94 lines
3.5 KiB
C
94 lines
3.5 KiB
C
/*
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referee 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/referee.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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Referee_t ref;
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Referee_UI_t ui;
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CMD_UI_t ref_cmd;
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Referee_ForCap_t for_cap;
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Referee_ForAI_t for_ai;
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Referee_ForChassis_t for_chassis;
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Referee_ForShoot_t for_shoot;
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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_referee(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() / REFEREE_FREQ;
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osDelay(REFEREE_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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uint32_t last_online_tick = 0;
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/* 初始化裁判系统 */
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Referee_Init(&ref, &ui,&Config_GetRobotParam()->cmd_param.screen);
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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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Referee_StartReceiving(&ref);
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if (osThreadFlagsWait(SIGNAL_REFEREE_RAW_REDY, osFlagsWaitAll, 10) !=
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SIGNAL_REFEREE_RAW_REDY) {
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if (osKernelGetTickCount() - last_online_tick > 3000)
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Referee_HandleOffline(&ref);
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} else {
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Referee_Parse(&ref);
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last_online_tick = osKernelGetTickCount();
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}
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Referee_PackCap(&for_cap, &ref);
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Referee_PackAI(&for_ai, &ref);
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Referee_PackShoot(&for_shoot, &ref);
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Referee_PackChassis(&for_chassis, &ref);
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if (osKernelGetTickCount() > delay_tick){
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tick += delay_tick;
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/* 裁判系统数据读取 */
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osMessageQueueReset(task_runtime.msgq.referee.cap);
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osMessageQueuePut(task_runtime.msgq.referee.cap, &for_cap, 0, 0);
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osMessageQueueReset(task_runtime.msgq.referee.ai);
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osMessageQueuePut(task_runtime.msgq.referee.ai, &for_ai, 0, 0);
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osMessageQueueReset(task_runtime.msgq.referee.chassis);
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osMessageQueuePut(task_runtime.msgq.referee.chassis, &for_chassis, 0, 0);
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osMessageQueueReset(task_runtime.msgq.referee.shoot);
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osMessageQueuePut(task_runtime.msgq.referee.shoot, &for_shoot, 0, 0);
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/* UI数据获取 */
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osMessageQueueGet(task_runtime.msgq.ui.cap, &(ui.cap_ui), NULL, 0);
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osMessageQueueGet(task_runtime.msgq.ui.chassis, &(ui.chassis_ui), NULL,0);
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osMessageQueueGet(task_runtime.msgq.ui.gimbal, &(ui.gimbal_ui), NULL, 0);
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osMessageQueueGet(task_runtime.msgq.ui.shoot, &(ui.shoot_ui), NULL, 0);
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osMessageQueueGet(task_runtime.msgq.ui.cmd, &(ui.cmd_pc), NULL, 0);
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Referee_UIRefresh(&ui);
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while (osMessageQueueGet(task_runtime.msgq.referee.ui, &ref_cmd, NULL,
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0) == osOK) {
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Referee_PraseCmd(&ui, ref_cmd);
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// Referee_StartSend(send_data, sizeof(send_data));
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}
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Referee_PackUI(&ui, &ref);
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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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} |