745 lines
24 KiB
C
745 lines
24 KiB
C
/*
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* CMD 模块 V2 - 主控制模块实现
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*/
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#include "cmd.h"
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#include "bsp/time.h"
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#include <stdint.h>
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#include <string.h>
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/* ========================================================================== */
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/* 命令构建函数 */
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/* ========================================================================== */
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/* 从RC输入生成底盘命令 */
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#if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_CHASSIS
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static void CMD_RC_BuildChassisCmd(CMD_t *ctx) {
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CMD_RCModeMap_t *map = &ctx->config->rc_mode_map;
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/* 根据左拨杆位置选择模式 */
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switch (ctx->input.rc.sw[0]) {
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case CMD_SW_UP:
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ctx->output.chassis.cmd.mode = map->sw_left_up;
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break;
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case CMD_SW_MID:
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ctx->output.chassis.cmd.mode = map->sw_left_mid;
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break;
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case CMD_SW_DOWN:
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ctx->output.chassis.cmd.mode = map->sw_left_down;
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break;
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default:
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ctx->output.chassis.cmd.mode = CHASSIS_MODE_RELAX;
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break;
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}
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/* 摇杆控制移动 */
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ctx->output.chassis.cmd.ctrl_vec.vx = ctx->input.rc.joy_right.x;
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ctx->output.chassis.cmd.ctrl_vec.vy = ctx->input.rc.joy_right.y;
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ctx->output.chassis.cmd.ctrl_vec.wz = ctx->input.rc.joy_left.x;
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}
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#endif /* CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_CHASSIS */
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/* 从 RC 输入生成云台命令 */
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#if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_GIMBAL
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static void CMD_RC_BuildGimbalCmd(CMD_t *ctx) {
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CMD_RCModeMap_t *map = &ctx->config->rc_mode_map;
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/* 根据拨杆选择云台模式 */
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switch (ctx->input.rc.sw[0]) {
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case CMD_SW_UP:
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ctx->output.gimbal.cmd.mode = map->gimbal_sw_up;
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break;
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case CMD_SW_MID:
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ctx->output.gimbal.cmd.mode = map->gimbal_sw_mid;
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break;
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case CMD_SW_DOWN:
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ctx->output.gimbal.cmd.mode = map->gimbal_sw_down;
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break;
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default:
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ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;
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break;
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}
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/* 左摇杆控制云台 */
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ctx->output.gimbal.cmd.delta_yaw = -ctx->input.rc.joy_right.x * 5.0f;
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ctx->output.gimbal.cmd.delta_pit = ctx->input.rc.joy_right.y * 5.0f;
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}
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#endif /* CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_GIMBAL */
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/* 从 RC 输入生成射击命令 */
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#if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_SHOOT
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static void CMD_RC_BuildShootCmd(CMD_t *ctx) {
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if (ctx->input.online[CMD_SRC_RC]) {
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ctx->output.shoot.cmd.mode = SHOOT_MODE_BURST;
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} else {
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ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE;
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}
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/* 根据右拨杆控制射击 */
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switch (ctx->input.rc.sw[1]) {
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case CMD_SW_DOWN:
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ctx->output.shoot.cmd.ready = true;
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ctx->output.shoot.cmd.firecmd = true;
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break;
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case CMD_SW_MID:
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ctx->output.shoot.cmd.ready = true;
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ctx->output.shoot.cmd.firecmd = false;
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break;
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case CMD_SW_UP:
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default:
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ctx->output.shoot.cmd.ready = false;
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ctx->output.shoot.cmd.firecmd = false;
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break;
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}
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}
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#endif /* CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_SHOOT */
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/* 从 RC 输入生成履带命令 */
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#if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_TRACK
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static void CMD_RC_BuildTrackCmd(CMD_t *ctx) {
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CMD_RCModeMap_t *map = &ctx->config->rc_mode_map;
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if (!ctx->input.online[CMD_SRC_RC]) {
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ctx->output.track.cmd.enable = false;
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ctx->output.track.cmd.vel = 0.0f;
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ctx->output.track.cmd.omega = 0.0f;
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return;
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}
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switch (ctx->input.rc.sw[0]) {
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case CMD_SW_UP:
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ctx->output.track.cmd.enable = map->track_sw_up;
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break;
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case CMD_SW_MID:
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ctx->output.track.cmd.enable = map->track_sw_mid;
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break;
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case CMD_SW_DOWN:
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ctx->output.track.cmd.enable = map->track_sw_down;
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break;
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default:
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ctx->output.track.cmd.enable = false;
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break;
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}
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ctx->output.track.cmd.enable = ctx->input.online[CMD_SRC_RC];
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ctx->output.track.cmd.vel = ctx->input.rc.joy_right.y * 2.0f;
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if(fabsf(ctx->input.rc.joy_right.y * 2.0f) > 1.0f)
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ctx->output.track.cmd.vel = ctx->output.track.cmd.vel > 0 ? 1.0f
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: -1.0f;
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CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_TRACK);
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}
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#endif /* CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_TRACK */
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/* 从PC输入生成底盘命令 */
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#if CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_CHASSIS
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static void CMD_PC_BuildChassisCmd(CMD_t *ctx) {
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if (!ctx->input.online[CMD_SRC_PC]) {
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ctx->output.chassis.cmd.mode = CHASSIS_MODE_RELAX;
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return;
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}
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ctx->output.chassis.cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
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/* WASD控制移动 */
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ctx->output.chassis.cmd.ctrl_vec.vx = 0.0f;
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ctx->output.chassis.cmd.ctrl_vec.vy = 0.0f;
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CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_CHASSIS);
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}
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#endif /* CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_CHASSIS */
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/* 从PC输入生成云台命令 */
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#if CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_GIMBAL
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static void CMD_PC_BuildGimbalCmd(CMD_t *ctx) {
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CMD_Sensitivity_t *sens = &ctx->config->sensitivity;
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if (!ctx->input.online[CMD_SRC_PC]) {
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ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;
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return;
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}
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ctx->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE;
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/* 鼠标控制云台 */
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ctx->output.gimbal.cmd.delta_yaw = (float)-ctx->input.pc.mouse.x * ctx->timer.dt * sens->mouse_sens;
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ctx->output.gimbal.cmd.delta_pit = (float)ctx->input.pc.mouse.y * ctx->timer.dt * sens->mouse_sens * 1.5f;
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CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_GIMBAL);
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}
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#endif /* CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_GIMBAL */
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/* 从PC输入生成射击命令 */
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#if CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_SHOOT
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static void CMD_PC_BuildShootCmd(CMD_t *ctx) {
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if (!ctx->input.online[CMD_SRC_PC]) {
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ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE;
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return;
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}
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ctx->output.shoot.cmd.ready = true;
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ctx->output.shoot.cmd.firecmd = ctx->input.pc.mouse.l_click;
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CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_SHOOT);
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}
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#endif /* CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_SHOOT */
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/* 从PC输入生成履带命令 */
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#if CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_TRACK
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static void CMD_PC_BuildTrackCmd(CMD_t *ctx) {
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if (!ctx->input.online[CMD_SRC_PC]) {
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ctx->output.track.cmd.enable = false;
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ctx->output.track.cmd.vel = 0.0f;
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ctx->output.track.cmd.omega = 0.0f;
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return;
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}
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ctx->output.track.cmd.enable = true;
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/* 可根据需要添加PC对履带的控制，例如键盘按键 */
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ctx->output.track.cmd.vel = 0.0f;
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ctx->output.track.cmd.omega = 0.0f;
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CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_TRACK);
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}
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#endif /* CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_TRACK */
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/* 从NUC/AI输入生成云台命令 */
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#if CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_GIMBAL
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static void CMD_NUC_BuildGimbalCmd(CMD_t *ctx) {
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if (!ctx->input.online[CMD_SRC_NUC]) {
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ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;
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return;
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}
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/* 使用AI提供的云台控制数据 */
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if (ctx->input.nuc.mode!=0) {
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ctx->output.gimbal.cmd.mode = GIMBAL_MODE_AI_CONTROL;
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ctx->output.gimbal.cmd.setpoint_yaw = ctx->input.nuc.gimbal.setpoint.yaw;
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ctx->output.gimbal.cmd.setpoint_pit = ctx->input.nuc.gimbal.setpoint.pit;
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}
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}
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#endif /* CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_GIMBAL */
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/* 从 NUC/AI 输入生成射击命令 */
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#if CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_SHOOT
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static void CMD_NUC_BuildShootCmd(CMD_t *ctx) {
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if (!ctx->input.online[CMD_SRC_NUC]) {
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ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE;
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return;
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}
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/* 根据AI模式决定射击行为 */
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switch (ctx->input.nuc.mode) {
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case 0:
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ctx->output.shoot.cmd.ready = false;
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ctx->output.shoot.cmd.firecmd = false;
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break;
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case 1:
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ctx->output.shoot.cmd.ready = true;
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ctx->output.shoot.cmd.firecmd = false;
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break;
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case 2:
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if (ctx->input.rc.sw[1]==CMD_SW_DOWN) {
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ctx->output.shoot.cmd.ready = true;
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ctx->output.shoot.cmd.firecmd = true;
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}else {
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ctx->output.shoot.cmd.ready = true;
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ctx->output.shoot.cmd.firecmd = false;
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}
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break;
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}
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}
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#endif /* CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_SHOOT */
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/* 从 RC 输入生成机械臂命令 */
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#if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_ARM
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static void CMD_RC_BuildArmCmd(CMD_t *ctx) {
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/*
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* 遥控器控制机械臂末端位姿 —— 笛卡尔增量方案
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*
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* 左拨杆 SW_L (sw[0]) —— 整体使能:
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* UP → 失能（电机松弛/重力补偿）
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* MID → 使能，笛卡尔增量控制
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* DOWN → 使能（保留备用）
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*
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* 右拨杆 SW_R (sw[1]) —— 自由度分组:
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*
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* UP 【位置模式】3轴平移 + 偏航（最常用操作放第一层）
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* 右摇杆X (RX) → X 平移（末端左右移动）
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* 右摇杆Y (RY) → Y 平移（末端前后移动）
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* 左摇杆Y (LY) → Z 平移（末端升降）
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* 左摇杆X (LX) → Yaw 偏航旋转
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*
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* MID 【姿态模式】俯仰/横滚全姿态，同时保留 Z 和偏航可调
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* 右摇杆X (RX) → Yaw 偏航旋转（持续可调，避免强制切换模式）
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* 右摇杆Y (RY) → Pitch 俯仰旋转
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* 左摇杆X (LX) → Roll 横滚旋转
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* 左摇杆Y (LY) → Z 平移（升降保持可调，避免强制切换模式）
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*
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* DOWN → set_target_as_current（目标位姿吸附当前实际位姿，消除累积漂移）
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*
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* 摇杆直觉映射总结:
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* 右摇杆 = "末端去哪里"（XY平移，最自然）
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* 左Y = "臂的高低" （Z升降，推上=升高）
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* 左X = 位置模式→偏航 / 姿态模式→横滚
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*/
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ctx->output.arm.cmd.set_target_as_current = false;
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if (ctx->input.rc.sw[1] == CMD_SW_DOWN) {
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ctx->output.arm.cmd.set_target_as_current = true;
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}
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switch (ctx->input.rc.sw[0]) {
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case CMD_SW_MID:
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case CMD_SW_DOWN:
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ctx->output.arm.cmd.enable = true;
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break;
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default:
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ctx->output.arm.cmd.enable = false;
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goto end;
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}
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/* 遥控器模式使用笛卡尔位姿累积控制 */
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ctx->output.arm.cmd.ctrl_type = ARM_CTRL_REMOTE_CARTESIAN;
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/* set_target_as_current 置位时不叠加摇杆增量，由上层负责同步位姿基准 */
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if (ctx->output.arm.cmd.set_target_as_current) return;
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/* 输出摇杆速度命令（m/s, rad/s）——不含 dt，由arm_main在正确坐标系下积分到世界系 target_pose */
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float pos_scale = 0.3f; /* 末端线速度上限 (m/s) */
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float rot_scale = 1.0f; /* 末端角速度上限 (rad/s) */
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memset(&ctx->output.arm.cmd.joy_vel, 0, sizeof(ctx->output.arm.cmd.joy_vel));
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switch (ctx->input.rc.sw[1]) {
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case CMD_SW_UP:
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/* 位置模式：3轴平移 + 偏航 */
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ctx->output.arm.cmd.joy_vel.x = ctx->input.rc.joy_right.x * pos_scale;
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ctx->output.arm.cmd.joy_vel.y = ctx->input.rc.joy_right.y * pos_scale;
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ctx->output.arm.cmd.joy_vel.z = ctx->input.rc.joy_left.y * pos_scale;
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ctx->output.arm.cmd.joy_vel.yaw = ctx->input.rc.joy_left.x * rot_scale;
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break;
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case CMD_SW_MID:
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/* 姿态模式：俯仰 + 横滚 + 偏航 + 升降（全6自由度可达，Z/Yaw持续可调） */
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ctx->output.arm.cmd.joy_vel.yaw = ctx->input.rc.joy_right.x * rot_scale;
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ctx->output.arm.cmd.joy_vel.pitch = ctx->input.rc.joy_right.y * rot_scale;
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ctx->output.arm.cmd.joy_vel.roll = ctx->input.rc.joy_left.x * rot_scale;
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ctx->output.arm.cmd.joy_vel.z = ctx->input.rc.joy_left.y * pos_scale;
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break;
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default:
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break;
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}
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end:
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return;
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}
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#endif /* CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_ARM */
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/* 从 PC 输入生成机械臂命令 */
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#if CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_ARM
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static void CMD_PC_BuildArmCmd(CMD_t *ctx) {
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if (!ctx->input.online[CMD_SRC_PC]) {
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ctx->output.arm.cmd.enable = false;
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return;
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}
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ctx->output.arm.cmd.enable = true;
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ctx->output.arm.cmd.ctrl_type = ARM_CTRL_REMOTE_CARTESIAN;
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/* 鼠标控制末端位坐 XY，其他轴可根据需要扩展 */
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float sens = ctx->config->sensitivity.mouse_sens * 0.001f;
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ctx->output.arm.cmd.target_pose.x += (float)ctx->input.pc.mouse.x * sens * ctx->timer.dt;
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ctx->output.arm.cmd.target_pose.y += (float)ctx->input.pc.mouse.y * sens * ctx->timer.dt;
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}
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#endif /* CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_ARM */
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/* 从 RC 输入生成平衡底盘命令 */
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#if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_BALANCE_CHASSIS
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static void CMD_RC_BuildBalanceChassisCmd(CMD_t *ctx) {
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CMD_RCModeMap_t *map = &ctx->config->rc_mode_map;
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switch (ctx->input.rc.sw[0]) {
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case CMD_SW_UP:
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ctx->output.balance_chassis.cmd.mode = map->balance_sw_up;
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break;
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case CMD_SW_MID:
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ctx->output.balance_chassis.cmd.mode = map->balance_sw_mid;
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break;
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case CMD_SW_DOWN:
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ctx->output.balance_chassis.cmd.mode = map->balance_sw_down;
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break;
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default:
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ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_RELAX;
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break;
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}
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/* 左摩杆Y/X → 平移，右摩杆X → 转向 */
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ctx->output.balance_chassis.cmd.move_vec.vx = ctx->input.rc.joy_left.y;
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ctx->output.balance_chassis.cmd.move_vec.vy = ctx->input.rc.joy_left.x;
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ctx->output.balance_chassis.cmd.move_vec.wz = ctx->input.rc.joy_right.x;
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/* 拨轮传递目标高度 */
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ctx->output.balance_chassis.cmd.height = ctx->input.rc.dial;
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ctx->output.balance_chassis.cmd.jump_trigger = false;
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}
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#endif /* CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_BALANCE_CHASSIS */
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/* 从 PC 输入生成平衡底盘命令 */
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#if CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_BALANCE_CHASSIS
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static void CMD_PC_BuildBalanceChassisCmd(CMD_t *ctx) {
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CMD_Sensitivity_t *sens = &ctx->config->sensitivity;
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if (!ctx->input.online[CMD_SRC_PC]) {
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ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_RELAX;
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return;
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}
|
||
|
||
ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_WHELL_LEG_BALANCE;
|
||
|
||
float vx = 0.0f, wz = 0.0f;
|
||
uint32_t kb = ctx->input.pc.keyboard.bitmap;
|
||
|
||
//案件的命令要放到behavior里，
|
||
// if (kb & CMD_KEY_W) vx += sens->move_sens;
|
||
// if (kb & CMD_KEY_S) vx -= sens->move_sens;
|
||
// if (kb & CMD_KEY_A) wz += sens->move_sens;
|
||
// if (kb & CMD_KEY_D) wz -= sens->move_sens;
|
||
// if (kb & CMD_KEY_SHIFT) { vx *= sens->move_fast_mult; wz *= sens->move_fast_mult; }
|
||
// if (kb & CMD_KEY_CTRL) { vx *= sens->move_slow_mult; wz *= sens->move_slow_mult; }
|
||
|
||
ctx->output.balance_chassis.cmd.move_vec.vx = vx;
|
||
ctx->output.balance_chassis.cmd.move_vec.wz = wz;
|
||
ctx->output.balance_chassis.cmd.move_vec.vy = 0.0f;
|
||
}
|
||
#endif /* CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_BALANCE_CHASSIS */
|
||
#if CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_REFUI
|
||
static void CMD_NUC_BuildRefUICmd(CMD_t *ctx) {
|
||
if (!ctx->input.online[CMD_SRC_NUC]) {
|
||
ctx->output.refui.cmd = UI_AUTO_AIM_STOP;
|
||
return;
|
||
}
|
||
ctx->output.refui.cmd = (ctx->input.nuc.mode != 0) ? UI_AUTO_AIM_START : UI_AUTO_AIM_STOP;
|
||
}
|
||
#endif /* CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_REFUI */
|
||
|
||
/* 离线安全模式 */
|
||
static void CMD_SetOfflineMode(CMD_t *ctx) {
|
||
#if CMD_ENABLE_MODULE_CHASSIS
|
||
ctx->output.chassis.cmd.mode = CHASSIS_MODE_RELAX;
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_GIMBAL
|
||
ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_SHOOT
|
||
ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE;
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_TRACK
|
||
ctx->output.track.cmd.enable = false;
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_BALANCE_CHASSIS
|
||
ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_RELAX;
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_ARM
|
||
ctx->output.arm.cmd.enable = false;
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_REFUI
|
||
ctx->output.refui.cmd = UI_NOTHING;
|
||
#endif
|
||
}
|
||
|
||
/* ========================================================================== */
|
||
/* 公开API实现 */
|
||
/* ========================================================================== */
|
||
|
||
int8_t CMD_Init(CMD_t *ctx, CMD_Config_t *config) {
|
||
if (ctx == NULL || config == NULL) {
|
||
return CMD_ERR_NULL;
|
||
}
|
||
|
||
memset(ctx, 0, sizeof(CMD_t));
|
||
ctx->config = config;
|
||
|
||
/* 初始化适配器 */
|
||
CMD_Adapter_InitAll();
|
||
|
||
/* 初始化行为处理器 */
|
||
CMD_Behavior_Init();
|
||
|
||
return CMD_OK;
|
||
}
|
||
|
||
int8_t CMD_UpdateInput(CMD_t *ctx) {
|
||
if (ctx == NULL) {
|
||
return CMD_ERR_NULL;
|
||
}
|
||
|
||
/* 保存上一帧输入 */
|
||
memcpy(&ctx->last_input, &ctx->input, sizeof(ctx->input));
|
||
|
||
/* 更新所有输入源 */
|
||
for (int i = 0; i < CMD_SRC_NUM; i++) {
|
||
CMD_Adapter_GetInput((CMD_InputSource_t)i, &ctx->input);
|
||
}
|
||
|
||
return CMD_OK;
|
||
}
|
||
typedef void (*CMD_BuildCommandFunc)(CMD_t *cmd);
|
||
typedef struct {
|
||
CMD_InputSource_t source;
|
||
CMD_BuildCommandFunc chassisFunc;
|
||
CMD_BuildCommandFunc gimbalFunc;
|
||
CMD_BuildCommandFunc shootFunc;
|
||
CMD_BuildCommandFunc trackFunc;
|
||
CMD_BuildCommandFunc armFunc;
|
||
CMD_BuildCommandFunc refuiFunc;
|
||
CMD_BuildCommandFunc balanceChassisFunc;
|
||
} CMD_SourceHandler_t;
|
||
|
||
/* Build-function conditional references */
|
||
#if CMD_ENABLE_MODULE_CHASSIS && CMD_ENABLE_SRC_RC
|
||
#define _FN_RC_CHASSIS CMD_RC_BuildChassisCmd
|
||
#else
|
||
#define _FN_RC_CHASSIS NULL
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_GIMBAL && CMD_ENABLE_SRC_RC
|
||
#define _FN_RC_GIMBAL CMD_RC_BuildGimbalCmd
|
||
#else
|
||
#define _FN_RC_GIMBAL NULL
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_SHOOT && CMD_ENABLE_SRC_RC
|
||
#define _FN_RC_SHOOT CMD_RC_BuildShootCmd
|
||
#else
|
||
#define _FN_RC_SHOOT NULL
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_TRACK && CMD_ENABLE_SRC_RC
|
||
#define _FN_RC_TRACK CMD_RC_BuildTrackCmd
|
||
#else
|
||
#define _FN_RC_TRACK NULL
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_CHASSIS && CMD_ENABLE_SRC_PC
|
||
#define _FN_PC_CHASSIS CMD_PC_BuildChassisCmd
|
||
#else
|
||
#define _FN_PC_CHASSIS NULL
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_GIMBAL && CMD_ENABLE_SRC_PC
|
||
#define _FN_PC_GIMBAL CMD_PC_BuildGimbalCmd
|
||
#else
|
||
#define _FN_PC_GIMBAL NULL
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_SHOOT && CMD_ENABLE_SRC_PC
|
||
#define _FN_PC_SHOOT CMD_PC_BuildShootCmd
|
||
#else
|
||
#define _FN_PC_SHOOT NULL
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_TRACK && CMD_ENABLE_SRC_PC
|
||
#define _FN_PC_TRACK CMD_PC_BuildTrackCmd
|
||
#else
|
||
#define _FN_PC_TRACK NULL
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_ARM && CMD_ENABLE_SRC_RC
|
||
#define _FN_RC_ARM CMD_RC_BuildArmCmd
|
||
#else
|
||
#define _FN_RC_ARM NULL
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_ARM && CMD_ENABLE_SRC_PC
|
||
#define _FN_PC_ARM CMD_PC_BuildArmCmd
|
||
#else
|
||
#define _FN_PC_ARM NULL
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_BALANCE_CHASSIS && CMD_ENABLE_SRC_RC
|
||
#define _FN_RC_BALANCE_CHASSIS CMD_RC_BuildBalanceChassisCmd
|
||
#else
|
||
#define _FN_RC_BALANCE_CHASSIS NULL
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_BALANCE_CHASSIS && CMD_ENABLE_SRC_PC
|
||
#define _FN_PC_BALANCE_CHASSIS CMD_PC_BuildBalanceChassisCmd
|
||
#else
|
||
#define _FN_PC_BALANCE_CHASSIS NULL
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_GIMBAL && CMD_ENABLE_SRC_NUC
|
||
#define _FN_NUC_GIMBAL CMD_NUC_BuildGimbalCmd
|
||
#else
|
||
#define _FN_NUC_GIMBAL NULL
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_SHOOT && CMD_ENABLE_SRC_NUC
|
||
#define _FN_NUC_SHOOT CMD_NUC_BuildShootCmd
|
||
#else
|
||
#define _FN_NUC_SHOOT NULL
|
||
#endif
|
||
|
||
CMD_SourceHandler_t sourceHandlers[CMD_SRC_NUM] = {
|
||
#if CMD_ENABLE_SRC_RC
|
||
[CMD_SRC_RC] = {CMD_SRC_RC, _FN_RC_CHASSIS, _FN_RC_GIMBAL, _FN_RC_SHOOT, _FN_RC_TRACK, _FN_RC_ARM, NULL, _FN_RC_BALANCE_CHASSIS},
|
||
#endif
|
||
#if CMD_ENABLE_SRC_PC
|
||
[CMD_SRC_PC] = {CMD_SRC_PC, _FN_PC_CHASSIS, _FN_PC_GIMBAL, _FN_PC_SHOOT, _FN_PC_TRACK, _FN_PC_ARM, NULL, _FN_PC_BALANCE_CHASSIS},
|
||
#endif
|
||
#if CMD_ENABLE_SRC_NUC
|
||
#if CMD_ENABLE_MODULE_REFUI
|
||
#define _FN_NUC_REFUI CMD_NUC_BuildRefUICmd
|
||
#else
|
||
#define _FN_NUC_REFUI NULL
|
||
#endif
|
||
[CMD_SRC_NUC] = {CMD_SRC_NUC, NULL, _FN_NUC_GIMBAL, _FN_NUC_SHOOT, NULL, NULL, _FN_NUC_REFUI, NULL},
|
||
#endif
|
||
#if CMD_ENABLE_SRC_REF
|
||
[CMD_SRC_REF] = {CMD_SRC_REF, NULL, NULL, NULL, NULL, NULL, NULL, NULL}
|
||
#endif
|
||
};
|
||
|
||
int8_t CMD_Arbitrate(CMD_t *ctx) {
|
||
if (ctx == NULL) {
|
||
return CMD_ERR_NULL;
|
||
}
|
||
|
||
/* RC > PC priority arbitration */
|
||
CMD_InputSource_t candidates[] = {
|
||
#if CMD_ENABLE_SRC_RC
|
||
CMD_SRC_RC,
|
||
#endif
|
||
#if CMD_ENABLE_SRC_PC
|
||
CMD_SRC_PC,
|
||
#endif
|
||
};
|
||
const int num_candidates = sizeof(candidates) / sizeof(candidates[0]);
|
||
|
||
/* keep current source if still online */
|
||
if (ctx->active_source < CMD_SRC_NUM &&
|
||
#if CMD_ENABLE_SRC_REF
|
||
ctx->active_source != CMD_SRC_REF &&
|
||
#endif
|
||
ctx->input.online[ctx->active_source]) {
|
||
goto seize;
|
||
}
|
||
|
||
/* 否则选择第一个可用的控制输入源 */
|
||
for (int i = 0; i < num_candidates; i++) {
|
||
CMD_InputSource_t src = candidates[i];
|
||
if (ctx->input.online[src]) {
|
||
ctx->active_source = src;
|
||
break;
|
||
}else {
|
||
ctx->active_source = CMD_SRC_NUM;
|
||
continue;
|
||
}
|
||
}
|
||
|
||
/* 优先级抢占逻辑 */
|
||
seize:
|
||
|
||
/* reset output sources */
|
||
#if CMD_ENABLE_MODULE_CHASSIS
|
||
ctx->output.chassis.source = ctx->active_source;
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_GIMBAL
|
||
ctx->output.gimbal.source = ctx->active_source;
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_SHOOT
|
||
ctx->output.shoot.source = ctx->active_source;
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_TRACK
|
||
ctx->output.track.source = ctx->active_source;
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_ARM
|
||
ctx->output.arm.source = ctx->active_source;
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_REFUI
|
||
ctx->output.refui.source = ctx->active_source;
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_BALANCE_CHASSIS
|
||
ctx->output.balance_chassis.source = ctx->active_source;
|
||
#endif
|
||
|
||
CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_NONE);
|
||
|
||
#if CMD_ENABLE_SRC_NUC && CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_GIMBAL && CMD_ENABLE_MODULE_SHOOT
|
||
if (ctx->input.online[CMD_SRC_NUC]) {
|
||
if (ctx->active_source==CMD_SRC_RC) {
|
||
if (ctx->input.rc.sw[0] == CMD_SW_DOWN) {
|
||
ctx->output.gimbal.source = CMD_SRC_NUC;
|
||
ctx->output.shoot.source = CMD_SRC_NUC;
|
||
#if CMD_ENABLE_MODULE_REFUI
|
||
ctx->output.refui.source = CMD_SRC_NUC;
|
||
#endif
|
||
}
|
||
}
|
||
}
|
||
#endif
|
||
|
||
return CMD_OK;
|
||
}
|
||
|
||
int8_t CMD_GenerateCommands(CMD_t *ctx) {
|
||
if (ctx == NULL) {
|
||
return CMD_ERR_NULL;
|
||
}
|
||
|
||
/* 更新时间 */
|
||
uint64_t now_us = BSP_TIME_Get_us();
|
||
ctx->timer.now = now_us / 1000000.0f;
|
||
ctx->timer.dt = (now_us - ctx->timer.last_us) / 1000000.0f;
|
||
ctx->timer.last_us = now_us;
|
||
|
||
/* 没有有效输入源 */
|
||
if (ctx->active_source >= CMD_SRC_NUM) {
|
||
CMD_SetOfflineMode(ctx);
|
||
return CMD_ERR_NO_INPUT;
|
||
}
|
||
|
||
#if CMD_ENABLE_MODULE_GIMBAL
|
||
if (sourceHandlers[ctx->output.gimbal.source].gimbalFunc != NULL) {
|
||
sourceHandlers[ctx->output.gimbal.source].gimbalFunc(ctx);
|
||
}
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_CHASSIS
|
||
if (sourceHandlers[ctx->output.chassis.source].chassisFunc != NULL) {
|
||
sourceHandlers[ctx->output.chassis.source].chassisFunc(ctx);
|
||
}
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_SHOOT
|
||
if (sourceHandlers[ctx->output.shoot.source].shootFunc != NULL) {
|
||
sourceHandlers[ctx->output.shoot.source].shootFunc(ctx);
|
||
}
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_TRACK
|
||
if (sourceHandlers[ctx->output.track.source].trackFunc != NULL) {
|
||
sourceHandlers[ctx->output.track.source].trackFunc(ctx);
|
||
}
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_ARM
|
||
if (sourceHandlers[ctx->output.arm.source].armFunc != NULL) {
|
||
sourceHandlers[ctx->output.arm.source].armFunc(ctx);
|
||
}
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_REFUI
|
||
if (sourceHandlers[ctx->output.refui.source].refuiFunc != NULL) {
|
||
sourceHandlers[ctx->output.refui.source].refuiFunc(ctx);
|
||
} else {
|
||
ctx->output.refui.cmd = UI_NOTHING;
|
||
}
|
||
#endif
|
||
#if CMD_ENABLE_MODULE_BALANCE_CHASSIS
|
||
if (sourceHandlers[ctx->output.balance_chassis.source].balanceChassisFunc != NULL) {
|
||
sourceHandlers[ctx->output.balance_chassis.source].balanceChassisFunc(ctx);
|
||
}
|
||
#endif
|
||
return CMD_OK;
|
||
}
|
||
|
||
#if CMD_ENABLE_SRC_REF
|
||
static void CMD_REF_BuildOutput(CMD_t *ctx) {
|
||
ctx->output.ref = ctx->input.ref;
|
||
}
|
||
#endif
|
||
|
||
int8_t CMD_Update(CMD_t *ctx) {
|
||
int8_t ret;
|
||
|
||
ret = CMD_UpdateInput(ctx);
|
||
if (ret != CMD_OK) return ret;
|
||
|
||
CMD_Arbitrate(ctx);
|
||
|
||
ret = CMD_GenerateCommands(ctx);
|
||
|
||
#if CMD_ENABLE_SRC_REF
|
||
CMD_REF_BuildOutput(ctx);
|
||
#endif
|
||
|
||
return ret;
|
||
}
|