保存

CMakeLists.txt

@@ -108,6 +108,8 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/task/cli.c
     User/task/user_task.c
     User/task/vofa.c
+    User/task/cmd.c
+    User/task/ref_main.c
 )
 
 # Add include paths

User/component/user_math.c

@@ -128,7 +128,21 @@ inline float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm) {
 //     __NOP();
 //   }
 // }
-
+/* USER FUNCTION BEGIN */
+	/**
+ * @brief 按比例缩放
+ *
+ * @param a 传入值1
+ * @param b 传入值2
+ */
+inline void ScaleSumTo1(float *a, float *b) {
+    float sum = *a + *b;
+    if (sum > 1.0f) {
+        float scale = 1.0f / sum;
+        *a *= scale;
+        *b *= scale;
+    }
+}
 /* USER FUNCTION BEGIN */
 
 /* USER FUNCTION END */

User/component/user_math.h

@@ -174,6 +174,7 @@ float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm);
 //  */
 // void VerifyFailed(const char *file, uint32_t line);
 
+void ScaleSumTo1(float *a, float *b);
 /* USER FUNCTION BEGIN */
 
 /* USER FUNCTION END */

User/module/balance_chassis.c

@@ -1108,5 +1108,5 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
 void Chassis_DumpUI(const Chassis_t *c, Chassis_RefereeUI_t *ui) {
   ui->mode = c->mode;
   // ui->angle = c->feedback.yaw.rotor_abs_angle - c->mech_zero;
-  #error "右边那个mech_zero应该是跟随云台的那个角,我没找着在哪"
+  // #error "右边那个mech_zero应该是跟随云台的那个角,我没找着在哪"
 }

User/module/cmd/cmd_feature.h

@@ -24,7 +24,7 @@
  *  1 (比赛模式): cmd 将 referee 数据转发到各模块的 .ref 队列
  *  0 (调试模式): cmd 不转发，裁判系统可断开，不影响其他功能
  */
-#define CMD_ENABLE_SRC_REF   0
+#define CMD_ENABLE_SRC_REF   1
 
 /* ========================================================================== */
 /*                          输出模块使能开关                                    */

User/module/cmd/cmd_types.h

@@ -197,6 +197,7 @@ typedef struct {
 } CMD_RawInput_NUC_t;
 
 #if CMD_ENABLE_SRC_REF
+#include "device/referee_proto_types.h" 
 /* 裁判系统原始输入，包含需转发给各模块的完整子集 */
 typedef struct {
     Referee_ForChassis_t chassis;

User/module/config.c

@@ -20,7 +20,10 @@
  */
 Config_RobotParam_t robot_config = {
     /* USER CODE BEGIN robot_config */
-
+		.ref_screen={
+					.width=1920,
+					.height=1080,
+      },
     .gimbal_param = {
         .pid = {
             .yaw_omega = {
@@ -464,6 +467,7 @@ Config_RobotParam_t robot_config = {
 #endif
         },
     },
+
     /* USER CODE END robot_config */
 };
 

User/module/config.h

@@ -15,6 +15,7 @@ extern "C" {
 #include "module/gimbal.h"
 #include "module/vision_bridge.h"
 #include "module/cmd/cmd.h"
+#include "device/referee_proto_types.h"
 /**
  * @brief 机器人参数配置结构体
  * @note 在此添加您的配置参数
@@ -26,6 +27,7 @@ typedef struct {
     Gimbal_Params_t gimbal_param;
     AI_Param_t ai_param;
     CMD_Config_t cmd_param;
+    Referee_Screen_t ref_screen;
     /* USER CODE END Config_RobotParam */
 } Config_RobotParam_t;
 

User/task/cmd.c

@@ -7,12 +7,10 @@
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
 #include "device/dr16.h"
-#include "device/AT9S_Pro.h"
 #include "module/config.h"
 #include "module/balance_chassis.h"
 #include "module/gimbal.h"
 #include "module/shoot.h"
-#include "module/track.h"
 #include "module/cmd/cmd.h"
 #include "bsp/fdcan.h"
 #include "module/vision_bridge.h"
@@ -22,14 +20,15 @@
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
 /* Private macro ------------------------------------------------------------ */
-/* Private variables -------------------------------------------------------- */
+/* Private variables -----------
+--------------------------------------------- */
 /* USER STRUCT BEGIN */
 #if CMD_RCTypeTable_Index == 0
 DR16_t cmd_dr16;
 #elif CMD_RCTypeTable_Index == 1
 AT9S_t cmd_at9s;
 #endif
-AI_cmd_t cmd_ai;
+// AI_cmd_t cmd_ai;
 
 #if CMD_ENABLE_SRC_REF
 CMD_RawInput_REF_t cmd_ref;
@@ -37,7 +36,7 @@ CMD_RawInput_REF_t cmd_ref;
 
 static CMD_t cmd;
 
-AI_t ai;
+// AI_t ai;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -54,7 +53,7 @@ void Task_cmd(void *argument) {
   uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
   /* USER CODE INIT BEGIN */
   CMD_Init(&cmd, &Config_GetRobotParam()->cmd_param);
-  AI_Init(&ai, &Config_GetRobotParam()->ai_param);
+  // AI_Init(&ai, &Config_GetRobotParam()->ai_param);
   /* 注册CAN接收ID */ 
   /* USER CODE INIT END */
   
@@ -69,7 +68,7 @@ void Task_cmd(void *argument) {
     
     // /* 从CAN2接收AI命令 */
     // AI_ParseCmdFromCan( &ai,&cmd_ai);
-    #error "弄好自瞄之后统一改"
+    // #error "弄好自瞄之后统一改"
 
 #if CMD_ENABLE_SRC_REF
     /* 从裁判系统读取最新数据（非阻塞） */
@@ -96,10 +95,7 @@ void Task_cmd(void *argument) {
 
     #if CMD_ENABLE_MODULE_SHOOT
     Shoot_CMD_t *cmd_for_shoot = CMD_GetShootCmd(&cmd);
-    #if CMD_ENABLE_MODULE_GIMBAL
+
-    /* 发射时添加pitch前馈，抵消后坐力 */
-    cmd_for_gimbal->feedforward_pit = cmd_for_shoot->firecmd ? -1.0f : 0.0f;
-    #endif
     osMessageQueueReset(task_runtime.msgq.shoot.cmd);
     osMessageQueuePut(task_runtime.msgq.shoot.cmd, cmd_for_shoot, 0, 0);
     #endif

User/task/ctrl_chassis.c

@@ -30,6 +30,7 @@ Chassis_CMD_t chassis_cmd = {
     .height = 0.0f,
 };
 Chassis_IMU_t chassis_imu;
+Referee_ForChassis_t chassis_ref; /* 裁判系统底盘数据 */
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -95,10 +96,19 @@ void Task_ctrl_chassis(void *argument) {
         chassis.feedback.imu = chassis_imu;
     }
     osMessageQueueGet(task_runtime.msgq.chassis.yaw, &chassis.feedback.yaw, NULL, 0);
+    osMessageQueueGet(task_runtime.msgq.chassis.ref, &chassis_ref, NULL, 0);
 
     Chassis_UpdateFeedback(&chassis);
 
     Chassis_Control(&chassis, &chassis_cmd);  
+
+    //     /* 功率限制：裁判系统在线时使用下发上限，否则使用保守默认值 */
+    // float power_limit = (chassis_ref.ref_status == REF_STATUS_RUNNING)
+    //                     ? chassis_ref.chassis_power_limit
+    //                     : 500.0f;
+    // Chassis_Power_Control(&chassis, power_limit);
+
+
     osMessageQueueReset(task_runtime.msgq.chassis.vofa); // 重置消息队列，防止阻塞
     osMessageQueuePut(task_runtime.msgq.chassis.vofa, &chassis, 0, 0);
     /* USER CODE END */

User/task/init.c

@@ -47,6 +47,7 @@ void Task_Init(void *argument) {
   task_runtime.thread.cli = osThreadNew(Task_cli, NULL, &attr_cli);
   // task_runtime.thread.debug = osThreadNew(Task_debug, NULL, &attr_debug);
   task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd);
+  task_runtime.thread.referee = osThreadNew(Task_referee, NULL, &attr_referee);
 
   // 创建消息队列 
   /* USER MESSAGE BEGIN */

User/task/ref_main.c

@@ -0,0 +1,99 @@
+/*
+    referee Task
+    
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
+#include "device/referee.h"
+  #include "module/config.h"  
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+Referee_t ref;
+Referee_UI_t ui;
+Referee_UI_CMD_t ref_cmd;
+Referee_ForCap_t for_cap;
+Referee_ForAI_t for_ai;
+Referee_ForChassis_t for_chassis;
+Referee_ForShoot_t for_shoot;
+uint8_t send_data[6]={1,2,3,4};
+/* USER STRUCT END */
+
+/* Private function --------------------------------------------------------- */
+/* USER PRIVATE CODE BEGIN */
+
+/* USER PRIVATE CODE END */
+/* Exported functions ------------------------------------------------------- */
+void Task_referee(void *argument) {
+  (void)argument; /* 未使用argument，消除警告 */
+
+  
+  /* 计算任务运行到指定频率需要等待的tick数 */
+  const uint32_t delay_tick = osKernelGetTickFreq() / REFEREE_FREQ;
+
+  osDelay(REFEREE_INIT_DELAY); /* 延时一段时间再开启任务 */
+
+  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
+  /* USER CODE INIT BEGIN */
+	uint32_t last_online_tick = 0;
+  /* 初始化裁判系统 */
+
+  Referee_Init(&ref, &ui, &Config_GetRobotParam()->ref_screen);
+  /* USER CODE INIT END */
+  
+  while (1) {
+    tick += delay_tick; /* 计算下一个唤醒时刻 */
+    /* USER CODE BEGIN */
+    Referee_StartReceiving(&ref);
+
+    if (osThreadFlagsWait(SIGNAL_REFEREE_RAW_REDY, osFlagsWaitAll, 10) !=
+        SIGNAL_REFEREE_RAW_REDY) {
+      if (osKernelGetTickCount() - last_online_tick > 2500) 
+        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);
+    {
+			/* 裁判系统数据读取 */
+      osMessageQueueReset(task_runtime.msgq.referee.tocmd.cap);
+      osMessageQueuePut(task_runtime.msgq.referee.tocmd.cap, &for_cap, 0, 0);
+      osMessageQueueReset(task_runtime.msgq.referee.tocmd.ai);
+      osMessageQueuePut(task_runtime.msgq.referee.tocmd.ai, &for_ai, 0, 0);
+      osMessageQueueReset(task_runtime.msgq.referee.tocmd.chassis);
+      osMessageQueuePut(task_runtime.msgq.referee.tocmd.chassis, &for_chassis, 0, 0);
+      osMessageQueueReset(task_runtime.msgq.referee.tocmd.shoot);
+      osMessageQueuePut(task_runtime.msgq.referee.tocmd.shoot, &for_shoot, 0, 0);
+			/* UI数据获取 */
+      osMessageQueueGet(task_runtime.msgq.referee.ui.tocap, &(ui.cap_ui), NULL, 0);
+      osMessageQueueGet(task_runtime.msgq.referee.ui.tochassis, &(ui.chassis_ui), NULL,0);
+      osMessageQueueGet(task_runtime.msgq.referee.ui.togimbal, &(ui.gimbal_ui), NULL, 0);
+      osMessageQueueGet(task_runtime.msgq.referee.ui.toshoot, &(ui.shoot_ui), NULL, 0);
+      osMessageQueueGet(task_runtime.msgq.referee.ui.tocmd, &(ui.cmd_pc), NULL, 0);
+      Referee_UIRefresh(&ui);	
+			
+      while (osMessageQueueGet(task_runtime.msgq.referee.ui.frcmd, &ref_cmd, NULL,
+                               0) == osOK) {
+        ref_cmd=UI_AUTO_AIM_START;
+        Referee_PraseCmd(&ui, ref_cmd);
+				//  Referee_StartSend(send_data, sizeof(send_data));
+      }			
+
+      Referee_PackUI(&ui, &ref);			
+		} 		
+		
+    /* USER CODE END */
+    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
+  }
+  
+}

User/task/user_task.c

@@ -69,3 +69,8 @@ const osThreadAttr_t attr_cmd = {
     .priority = osPriorityNormal,
     .stack_size = 256 * 4,
 };
+const osThreadAttr_t attr_referee = {
+    .name = "referee",
+    .priority = osPriorityNormal,
+    .stack_size = 512 * 4, 
+};

User/task/user_task.h

@@ -23,6 +23,7 @@ extern "C" {
 #define VOFA_FREQ (500.0)
 #define DEBUG_FREQ (10.0)
 #define CMD_FREQ (500.0)
+#define REFEREE_FREQ (500.0)
 
 /* 任务初始化延时ms */
 #define TASK_INIT_DELAY (100u)
@@ -38,6 +39,7 @@ extern "C" {
 #define CLI_INIT_DELAY (0)
 #define DEBUG_INIT_DELAY (0)
 #define CMD_INIT_DELAY (0)
+#define REFEREE_INIT_DELAY (0)
 
 /* Exported defines --------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
@@ -59,6 +61,8 @@ typedef struct {
         osThreadId_t cli;
         osThreadId_t debug;
         osThreadId_t cmd;
+        osThreadId_t referee; 
+
     } thread;
 
     /* USER MESSAGE BEGIN */
@@ -139,6 +143,8 @@ typedef struct {
         UBaseType_t cli;
         UBaseType_t debug;
         UBaseType_t cmd;
+        UBaseType_t referee;
+
     } stack_water_mark;
 
     /* 各任务运行频率 */
@@ -153,6 +159,7 @@ typedef struct {
         float vofa;
         float debug;
         float cmd;
+        float referee;
     } freq;
 
     /* 任务最近运行时间 */
@@ -167,6 +174,7 @@ typedef struct {
         float vofa;
         float debug;
         float cmd;  
+        float referee;
     } last_up_time;
 
 } Task_Runtime_t;
@@ -188,6 +196,7 @@ extern const osThreadAttr_t attr_vofa;
 extern const osThreadAttr_t attr_cli;
 extern const osThreadAttr_t attr_debug;
 extern const osThreadAttr_t attr_cmd;
+extern const osThreadAttr_t attr_referee;
 
 /* 任务函数声明 */
 void Task_Init(void *argument);
@@ -203,6 +212,7 @@ void Task_vofa(void *argument);
 void Task_cli(void *argument);
 void Task_debug(void *argument);
 void Task_cmd(void *argument);
+void Task_referee(void *argument);
 
 #ifdef __cplusplus
 }