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重构User_code目录结构：将文件组织到子文件夹中
主要更改： - 将所有BSP外设文件移动到独立子文件夹（can/, fdcan/, uart/等） - 将所有Component文件移动到独立子文件夹（pid/, filter/, cmd/等） - 将所有Device文件移动到独立子文件夹（dr16/, bmi088/等） - 更新代码生成器以支持新的文件夹结构 - 保持向后兼容性，支持从子文件夹或根目录加载模板 - 添加STRUCTURE.md文档说明新的目录结构 优势： ✅ 更好的代码组织和管理 ✅ 便于添加、删除、修改模板 ✅ 清晰的模块划分 ✅ 向后兼容现有结构
This commit is contained in:
387
assets/User_code/component/cmd/cmd.c
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387
assets/User_code/component/cmd/cmd.c
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@@ -0,0 +1,387 @@
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/*
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控制命令
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*/
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#include "cmd.h"
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#include <string.h>
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/* USER INCLUDE BEGIN */
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/* USER INCLUDE END */
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/* USER DEFINE BEGIN */
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/* USER DEFINE END */
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/**
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* @brief 行为转换为对应按键
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*
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* @param cmd 主结构体
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* @param behavior 行为
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* @return uint16_t 行为对应的按键
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*/
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static inline CMD_KeyValue_t CMD_BehaviorToKey(CMD_t *cmd,
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CMD_Behavior_t behavior) {
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return cmd->param->map.key_map[behavior].key;
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}
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static inline CMD_ActiveType_t CMD_BehaviorToActive(CMD_t *cmd,
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CMD_Behavior_t behavior) {
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return cmd->param->map.key_map[behavior].active;
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}
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/**
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* @brief 检查按键是否按下
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*
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* @param rc 遥控器数据
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* @param key 按键名称
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* @param stateful 是否为状态切换按键
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* @return true 按下
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* @return false 未按下
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*/
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static bool CMD_KeyPressedRc(const CMD_RC_t *rc, CMD_KeyValue_t key) {
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/* 按下按键为鼠标左、右键 */
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if (key == CMD_L_CLICK) {
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return rc->mouse.l_click;
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}
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if (key == CMD_R_CLICK) {
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return rc->mouse.r_click;
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}
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return rc->key & (1u << key);
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}
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static bool CMD_BehaviorOccurredRc(const CMD_RC_t *rc, CMD_t *cmd,
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CMD_Behavior_t behavior) {
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CMD_KeyValue_t key = CMD_BehaviorToKey(cmd, behavior);
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CMD_ActiveType_t active = CMD_BehaviorToActive(cmd, behavior);
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bool now_key_pressed, last_key_pressed;
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/* 按下按键为鼠标左、右键 */
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if (key == CMD_L_CLICK) {
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now_key_pressed = rc->mouse.l_click;
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last_key_pressed = cmd->mouse_last.l_click;
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} else if (key == CMD_R_CLICK) {
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now_key_pressed = rc->mouse.r_click;
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last_key_pressed = cmd->mouse_last.r_click;
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} else {
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now_key_pressed = rc->key & (1u << key);
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last_key_pressed = cmd->key_last & (1u << key);
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}
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switch (active) {
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case CMD_ACTIVE_PRESSING:
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return now_key_pressed && !last_key_pressed;
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case CMD_ACTIVE_RASING:
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return !now_key_pressed && last_key_pressed;
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case CMD_ACTIVE_PRESSED:
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return now_key_pressed;
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}
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}
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/**
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* @brief 解析pc行为逻辑
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*
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* @param rc 遥控器数据
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* @param cmd 主结构体
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* @param dt_sec 两次解析的间隔
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*/
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static void CMD_PcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
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cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
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/* 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 */
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cmd->gimbal.delta_eulr.yaw =
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(float)rc->mouse.x * dt_sec * cmd->param->sens_mouse;
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cmd->gimbal.delta_eulr.pit =
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(float)(-rc->mouse.y) * dt_sec * cmd->param->sens_mouse;
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cmd->chassis.ctrl_vec.vx = cmd->chassis.ctrl_vec.vy = 0.0f;
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cmd->shoot.reverse_trig = false;
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/* 按键行为映射相关逻辑 */
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if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FORE)) {
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cmd->chassis.ctrl_vec.vy += cmd->param->move.move_sense;
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}
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if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_BACK)) {
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cmd->chassis.ctrl_vec.vy -= cmd->param->move.move_sense;
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}
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if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_LEFT)) {
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cmd->chassis.ctrl_vec.vx -= cmd->param->move.move_sense;
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}
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if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_RIGHT)) {
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cmd->chassis.ctrl_vec.vx += cmd->param->move.move_sense;
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}
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if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_ACCELERATE)) {
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cmd->chassis.ctrl_vec.vx *= cmd->param->move.move_fast_sense;
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cmd->chassis.ctrl_vec.vy *= cmd->param->move.move_fast_sense;
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}
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if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_DECELEBRATE)) {
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cmd->chassis.ctrl_vec.vx *= cmd->param->move.move_slow_sense;
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cmd->chassis.ctrl_vec.vy *= cmd->param->move.move_slow_sense;
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}
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if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FIRE)) {
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/* 切换至开火模式，设置相应的射击频率和弹丸初速度 */
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cmd->shoot.mode = SHOOT_MODE_LOADED;
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cmd->shoot.fire = true;
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} else {
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/* 切换至准备模式，停止射击 */
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cmd->shoot.mode = SHOOT_MODE_LOADED;
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cmd->shoot.fire = false;
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}
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if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FIRE_MODE)) {
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/* 每按一次依次切换开火下一个模式 */
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cmd->shoot.fire_mode++;
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cmd->shoot.fire_mode %= FIRE_MODE_NUM;
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}
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if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_ROTOR)) {
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/* 切换到小陀螺模式 */
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cmd->chassis.mode = CHASSIS_MODE_ROTOR;
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cmd->chassis.mode_rotor = ROTOR_MODE_RAND;
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}
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if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_OPENCOVER)) {
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/* 每按一次开、关弹舱盖 */
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cmd->shoot.cover_open = !cmd->shoot.cover_open;
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}
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if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_BUFF)) {
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if (cmd->ai_status == AI_STATUS_HITSWITCH) {
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/* 停止ai的打符模式，停用host控制 */
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CMD_RefereeAdd(&(cmd->referee), CMD_UI_HIT_SWITCH_STOP);
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cmd->host_overwrite = false;
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cmd->ai_status = AI_STATUS_STOP;
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} else if (cmd->ai_status == AI_STATUS_AUTOAIM) {
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/* 自瞄模式中切换失败提醒 */
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} else {
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/* ai切换至打符模式，启用host控制 */
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CMD_RefereeAdd(&(cmd->referee), CMD_UI_HIT_SWITCH_START);
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cmd->ai_status = AI_STATUS_HITSWITCH;
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cmd->host_overwrite = true;
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}
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}
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if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_AUTOAIM)) {
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if (cmd->ai_status == AI_STATUS_AUTOAIM) {
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/* 停止ai的自瞄模式，停用host控制 */
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cmd->host_overwrite = false;
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cmd->ai_status = AI_STATUS_STOP;
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CMD_RefereeAdd(&(cmd->referee), CMD_UI_AUTO_AIM_STOP);
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} else {
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/* ai切换至自瞄模式，启用host控制 */
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cmd->ai_status = AI_STATUS_AUTOAIM;
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cmd->host_overwrite = true;
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CMD_RefereeAdd(&(cmd->referee), CMD_UI_AUTO_AIM_START);
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}
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} else {
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cmd->host_overwrite = false;
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// TODO: 修复逻辑
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}
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if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_REVTRIG)) {
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/* 按下拨弹反转 */
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cmd->shoot.reverse_trig = true;
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}
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if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FOLLOWGIMBAL35)) {
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cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL_35;
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}
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/* 保存当前按下的键位状态 */
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cmd->key_last = rc->key;
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memcpy(&(cmd->mouse_last), &(rc->mouse), sizeof(cmd->mouse_last));
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}
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/**
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* @brief 解析rc行为逻辑
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*
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* @param rc 遥控器数据
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* @param cmd 主结构体
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* @param dt_sec 两次解析的间隔
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*/
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static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
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switch (rc->sw_l) {
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/* 左拨杆相应行为选择和解析 */
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case CMD_SW_UP:
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cmd->chassis.mode = CHASSIS_MODE_BREAK;
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break;
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case CMD_SW_MID:
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cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
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break;
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case CMD_SW_DOWN:
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cmd->chassis.mode = CHASSIS_MODE_ROTOR;
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cmd->chassis.mode_rotor = ROTOR_MODE_CW;
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break;
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case CMD_SW_ERR:
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cmd->chassis.mode = CHASSIS_MODE_RELAX;
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break;
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}
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switch (rc->sw_r) {
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/* 右拨杆相应行为选择和解析*/
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case CMD_SW_UP:
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cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
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cmd->shoot.mode = SHOOT_MODE_SAFE;
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break;
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case CMD_SW_MID:
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cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
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cmd->shoot.fire = false;
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cmd->shoot.mode = SHOOT_MODE_LOADED;
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break;
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case CMD_SW_DOWN:
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cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
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cmd->shoot.mode = SHOOT_MODE_LOADED;
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cmd->shoot.fire_mode = FIRE_MODE_SINGLE;
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cmd->shoot.fire = true;
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break;
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/*
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case CMD_SW_UP:
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cmd->gimbal.mode = GIMBAL_MODE_RELAX;
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cmd->shoot.mode = SHOOT_MODE_SAFE;
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break;
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case CMD_SW_MID:
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cmd->gimbal.mode = GIMBAL_MODE_RELAX;
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cmd->shoot.fire = false;
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cmd->shoot.mode = SHOOT_MODE_LOADED;
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break;
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case CMD_SW_DOWN:
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cmd->gimbal.mode = GIMBAL_MODE_RELAX;
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cmd->shoot.mode = SHOOT_MODE_LOADED;
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cmd->shoot.fire_mode = FIRE_MODE_SINGLE;
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cmd->shoot.fire = true;
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break;
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*/
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case CMD_SW_ERR:
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cmd->gimbal.mode = GIMBAL_MODE_RELAX;
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cmd->shoot.mode = SHOOT_MODE_RELAX;
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}
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/* 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 */
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cmd->chassis.ctrl_vec.vx = rc->ch_l_x;
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cmd->chassis.ctrl_vec.vy = rc->ch_l_y;
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cmd->gimbal.delta_eulr.yaw = rc->ch_r_x * dt_sec * cmd->param->sens_rc;
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cmd->gimbal.delta_eulr.pit = rc->ch_r_y * dt_sec * cmd->param->sens_rc;
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}
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/**
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* @brief rc失控时机器人恢复放松模式
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*
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* @param cmd 主结构体
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*/
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static void CMD_RcLostLogic(CMD_t *cmd) {
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/* 机器人底盘、云台、射击运行模式恢复至放松模式 */
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cmd->chassis.mode = CHASSIS_MODE_RELAX;
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cmd->gimbal.mode = GIMBAL_MODE_RELAX;
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cmd->shoot.mode = SHOOT_MODE_RELAX;
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}
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/**
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* @brief 初始化命令解析
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*
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* @param cmd 主结构体
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* @param param 参数
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* @return int8_t 0对应没有错误
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*/
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int8_t CMD_Init(CMD_t *cmd, const CMD_Params_t *param) {
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/* 指针检测 */
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if (cmd == NULL) return -1;
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if (param == NULL) return -1;
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/* 设置机器人的命令参数，初始化控制方式为rc控制 */
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cmd->pc_ctrl = false;
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cmd->param = param;
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return 0;
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}
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/**
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* @brief 检查是否启用上位机控制指令覆盖
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*
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* @param cmd 主结构体
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* @return true 启用
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* @return false 不启用
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*/
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inline bool CMD_CheckHostOverwrite(CMD_t *cmd) { return cmd->host_overwrite; }
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/**
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* @brief 解析命令
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*
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* @param rc 遥控器数据
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* @param cmd 命令
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* @param dt_sec 两次解析的间隔
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* @return int8_t 0对应没有错误
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*/
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int8_t CMD_ParseRc(CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
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/* 指针检测 */
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if (rc == NULL) return -1;
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if (cmd == NULL) return -1;
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/* 在pc控制和rc控制间切换 */
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if (CMD_KeyPressedRc(rc, CMD_KEY_SHIFT) &&
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CMD_KeyPressedRc(rc, CMD_KEY_CTRL) && CMD_KeyPressedRc(rc, CMD_KEY_Q))
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cmd->pc_ctrl = true;
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if (CMD_KeyPressedRc(rc, CMD_KEY_SHIFT) &&
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CMD_KeyPressedRc(rc, CMD_KEY_CTRL) && CMD_KeyPressedRc(rc, CMD_KEY_E))
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cmd->pc_ctrl = false;
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/*c当rc丢控时，恢复机器人至默认状态 */
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if ((rc->sw_l == CMD_SW_ERR) || (rc->sw_r == CMD_SW_ERR)) {
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CMD_RcLostLogic(cmd);
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} else {
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if (cmd->pc_ctrl) {
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CMD_PcLogic(rc, cmd, dt_sec);
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} else {
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CMD_RcLogic(rc, cmd, dt_sec);
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}
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}
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return 0;
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}
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/**
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* @brief 解析上位机命令
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*
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* @param host host数据
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* @param cmd 命令
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* @param dt_sec 两次解析的间隔
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* @return int8_t 0对应没有错误
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*/
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int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec) {
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(void)dt_sec; /* 未使用dt_sec，消除警告 */
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/* 指针检测 */
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if (host == NULL) return -1;
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if (cmd == NULL) return -1;
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/* 云台欧拉角设置为host相应的变化的欧拉角 */
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cmd->gimbal.delta_eulr.yaw = host->gimbal_delta.yaw;
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cmd->gimbal.delta_eulr.pit = host->gimbal_delta.pit;
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/* host射击命令，设置不同的射击频率和弹丸初速度 */
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if (host->fire) {
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cmd->shoot.mode = SHOOT_MODE_LOADED;
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cmd->shoot.fire = true;
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} else {
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cmd->shoot.mode = SHOOT_MODE_SAFE;
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}
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return 0;
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}
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/**
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* @brief 添加向Referee发送的命令
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*
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* @param ref 命令队列
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* @param cmd 要添加的命令
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* @return int8_t 0对应没有错误
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*/
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int8_t CMD_RefereeAdd(CMD_RefereeCmd_t *ref, CMD_UI_t cmd) {
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/* 指针检测 */
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if (ref == NULL) return -1;
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/* 越界检测 */
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if (ref->counter >= CMD_REFEREE_MAX_NUM || ref->counter < 0) return -1;
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/* 添加机器人当前行为状态到画图的命令队列中 */
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ref->cmd[ref->counter] = cmd;
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ref->counter++;
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return 0;
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}
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/* USER FUNCTION BEGIN */
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/* USER FUNCTION END */
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318
assets/User_code/component/cmd/cmd.h
Normal file
318
assets/User_code/component/cmd/cmd.h
Normal file
@@ -0,0 +1,318 @@
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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
|
||||
Reference in New Issue
Block a user