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重构User_code目录结构：将文件组织到子文件夹中

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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:
Robofish
2026-01-01 17:12:40 +08:00
parent daf0a28517
commit eeb02a2de3
89 changed files with 151 additions and 8 deletions
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387
assets/User_code/component/cmd/cmd.c Normal file
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/*
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 */