87 lines
3.9 KiB
C
87 lines
3.9 KiB
C
/*
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AI Task - 下层板
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "task/user_task.h"
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/* USER INCLUDE BEGIN */
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#include "module/aimbot.h"
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#include "module/config.h"
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#include "module/gimbal.h"
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#include "module/shoot.h"
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#include "device/referee_proto_types.h"
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#include <string.h>
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/* USER INCLUDE END */
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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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/* USER STRUCT BEGIN */
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static Aimbot_Param_t aimbot_can; /* CAN 通信参数（从 config 拷贝） */
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static Aimbot_FeedbackData_t lower_board_fb; /* 打包好发给上层板的数据 */
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static Aimbot_AIResult_t ai_cmd_from_can; /* 上层板下发并传到底板的指令 */
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static AI_cmd_t for_cmdnuc; /* 转换后发往 cmd.nuc 的指令 */
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static Referee_ForAI_t ai_ref; /* 裁判系统转发给 AI 的数据 */
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static Shoot_AI_t raw_shoot; /* 发射机构反馈 */
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/* USER STRUCT END */
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/* Private function --------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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void Task_ai(void *argument) {
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(void)argument; /* 未使用argument，消除警告 */
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/* 计算任务运行到指定频率需要等待的tick数 */
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const uint32_t delay_tick = osKernelGetTickFreq() / AI_FREQ;
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osDelay(AI_INIT_DELAY); /* 延时一段时间再开启任务 */
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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/* USER CODE INIT BEGIN */
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aimbot_can = Config_GetRobotParam()->aimbot_param;
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Aimbot_Init(&aimbot_can);
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/* USER CODE INIT END */
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while (1) {
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tick += delay_tick; /* 计算下一个唤醒时刻 */
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/* USER CODE BEGIN */
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/* 1. 读取裁判系统数据（获知机器人系统状态/弹速等） */
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osMessageQueueGet(task_runtime.msgq.ai.ref, &ai_ref, NULL, 0);
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/* 2. 读取发射机构反馈数据（非阻塞），以获取弹速、弹数等信息
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todo: 检查是否有单独发弹速消息队列
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*/
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osMessageQueueGet(task_runtime.msgq.ai.rawdata_FromShoot, &raw_shoot, NULL, 0);
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/* 3. 打包当前底层板的数据（弹速、弹数、模式），通过CAN发送给上层板
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由于现在只能拿到一部分，预留测试值，实车时接入射击模块返回的信息
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*/
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// TODO: 使用实际读取到的 bullet_speed 和 bullet_count
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float current_bullet_speed = raw_shoot.bullet_speed;
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uint16_t current_bullet_count = raw_shoot.num_shooted;
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uint8_t current_mode = 1;
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Aimbot_PackFeedback(&lower_board_fb, current_bullet_speed, current_bullet_count, current_mode);
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Aimbot_SendFeedbackOnCAN(&aimbot_can, &lower_board_fb);
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/* 4. 解析上层板发来的 AI 指令（非阻塞提取） */
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if (Aimbot_ParseCmdFromCAN(&aimbot_can, &ai_cmd_from_can) == DEVICE_OK) {
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/* 将 Aimbot_AIResult_t 转换为 AI_cmd_t 并推送到 cmd.nuc 队列 */
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for_cmdnuc.mode = ai_cmd_from_can.mode;
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for_cmdnuc.gimbal.setpoint.yaw = ai_cmd_from_can.gimbal_t.setpoint.yaw;
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for_cmdnuc.gimbal.setpoint.pit = ai_cmd_from_can.gimbal_t.setpoint.pit;
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for_cmdnuc.gimbal.vel.yaw = ai_cmd_from_can.gimbal_t.vel.yaw;
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for_cmdnuc.gimbal.vel.pit = ai_cmd_from_can.gimbal_t.vel.pit;
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for_cmdnuc.gimbal.accl.yaw = ai_cmd_from_can.gimbal_t.accl.yaw;
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for_cmdnuc.gimbal.accl.pit = ai_cmd_from_can.gimbal_t.accl.pit;
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osMessageQueueReset(task_runtime.msgq.cmd.nuc);
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osMessageQueuePut(task_runtime.msgq.cmd.nuc, &for_cmdnuc, 0, 0);
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}
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/* USER CODE END */
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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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} |