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添加视觉通讯

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RB
2025-03-23 04:09:42 +08:00
parent ebe3c2243d
commit e52785886f
8 changed files with 9407 additions and 9287 deletions
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15
User/task/ai.c
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@@ -42,6 +42,7 @@ void Task_Ai(void *argument) {
AI_Init(&ai);
uint32_t tick = osKernelGetTickCount();
uint32_t last_online_tick = tick;
while (1) {
#ifdef DEBUG
task_runtime.stack_water_mark.ai = osThreadGetStackSpace(osThreadGetId());
@@ -51,17 +52,23 @@ void Task_Ai(void *argument) {
AI_StartReceiving(&ai);
if (AI_WaitDmaCplt()) {
AI_ParseHost(&ai, &cmd_host);
AI_ParseHost(&ai);
last_online_tick = tick;
} else {
AI_HandleOffline(&ai, &cmd_host);
if (tick - last_online_tick > 300) AI_HandleOffline(&ai,&cmd_host);
}
if (ai.status != AI_STATUS_STOP && ai.ai_online){
AI_PackCmd(&ai, &cmd_host);
osMessageQueueReset(task_runtime.msgq.cmd.raw.host);
osMessageQueuePut(task_runtime.msgq.cmd.raw.host, &(cmd_host), 0, 0);
}
osMessageQueueReset(task_runtime.msgq.cmd.raw.host);
osMessageQueuePut(task_runtime.msgq.cmd.raw.host, &(cmd_host), 0, 0);
osMessageQueueGet(task_runtime.msgq.ai.quat, &(quat), NULL, 0);
osMessageQueueGet(task_runtime.msgq.cmd.ai, &(ai.status), NULL, 0);
bool ref_update = (osMessageQueueGet(task_runtime.msgq.referee.ai,
&(referee_ai), NULL, 0) == osOK);
AI_PackMCU(&ai, &quat);
if (ref_update) AI_PackRef(&ai, &(referee_ai));