RMUL2025/User/task/referee.c

102 lines
3.5 KiB
C
Raw Normal View History

2025-03-11 21:32:41 +08:00
/*
*/
/* Includes ----------------------------------------------------------------- */
#include "device\referee.h"
#include "bsp\usb.h"
#include "task\user_task.h"
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
#ifdef DEBUG
Referee_t ref;
Referee_UI_t ui;
CMD_UI_t ref_cmd;
Referee_ForCap_t for_cap;
Referee_ForAI_t for_ai;
Referee_ForChassis_t for_chassis;
Referee_ForShoot_t for_shoot;
#else
static Referee_t ref;
static Referee_UI_t ui;
static CMD_UI_t ref_cmd;
static Referee_ForCap_t for_cap;
static Referee_ForAI_t for_ai;
static Referee_ForChassis_t for_chassis;
static Referee_ForShoot_t for_shoot;
#endif
/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
/**
* \brief
*
* \param argument 使
*/
void Task_Referee(void *argument) {
(void)argument; /* 未使用argument消除警告 */
osDelay(TASK_INIT_DELAY_REFEREE); /* 延时一段时间再开启任务 */
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_REFEREE;
/* 初始化裁判系统 */
Referee_Init(&ref, &ui, &(task_runtime.cfg.pilot_cfg->param.screen));
uint32_t tick = osKernelGetTickCount();
uint32_t last_online_tick = 0;
while (1) {
#ifdef DEBUG
task_runtime.stack_water_mark.referee =
osThreadGetStackSpace(osThreadGetId());
#endif
/* Task body */
Referee_StartReceiving(&ref);
if (osThreadFlagsWait(SIGNAL_REFEREE_RAW_REDY, osFlagsWaitAll, 10) !=
SIGNAL_REFEREE_RAW_REDY) {
if (osKernelGetTickCount() - last_online_tick > 500)
Referee_HandleOffline(&ref);
} else {
Referee_Parse(&ref);
last_online_tick = osKernelGetTickCount();
}
Referee_PackCap(&for_cap, &ref);
Referee_PackAI(&for_ai, &ref);
Referee_PackShoot(&for_shoot, &ref);
Referee_PackChassis(&for_chassis, &ref);
if (osKernelGetTickCount() > delay_tick) {
tick += delay_tick;
osMessageQueueReset(task_runtime.msgq.referee.cap);
osMessageQueuePut(task_runtime.msgq.referee.cap, &for_cap, 0, 0);
osMessageQueueReset(task_runtime.msgq.referee.ai);
osMessageQueuePut(task_runtime.msgq.referee.ai, &for_ai, 0, 0);
osMessageQueueReset(task_runtime.msgq.referee.chassis);
osMessageQueuePut(task_runtime.msgq.referee.chassis, &for_chassis, 0, 0);
osMessageQueueReset(task_runtime.msgq.referee.shoot);
osMessageQueuePut(task_runtime.msgq.referee.shoot, &for_shoot, 0, 0);
osMessageQueueGet(task_runtime.msgq.ui.cap, &(ui.cap_ui), NULL, 0);
osMessageQueueGet(task_runtime.msgq.ui.chassis, &(ui.chassis_ui), NULL,
0);
osMessageQueueGet(task_runtime.msgq.ui.gimbal, &(ui.gimbal_ui), NULL, 0);
osMessageQueueGet(task_runtime.msgq.ui.shoot, &(ui.shoot_ui), NULL, 0);
osMessageQueueGet(task_runtime.msgq.ui.cmd, &(ui.cmd_pc), NULL, 0);
Referee_UIRefresh(&ui);
while (osMessageQueueGet(task_runtime.msgq.cmd.referee, &ref_cmd, NULL,
0) == osOK) {
Referee_PraseCmd(&ui, ref_cmd);
}
Referee_PackUI(&ui, &ref);
}
}
}