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