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PC会覆盖其他输入源命令

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This commit is contained in:
yxming66 2025-11-03 22:32:39 +08:00
parent 218f8f62e7
commit 206ca6f6bd
3 changed files with 290 additions and 103 deletions
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303
User/module/cmd.c
View File

@ -16,19 +16,19 @@
/* Private variables -------------------------------------------------------- */ /* Private variables -------------------------------------------------------- */
/* Private function -------------------------------------------------------- */ /* Private function -------------------------------------------------------- */
bool isREFOnline(CMD_t *c){return c->input_ref.online;} bool isREFOnline(CMD_t *c){return c->inputData.ref.online;}
bool isNUCOnline(CMD_t *c){return c->input_nuc.online;} bool isNUCOnline(CMD_t *c){return c->inputData.nuc.online;}
bool isRCOnline(CMD_t *c){return c->input_rc.online;} bool isRCOnline(CMD_t *c){return c->inputData.rc.online;}
bool isPCOnline(CMD_t *c){return c->input_pc.online;} bool isPCOnline(CMD_t *c){return c->inputData.pc.online;}
void PriorityConfigsRanking(CMD_Param_t *param) { void PriorityConfigsRanking(CMD_Param_t *param) {
static bool init=false; static bool init=false;
if(init) return; if(init) return;
for (int i = 0; i < CMD_SRC_NUM - 1; i++) { for (int i = 0; i < CMD_SRC_NUM - 1; i++) {
for (int j = 0; j < CMD_SRC_NUM - i - 1; j++) { for (int j = 0; j < CMD_SRC_NUM - i - 1; j++) {
if (param->rcSourcePriorityConfigs[j].priority < param->rcSourcePriorityConfigs[j + 1].priority) { if (param->sourcePriorityConfigs[j].priority < param->sourcePriorityConfigs[j + 1].priority) {
CMD_RCSourcePriorityConfig_t temp = param->rcSourcePriorityConfigs[j]; CMD_SourcePriorityConfig_t temp = param->sourcePriorityConfigs[j];
param->rcSourcePriorityConfigs[j] = param->rcSourcePriorityConfigs[j + 1]; param->sourcePriorityConfigs[j] = param->sourcePriorityConfigs[j + 1];
param->rcSourcePriorityConfigs[j + 1] = temp; param->sourcePriorityConfigs[j + 1] = temp;
} }
} }
} }
@ -36,7 +36,7 @@ void PriorityConfigsRanking(CMD_Param_t *param) {
} }
CMD_InputSource_t getHighestPrioritySource(CMD_t *c) { CMD_InputSource_t getHighestPrioritySource(CMD_t *c) {
for (int i = 0; i < CMD_SRC_NUM; i++) { for (int i = 0; i < CMD_SRC_NUM; i++) {
CMD_InputSource_t source = c->params.rcSourcePriorityConfigs[i].source; CMD_InputSource_t source = c->params.sourcePriorityConfigs[i].source;
switch (source) { switch (source) {
case CMD_SRC_REFEREE: case CMD_SRC_REFEREE:
if (isREFOnline(c)) { if (isREFOnline(c)) {
@ -59,7 +59,7 @@ CMD_InputSource_t getHighestPrioritySource(CMD_t *c) {
} }
} }
} }
return CMD_SRC_PC; /*默认使用键盘鼠标*/ return CMD_SRC_ERR;
} }
int8_t Cmd_Arbiter(CMD_t *c) { int8_t Cmd_Arbiter(CMD_t *c) {
@ -71,9 +71,9 @@ int8_t Cmd_Arbiter(CMD_t *c) {
CMD_InputSource_t source = getHighestPrioritySource(c); CMD_InputSource_t source = getHighestPrioritySource(c);
c->out_chassis.source = source; c->outCmd.chassis.source = source;
c->out_gimbal.source = source; c->outCmd.gimbal.source = source;
c->out_shoot.source = source; c->outCmd.shoot.source = source;
return CMD_OK; return CMD_OK;
} }
@ -89,9 +89,9 @@ int8_t Cmd_Arbiter(CMD_t *c) {
#define RC_SELECT_Index 1 #define RC_SELECT_Index 1
/* 扩展接口 */ /* 扩展接口 */
#if RC_SELECT_Index == 0 #if RC_SELECT_Index == 0
#define FOR_EACH_RC(_) _(dr16, DR16) #define FOR_EACH_RC(X) X(dr16, DR16)
#elif RC_SELECT_Index == 1 #elif RC_SELECT_Index == 1
#define FOR_EACH_RC(_) _(at9s, AT9S) #define FOR_EACH_RC(X) X(at9s, AT9S)
#endif #endif
/* Includes ----------------------------------------------------------------- */ /* Includes ----------------------------------------------------------------- */
#if RC_SELECT_Index == 0 #if RC_SELECT_Index == 0
@ -132,23 +132,23 @@ int8_t Cmd_BuildChassisCommandFromInput_rc(CMD_t *c) {
#if RC_SELECT_Index == 0 #if RC_SELECT_Index == 0
c->input_rc.inputData->dr16.data = c->input_rc.inputData->dr16.data =
#elif RC_SELECT_Index == 1 #elif RC_SELECT_Index == 1
switch (c->input_rc.inputData->at9s.data.key_E) { switch (c->inputData.rc.inputData->at9s.data.key_E) {
case AT9S_CMD_SW_DOWN: case AT9S_CMD_SW_DOWN:
c->out_chassis.cmd.mode = CHASSIS_MODE_RELAX; c->outCmd.chassis.cmd.mode = CHASSIS_MODE_RELAX;
break; break;
case AT9S_CMD_SW_MID: case AT9S_CMD_SW_MID:
c->out_chassis.cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL; c->outCmd.chassis.cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
break; break;
case AT9S_CMD_SW_UP: case AT9S_CMD_SW_UP:
c->out_chassis.cmd.mode = CHASSIS_MODE_ROTOR; c->outCmd.chassis.cmd.mode = CHASSIS_MODE_ROTOR;
break; break;
default: default:
c->out_chassis.cmd.mode = CHASSIS_MODE_RELAX; c->outCmd.chassis.cmd.mode = CHASSIS_MODE_RELAX;
break; break;
} }
c->out_chassis.cmd.ctrl_vec.vx = c->input_rc.inputData->at9s.data.ch_l_y; c->outCmd.chassis.cmd.ctrl_vec.vx = c->inputData.rc.inputData->at9s.data.ch_l_y;
c->out_chassis.cmd.ctrl_vec.vy = c->input_rc.inputData->at9s.data.ch_l_x; c->outCmd.chassis.cmd.ctrl_vec.vy = c->inputData.rc.inputData->at9s.data.ch_l_x;
c->out_chassis.cmd.ctrl_vec.wz = c->input_rc.inputData->at9s.data.ch_r_x; c->outCmd.chassis.cmd.ctrl_vec.wz = c->inputData.rc.inputData->at9s.data.ch_r_x;
#endif #endif
return CMD_OK; return CMD_OK;
} }
@ -160,26 +160,26 @@ int8_t Cmd_BuildGimbalCommandFromInput_rc(CMD_t *c) {
#if RC_SELECT_Index == 0 #if RC_SELECT_Index == 0
c->input_rc.inputData->dr16.data = c->input_rc.inputData->dr16.data =
#elif RC_SELECT_Index == 1 #elif RC_SELECT_Index == 1
switch (c->input_rc.inputData->at9s.data.key_G) { switch (c->inputData.rc.inputData->at9s.data.key_G) {
case AT9S_CMD_SW_DOWN: case AT9S_CMD_SW_DOWN:
c->out_gimbal.cmd.mode = GIMBAL_MODE_RELAX; c->outCmd.gimbal.cmd.mode = GIMBAL_MODE_RELAX;
c->out_gimbal.cmd.delta_yaw = 0.0f; c->outCmd.gimbal.cmd.delta_yaw = 0.0f;
c->out_gimbal.cmd.delta_pit = 0.0f; c->outCmd.gimbal.cmd.delta_pit = 0.0f;
break; break;
case AT9S_CMD_SW_MID: case AT9S_CMD_SW_MID:
c->out_gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE; c->outCmd.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE;
c->out_gimbal.cmd.delta_yaw = -at9s_out.data.ch_l_x * 2.0f; c->outCmd.gimbal.cmd.delta_yaw = -at9s_out.data.ch_l_x * 2.0f;
c->out_gimbal.cmd.delta_pit = -at9s_out.data.ch_l_y * 1.5f; c->outCmd.gimbal.cmd.delta_pit = -at9s_out.data.ch_l_y * 1.5f;
break; break;
case AT9S_CMD_SW_UP: case AT9S_CMD_SW_UP:
c->out_gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE; c->outCmd.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE;
c->out_gimbal.cmd.delta_yaw = -at9s_out.data.ch_l_x * 2.0f; c->outCmd.gimbal.cmd.delta_yaw = -at9s_out.data.ch_l_x * 2.0f;
c->out_gimbal.cmd.delta_pit = -at9s_out.data.ch_l_y * 1.5f; c->outCmd.gimbal.cmd.delta_pit = -at9s_out.data.ch_l_y * 1.5f;
break; break;
default: default:
c->out_gimbal.cmd.mode = GIMBAL_MODE_RELAX; c->outCmd.gimbal.cmd.mode = GIMBAL_MODE_RELAX;
c->out_gimbal.cmd.delta_yaw = 0.0f; c->outCmd.gimbal.cmd.delta_yaw = 0.0f;
c->out_gimbal.cmd.delta_pit = 0.0f; c->outCmd.gimbal.cmd.delta_pit = 0.0f;
break; break;
} }
#endif #endif
@ -194,26 +194,26 @@ int8_t Cmd_BuildShootCommandFromInput_rc(CMD_t *c) {
#if RC_SELECT_Index == 0 #if RC_SELECT_Index == 0
c->input_rc.inputData->dr16.data = c->input_rc.inputData->dr16.data =
#elif RC_SELECT_Index == 1 #elif RC_SELECT_Index == 1
switch (c->input_rc.inputData->at9s.data.key_C) { switch (c->inputData.rc.inputData->at9s.data.key_C) {
case AT9S_CMD_SW_DOWN: case AT9S_CMD_SW_DOWN:
c->out_shoot.cmd.online = at9s_out.online; c->outCmd.shoot.cmd.online = at9s_out.online;
c->out_shoot.cmd.ready = true; c->outCmd.shoot.cmd.ready = true;
c->out_shoot.cmd.firecmd = true; c->outCmd.shoot.cmd.firecmd = true;
break; break;
case AT9S_CMD_SW_MID: case AT9S_CMD_SW_MID:
c->out_shoot.cmd.online = at9s_out.online; c->outCmd.shoot.cmd.online = at9s_out.online;
c->out_shoot.cmd.ready = true; c->outCmd.shoot.cmd.ready = true;
c->out_shoot.cmd.firecmd = false; c->outCmd.shoot.cmd.firecmd = false;
break; break;
case AT9S_CMD_SW_UP: case AT9S_CMD_SW_UP:
c->out_shoot.cmd.online = at9s_out.online; c->outCmd.shoot.cmd.online = at9s_out.online;
c->out_shoot.cmd.ready = false; c->outCmd.shoot.cmd.ready = false;
c->out_shoot.cmd.firecmd = false; c->outCmd.shoot.cmd.firecmd = false;
break; break;
default: default:
c->out_shoot.cmd.online = at9s_out.online; c->outCmd.shoot.cmd.online = at9s_out.online;
c->out_shoot.cmd.ready = false; c->outCmd.shoot.cmd.ready = false;
c->out_shoot.cmd.firecmd = false; c->outCmd.shoot.cmd.firecmd = false;
break; break;
} }
#endif #endif
@ -228,20 +228,189 @@ int8_t Cmd_BuildShootCommandFromInput_rc(CMD_t *c) {
/* Includes ----------------------------------------------------------------- */ /* Includes ----------------------------------------------------------------- */
/* Private typedef ---------------------------------------------------------- */ /* Private typedef ---------------------------------------------------------- */
typedef int8_t (*CMD_BehaviorFunc)(CMD_t *c);
typedef struct {
CMD_Behavior_t behavior;
CMD_BehaviorFunc func;
} CMD_BehaviorHandlerFunc_t;
/* Private define ----------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */ /* Private macro ------------------------------------------------------------ */
#define PC_MACRO_BEHAVIOR_TABLE(X) \
X(FORE) \
X(BACK) \
X(LEFT) \
X(RIGHT) \
X(ACCELERATE) \
X(DECELEBRATE) \
X(FIRE) \
X(FIRE_MODE) \
X(BUFF) \
X(AUTOAIM) \
X(OPENCOVER) \
X(ROTOR) \
X(REVTRIG) \
X(FOLLOWGIMBAL35)
#define PC_MACRO_FOR_DECLARE_HANDLER_FUNCTION(BEHAVIOR) \
static int8_t Cmd_PC_HandleBehavior##BEHAVIOR(CMD_t *c);
#define PC_MACRO_FOR_BUILD_BEHAVIOR_HANDLER_ARRAY(BEHAVIOR) \
{CMD_BEHAVIOR_##BEHAVIOR, Cmd_PC_HandleBehavior##BEHAVIOR},
PC_MACRO_BEHAVIOR_TABLE(PC_MACRO_FOR_DECLARE_HANDLER_FUNCTION)
/* Private variables -------------------------------------------------------- */ /* Private variables -------------------------------------------------------- */
CMD_BehaviorHandlerFunc_t behaviorHandlerFunc[] = {
PC_MACRO_BEHAVIOR_TABLE(PC_MACRO_FOR_BUILD_BEHAVIOR_HANDLER_ARRAY)
};
/* Private function -------------------------------------------------------- */ /* Private function -------------------------------------------------------- */
int8_t Cmd_Get_pc(CMD_InputData_PC_t *pc) static int8_t Cmd_PC_HandleBehaviorFORE(CMD_t *c){
{ c->outCmd.chassis.cmd.ctrl_vec.vy += c->params.pc.sensitivity.move_sense;
FOR_EACH_RC(RC_X_COPYREFERENCE_MACRO)(&rc_buffer);
rc->inputData = &rc_buffer;
rc->type = RC_SELECT_Index;
return CMD_OK; return CMD_OK;
} }
static int8_t Cmd_PC_HandleBehaviorBACK(CMD_t *c){
c->outCmd.chassis.cmd.ctrl_vec.vy -= c->params.pc.sensitivity.move_sense;
return CMD_OK;
}
static int8_t Cmd_PC_HandleBehaviorLEFT(CMD_t *c){
c->outCmd.chassis.cmd.ctrl_vec.vx -= c->params.pc.sensitivity.move_sense;
return CMD_OK;
}
static int8_t Cmd_PC_HandleBehaviorRIGHT(CMD_t *c){
c->outCmd.chassis.cmd.ctrl_vec.vx += c->params.pc.sensitivity.move_sense;
return CMD_OK;
}
static int8_t Cmd_PC_HandleBehaviorACCELERATE(CMD_t *c){
c->outCmd.chassis.cmd.ctrl_vec.vx *= c->params.pc.sensitivity.move_fast_sense;
c->outCmd.chassis.cmd.ctrl_vec.vy *= c->params.pc.sensitivity.move_fast_sense;
return CMD_OK;
}
static int8_t Cmd_PC_HandleBehaviorDECELEBRATE(CMD_t *c){
c->outCmd.chassis.cmd.ctrl_vec.vx *= c->params.pc.sensitivity.move_slow_sense;
c->outCmd.chassis.cmd.ctrl_vec.vy *= c->params.pc.sensitivity.move_slow_sense;
return CMD_OK;
}
static int8_t Cmd_PC_HandleBehaviorFIRE(CMD_t *c){
c->outCmd.shoot.cmd.firecmd = true;
return CMD_OK;
}
static int8_t Cmd_PC_HandleBehaviorFIRE_MODE(CMD_t *c){
c->outCmd.shoot.cmd.mode++;
c->outCmd.shoot.cmd.mode %= SHOOT_MODE_NUM;
return CMD_OK;
}
static int8_t Cmd_PC_HandleBehaviorBUFF(CMD_t *c){
// if (cmd->ai_status == AI_STATUS_HITSWITCH) {
// CMD_RefereeAdd(&(cmd->referee), CMD_UI_HIT_SWITCH_STOP);
// cmd->host_overwrite = false;
// cmd->ai_status = AI_STATUS_STOP;
// } else if (cmd->ai_status == AI_STATUS_AUTOAIM) {
// // 自瞄模式中切换失败提醒
// } else {
// CMD_RefereeAdd(&(cmd->referee), CMD_UI_HIT_SWITCH_START);
// cmd->ai_status = AI_STATUS_HITSWITCH;
// cmd->host_overwrite = true;
// }
return CMD_OK;
}
static int8_t Cmd_PC_HandleBehaviorAUTOAIM(CMD_t *c){
// if (cmd->ai_status == AI_STATUS_AUTOAIM) {
// cmd->host_overwrite = false;
// cmd->ai_status = AI_STATUS_STOP;
// CMD_RefereeAdd(&(cmd->referee), CMD_UI_AUTO_AIM_STOP);
// } else {
// cmd->ai_status = AI_STATUS_AUTOAIM;
// cmd->host_overwrite = true;
// CMD_RefereeAdd(&(cmd->referee), CMD_UI_AUTO_AIM_START);
// }
return CMD_OK;
}
static int8_t Cmd_PC_HandleBehaviorOPENCOVER(CMD_t *c){
// c->shoot.cover_open = !c->shoot.cover_open;
return CMD_OK;
}
static int8_t Cmd_PC_HandleBehaviorROTOR(CMD_t *c){
c->outCmd.chassis.cmd.mode = CHASSIS_MODE_ROTOR;
c->outCmd.chassis.cmd.mode_rotor = ROTOR_MODE_RAND;
return CMD_OK;
}
static int8_t Cmd_PC_HandleBehaviorREVTRIG(CMD_t *c){
// c->outCmd.shoot.cmd.reverse_trig = true;
return CMD_OK;
}
static int8_t Cmd_PC_HandleBehaviorFOLLOWGIMBAL35(CMD_t *c){
c->outCmd.chassis.cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL_35;
return CMD_OK;
}
static inline CMD_KeyValue_t CMD_BehaviorToKey(CMD_t *c,
CMD_Behavior_t behavior) {
return c->params.pc.map.key_map[behavior].key;
}
static inline CMD_TriggerType_t CMD_BehaviorToActive(CMD_t *c,
CMD_Behavior_t behavior) {
return c->params.pc.map.key_map[behavior].trigger_type;
}
int8_t Cmd_Get_pc(CMD_InputData_PC_t *pc)
{
pc->online = false;
// pc->data=
return CMD_OK;
}
static bool CMD_BehaviorOccurredRc(CMD_t *c, CMD_Behavior_t behavior) {
CMD_KeyValue_t key = CMD_BehaviorToKey(c, behavior);
CMD_TriggerType_t active = CMD_BehaviorToActive(c, behavior);
bool now_key_pressed, last_key_pressed;
/* 按下按键为鼠标左、右键 */
if (key == CMD_L_CLICK) {
now_key_pressed = c->inputData.pc.data.mouse.l_click;
last_key_pressed = c->inputData.pc.lastData.mouse.l_click;
} else if (key == CMD_R_CLICK) {
now_key_pressed = c->inputData.pc.data.mouse.r_click;
last_key_pressed = c->inputData.pc.lastData.mouse.r_click;
} else {
now_key_pressed = c->inputData.pc.data.key & (1u << key);
last_key_pressed = c->inputData.pc.lastData.key & (1u << key);
}
switch (active) {
case CMD_ACTIVE_RISING_EDGE:
return !now_key_pressed && last_key_pressed;
case CMD_ACTIVE_FALLING_EDGE:
return now_key_pressed && !last_key_pressed;
case CMD_ACTIVE_PRESSED:
return now_key_pressed;
}
}
/* Exported functions ------------------------------------------------------- */ /* Exported functions ------------------------------------------------------- */
static void CMD_PcLogic(CMD_t *c, float dt_sec) {
c->outCmd.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE;
c->outCmd.gimbal.cmd.delta_yaw = (float)c->inputData.pc.data.mouse.x * dt_sec * c->params.pc.sensitivity.sens_mouse;
c->outCmd.gimbal.cmd.delta_pit = (float)c->inputData.pc.data.mouse.y * dt_sec * c->params.pc.sensitivity.sens_mouse;
c->outCmd.chassis.cmd.ctrl_vec.vx = c->outCmd.chassis.cmd.ctrl_vec.vy = 0.0f;
c->outCmd.shoot.cmd.firecmd = false;
for (size_t i = 0; i < CMD_BEHAVIOR_NUM; i++) {
if (CMD_BehaviorOccurredRc(&c, behaviorHandlerFunc[i].behavior)) {
behaviorHandlerFunc[i].func(c);
}
}
c->inputData.pc.lastData.key = c->inputData.pc.data.key;
c->inputData.pc.lastData.mouse.l_click = c->inputData.pc.data.mouse.l_click;
c->inputData.pc.lastData.mouse.r_click = c->inputData.pc.data.mouse.r_click;
}
int8_t Cmd_BuildChassisCommandFromInput_pc(CMD_t *c) { int8_t Cmd_BuildChassisCommandFromInput_pc(CMD_t *c) {
if (c == NULL) { if (c == NULL) {
return CMD_ERR_NULL; // 参数错误 return CMD_ERR_NULL; // 参数错误
@ -262,6 +431,18 @@ int8_t Cmd_BuildShootCommandFromInput_pc(CMD_t *c) {
return CMD_ERR_NULL; // 参数错误 return CMD_ERR_NULL; // 参数错误
} }
c->outCmd.shoot.cmd.firecmd = false;
for (size_t i = 0; i < CMD_BEHAVIOR_NUM; i++) {
if (CMD_BehaviorOccurredRc(&c, behaviorHandlerFunc[i].behavior)) {
behaviorHandlerFunc[i].func(c);
}
}
c->inputData.pc.lastData.key = c->inputData.pc.data.key;
c->inputData.pc.lastData.mouse.l_click = c->inputData.pc.data.mouse.l_click;
c->inputData.pc.lastData.mouse.r_click = c->inputData.pc.data.mouse.r_click;
return CMD_OK; return CMD_OK;
} }
/*************************************************************************************************************************************/ /*************************************************************************************************************************************/
@ -346,13 +527,13 @@ int8_t Cmd_BuildShootCommandFromInput_referee(CMD_t *c) {
/* Private function -------------------------------------------------------- */ /* Private function -------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */ /* Exported functions ------------------------------------------------------- */
typedef int8_t (*Cmd_BuildCommandFunc)(CMD_t *c); typedef int8_t (*CMD_BuildCommandFunc)(CMD_t *c);
typedef struct { typedef struct {
CMD_InputSource_t source; CMD_InputSource_t source;
Cmd_BuildCommandFunc chassisFunc; CMD_BuildCommandFunc chassisFunc;
Cmd_BuildCommandFunc gimbalFunc; CMD_BuildCommandFunc gimbalFunc;
Cmd_BuildCommandFunc shootFunc; CMD_BuildCommandFunc shootFunc;
} CMD_SourceHandler_t; } CMD_SourceHandler_t;
CMD_SourceHandler_t sourceHandlers[CMD_SRC_NUM] = { CMD_SourceHandler_t sourceHandlers[CMD_SRC_NUM] = {
@ -368,7 +549,7 @@ int8_t Cmd_GenerateCommand(CMD_t *c) {
} }
Cmd_Arbiter(c); Cmd_Arbiter(c);
switch (c->out_chassis.source) { switch (c->outCmd.chassis.source) {
case CMD_SRC_RC: case CMD_SRC_RC:
sourceHandlers[CMD_SRC_RC].chassisFunc(c); sourceHandlers[CMD_SRC_RC].chassisFunc(c);
break; break;
@ -384,7 +565,7 @@ int8_t Cmd_GenerateCommand(CMD_t *c) {
default: default:
break; break;
} }
switch (c->out_gimbal.source) { switch (c->outCmd.gimbal.source) {
case CMD_SRC_RC: case CMD_SRC_RC:
sourceHandlers[CMD_SRC_RC].gimbalFunc(c); sourceHandlers[CMD_SRC_RC].gimbalFunc(c);
break; break;
@ -400,7 +581,7 @@ int8_t Cmd_GenerateCommand(CMD_t *c) {
default: default:
break; break;
} }
switch (c->out_shoot.source) { switch (c->outCmd.shoot.source) {
case CMD_SRC_RC: case CMD_SRC_RC:
sourceHandlers[CMD_SRC_RC].shootFunc(c); sourceHandlers[CMD_SRC_RC].shootFunc(c);
break; break;

85
User/module/cmd.h
View File

@ -36,6 +36,13 @@ typedef enum {
CMD_SRC_ERR CMD_SRC_ERR
} CMD_InputSource_t; } CMD_InputSource_t;
typedef enum {
CMD_MODULE_CHASSIS=0,
CMD_MODULE_GIMBAL,
CMD_MODULE_SHOOT,
CMD_MODULE_NUM /* 模块数量 */
} CMD_MODULE_t;
/* RC part begin-------------------------------------- */ /* RC part begin-------------------------------------- */
typedef struct { typedef struct {
bool online; bool online;
@ -43,14 +50,6 @@ typedef struct {
rc_inputdata_u *inputData; rc_inputdata_u *inputData;
} CMD_InputData_RC_t; } CMD_InputData_RC_t;
typedef struct {
} CMD_RC_Param_t;
typedef struct {
CMD_InputData_RC_t input;
} CMD_RC_t;
/* RC part end---------------------------------------- */ /* RC part end---------------------------------------- */
/* PC part begin-------------------------------------- */ /* PC part begin-------------------------------------- */
@ -111,6 +110,13 @@ typedef struct {
CMD_KeyMapItem_t key_map[CMD_BEHAVIOR_NUM]; CMD_KeyMapItem_t key_map[CMD_BEHAVIOR_NUM];
} CMD_KeyMap_Params_t; } CMD_KeyMap_Params_t;
typedef struct {
float sens_mouse; /* 鼠标灵敏度 */
float move_sense; /* 移动灵敏度 */
float move_fast_sense; /* 快速移动灵敏度 */
float move_slow_sense; /* 慢速移动灵敏度 */
} CMD_PC_Sensitivity_t;
typedef struct { typedef struct {
struct { struct {
int16_t x; int16_t x;
@ -123,20 +129,27 @@ typedef struct {
uint16_t key; /* 按键值 */ uint16_t key; /* 按键值 */
uint16_t res; /* 保留，未启用 */ uint16_t res; /* 保留，未启用 */
} CMD_PC_data_t; } CMD_PC_Data_t;
typedef struct {
struct {
bool l_click; /* 左键 */
bool r_click; /* 右键 */
} mouse; /* 鼠标值 */
uint16_t key; /* 按键值 */
} CMD_PC_LastData_t;
typedef struct { typedef struct {
bool online; bool online;
CMD_PC_data_t data; CMD_PC_Data_t data;
CMD_PC_LastData_t lastData;
}CMD_InputData_PC_t; }CMD_InputData_PC_t;
typedef struct { typedef struct {
CMD_KeyMap_Params_t map; /* 按键映射行为命令 */
} CMD_PC_Param_t; CMD_PC_Sensitivity_t sensitivity; /* PC灵敏度设置 */
}CMD_PCParams_t;
typedef struct {
CMD_InputData_PC_t input;
} CMD_PC_t;
/* PC part end---------------------------------------- */ /* PC part end---------------------------------------- */
/* NUC part begin------------------------------------- */ /* NUC part begin------------------------------------- */
@ -144,27 +157,14 @@ typedef struct {
bool online; bool online;
}CMD_InputData_NUC_t; }CMD_InputData_NUC_t;
typedef struct {
} CMD_NUC_Param_t;
typedef struct {
CMD_InputData_NUC_t input;
} CMD_NUC_t;
/* NUC part end--------------------------------------- */ /* NUC part end--------------------------------------- */
/* REF part begin------------------------------------- */ /* REF part begin------------------------------------- */
typedef struct { typedef struct {
bool online; bool online;
CMD_PC_Data_t data;
}CMD_InputData_REF_t; }CMD_InputData_REF_t;
typedef struct {
} CMD_REF_Param_t;
typedef struct {
CMD_InputData_REF_t input;
} CMD_REF_t;
/* REF part begin------------------------------------- */ /* REF part begin------------------------------------- */
/* 底盘控制命令 */ /* 底盘控制命令 */
@ -185,29 +185,34 @@ typedef struct {
Shoot_CMD_t cmd; Shoot_CMD_t cmd;
} CMD_OutputCmd_SHOOT_t; } CMD_OutputCmd_SHOOT_t;
typedef struct {
CMD_InputData_RC_t rc;
CMD_InputData_PC_t pc;
CMD_InputData_NUC_t nuc;
CMD_InputData_REF_t ref;
} CMD_InputData_t;
typedef struct {
CMD_OutputCmd_CHASSIS_t chassis;
CMD_OutputCmd_GIMBAL_t gimbal;
CMD_OutputCmd_SHOOT_t shoot;
} CMD_OutputCmd_t;
typedef struct { typedef struct {
CMD_InputSource_t source; CMD_InputSource_t source;
uint8_t priority; uint8_t priority;
} CMD_SourcePriorityConfig_t; } CMD_SourcePriorityConfig_t;
typedef struct { typedef struct {
CMD_SourcePriorityConfig_t SourcePriorityConfigs[CMD_SRC_NUM]; CMD_SourcePriorityConfig_t sourcePriorityConfigs[CMD_SRC_NUM];/* 输入源优先级配置 */
CMD_PCParams_t pc;
} CMD_Param_t; } CMD_Param_t;
typedef struct { typedef struct {
uint16_t key_last; /* 上次按键键值 */
CMD_Param_t params; CMD_Param_t params;
CMD_RC_t rc;
CMD_PC_t pc;
CMD_NUC_t nuc;
CMD_REF_t ref;
CMD_OutputCmd_CHASSIS_t out_chassis; CMD_InputData_t inputData;
CMD_OutputCmd_GIMBAL_t out_gimbal; CMD_OutputCmd_t outCmd;
CMD_OutputCmd_SHOOT_t out_shoot;
} CMD_t; } CMD_t;

5
User/module/shoot.h
View File

@ -42,7 +42,8 @@ typedef enum {
SHOOT_MODE_SAFE = 0, /* 安全模式 */ SHOOT_MODE_SAFE = 0, /* 安全模式 */
SHOOT_MODE_SINGLE, /* 单发模式 */ SHOOT_MODE_SINGLE, /* 单发模式 */
SHOOT_MODE_BURST, /* 多发模式 */ SHOOT_MODE_BURST, /* 多发模式 */
SHOOT_MODE_CONTINUE /* 连发模式 */ SHOOT_MODE_CONTINUE, /* 连发模式 */
SHOOT_MODE_NUM
}Shoot_Mode_t; }Shoot_Mode_t;
typedef enum { typedef enum {
@ -52,7 +53,7 @@ typedef enum {
typedef struct { typedef struct {
bool online; /* 遥控器在线 */ bool online; /* 遥控器在线 */
bool mode; /* 射击模式 */ Shoot_Mode_t mode; /* 射击模式 */
bool ready; /* 准备射击 */ bool ready; /* 准备射击 */
bool firecmd; /* 射击指令 */ bool firecmd; /* 射击指令 */
}Shoot_CMD_t; }Shoot_CMD_t;