64 lines
2.0 KiB
C
64 lines
2.0 KiB
C
/*
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ai Task
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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 "device/ai.h"
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#include "module/gimbal.h"
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/* USER INCLUDE END */
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/* Private variables -------------------------------------------------------- */
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PackageMCU_t mcu;
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PackageReferee_t ref_pkg;
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AI_result_t ai_result;
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Referee_ForAI_t ref_for_ai;
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AHRS_Quaternion_t quat;
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Gimbal_feedback_t gimbal_motor;
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PackageMCU_t shoot_mcu_package;
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/* Exported functions ------------------------------------------------------- */
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void Task_ai(void *argument) {
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(void)argument;
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const uint32_t delay_tick = osKernelGetTickFreq() / AI_FREQ;
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osDelay(AI_INIT_DELAY);
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/* 初始化AI通信：注册IDLE回调 + 启动DMA接收 */
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AI_Init();
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uint32_t tick = osKernelGetTickCount();
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while (1) {
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tick += delay_tick;
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/* 获取其他任务传来的数据 */
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osMessageQueueGet(task_runtime.msgq.gimbal.ai.quat, &quat, NULL, 0);
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osMessageQueueGet(task_runtime.msgq.gimbal.ai.feedback, &gimbal_motor, NULL, 0);
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osMessageQueueGet(task_runtime.msgq.shoot.ai.s_cmd_ai_bool_count, &shoot_mcu_package, NULL, 0);
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osMessageQueueGet(task_runtime.msgq.referee.ai, &ref_for_ai, NULL, 0);
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/* 发送MCU数据给上位机 */
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mcu.data.bullet_count = shoot_mcu_package.data.bullet_count;
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MCU_Send(&mcu, &gimbal_motor, &quat);
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MCU_StartSend(&mcu);
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/* 发送裁判系统数据给上位机 */
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if (REF_Send(&ref_pkg, &ref_for_ai.robot_status, &ref_for_ai.game_status) == 0) {
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REF_StartSend(&ref_pkg);
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}
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/* 非阻塞获取上位机最新数据（IDLE回调已在中断中解析） */
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AI_GetLatest(&ai_result);
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/* 分发AI结果给各任务 */
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osMessageQueueReset(task_runtime.msgq.gimbal.ai.g_cmd);
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osMessageQueuePut(task_runtime.msgq.gimbal.ai.g_cmd, &ai_result, 0, 0);
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osMessageQueuePut(task_runtime.msgq.shoot.ai.s_cmd, &ai_result, 0, 0);
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osMessageQueuePut(task_runtime.msgq.navi.c_cmd, &ai_result, 0, 0);
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osDelayUntil(tick);
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}
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}
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