87 lines
3.0 KiB
C
87 lines
3.0 KiB
C
/*
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射击控制任务
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控制射击行为。
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从CAN总线接收底盘电机反馈，根据接收到的控制命令，控制电机输出。
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "module\shoot.h"
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#include "task\user_task.h"
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/* Private typedef ---------------------------------------------------------- */
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/* Private define ----------------------------------------------------------- */
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/* Private macro ------------------------------------------------------------ */
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/* Private variables -------------------------------------------------------- */
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static CAN_t can;
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#ifdef DEBUG
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CMD_ShootCmd_t shoot_cmd;
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Shoot_t shoot;
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Referee_ForShoot_t referee_shoot;
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CAN_ShootOutput_t shoot_out;
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Referee_ShootUI_t shoot_ui;
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#else
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static CMD_ShootCmd_t shoot_cmd;
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static Shoot_t shoot;
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static Referee_ForShoot_t referee_shoot;
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static CAN_ShootOutput_t shoot_out;
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static Referee_ShootUI_t shoot_ui;
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#endif
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/* Private function --------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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/**
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* \brief 控制射击
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*
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* \param argument 未使用
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*/
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void Task_CtrlShoot(void *argument) {
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(void)argument; /* 未使用argument，消除警告 */
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const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CTRL_SHOOT;
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/* 初始化射击 */
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Shoot_Init(&shoot, &(task_runtime.cfg.robot_param->shoot),
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(float)TASK_FREQ_CTRL_SHOOT);
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/* 延时一段时间再开启任务 */
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osMessageQueueGet(task_runtime.msgq.can.feedback.shoot, &can, NULL,
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osWaitForever);
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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while (1) {
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#ifdef DEBUG
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/* 记录任务所使用的的栈空间 */
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task_runtime.stack_water_mark.ctrl_shoot =
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osThreadGetStackSpace(osThreadGetId());
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#endif
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if (osMessageQueueGet(task_runtime.msgq.can.feedback.shoot, &can, NULL,
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0) != osOK) {
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// Error handler
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Shoot_ResetOutput(&shoot_out);
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} else {
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/* 读取控制指令以及裁判系统信息 */
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osMessageQueueGet(task_runtime.msgq.cmd.shoot, &shoot_cmd, NULL, 0);
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osMessageQueueGet(task_runtime.msgq.referee.shoot, &referee_shoot, NULL,
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0);
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osKernelLock(); /* 锁住RTOS内核防止控制过程中断，造成错误 */
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Shoot_UpdateFeedback(&shoot, &can);
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/* 根据指令控制射击 */
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Shoot_Control(&shoot, &shoot_cmd, &referee_shoot, HAL_GetTick());
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/* 复制射击输出值 */
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Shoot_DumpOutput(&shoot, &shoot_out);
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osKernelUnlock();
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}
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osMessageQueueReset(task_runtime.msgq.can.output.shoot);
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osMessageQueuePut(task_runtime.msgq.can.output.shoot, &shoot_out, 0, 0);
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Shoot_DumpUI(&shoot, &shoot_ui);
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osMessageQueueReset(task_runtime.msgq.ui.shoot);
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osMessageQueuePut(task_runtime.msgq.ui.shoot, &shoot_ui, 0, 0);
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tick += delay_tick; /* 计算下一个唤醒时刻 */
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osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
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}
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}
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