2) for m in pattern.finditer(old_code or "")}
def repl(m):
region = m.group(1)
old_content = old_regions.get(region)
if old_content is not None:
return m.group(0).replace(m.group(2), old_content)
return m.group(0)
return pattern.sub(repl, new_code)
def save_with_preserve(path, new_code):
"""保存文件并保留用户区域"""
if os.path.exists(path):
with open(path, "r", encoding="utf-8") as f:
old_code = f.read()
new_code = preserve_all_user_regions(new_code, old_code)
os.makedirs(os.path.dirname(path), exist_ok=True)
with open(path, "w", encoding="utf-8") as f:
f.write(new_code)
def load_descriptions(csv_path):
"""加载组件描述信息"""
descriptions = {}
if os.path.exists(csv_path):
with open(csv_path, encoding='utf-8') as f:
reader = csv.reader(f)
for row in reader:
if len(row) >= 2:
key, desc = row[0].strip(), row[1].strip()
descriptions[key.lower()] = desc
return descriptions
def load_dependencies(csv_path):
"""加载组件依赖关系"""
dependencies = {}
if os.path.exists(csv_path):
with open(csv_path, encoding='utf-8') as f:
reader = csv.reader(f)
for row in reader:
if len(row) >= 2:
component = row[0].strip()
deps = [dep.strip() for dep in row[1:] if dep.strip()]
dependencies[component] = deps
return dependencies
def get_component_page(component_name, project_path, component_manager=None):
@ -108,8 +49,8 @@ class ComponentSimple(QWidget):
component_dir = CodeGenerator.get_assets_dir("User_code/component")
describe_path = os.path.join(component_dir, "describe.csv")
dependencies_path = os.path.join(component_dir, "dependencies.csv")
self.descriptions = load_descriptions(describe_path)
self.dependencies = load_dependencies(dependencies_path)
self.descriptions = CodeGenerator.load_descriptions(describe_path)
self.dependencies = CodeGenerator.load_dependencies(dependencies_path)
self._init_ui()
self._load_config()
@ -174,7 +115,7 @@ class ComponentSimple(QWidget):
print(f"模板文件不存在或为空: {template_path}")
continue
output_path = os.path.join(self.project_path, f"User/component/{filename}")
save_with_preserve(output_path, template_content)
CodeGenerator.save_with_preserve(output_path, template_content)
self._save_config()
return True
@ -296,7 +237,7 @@ class component(QWidget):
if os.path.exists(src_component_h):
with open(src_component_h, 'r', encoding='utf-8') as f:
content = f.read()
save_with_preserve(dst_component_h, content)
CodeGenerator.save_with_preserve(dst_component_h, content)
# 收集所有需要生成的组件和它们的依赖
components_to_generate = set()
@ -373,7 +314,7 @@ class component(QWidget):
os.makedirs(os.path.dirname(dst_path), exist_ok=True)
with open(src_path, 'r', encoding='utf-8') as f:
new_content = f.read()
save_with_preserve(dst_path, new_content)
CodeGenerator.save_with_preserve(dst_path, new_content)
else:
# 如果既不是文件也不是目录，跳过
print(f"跳过不存在的依赖: {dep_path}")

46
app/code_page/device_interface.py
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@ -3,49 +3,9 @@ from qfluentwidgets import BodyLabel, CheckBox, ComboBox, SubtitleLabel
from PyQt5.QtCore import Qt
from app.tools.code_generator import CodeGenerator
import os
import shutil
import yaml
import re
def preserve_all_user_regions(new_code, old_code):
""" Preserves all user-defined regions in the new code based on the old code.
This function uses regex to find user-defined regions in the old code and replaces them in the new code.
Args:
new_code (str): The new code content.
old_code (str): The old code content.
Returns:
str: The new code with preserved user-defined regions.
"""
pattern = re.compile(
r"/\*\s*(USER [A-Z0-9_ ]+)\s*BEGIN\s*\*/(.*?)/\*\s*\1\s*END\s*\*/",
re.DOTALL
)
old_regions = {m.group(1): m.group(2) for m in pattern.finditer(old_code or "")}
def repl(m):
region = m.group(1)
old_content = old_regions.get(region)
if old_content is not None:
return m.group(0).replace(m.group(2), old_content)
return m.group(0)
return pattern.sub(repl, new_code)
def save_with_preserve(path, new_code):
"""保存文件并保留用户区域"""
if os.path.exists(path):
with open(path, "r", encoding="utf-8") as f:
old_code = f.read()
new_code = preserve_all_user_regions(new_code, old_code)
os.makedirs(os.path.dirname(path), exist_ok=True)
with open(path, "w", encoding="utf-8") as f:
f.write(new_code)
def load_device_config(config_path):
"""加载设备配置"""
if os.path.exists(config_path):
with open(config_path, 'r', encoding='utf-8') as f:
return yaml.safe_load(f)
return {}
def get_available_bsp_devices(project_path, bsp_type, gpio_type=None):
"""获取可用的BSP设备，GPIO可选类型过滤"""
bsp_config_path = os.path.join(project_path, "User/bsp/bsp_config.yaml")
@ -94,7 +54,7 @@ def generate_device_header(project_path, enabled_devices):
# 加载设备配置来获取信号信息
config_path = os.path.join(device_dir, "config.yaml")
device_configs = load_device_config(config_path)
device_configs = CodeGenerator.load_device_config(config_path)
for device_name in enabled_devices:
device_key = device_name.lower()
@ -305,7 +265,7 @@ class DeviceSimple(QWidget):
os.makedirs(os.path.dirname(dst_path), exist_ok=True)
with open(src_path, 'r', encoding='utf-8') as f:
content = f.read()
save_with_preserve(dst_path, content)
CodeGenerator.save_with_preserve(dst_path, content)
elif file_type == 'source':
# 源文件需要替换BSP设备名称
@ -362,7 +322,7 @@ def get_device_page(device_name, project_path):
from app.tools.code_generator import CodeGenerator
device_dir = CodeGenerator.get_assets_dir("User_code/device")
config_path = os.path.join(device_dir, "config.yaml")
device_configs = load_device_config(config_path)
device_configs = CodeGenerator.load_device_config(config_path)
devices = device_configs.get('devices', {})
device_key = device_name.lower()

307
app/tools/code_generator.py
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@ -1,9 +1,10 @@
import os
import yaml
import shutil
from typing import Dict, List, Tuple
from typing import Dict, List, Tuple, Optional
import sys
import os
import re
import csv
class CodeGenerator:
"""通用代码生成器"""
@ -163,4 +164,304 @@ class CodeGenerator:
print(f"警告：资源目录不存在: {full_path}")
setattr(CodeGenerator, warning_key, True)
return full_path
return full_path
@staticmethod
def preserve_all_user_regions(new_code: str, old_code: str) -> str:
"""保留用户定义的代码区域
在新代码中保留旧代码中所有用户定义的区域。
用户区域使用如下格式标记：
/* USER REGION_NAME BEGIN */
用户代码...
/* USER REGION_NAME END */
Args:
new_code: 新的代码内容
old_code: 旧的代码内容
Returns:
str: 保留了用户区域的新代码
"""
if not old_code:
return new_code
pattern = re.compile(
r"/\*\s*(USER [A-Z0-9_ ]+)\s*BEGIN\s*\*/(.*?)/\*\s*\1\s*END\s*\*/",
re.DOTALL
)
# 提取旧代码中的所有用户区域
old_regions = {m.group(1): m.group(2) for m in pattern.finditer(old_code)}
def repl(m):
region_name = m.group(1)
old_content = old_regions.get(region_name)
if old_content is not None:
# 替换为旧的用户内容
return m.group(0).replace(m.group(2), old_content)
return m.group(0)
return pattern.sub(repl, new_code)
@staticmethod
def save_with_preserve(file_path: str, new_code: str) -> bool:
"""保存文件并保留用户代码区域
如果文件已存在，会先读取旧文件内容，保留其中的用户代码区域，
然后将新代码与保留的用户区域合并后保存。
Args:
file_path: 文件路径
new_code: 新的代码内容
Returns:
bool: 保存是否成功
"""
try:
# 如果文件已存在，先读取旧内容
old_code = ""
if os.path.exists(file_path):
with open(file_path, "r", encoding="utf-8") as f:
old_code = f.read()
# 保留用户区域
final_code = CodeGenerator.preserve_all_user_regions(new_code, old_code)
# 确保目录存在
os.makedirs(os.path.dirname(file_path), exist_ok=True)
# 保存文件
with open(file_path, "w", encoding="utf-8") as f:
f.write(final_code)
return True
except Exception as e:
print(f"保存文件失败: {file_path}, 错误: {e}")
return False
@staticmethod
def load_descriptions(csv_path: str) -> Dict[str, str]:
"""从CSV文件加载组件或设备的描述信息
CSV格式：第一列为组件/设备名称，第二列为描述
Args:
csv_path: CSV文件路径
Returns:
Dict[str, str]: 名称到描述的映射字典
"""
descriptions = {}
if os.path.exists(csv_path):
try:
with open(csv_path, encoding='utf-8') as f:
reader = csv.reader(f)
for row in reader:
if len(row) >= 2:
key, desc = row[0].strip(), row[1].strip()
descriptions[key.lower()] = desc
except Exception as e:
print(f"加载描述文件失败: {csv_path}, 错误: {e}")
return descriptions
@staticmethod
def load_dependencies(csv_path: str) -> Dict[str, List[str]]:
"""从CSV文件加载组件依赖关系
CSV格式：第一列为组件名，后续列为依赖的组件
Args:
csv_path: CSV文件路径
Returns:
Dict[str, List[str]]: 组件名到依赖列表的映射字典
"""
dependencies = {}
if os.path.exists(csv_path):
try:
with open(csv_path, encoding='utf-8') as f:
reader = csv.reader(f)
for row in reader:
if len(row) >= 2:
component = row[0].strip()
deps = [dep.strip() for dep in row[1:] if dep.strip()]
dependencies[component] = deps
except Exception as e:
print(f"加载依赖文件失败: {csv_path}, 错误: {e}")
return dependencies
@staticmethod
def load_device_config(config_path: str) -> Dict:
"""加载设备配置文件
Args:
config_path: YAML配置文件路径
Returns:
Dict: 配置数据字典
"""
return CodeGenerator.load_config(config_path)
@staticmethod
def copy_dependency_file(src_path: str, dst_path: str) -> bool:
"""复制依赖文件
Args:
src_path: 源文件路径
dst_path: 目标文件路径
Returns:
bool: 复制是否成功
"""
try:
os.makedirs(os.path.dirname(dst_path), exist_ok=True)
shutil.copy2(src_path, dst_path)
return True
except Exception as e:
print(f"复制文件失败: {src_path} -> {dst_path}, 错误: {e}")
return False
@staticmethod
def generate_code_from_template(template_path: str, output_path: str,
replacements: Optional[Dict[str, str]] = None,
preserve_user_code: bool = True) -> bool:
"""从模板生成代码文件
Args:
template_path: 模板文件路径
output_path: 输出文件路径
replacements: 要替换的标记字典，如 {'MARKER': 'replacement_content'}
preserve_user_code: 是否保留用户代码区域
Returns:
bool: 生成是否成功
"""
try:
# 加载模板
template_content = CodeGenerator.load_template(template_path)
if not template_content:
print(f"模板文件不存在或为空: {template_path}")
return False
# 执行替换
if replacements:
for marker, replacement in replacements.items():
template_content = CodeGenerator.replace_auto_generated(
template_content, marker, replacement
)
# 保存文件
if preserve_user_code:
return CodeGenerator.save_with_preserve(output_path, template_content)
else:
return CodeGenerator.save_file(template_content, output_path)
except Exception as e:
print(f"从模板生成代码失败: {template_path} -> {output_path}, 错误: {e}")
return False
@staticmethod
def read_file_content(file_path: str) -> Optional[str]:
"""读取文件内容
Args:
file_path: 文件路径
Returns:
str: 文件内容，如果失败返回None
"""
try:
with open(file_path, 'r', encoding='utf-8') as f:
return f.read()
except Exception as e:
print(f"读取文件失败: {file_path}, 错误: {e}")
return None
@staticmethod
def write_file_content(file_path: str, content: str) -> bool:
"""写入文件内容
Args:
file_path: 文件路径
content: 文件内容
Returns:
bool: 写入是否成功
"""
try:
os.makedirs(os.path.dirname(file_path), exist_ok=True)
with open(file_path, 'w', encoding='utf-8') as f:
f.write(content)
return True
except Exception as e:
print(f"写入文件失败: {file_path}, 错误: {e}")
return False
@staticmethod
def update_file_with_pattern(file_path: str, pattern: str, replacement: str,
use_regex: bool = True) -> bool:
"""更新文件中匹配模式的内容
Args:
file_path: 文件路径
pattern: 要匹配的模式
replacement: 替换内容
use_regex: 是否使用正则表达式
Returns:
bool: 更新是否成功
"""
try:
content = CodeGenerator.read_file_content(file_path)
if content is None:
return False
if use_regex:
import re
updated_content = re.sub(pattern, replacement, content, flags=re.DOTALL)
else:
updated_content = content.replace(pattern, replacement)
return CodeGenerator.write_file_content(file_path, updated_content)
except Exception as e:
print(f"更新文件失败: {file_path}, 错误: {e}")
return False
@staticmethod
def replace_multiple_markers(content: str, replacements: Dict[str, str]) -> str:
"""批量替换内容中的多个标记
Args:
content: 要处理的内容
replacements: 替换字典，如 {'MARKER1': 'content1', 'MARKER2': 'content2'}
Returns:
str: 替换后的内容
"""
result = content
for marker, replacement in replacements.items():
result = CodeGenerator.replace_auto_generated(result, marker, replacement)
return result
@staticmethod
def extract_user_regions(code: str) -> Dict[str, str]:
"""从代码中提取所有用户区域
Args:
code: 要提取的代码内容
Returns:
Dict[str, str]: 区域名称到区域内容的映射
"""
if not code:
return {}
pattern = re.compile(
r"/\*\s*USER CODE BEGIN ([A-Za-z0-9_ ]+)\s*\*/(.*?)/\*\s*USER CODE END \1\s*\*/",
re.DOTALL
)
return {m.group(1): m.group(2) for m in pattern.finditer(code)}

387
assets/User_code/component/cmd.c
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@ -1,387 +0,0 @@
/*
控制命令
*/
#include "cmd.h"
#include <string.h>
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/**
* @brief 行为转换为对应按键
*
* @param cmd 主结构体
* @param behavior 行为
* @return uint16_t 行为对应的按键
*/
static inline CMD_KeyValue_t CMD_BehaviorToKey(CMD_t *cmd,
CMD_Behavior_t behavior) {
return cmd->param->map.key_map[behavior].key;
}
static inline CMD_ActiveType_t CMD_BehaviorToActive(CMD_t *cmd,
CMD_Behavior_t behavior) {
return cmd->param->map.key_map[behavior].active;
}
/**
* @brief 检查按键是否按下
*
* @param rc 遥控器数据
* @param key 按键名称
* @param stateful 是否为状态切换按键
* @return true 按下
* @return false 未按下
*/
static bool CMD_KeyPressedRc(const CMD_RC_t *rc, CMD_KeyValue_t key) {
/* 按下按键为鼠标左、右键 */
if (key == CMD_L_CLICK) {
return rc->mouse.l_click;
}
if (key == CMD_R_CLICK) {
return rc->mouse.r_click;
}
return rc->key & (1u << key);
}
static bool CMD_BehaviorOccurredRc(const CMD_RC_t *rc, CMD_t *cmd,
CMD_Behavior_t behavior) {
CMD_KeyValue_t key = CMD_BehaviorToKey(cmd, behavior);
CMD_ActiveType_t active = CMD_BehaviorToActive(cmd, behavior);
bool now_key_pressed, last_key_pressed;
/* 按下按键为鼠标左、右键 */
if (key == CMD_L_CLICK) {
now_key_pressed = rc->mouse.l_click;
last_key_pressed = cmd->mouse_last.l_click;
} else if (key == CMD_R_CLICK) {
now_key_pressed = rc->mouse.r_click;
last_key_pressed = cmd->mouse_last.r_click;
} else {
now_key_pressed = rc->key & (1u << key);
last_key_pressed = cmd->key_last & (1u << key);
}
switch (active) {
case CMD_ACTIVE_PRESSING:
return now_key_pressed && !last_key_pressed;
case CMD_ACTIVE_RASING:
return !now_key_pressed && last_key_pressed;
case CMD_ACTIVE_PRESSED:
return now_key_pressed;
}
}
/**
* @brief 解析pc行为逻辑
*
* @param rc 遥控器数据
* @param cmd 主结构体
* @param dt_sec 两次解析的间隔
*/
static void CMD_PcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
/* 云台设置为鼠标控制欧拉角的变化，底盘的控制向量设置为零 */
cmd->gimbal.delta_eulr.yaw =
(float)rc->mouse.x * dt_sec * cmd->param->sens_mouse;
cmd->gimbal.delta_eulr.pit =
(float)(-rc->mouse.y) * dt_sec * cmd->param->sens_mouse;
cmd->chassis.ctrl_vec.vx = cmd->chassis.ctrl_vec.vy = 0.0f;
cmd->shoot.reverse_trig = false;
/* 按键行为映射相关逻辑 */
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FORE)) {
cmd->chassis.ctrl_vec.vy += cmd->param->move.move_sense;
}
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_BACK)) {
cmd->chassis.ctrl_vec.vy -= cmd->param->move.move_sense;
}
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_LEFT)) {
cmd->chassis.ctrl_vec.vx -= cmd->param->move.move_sense;
}
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_RIGHT)) {
cmd->chassis.ctrl_vec.vx += cmd->param->move.move_sense;
}
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_ACCELERATE)) {
cmd->chassis.ctrl_vec.vx *= cmd->param->move.move_fast_sense;
cmd->chassis.ctrl_vec.vy *= cmd->param->move.move_fast_sense;
}
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_DECELEBRATE)) {
cmd->chassis.ctrl_vec.vx *= cmd->param->move.move_slow_sense;
cmd->chassis.ctrl_vec.vy *= cmd->param->move.move_slow_sense;
}
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FIRE)) {
/* 切换至开火模式，设置相应的射击频率和弹丸初速度 */
cmd->shoot.mode = SHOOT_MODE_LOADED;
cmd->shoot.fire = true;
} else {
/* 切换至准备模式，停止射击 */
cmd->shoot.mode = SHOOT_MODE_LOADED;
cmd->shoot.fire = false;
}
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FIRE_MODE)) {
/* 每按一次依次切换开火下一个模式 */
cmd->shoot.fire_mode++;
cmd->shoot.fire_mode %= FIRE_MODE_NUM;
}
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_ROTOR)) {
/* 切换到小陀螺模式 */
cmd->chassis.mode = CHASSIS_MODE_ROTOR;
cmd->chassis.mode_rotor = ROTOR_MODE_RAND;
}
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_OPENCOVER)) {
/* 每按一次开、关弹舱盖 */
cmd->shoot.cover_open = !cmd->shoot.cover_open;
}
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_BUFF)) {
if (cmd->ai_status == AI_STATUS_HITSWITCH) {
/* 停止ai的打符模式，停用host控制 */
CMD_RefereeAdd(&(cmd->referee), CMD_UI_HIT_SWITCH_STOP);
cmd->host_overwrite = false;
cmd->ai_status = AI_STATUS_STOP;
} else if (cmd->ai_status == AI_STATUS_AUTOAIM) {
/* 自瞄模式中切换失败提醒 */
} else {
/* ai切换至打符模式，启用host控制 */
CMD_RefereeAdd(&(cmd->referee), CMD_UI_HIT_SWITCH_START);
cmd->ai_status = AI_STATUS_HITSWITCH;
cmd->host_overwrite = true;
}
}
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_AUTOAIM)) {
if (cmd->ai_status == AI_STATUS_AUTOAIM) {
/* 停止ai的自瞄模式，停用host控制 */
cmd->host_overwrite = false;
cmd->ai_status = AI_STATUS_STOP;
CMD_RefereeAdd(&(cmd->referee), CMD_UI_AUTO_AIM_STOP);
} else {
/* ai切换至自瞄模式，启用host控制 */
cmd->ai_status = AI_STATUS_AUTOAIM;
cmd->host_overwrite = true;
CMD_RefereeAdd(&(cmd->referee), CMD_UI_AUTO_AIM_START);
}
} else {
cmd->host_overwrite = false;
// TODO: 修复逻辑
}
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_REVTRIG)) {
/* 按下拨弹反转 */
cmd->shoot.reverse_trig = true;
}
if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FOLLOWGIMBAL35)) {
cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL_35;
}
/* 保存当前按下的键位状态 */
cmd->key_last = rc->key;
memcpy(&(cmd->mouse_last), &(rc->mouse), sizeof(cmd->mouse_last));
}
/**
* @brief 解析rc行为逻辑
*
* @param rc 遥控器数据
* @param cmd 主结构体
* @param dt_sec 两次解析的间隔
*/
static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
switch (rc->sw_l) {
/* 左拨杆相应行为选择和解析 */
case CMD_SW_UP:
cmd->chassis.mode = CHASSIS_MODE_BREAK;
break;
case CMD_SW_MID:
cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
break;
case CMD_SW_DOWN:
cmd->chassis.mode = CHASSIS_MODE_ROTOR;
cmd->chassis.mode_rotor = ROTOR_MODE_CW;
break;
case CMD_SW_ERR:
cmd->chassis.mode = CHASSIS_MODE_RELAX;
break;
}
switch (rc->sw_r) {
/* 右拨杆相应行为选择和解析*/
case CMD_SW_UP:
cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
cmd->shoot.mode = SHOOT_MODE_SAFE;
break;
case CMD_SW_MID:
cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
cmd->shoot.fire = false;
cmd->shoot.mode = SHOOT_MODE_LOADED;
break;
case CMD_SW_DOWN:
cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
cmd->shoot.mode = SHOOT_MODE_LOADED;
cmd->shoot.fire_mode = FIRE_MODE_SINGLE;
cmd->shoot.fire = true;
break;
/*
case CMD_SW_UP:
cmd->gimbal.mode = GIMBAL_MODE_RELAX;
cmd->shoot.mode = SHOOT_MODE_SAFE;
break;
case CMD_SW_MID:
cmd->gimbal.mode = GIMBAL_MODE_RELAX;
cmd->shoot.fire = false;
cmd->shoot.mode = SHOOT_MODE_LOADED;
break;
case CMD_SW_DOWN:
cmd->gimbal.mode = GIMBAL_MODE_RELAX;
cmd->shoot.mode = SHOOT_MODE_LOADED;
cmd->shoot.fire_mode = FIRE_MODE_SINGLE;
cmd->shoot.fire = true;
break;
*/
case CMD_SW_ERR:
cmd->gimbal.mode = GIMBAL_MODE_RELAX;
cmd->shoot.mode = SHOOT_MODE_RELAX;
}
/* 将操纵杆的对应值转换为底盘的控制向量和云台变化的欧拉角 */
cmd->chassis.ctrl_vec.vx = rc->ch_l_x;
cmd->chassis.ctrl_vec.vy = rc->ch_l_y;
cmd->gimbal.delta_eulr.yaw = rc->ch_r_x * dt_sec * cmd->param->sens_rc;
cmd->gimbal.delta_eulr.pit = rc->ch_r_y * dt_sec * cmd->param->sens_rc;
}
/**
* @brief rc失控时机器人恢复放松模式
*
* @param cmd 主结构体
*/
static void CMD_RcLostLogic(CMD_t *cmd) {
/* 机器人底盘、云台、射击运行模式恢复至放松模式 */
cmd->chassis.mode = CHASSIS_MODE_RELAX;
cmd->gimbal.mode = GIMBAL_MODE_RELAX;
cmd->shoot.mode = SHOOT_MODE_RELAX;
}
/**
* @brief 初始化命令解析
*
* @param cmd 主结构体
* @param param 参数
* @return int8_t 0对应没有错误
*/
int8_t CMD_Init(CMD_t *cmd, const CMD_Params_t *param) {
/* 指针检测 */
if (cmd == NULL) return -1;
if (param == NULL) return -1;
/* 设置机器人的命令参数，初始化控制方式为rc控制 */
cmd->pc_ctrl = false;
cmd->param = param;
return 0;
}
/**
* @brief 检查是否启用上位机控制指令覆盖
*
* @param cmd 主结构体
* @return true 启用
* @return false 不启用
*/
inline bool CMD_CheckHostOverwrite(CMD_t *cmd) { return cmd->host_overwrite; }
/**
* @brief 解析命令
*
* @param rc 遥控器数据
* @param cmd 命令
* @param dt_sec 两次解析的间隔
* @return int8_t 0对应没有错误
*/
int8_t CMD_ParseRc(CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
/* 指针检测 */
if (rc == NULL) return -1;
if (cmd == NULL) return -1;
/* 在pc控制和rc控制间切换 */
if (CMD_KeyPressedRc(rc, CMD_KEY_SHIFT) &&
CMD_KeyPressedRc(rc, CMD_KEY_CTRL) && CMD_KeyPressedRc(rc, CMD_KEY_Q))
cmd->pc_ctrl = true;
if (CMD_KeyPressedRc(rc, CMD_KEY_SHIFT) &&
CMD_KeyPressedRc(rc, CMD_KEY_CTRL) && CMD_KeyPressedRc(rc, CMD_KEY_E))
cmd->pc_ctrl = false;
/*c当rc丢控时，恢复机器人至默认状态 */
if ((rc->sw_l == CMD_SW_ERR) || (rc->sw_r == CMD_SW_ERR)) {
CMD_RcLostLogic(cmd);
} else {
if (cmd->pc_ctrl) {
CMD_PcLogic(rc, cmd, dt_sec);
} else {
CMD_RcLogic(rc, cmd, dt_sec);
}
}
return 0;
}
/**
* @brief 解析上位机命令
*
* @param host host数据
* @param cmd 命令
* @param dt_sec 两次解析的间隔
* @return int8_t 0对应没有错误
*/
int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec) {
(void)dt_sec; /* 未使用dt_sec，消除警告 */
/* 指针检测 */
if (host == NULL) return -1;
if (cmd == NULL) return -1;
/* 云台欧拉角设置为host相应的变化的欧拉角 */
cmd->gimbal.delta_eulr.yaw = host->gimbal_delta.yaw;
cmd->gimbal.delta_eulr.pit = host->gimbal_delta.pit;
/* host射击命令，设置不同的射击频率和弹丸初速度 */
if (host->fire) {
cmd->shoot.mode = SHOOT_MODE_LOADED;
cmd->shoot.fire = true;
} else {
cmd->shoot.mode = SHOOT_MODE_SAFE;
}
return 0;
}
/**
* @brief 添加向Referee发送的命令
*
* @param ref 命令队列
* @param cmd 要添加的命令
* @return int8_t 0对应没有错误
*/
int8_t CMD_RefereeAdd(CMD_RefereeCmd_t *ref, CMD_UI_t cmd) {
/* 指针检测 */
if (ref == NULL) return -1;
/* 越界检测 */
if (ref->counter >= CMD_REFEREE_MAX_NUM || ref->counter < 0) return -1;
/* 添加机器人当前行为状态到画图的命令队列中 */
ref->cmd[ref->counter] = cmd;
ref->counter++;
return 0;
}
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */

318
assets/User_code/component/cmd.h
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/*
控制命令
*/
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
#include <stdbool.h>
#include <stdint.h>
#include "component/ahrs.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
#define CMD_REFEREE_MAX_NUM (3) /* Lines 16 omitted */
/* USER DEFINE BEGIN */
/* USER DEFINE END */
/* 机器人型号 */
typedef enum {
ROBOT_MODEL_INFANTRY = 0, /* 步兵机器人 */
ROBOT_MODEL_HERO, /* 英雄机器人 */
ROBOT_MODEL_ENGINEER, /* 工程机器人 */
ROBOT_MODEL_DRONE, /* 空中机器人 */
ROBOT_MODEL_SENTRY, /* 哨兵机器人 */
ROBOT_MODEL_NUM, /* 型号数量 */
} CMD_RobotModel_t;
/* 底盘运行模式 */
typedef enum {
CHASSIS_MODE_RELAX, /* 放松模式，电机不输出。一般情况底盘初始化之后的模式 */
CHASSIS_MODE_BREAK, /* 刹车模式，电机闭环控制保持静止。用于机器人停止状态 */
CHASSIS_MODE_FOLLOW_GIMBAL, /* 通过闭环控制使车头方向跟随云台 */
CHASSIS_MODE_FOLLOW_GIMBAL_35, /* 通过闭环控制使车头方向35度跟随云台 */
CHASSIS_MODE_ROTOR, /* 小陀螺模式，通过闭环控制使底盘不停旋转 */
CHASSIS_MODE_INDENPENDENT, /* 独立模式。底盘运行不受云台影响 */
CHASSIS_MODE_OPEN, /* 开环模式。底盘运行不受PID控制，直接输出到电机 */
} CMD_ChassisMode_t;
/* 云台运行模式 */
typedef enum {
GIMBAL_MODE_RELAX, /* 放松模式，电机不输出。一般情况云台初始化之后的模式 */
GIMBAL_MODE_ABSOLUTE, /* 绝对坐标系控制，控制在空间内的绝对姿态 */
GIMBAL_MODE_RELATIVE, /* 相对坐标系控制，控制相对于底盘的姿态 */
} CMD_GimbalMode_t;
/* 射击运行模式 */
typedef enum {
SHOOT_MODE_RELAX, /* 放松模式，电机不输出 */
SHOOT_MODE_SAFE, /* 保险模式，电机闭环控制保持静止 */
SHOOT_MODE_LOADED, /* 上膛模式，摩擦轮开启。随时准备开火 */
} CMD_ShootMode_t;
typedef enum {
FIRE_MODE_SINGLE, /* 单发开火模式 */
FIRE_MODE_BURST, /* N连发开火模式 */
FIRE_MODE_CONT, /* 持续开火模式 */
FIRE_MODE_NUM,
} CMD_FireMode_t;
/* 小陀螺转动模式 */
typedef enum {
ROTOR_MODE_CW, /* 顺时针转动 */
ROTOR_MODE_CCW, /* 逆时针转动 */
ROTOR_MODE_RAND, /* 随机转动 */
} CMD_RotorMode_t;
/* 底盘控制命令 */
typedef struct {
CMD_ChassisMode_t mode; /* 底盘运行模式 */
CMD_RotorMode_t mode_rotor; /* 小陀螺转动模式 */
MoveVector_t ctrl_vec; /* 底盘控制向量 */
} CMD_ChassisCmd_t;
/* 云台控制命令 */
typedef struct {
CMD_GimbalMode_t mode; /* 云台运行模式 */
AHRS_Eulr_t delta_eulr; /* 欧拉角变化角度 */
} CMD_GimbalCmd_t;
/* 射击控制命令 */
typedef struct {
CMD_ShootMode_t mode; /* 射击运行模式 */
CMD_FireMode_t fire_mode; /* 开火模式 */
bool fire; /*开火*/
bool cover_open; /* 弹舱盖开关 */
bool reverse_trig; /* 拨弹电机状态 */
} CMD_ShootCmd_t;
/* 拨杆位置 */
typedef enum {
CMD_SW_ERR = 0,
CMD_SW_UP = 1,
CMD_SW_MID = 3,
CMD_SW_DOWN = 2,
} CMD_SwitchPos_t;
/* 键盘按键值 */
typedef enum {
CMD_KEY_W = 0,
CMD_KEY_S,
CMD_KEY_A,
CMD_KEY_D,
CMD_KEY_SHIFT,
CMD_KEY_CTRL,
CMD_KEY_Q,
CMD_KEY_E,
CMD_KEY_R,
CMD_KEY_F,
CMD_KEY_G,
CMD_KEY_Z,
CMD_KEY_X,
CMD_KEY_C,
CMD_KEY_V,
CMD_KEY_B,
CMD_L_CLICK,
CMD_R_CLICK,
CMD_KEY_NUM,
} CMD_KeyValue_t;
/* 行为值序列 */
typedef enum {
CMD_BEHAVIOR_FORE = 0, /* 向前 */
CMD_BEHAVIOR_BACK, /* 向后 */
CMD_BEHAVIOR_LEFT, /* 向左 */
CMD_BEHAVIOR_RIGHT, /* 向右 */
CMD_BEHAVIOR_ACCELERATE, /* 加速 */
CMD_BEHAVIOR_DECELEBRATE, /* 减速 */
CMD_BEHAVIOR_FIRE, /* 开火 */
CMD_BEHAVIOR_FIRE_MODE, /* 切换开火模式 */
CMD_BEHAVIOR_BUFF, /* 打符模式 */
CMD_BEHAVIOR_AUTOAIM, /* 自瞄模式 */
CMD_BEHAVIOR_OPENCOVER, /* 弹舱盖开关 */
CMD_BEHAVIOR_ROTOR, /* 小陀螺模式 */
CMD_BEHAVIOR_REVTRIG, /* 反转拨弹 */
CMD_BEHAVIOR_FOLLOWGIMBAL35, /* 跟随云台呈35度 */
CMD_BEHAVIOR_NUM,
} CMD_Behavior_t;
typedef enum {
CMD_ACTIVE_PRESSING, /* 按下时触发 */
CMD_ACTIVE_RASING, /* 抬起时触发 */
CMD_ACTIVE_PRESSED, /* 按住时触发 */
} CMD_ActiveType_t;
typedef struct {
CMD_ActiveType_t active;
CMD_KeyValue_t key;
} CMD_KeyMapItem_t;
/* 行为映射的对应按键数组 */
typedef struct {
CMD_KeyMapItem_t key_map[CMD_BEHAVIOR_NUM];
} CMD_KeyMap_Params_t;
/* 位移灵敏度参数 */
typedef struct {
float move_sense; /* 移动灵敏度 */
float move_fast_sense; /* 加速灵敏度 */
float move_slow_sense; /* 减速灵敏度 */
} CMD_Move_Params_t;
typedef struct {
uint16_t width;
uint16_t height;
} CMD_Screen_t;
/* 命令参数 */
typedef struct {
float sens_mouse; /* 鼠标灵敏度 */
float sens_rc; /* 遥控器摇杆灵敏度 */
CMD_KeyMap_Params_t map; /* 按键映射行为命令 */
CMD_Move_Params_t move; /* 位移灵敏度参数 */
CMD_Screen_t screen; /* 屏幕分辨率参数 */
} CMD_Params_t;
/* AI行为状态 */
typedef enum {
AI_STATUS_STOP, /* 停止状态 */
AI_STATUS_AUTOAIM, /* 自瞄状态 */
AI_STATUS_HITSWITCH, /* 打符状态 */
AI_STATUS_AUTOMATIC /* 自动状态 */
} CMD_AI_Status_t;
/* UI所用行为状态 */
typedef enum {
CMD_UI_NOTHING, /* 当前无状态 */
CMD_UI_AUTO_AIM_START, /* 自瞄状态开启 */
CMD_UI_AUTO_AIM_STOP, /* 自瞄状态关闭 */
CMD_UI_HIT_SWITCH_START, /* 打符状态开启 */
CMD_UI_HIT_SWITCH_STOP /* 打符状态关闭 */
} CMD_UI_t;
/*裁判系统发送的命令*/
typedef struct {
CMD_UI_t cmd[CMD_REFEREE_MAX_NUM]; /* 命令数组 */
uint8_t counter; /* 命令计数 */
} CMD_RefereeCmd_t;
typedef struct {
bool pc_ctrl; /* 是否使用键鼠控制 */
bool host_overwrite; /* 是否Host控制 */
uint16_t key_last; /* 上次按键键值 */
struct {
int16_t x;
int16_t y;
int16_t z;
bool l_click; /* 左键 */
bool r_click; /* 右键 */
} mouse_last; /* 鼠标值 */
CMD_AI_Status_t ai_status; /* AI状态 */
const CMD_Params_t *param; /* 命令参数 */
CMD_ChassisCmd_t chassis; /* 底盘控制命令 */
CMD_GimbalCmd_t gimbal; /* 云台控制命令 */
CMD_ShootCmd_t shoot; /* 射击控制命令 */
CMD_RefereeCmd_t referee; /* 裁判系统发送命令 */
} CMD_t;
typedef struct {
float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */
float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */
float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */
float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */
float ch_res; /* 第五通道值 */
CMD_SwitchPos_t sw_r; /* 右侧拨杆位置 */
CMD_SwitchPos_t sw_l; /* 左侧拨杆位置 */
struct {
int16_t x;
int16_t y;
int16_t z;
bool l_click; /* 左键 */
bool r_click; /* 右键 */
} mouse; /* 鼠标值 */
uint16_t key; /* 按键值 */
uint16_t res; /* 保留，未启用 */
} CMD_RC_t;
typedef struct {
AHRS_Eulr_t gimbal_delta; /* 欧拉角的变化量 */
struct {
float vx; /* x轴移动速度 */
float vy; /* y轴移动速度 */
float wz; /* z轴转动速度 */
} chassis_move_vec; /* 底盘移动向量 */
bool fire; /* 开火状态 */
} CMD_Host_t;
/**
* @brief 解析行为命令
*
* @param rc 遥控器数据
* @param cmd 主结构体
*/
int8_t CMD_Init(CMD_t *cmd, const CMD_Params_t *param);
/**
* @brief 检查是否启用上位机控制指令覆盖
*
* @param cmd 主结构体
* @return true 启用
* @return false 不启用
*/
bool CMD_CheckHostOverwrite(CMD_t *cmd);
/**
* @brief 解析命令
*
* @param rc 遥控器数据
* @param cmd 命令
* @param dt_sec 两次解析的间隔
* @return int8_t 0对应没有错误
*/
int8_t CMD_ParseRc(CMD_RC_t *rc, CMD_t *cmd, float dt_sec);
/**
* @brief 解析上位机命令
*
* @param host host数据
* @param cmd 命令
* @param dt_sec 两次解析的间隔
* @return int8_t 0对应没有错误
*/
int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec);
/**
* @brief 添加向Referee发送的命令
*
* @param ref 命令队列
* @param cmd 要添加的命令
* @return int8_t 0对应没有错误
*/
int8_t CMD_RefereeAdd(CMD_RefereeCmd_t *ref, CMD_UI_t cmd);
/* USER FUNCTION BEGIN */
/* USER FUNCTION END */
#ifdef __cplusplus
}
#endif

4
assets/User_code/config.csv
View File

@ -1,4 +1,4 @@
bsp,can,dwt,gpio,i2c,mm,spi,uart,pwm,time
component,ahrs,capacity,cmd,crc8,crc16,error_detect,filter,FreeRTOS_CLI,limiter,mixer,pid,ui,user_math
device,dr16,bmi088,ist8310,motor,motor_rm,motor_dm,motor_vesc,motor_lk,motor_lz,motor_odrive,dm_imu,rc_can,servo,buzzer,led,ws2812,vofa,ops9
component,ahrs,capacity,crc8,crc16,error_detect,filter,FreeRTOS_CLI,limiter,mixer,pid,ui,user_math
device,dr16,bmi088,ist8310,motor,motor_rm,motor_dm,motor_vesc,motor_lk,motor_lz,motor_odrive,dm_imu,rc_can,servo,buzzer,led,ws2812,vofa,ops9,ai
module,config,
1 bsp,can,dwt,gpio,i2c,mm,spi,uart,pwm,time
2 component,ahrs,capacity,cmd,crc8,crc16,error_detect,filter,FreeRTOS_CLI,limiter,mixer,pid,ui,user_math component,ahrs,capacity,crc8,crc16,error_detect,filter,FreeRTOS_CLI,limiter,mixer,pid,ui,user_math
3 device,dr16,bmi088,ist8310,motor,motor_rm,motor_dm,motor_vesc,motor_lk,motor_lz,motor_odrive,dm_imu,rc_can,servo,buzzer,led,ws2812,vofa,ops9 device,dr16,bmi088,ist8310,motor,motor_rm,motor_dm,motor_vesc,motor_lk,motor_lz,motor_odrive,dm_imu,rc_can,servo,buzzer,led,ws2812,vofa,ops9,ai
4 module,config,

142
assets/User_code/device/ai.c Normal file
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@ -0,0 +1,142 @@
/*
AI
*/
/* Includes ----------------------------------------------------------------- */
#include "ai.h"
#include <stdbool.h>
#include <string.h>
#include "bsp/time.h"
#include "bsp/uart.h"
#include "component/ahrs.h"
#include "component/crc16.h"
#include "component/crc8.h"
#include "component/user_math.h"
#include "component/filter.h"
/* Private define ----------------------------------------------------------- */
#define AI_LEN_RX_BUFF (sizeof(AI_DownPackage_t))
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* Private variables -------------------------------------------------------- */
static uint8_t rxbuf[AI_LEN_RX_BUFF];
static bool inited = false;
static osThreadId_t thread_alert;
static uint32_t drop_message = 0;
// uint16_t crc16;
/* Private function -------------------------------------------------------- */
static void Ai_RxCpltCallback(void) {
osThreadFlagsSet(thread_alert, SIGNAL_AI_RAW_REDY);
}
static void Ai_IdleLineCallback(void) {
osThreadFlagsSet(thread_alert, SIGNAL_AI_RAW_REDY);
}
/* Exported functions ------------------------------------------------------- */
int8_t AI_Init(AI_t *ai) {
UNUSED(ai);
if (inited) return DEVICE_ERR_INITED;
thread_alert = osThreadGetId();
BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_RX_CPLT_CB,
Ai_RxCpltCallback);
BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_IDLE_LINE_CB,
Ai_IdleLineCallback);
inited = true;
return 0;
}
int8_t AI_Restart(AI_t *ai) {
UNUSED(ai);
__HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_AI));
__HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_AI));
return DEVICE_OK;
}
int8_t AI_StartReceiving(AI_t *ai) {
UNUSED(ai);
// if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI), rxbuf,
// AI_LEN_RX_BUFF) == HAL_OK)
if (BSP_UART_Receive(BSP_UART_AI, rxbuf,
AI_LEN_RX_BUFF, true) == HAL_OK)
return DEVICE_OK;
return DEVICE_ERR;
}
bool AI_WaitDmaCplt(void) {
return (osThreadFlagsWait(SIGNAL_AI_RAW_REDY, osFlagsWaitAll,0) ==
SIGNAL_AI_RAW_REDY);
}
int8_t AI_ParseHost(AI_t *ai) {
// crc16 = CRC16_Calc((const uint8_t *)&(rxbuf), sizeof(ai->from_host) - 2, CRC16_INIT);
if (!CRC16_Verify((const uint8_t *)&(rxbuf), sizeof(ai->from_host)))
goto error;
ai->header.online = true;
ai->header.last_online_time = BSP_TIME_Get();
memcpy(&(ai->from_host), rxbuf, sizeof(ai->from_host));
memset(rxbuf, 0, AI_LEN_RX_BUFF);
return DEVICE_OK;
error:
drop_message++;
return DEVICE_ERR;
}
int8_t AI_PackMCU(AI_t *ai, const AHRS_Quaternion_t *data){
if (ai == NULL || data == NULL) return DEVICE_ERR_NULL;
ai->to_host.mcu.id = AI_ID_MCU;
ai->to_host.mcu.package.quat=*data;
ai->to_host.mcu.package.notice = ai->status;
ai->to_host.mcu.crc16 = CRC16_Calc((const uint8_t *)&(ai->to_host.mcu), sizeof(AI_UpPackageMCU_t) - 2, CRC16_INIT);
return DEVICE_OK;
}
int8_t AI_PackRef(AI_t *ai, const AI_UpPackageReferee_t *data) {
if (ai == NULL || data == NULL) return DEVICE_ERR_NULL;
ai->to_host.ref = *data;
return DEVICE_OK;
}
int8_t AI_HandleOffline(AI_t *ai) {
if (ai == NULL) return DEVICE_ERR_NULL;
if (BSP_TIME_Get() - ai->header.last_online_time >
100000) {
ai->header.online = false;
}
return DEVICE_OK;
}
int8_t AI_StartSend(AI_t *ai, bool ref_online){
if (ai == NULL) return DEVICE_ERR_NULL;
if (ref_online) {
// 发送裁判系统数据和MCU数据
if (BSP_UART_Transmit(BSP_UART_AI, (uint8_t *)&(ai->to_host),
sizeof(ai->to_host.ref) + sizeof(ai->to_host.mcu), true) == HAL_OK)
return DEVICE_OK;
else
return DEVICE_ERR;
} else {
// 只发送MCU数据
if (BSP_UART_Transmit(BSP_UART_AI, (uint8_t *)&(ai->to_host.mcu),
sizeof(ai->to_host.mcu), true) == HAL_OK)
return DEVICE_OK;
else
return DEVICE_ERR;
}
}

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/*
AI
*/
#pragma once
#include <sys/cdefs.h>
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ----------------------------------------------------------------- */
#include "component/ahrs.h"
#include "component/filter.h"
#include "component/user_math.h"
#include "device/device.h"
#include <cmsis_os2.h>
#include <stdbool.h>
#include <stdint.h>
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
#define AI_ID_MCU (0xC4)
#define AI_ID_REF (0xA8)
#define AI_ID_AI (0xA1)
/* Exported types ----------------------------------------------------------- */
typedef enum {
AI_ARMOR_HERO = 0, /*英雄机器人*/
AI_ARMOR_INFANTRY, /*步兵机器人*/
AI_ARMOR_SENTRY, /*哨兵机器人*/
AI_ARMOR_ENGINEER, /*工程机器人*/
AI_ARMOR_OUTPOST, /*前哨占*/
AI_ARMOR_BASE, /*基地*/
AI_ARMOR_NORMAL, /*由AI自动选择*/
} AI_ArmorsType_t;
typedef enum {
AI_STATUS_OFF = 0, /* 关闭 */
AI_STATUS_AUTOAIM, /* 自瞄 */
AI_STATUS_AUTOPICK, /* 自动取矿 */
AI_STATUS_AUTOPUT, /* 自动兑矿 */
AI_STATUS_AUTOHITBUFF, /* 自动打符 */
AI_STATUS_AUTONAV,
} AI_Status_t;
typedef enum {
AI_NOTICE_NONE = 0,
AI_NOTICE_SEARCH,
AI_NOTICE_FIRE,
}AI_Notice_t;
/* 电控 -> 视觉 MCU数据结构体*/
typedef struct __packed {
AHRS_Quaternion_t quat; /* 四元数 */
// struct {
// AI_ArmorsType_t armor_type;
// AI_Status_t status;
// }notice; /* 控制命令 */
uint8_t notice;
} AI_Protucol_UpDataMCU_t;
/* 电控 -> 视觉 裁判系统数据结构体*/
typedef struct __packed {
/* USER REFEREE BEGIN */
uint16_t team; /* 本身队伍 */
uint16_t time; /* 比赛开始时间 */
/* USER REFEREE END */
} AI_Protocol_UpDataReferee_t;
/* 视觉 -> 电控 数据包结构体*/
typedef struct __packed {
AHRS_Eulr_t eulr; /* 欧拉角 */
MoveVector_t move_vec; /* 运动向量 */
uint8_t notice; /* 控制命令 */
} AI_Protocol_DownData_t;
/* 电控 -> 视觉 裁判系统数据包 */
typedef struct __packed {
uint8_t id; /* 包ID */
AI_Protocol_UpDataReferee_t package; /* 数据包 */
uint16_t crc16; /* CRC16校验 */
} AI_UpPackageReferee_t;
/* 电控 -> 视觉 MUC数据包 */
typedef struct __packed {
uint8_t id;
AI_Protucol_UpDataMCU_t package;
uint16_t crc16;
} AI_UpPackageMCU_t;
/* 视觉 -> 电控 数据包 */
typedef struct __packed {
uint8_t id; /* 包ID */
AI_Protocol_DownData_t package; /* 数据包 */
uint16_t crc16; /* CRC16校验 */
} AI_DownPackage_t;
typedef struct __packed {
DEVICE_Header_t header; /* 设备通用头部 */
AI_DownPackage_t from_host;
AI_Status_t status;
struct {
AI_UpPackageReferee_t ref;
AI_UpPackageMCU_t mcu;
} to_host;
} AI_t;
/* Exported functions prototypes -------------------------------------------- */
int8_t AI_Init(AI_t *ai);
int8_t AI_Restart(AI_t *ai);
int8_t AI_StartReceiving(AI_t *ai);
bool AI_WaitDmaCplt(void);
int8_t AI_ParseHost(AI_t *ai);
int8_t AI_PackMCU(AI_t *ai, const AHRS_Quaternion_t *quat);
int8_t AI_PackRef(AI_t *ai, const AI_UpPackageReferee_t *data);
int8_t AI_HandleOffline(AI_t *ai);
int8_t AI_StartSend(AI_t *ai, bool ref_online);
#ifdef __cplusplus
}
#endif

0
assets/User_code/module/2_axis_gimbal.c → assets/User_code/module/gimbal/2_axis_gimbal/2_axis_gimbal.c
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0
assets/User_code/module/2_axis_gimbal.h → assets/User_code/module/gimbal/2_axis_gimbal/2_axis_gimbal.h
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0
assets/User_code/module/gimbal/2_axis_gimbal/config.yaml Normal file
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