69 lines
2.7 KiB
C
69 lines
2.7 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 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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PackageAI_t ai;
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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; /* 新增的 ai 数据包 主要是给自瞄发送射击数量*/
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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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/* 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.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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MCU_Send(&mcu,&gimbal_motor,&quat);
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mcu.data.bullet_count=shoot_mcu_package.data.bullet_count; /* 从 shoot 任务获取射击数量并放入 mcu 数据包中 */
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MCU_StartSend(&mcu);
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if (REF_Send(&ref_pkg, &ref_for_ai.robot_status, &ref_for_ai.game_status) == DEVICE_OK) {
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REF_StartSend(&ref_pkg);
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}
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AI_StartReceiving(&ai);
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AI_Get_NUC(&ai,&ai_result);
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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); /* 将 ai_result 中的射击命令布尔值发送给 shoot 任务 */
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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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} |