114 lines
3.5 KiB
C
114 lines
3.5 KiB
C
/*
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shoot 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 "module/shoot.h"
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#include "module/config.h"
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#include "device/ai.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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Shoot_t shoot;
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Shoot_CMD_t shoot_cmd;
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AI_result_t shoot_ai_result_cmd;
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PackageMCU_t shoot_ai_mcu_package;
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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_shoot(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() / SHOOT_FREQ;
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osDelay(SHOOT_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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Shoot_Init(&shoot,&Config_GetRobotParam()->shoot,SHOOT_FREQ);
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Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE);
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shoot_ai_mcu_package.data.bullet_count = 0;
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static bool last_fire_state = false;
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bool current_fire_state = false; // 当前是否需要发射
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static uint32_t ai_last_fire_tick = 0;
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static const uint32_t ai_single_interval_ms = 220;
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static const uint32_t ai_burst_interval_ms = 110;
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static const uint32_t ai_continue_interval_ms = 0;
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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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osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_cmd, NULL, 0);
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osMessageQueueGet(task_runtime.msgq.shoot.ai.s_cmd, &shoot_ai_result_cmd, NULL, 0);
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if(shoot_cmd.control_mode==SHOOT_REMOTE)
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{
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//do nothing，使用遥控器的指令
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current_fire_state = shoot_cmd.firecmd;
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}
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else if(shoot_cmd.control_mode==SHOOT_AI)
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{
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uint32_t now_ms = osKernelGetTickCount();
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uint32_t interval_ms = ai_single_interval_ms;
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shoot_cmd.ready = true;
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if (shoot_ai_result_cmd.mode == 2) {
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switch (shoot_cmd.mode) {
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case SHOOT_MODE_CONTINUE:
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interval_ms = ai_continue_interval_ms;
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break;
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case SHOOT_MODE_BURST:
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interval_ms = ai_burst_interval_ms;
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break;
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case SHOOT_MODE_SINGLE:
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default:
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interval_ms = ai_single_interval_ms;
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break;
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}
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if (interval_ms == 0) {
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shoot_cmd.firecmd = true;
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} else if ((now_ms - ai_last_fire_tick) >= interval_ms) {
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shoot_cmd.firecmd = true;
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ai_last_fire_tick = now_ms;
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} else {
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shoot_cmd.firecmd = false;
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}
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} else {
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shoot_cmd.firecmd = false;
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ai_last_fire_tick = now_ms;
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}
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current_fire_state = shoot_cmd.firecmd;
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}
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if(current_fire_state == true && last_fire_state == false)
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{
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shoot_ai_mcu_package.data.bullet_count++; /* 每次射击时增加射击数量 */
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}
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last_fire_state = current_fire_state;
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Shoot_UpdateFeedback(&shoot);
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Shoot_SetMode(&shoot,shoot_cmd.mode);
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Shoot_Control(&shoot,&shoot_cmd);
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osMessageQueueReset(task_runtime.msgq.shoot.ai.s_cmd_ai_bool_count);
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osMessageQueuePut(task_runtime.msgq.shoot.ai.s_cmd_ai_bool_count, &shoot_ai_mcu_package, 0, 0);
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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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} |