From f1a40995544256abe8151f71e232affdc3430c04 Mon Sep 17 00:00:00 2001 From: yxming66 <2389287465@qq.com> Date: Wed, 17 Dec 2025 01:37:22 +0800 Subject: [PATCH] =?UTF-8?q?=E6=96=B0cmd=E5=A5=BD=E4=BD=BF=E4=BA=86?= =?UTF-8?q?=EF=BC=8C=E7=8E=B0=E5=9C=A8=E5=BC=80=E5=A7=8B=E4=BC=98=E5=8C=96?= =?UTF-8?q?input?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- CMakeLists.txt | 4 +- User/device/dr16.h | 3 +- User/device/vt13.h | 3 +- User/module/cmd.c | 703 ------------------------------ User/module/cmd.h | 236 ---------- User/module/cmd_v2/cmd.c | 38 +- User/module/cmd_v2/cmd.h | 20 +- User/module/cmd_v2/cmd_adapter.c | 12 +- User/module/cmd_v2/cmd_behavior.c | 22 +- User/module/cmd_v2/cmd_example.c | 15 +- User/module/cmd_v2/cmd_types.h | 10 +- User/module/config.c | 75 ++-- User/module/config.h | 4 +- User/task/cmd.c | 31 +- 14 files changed, 122 insertions(+), 1054 deletions(-) delete mode 100644 User/module/cmd.c delete mode 100644 User/module/cmd.h diff --git a/CMakeLists.txt b/CMakeLists.txt index 342d8b5..993ec50 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -41,7 +41,7 @@ add_subdirectory(cmake/stm32cubemx) target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE # Add user defined library search paths ) - +file(GLOB SINGLE_CHAR_FILES "User/module/cmd_v2/*.c") # Add sources to executable target_sources(${CMAKE_PROJECT_NAME} PRIVATE # Add user sources here @@ -77,7 +77,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE User/module/config.c User/module/gimbal.c User/module/shoot.c - User/module/cmd.c + ${SINGLE_CHAR_FILES} # User/task sources User/task/atti_esti.c User/task/blink.c diff --git a/User/device/dr16.h b/User/device/dr16.h index 74588ac..5d42dc9 100644 --- a/User/device/dr16.h +++ b/User/device/dr16.h @@ -88,9 +88,8 @@ typedef struct{ bool r_click; /* 右键 */ } mouse; /* 鼠标值 */ - union { + struct { bool key[DR16_KEY_NUM]; /* 键盘按键值 */ - uint16_t value; /* 键盘按键值的位映射 */ } keyboard; }DR16_DataPC_t; typedef struct { diff --git a/User/device/vt13.h b/User/device/vt13.h index c450967..7b17635 100644 --- a/User/device/vt13.h +++ b/User/device/vt13.h @@ -100,9 +100,8 @@ typedef struct { bool r_click; /* 右键 */ } mouse; /* 鼠标值 */ - union { + struct { bool key[VT13_KEY_NUM]; /* 键盘按键值 */ - uint16_t value; /* 键盘按键值的位映射 */ } keyboard; uint16_t res; /* 保留，未启用 */ diff --git a/User/module/cmd.c b/User/module/cmd.c deleted file mode 100644 index 8769d15..0000000 --- a/User/module/cmd.c +++ /dev/null @@ -1,703 +0,0 @@ -/* - 控制命令 -*/ -#include "module/cmd.h" - -#include -#include -#include "bsp/time.h" -#include "module/gimbal.h" - -/*************************************************************************************************************************************/ -/****************************************************************RC*******************************************************************/ -/*************************************************************************************************************************************/ -/* Private macro ------------------------------------------------------------ */ -/* 声明外部rc数据变量 */ -#define CMDMACRO_EXTERNAL_RCDATA(name, NAME) extern NAME##_t name; - -#define CMDMACRO_NAME_EXPANSION_1(name, NAME) name -/* 声明CMD结构体的RC数据变量 */ -#define CMDMACRO_VAR_RCDATA(name, NAME) NAME##_DataRC_t name; -/* 宏生成Cmd_RC_Get函数内容 */ -#define CMDMACRO_Cmd_RC_Get(name, NAME) \ - c->input.rc.name= name.data.rc; \ - c->input.rc.online=name.header.online; \ - c->input.rc.type=CMD_RCTypeTable_Index; - -CMD_RCType_TABLE(CMDMACRO_EXTERNAL_RCDATA) -/* Private typedef ---------------------------------------------------------- */ -/* Private define ----------------------------------------------------------- */ - -/* Private variables -------------------------------------------------------- */ -/*静态缓冲区*/ - -/* Private function -------------------------------------------------------- */ -int8_t Cmd_RC_Get(CMD_t *c, CMD_RCType_TABLE(CMDMACRO_NAME_EXPANSION)){ - // bool online= dr16->header.online; - // rc_buffer.dr16=dr16->data.rc; - // c->input.rc.online=online; - // c->input.rc.type=CMD_RCTypeTable_Index; - CMD_RCType_TABLE(CMDMACRO_Cmd_RC_Get); - return CMD_OK; -} - -int8_t Cmd_RC_BuildChassisCommandFromInput(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } -#if CMD_RCTypeTable_Index == 0 - switch (c->input.rc.dr16.sw_l) { - case DR16_SW_DOWN: - c->output.chassis.cmd.mode = CHASSIS_MODE_ROTOR; - break; - case DR16_SW_MID: - c->output.chassis.cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL; - break; - case DR16_SW_UP: - c->output.chassis.cmd.mode = CHASSIS_MODE_BREAK; - break; - default: - c->output.chassis.cmd.mode = CHASSIS_MODE_RELAX; - break; - } - c->output.chassis.cmd.ctrl_vec.vx = c->input.rc.dr16.ch_r_x; - c->output.chassis.cmd.ctrl_vec.vy = c->input.rc.dr16.ch_r_y; -#elif CMD_RCTypeTable_Index == 1 - switch (c->input.rc.data->at9s.key_E) { - case AT9S_CMD_SW_DOWN: - c->output.chassis.cmd.mode = CHASSIS_MODE_RELAX; - break; - case AT9S_CMD_SW_MID: - c->output.chassis.cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL; - break; - case AT9S_CMD_SW_UP: - c->output.chassis.cmd.mode = CHASSIS_MODE_ROTOR; - break; - default: - c->output.chassis.cmd.mode = CHASSIS_MODE_RELAX; - break; - } - c->output.chassis.cmd.ctrl_vec.vx = c->input.rc.data->at9s.ch_r_x; - c->output.chassis.cmd.ctrl_vec.vy = c->input.rc.data->at9s.ch_r_y; -#endif - return CMD_OK; -} - -int8_t Cmd_RC_BuildGimbalCommandFromInput(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } -#if CMD_RCTypeTable_Index == 0 - switch (c->input.rc.dr16.sw_l) { - case DR16_SW_DOWN: - c->output.gimbal.cmd.mode = GIMBAL_MODE_RELATIVE; - c->output.gimbal.cmd.delta_yaw = -c->input.rc.dr16.ch_l_x * 2.0f; - c->output.gimbal.cmd.delta_pit = -c->input.rc.dr16.ch_l_y * 1.5f; - break; - case DR16_SW_MID: - c->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE; - c->output.gimbal.cmd.delta_yaw = -c->input.rc.dr16.ch_l_x * 2.0f; - c->output.gimbal.cmd.delta_pit = -c->input.rc.dr16.ch_l_y * 1.5f; - break; - case DR16_SW_UP: - c->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE; - c->output.gimbal.cmd.delta_yaw = -c->input.rc.dr16.ch_l_x * 2.0f; - c->output.gimbal.cmd.delta_pit = -c->input.rc.dr16.ch_l_y * 1.5f; - break; - default: - c->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX; - c->output.gimbal.cmd.delta_yaw = 0.0f; - c->output.gimbal.cmd.delta_pit = 0.0f; - break; - } -#elif CMD_RCTypeTable_Index == 1 - switch (c->input.rc.data->at9s.key_G) { - case AT9S_CMD_SW_DOWN: - c->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX; - c->output.gimbal.cmd.delta_yaw = 0.0f; - c->output.gimbal.cmd.delta_pit = 0.0f; - break; - case AT9S_CMD_SW_MID: - c->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE; - c->output.gimbal.cmd.delta_yaw = -c->input.rc.data->at9s.ch_l_x * 2.0f; - c->output.gimbal.cmd.delta_pit = -c->input.rc.data->at9s.ch_l_y * 1.5f; - break; - case AT9S_CMD_SW_UP: - c->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE; - c->output.gimbal.cmd.delta_yaw = -c->input.rc.data->at9s.ch_l_x * 2.0f; - c->output.gimbal.cmd.delta_pit = -c->input.rc.data->at9s.ch_l_y * 1.5f; - break; - default: - c->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX; - c->output.gimbal.cmd.delta_yaw = 0.0f; - c->output.gimbal.cmd.delta_pit = 0.0f; - break; - } -#endif - return CMD_OK; -} - - -int8_t Cmd_RC_BuildShootCommandFromInput(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } -#if CMD_RCTypeTable_Index == 0 - if (c->input.rc.online) { - c->output.shoot.cmd.mode=SHOOT_MODE_SINGLE; - } else { - c->output.shoot.cmd.mode=SHOOT_MODE_SAFE; - } - switch (c->input.rc.dr16.sw_r) { - case DR16_SW_DOWN: - c->output.shoot.cmd.ready = true; - c->output.shoot.cmd.firecmd = true; - break; - case DR16_SW_MID: - c->output.shoot.cmd.ready = true; - c->output.shoot.cmd.firecmd = false; - break; - case DR16_SW_UP: - c->output.shoot.cmd.ready = false; - c->output.shoot.cmd.firecmd = false; - break; - default: - c->output.shoot.cmd.ready = false; - c->output.shoot.cmd.firecmd = false; - break; - } -#elif CMD_RCTypeTable_Index == 1 - c->output.shoot.cmd.online = c->input.rc.online; - switch (c->input.rc.data->at9s.key_C) { - case AT9S_CMD_SW_DOWN: - c->output.shoot.cmd.ready = true; - c->output.shoot.cmd.firecmd = true; - break; - case AT9S_CMD_SW_MID: - c->output.shoot.cmd.ready = true; - c->output.shoot.cmd.firecmd = false; - break; - case AT9S_CMD_SW_UP: - c->output.shoot.cmd.ready = false; - c->output.shoot.cmd.firecmd = false; - break; - default: - c->output.shoot.cmd.ready = false; - c->output.shoot.cmd.firecmd = false; - break; - } - switch (c->input.rc.data->at9s.key_D) { - case AT9S_CMD_SW_DOWN: - c->output.shoot.cmd.mode=SHOOT_MODE_SINGLE; - break; - case AT9S_CMD_SW_UP: - c->output.shoot.cmd.mode=SHOOT_MODE_BURST; - break; - default: - c->output.shoot.cmd.mode=SHOOT_MODE_SAFE; - break; - } -#endif - return CMD_OK; -} -/* Exported functions ------------------------------------------------------- */ - - -/*************************************************************************************************************************************/ -/*****************************************************************PC******************************************************************/ -/*************************************************************************************************************************************/ -#ifndef CMD_NOPC_FLAG -/* Private macro ------------------------------------------------------------ */ -#define CMD_PCBehavior_TABLE(X) \ - X(FORE, CMD_MODULE_CHASSIS) \ - X(BACK, CMD_MODULE_CHASSIS) \ - X(LEFT, CMD_MODULE_CHASSIS) \ - X(RIGHT, CMD_MODULE_CHASSIS) \ - X(ACCELERATE, CMD_MODULE_CHASSIS) \ - X(DECELEBRATE, CMD_MODULE_CHASSIS) \ - X(FIRE, CMD_MODULE_SHOOT) \ - X(FIRE_MODE, CMD_MODULE_SHOOT) \ - X(BUFF, CMD_MODULE_SHOOT) \ - X(AUTOAIM, CMD_MODULE_GIMBAL | CMD_MODULE_SHOOT) \ - X(OPENCOVER, CMD_MODULE_SHOOT) \ - X(ROTOR, CMD_MODULE_CHASSIS) \ - X(REVTRIG, CMD_MODULE_SHOOT) \ - X(FOLLOWGIMBAL35, CMD_MODULE_CHASSIS) \ - X(GIMBAL_MODE, CMD_MODULE_GIMBAL) - -/* 行为处理函数声明宏 */ -#define CMDMACRO_FOR_DECLARE_BEHAVIOR_HANDLER_FUNCTION(BEHAVIOR, MODULE_MASK) \ - static int8_t Cmd_PC_HandleBehavior##BEHAVIOR(CMD_t *c); -/* 行为处理函数指针数组构建宏 */ -#define CMDMACRO_FOR_BUILD_BEHAVIOR_HANDLER_ARRAY(BEHAVIOR, MODULE_MASK) \ - {CMD_BEHAVIOR_##BEHAVIOR, Cmd_PC_HandleBehavior##BEHAVIOR}, -/* 行为模块映射表构建宏 */ -#define CMDMACRO_FOR_BUILD_MODULE_TABLE(BEHAVIOR, MODULE_MASK) \ - [CMD_BEHAVIOR_##BEHAVIOR] = MODULE_MASK, -/* 行为处理函数声明 */ -CMD_PCBehavior_TABLE(CMDMACRO_FOR_DECLARE_BEHAVIOR_HANDLER_FUNCTION) - -/* 宏展开函数内容 */ -#define CMDMACRO_Cmd_PC_Get(name, NAME) \ - c->input.pc.online=name.header.online;\ - c->input.pc.name= name.data.pc; -#define CMDMACRO_PC_IsBehaviorTriggered(name, NAME) \ - CMD_PCValue_t value = CMD_PC_BehaviorToValue(c, behavior); \ - CMD_TriggerType_t active = CMD_PC_BehaviorToActive(c, behavior); \ - bool now_key_pressed, last_key_pressed; \ - /* 按下按键为鼠标左、右键 */ \ - if (value == CMD_L_CLICK) { \ - now_key_pressed = c->input.pc.name.mouse.l_click; \ - last_key_pressed = c->input.pc.last##name.mouse.l_click; \ - } else if (value == CMD_R_CLICK) { \ - now_key_pressed = c->input.pc.name.mouse.r_click; \ - last_key_pressed = c->input.pc.last##name.mouse.r_click; \ - } else { \ - now_key_pressed = c->input.pc.name.keyboard.key[value]; \ - last_key_pressed = c->input.pc.last##name.keyboard.key[value]; \ - } \ - 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; \ - } \ - return false; -#define CMDMACRO_PC_BuildChassisCommandFromInput(name, NAME) \ - if (c->input.pc.online) {c->output.chassis.cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL;} \ - else {c->output.chassis.cmd.mode = CHASSIS_MODE_RELAX;} \ - c->output.chassis.cmd.ctrl_vec.vx = 0.0f; \ - c->output.chassis.cmd.ctrl_vec.vy = 0.0f; \ - for (size_t i = 0; i < CMD_BEHAVIOR_NUM; i++) { \ - CMD_ModuleMask_t moduleMask = behaviorModuleTable[i]; \ - if (CMD_PC_IsMaskMatch(c, moduleMask)) { \ - if (CMD_PC_IsBehaviorTriggered(c, i)) { \ - behaviorHandlerFuncTable[i].func(c); \ - } \ - } \ - }\ - return CMD_OK; -#define CMDMACRO_PC_BuildGimbalCommandFromInput(name, NAME) \ - static bool init = false; \ - if (!init) {c->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE;init=!init;}\ - if(!c->input.pc.online) {c->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;} \ - c->output.gimbal.cmd.delta_yaw = (float)-c->input.pc.name.mouse.x * c->timer.dt * c->params->pc.sensitivity.sens_mouse; \ - c->output.gimbal.cmd.delta_pit = (float)1.5f*c->input.pc.name.mouse.y * c->timer.dt * c->params->pc.sensitivity.sens_mouse; \ - for (size_t i = 0; i < CMD_BEHAVIOR_NUM; i++) { \ - CMD_ModuleMask_t moduleMask = behaviorModuleTable[i]; \ - if (CMD_PC_IsMaskMatch(c, moduleMask)) { \ - if (CMD_PC_IsBehaviorTriggered(c, i)) { \ - behaviorHandlerFuncTable[i].func(c); \ - } \ - } \ - }\ - return CMD_OK; -#define CMDMACRO_PC_BuildShootCommandFromInput(name, NAME) \ - if (!c->input.pc.online) {c->output.shoot.cmd.mode = SHOOT_MODE_SAFE;} \ - c->output.shoot.cmd.ready = true; \ - c->output.shoot.cmd.firecmd = false; \ - for (size_t i = 0; i < CMD_BEHAVIOR_NUM; i++) { \ - CMD_ModuleMask_t moduleMask = behaviorModuleTable[i]; \ - if (CMD_PC_IsMaskMatch(c, moduleMask)) { \ - if (CMD_PC_IsBehaviorTriggered(c, i)) { \ - behaviorHandlerFuncTable[i].func(c); \ - } \ - } \ - } \ - return CMD_OK;\ - memcpy(c->input.pc.last##name.keyboard.key, c->input.pc.name.keyboard.key, sizeof(c->input.pc.name.keyboard.key)); \ - c->input.pc.last##name.mouse.l_click = c->input.pc.name.mouse.l_click; \ - c->input.pc.last##name.mouse.r_click = c->input.pc.name.mouse.r_click; -/* Private typedef ---------------------------------------------------------- */ -typedef int8_t (*CMD_BehaviorFunc)(CMD_t *c); -typedef struct { - CMD_Behavior_t behavior; - CMD_BehaviorFunc func; -} CMD_BehaviorHandlerFunc_t; - -/* Private variables -------------------------------------------------------- */ -/* 行为处理函数指针数组 */ -CMD_BehaviorHandlerFunc_t behaviorHandlerFuncTable[CMD_BEHAVIOR_NUM] = { - CMD_PCBehavior_TABLE(CMDMACRO_FOR_BUILD_BEHAVIOR_HANDLER_ARRAY) -}; -/* 行为模块映射表 */ -static const CMD_ModuleMask_t behaviorModuleTable[CMD_BEHAVIOR_NUM] = { - CMD_PCBehavior_TABLE(CMDMACRO_FOR_BUILD_MODULE_TABLE) -}; -/* Private function -------------------------------------------------------- */ -int8_t Cmd_PC_Get(CMD_t *c, CMD_RCType_TABLE(CMDMACRO_NAME_EXPANSION)){ - CMD_RCType_TABLE(CMDMACRO_Cmd_PC_Get); - return CMD_OK; -} - -static int8_t Cmd_PC_HandleBehaviorFORE(CMD_t *c){ - c->output.chassis.cmd.ctrl_vec.vy += c->params->pc.sensitivity.move_sense; - return CMD_OK; -} -static int8_t Cmd_PC_HandleBehaviorBACK(CMD_t *c){ - c->output.chassis.cmd.ctrl_vec.vy -= c->params->pc.sensitivity.move_sense; - return CMD_OK; -} -static int8_t Cmd_PC_HandleBehaviorLEFT(CMD_t *c){ - c->output.chassis.cmd.ctrl_vec.vx -= c->params->pc.sensitivity.move_sense; - return CMD_OK; -} -static int8_t Cmd_PC_HandleBehaviorRIGHT(CMD_t *c){ - c->output.chassis.cmd.ctrl_vec.vx += c->params->pc.sensitivity.move_sense; - return CMD_OK; -} -static int8_t Cmd_PC_HandleBehaviorACCELERATE(CMD_t *c){ - c->output.chassis.cmd.ctrl_vec.vx *= c->params->pc.sensitivity.move_fast_sense; - c->output.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->output.chassis.cmd.ctrl_vec.vx *= c->params->pc.sensitivity.move_slow_sense; - c->output.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->output.shoot.cmd.firecmd = true; - return CMD_OK; -} -static int8_t Cmd_PC_HandleBehaviorFIRE_MODE(CMD_t *c){ - c->output.shoot.cmd.mode++; - c->output.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->output.chassis.cmd.mode = CHASSIS_MODE_ROTOR; - c->output.chassis.cmd.mode_rotor = ROTOR_MODE_RAND; - return CMD_OK; -} -static int8_t Cmd_PC_HandleBehaviorREVTRIG(CMD_t *c){ -// c->output.shoot.cmd.reverse_trig = true; - return CMD_OK; -} -static int8_t Cmd_PC_HandleBehaviorFOLLOWGIMBAL35(CMD_t *c){ - c->output.chassis.cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL_35; - return CMD_OK; -} -static int8_t Cmd_PC_HandleBehaviorGIMBAL_MODE(CMD_t *c){ - - c->output.gimbal.cmd.mode++; - c->output.gimbal.cmd.mode %= GIMBAL_MODE_NUM; - while (c->output.gimbal.cmd.mode<=0) {c->output.gimbal.cmd.mode++;} - return CMD_OK; -} - -static inline CMD_PCValue_t CMD_PC_BehaviorToValue(CMD_t *c, - CMD_Behavior_t behavior) { - return c->params->pc.map.key_map[behavior].key; -} - -static inline CMD_TriggerType_t CMD_PC_BehaviorToActive(CMD_t *c, - CMD_Behavior_t behavior) { - return c->params->pc.map.key_map[behavior].trigger_type; -} - -static inline bool CMD_PC_IsMaskMatch(CMD_t *c, CMD_ModuleMask_t module_mask) { - /* 构建当前各模块输入源状态的掩码 */ - CMD_ModuleMask_t current_pc_mask = 0; - if (c->output.chassis.source == CMD_SRC_PC) current_pc_mask |= CMD_MODULE_CHASSIS; - if (c->output.gimbal.source == CMD_SRC_PC) current_pc_mask |= CMD_MODULE_GIMBAL; - if (c->output.shoot.source == CMD_SRC_PC) current_pc_mask |= CMD_MODULE_SHOOT; - - /* 检测并集 */ - return (module_mask & current_pc_mask) == module_mask; - /* 检测交集 */ -// return (module_mask & current_pc_mask) != 0; -} - -static inline bool CMD_PC_IsBehaviorTriggered(CMD_t *c, CMD_Behavior_t behavior) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - CMD_RCType_TABLE(CMDMACRO_PC_IsBehaviorTriggered); -} - -static int8_t Cmd_PC_BuildChassisCommandFromInput(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - CMD_RCType_TABLE(CMDMACRO_PC_BuildChassisCommandFromInput); -} - -static int8_t Cmd_PC_BuildGimbalCommandFromInput(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - CMD_RCType_TABLE(CMDMACRO_PC_BuildGimbalCommandFromInput); -} - -static int8_t Cmd_PC_BuildShootCommandFromInput(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - CMD_RCType_TABLE(CMDMACRO_PC_BuildShootCommandFromInput); -} -#else -static int8_t Cmd_PC_Get(CMD_Input_PC_t *pc) { - pc->online=false; - return CMD_OK; -} -static int8_t Cmd_PC_BuildChassisCommandFromInput(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - return CMD_OK; -} -static int8_t Cmd_PC_BuildGimbalCommandFromInput(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - return CMD_OK; -} -static int8_t Cmd_PC_BuildShootCommandFromInput(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - return CMD_OK; -} -#endif - -/*************************************************************************************************************************************/ -/****************************************************************NUC******************************************************************/ -/*************************************************************************************************************************************/ - -/* Includes ----------------------------------------------------------------- */ -/* Private typedef ---------------------------------------------------------- */ -/* Private define ----------------------------------------------------------- */ -/* Private macro ------------------------------------------------------------ */ -/* Private variables -------------------------------------------------------- */ -/* Private function -------------------------------------------------------- */ -int8_t Cmd_NUC_Get(CMD_Input_NUC_t *nuc) { - nuc->online=0; - return CMD_OK; -} -/* Exported functions ------------------------------------------------------- */ - -int8_t Cmd_NUC_BuildChassisCommandFromInput(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - return CMD_OK; -} - -int8_t Cmd_NUC_BuildGimbalCommandFromInput(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - return CMD_OK; -} -int8_t Cmd_NUC_BuildShootCommandFromInput(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - return CMD_OK; -} - -/*************************************************************************************************************************************/ -/***************************************************************REF*******************************************************************/ -/*************************************************************************************************************************************/ - -/* Includes ----------------------------------------------------------------- */ -/* Private typedef ---------------------------------------------------------- */ -/* Private define ----------------------------------------------------------- */ -/* Private macro ------------------------------------------------------------ */ -/* Private variables -------------------------------------------------------- */ -/* Private function -------------------------------------------------------- */ -int8_t Cmd_REF_Get(CMD_Input_REF_t *nuc) { - nuc->online=0; - return CMD_OK; -} -/* Exported functions ------------------------------------------------------- */ - -int8_t Cmd_REF_BuildChassisCommandFromInput(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - return CMD_OK; -} - -int8_t Cmd_REF_BuildGimbalCommandFromInput(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - return CMD_OK; -} -int8_t Cmd_REF_BuildShootCommandFromInput(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - return CMD_OK; -} -/*************************************************************************************************************************************/ -/***************************************************************仲裁器****************************************************************/ -/*************************************************************************************************************************************/ - -/* Includes ----------------------------------------------------------------- */ -/* Private typedef ---------------------------------------------------------- */ -/* Private define ----------------------------------------------------------- */ -/* Private macro ------------------------------------------------------------ */ -/* Private variables -------------------------------------------------------- */ -/* Private function -------------------------------------------------------- */ -static inline bool Cmd_isREFOnline(CMD_t *c){return c->input.ref.online;} -static inline bool Cmd_isNUCOnline(CMD_t *c){return c->input.nuc.online;} -static inline bool Cmd_isRCOnline(CMD_t *c){return c->input.rc.online;} -static inline bool Cmd_isPCOnline(CMD_t *c){return c->input.pc.online;} -CMD_InputSource_t Cmd_GetHighestPrioritySource(CMD_t *c) { - for (int i = 0; i < CMD_SRC_NUM; i++) { - CMD_InputSource_t source = c->params->sourcePriorityConfigs[i]; - switch (source) { - case CMD_SRC_REF: - if (Cmd_isREFOnline(c)) { - return CMD_SRC_REF; - } - break; - case CMD_SRC_NUC: - if (Cmd_isNUCOnline(c)) { - return CMD_SRC_NUC; - } - break; - case CMD_SRC_RC: - if (Cmd_isRCOnline(c)) { - return CMD_SRC_RC; - } - break; - case CMD_SRC_PC: - if (Cmd_isPCOnline(c)) { - return CMD_SRC_PC; - } - break; - case CMD_SRC_NUM: - return CMD_ERR_SOURCE; - } - } - return CMD_ERR_SOURCE; -} - -int8_t Cmd_Arbiter(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - CMD_InputSource_t source = Cmd_GetHighestPrioritySource(c); - c->output.chassis.source = source; - c->output.gimbal.source = source; - c->output.shoot.source = source; - return CMD_OK; -} - -int8_t Cmd_Switch_RCorPC(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - - return CMD_OK; -} - -/*************************************************************************************************************************************/ -/***************************************************************主结构*****************************************************************/ -/*************************************************************************************************************************************/ - -/* Includes ----------------------------------------------------------------- */ -/* Private typedef ---------------------------------------------------------- */ -typedef int8_t (*CMD_BuildCommandFunc)(CMD_t *c); -typedef struct { - CMD_InputSource_t source; - CMD_BuildCommandFunc chassisFunc; - CMD_BuildCommandFunc gimbalFunc; - CMD_BuildCommandFunc shootFunc; -} CMD_SourceHandler_t; -/* Private macro ------------------------------------------------------------ */ -/* Private variables -------------------------------------------------------- */ -CMD_SourceHandler_t sourceHandlers[CMD_SRC_NUM] = { - {CMD_SRC_RC, Cmd_RC_BuildChassisCommandFromInput, Cmd_RC_BuildGimbalCommandFromInput, Cmd_RC_BuildShootCommandFromInput}, - {CMD_SRC_PC, Cmd_PC_BuildChassisCommandFromInput, Cmd_PC_BuildGimbalCommandFromInput, Cmd_PC_BuildShootCommandFromInput}, - {CMD_SRC_NUC, Cmd_NUC_BuildChassisCommandFromInput, Cmd_NUC_BuildGimbalCommandFromInput, Cmd_NUC_BuildShootCommandFromInput}, - {CMD_SRC_REF, Cmd_REF_BuildChassisCommandFromInput, Cmd_REF_BuildGimbalCommandFromInput, Cmd_REF_BuildShootCommandFromInput}, -}; -/* Private function -------------------------------------------------------- */ -int8_t Cmd_OFFLINE(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - c->output.chassis.cmd.mode =CHASSIS_MODE_RELAX; - c->output.gimbal.cmd.mode =GIMBAL_MODE_RELAX; - c->output.shoot.cmd.mode =SHOOT_MODE_SAFE; - return CMD_OK; -} -/* Exported functions ------------------------------------------------------- */ -int8_t Cmd_Init(CMD_t *c, CMD_Params_t *params) { - if (c == NULL || params == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - c->params = params; - return CMD_OK; -} - -int8_t Cmd_Get(CMD_t *c, - CMD_RCType_TABLE(CMDMACRO_NAME_EXPANSION)){ - // CMD_Input_NUC_t *nuc, - // CMD_Input_REF_t *ref) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - Cmd_RC_Get(c,CMD_RCType_TABLE(CMDMACRO_NAME_EXPANSION_1)); - Cmd_PC_Get(c,CMD_RCType_TABLE(CMDMACRO_NAME_EXPANSION_1)); - // Cmd_NUC_Get(&c->input.nuc); - // Cmd_REF_Get(&c->input.ref); - - return CMD_OK; -} - -int8_t Cmd_GenerateCommand(CMD_t *c) { - if (c == NULL) { - return CMD_ERR_NULL; // 参数错误 - } - Cmd_Arbiter(c); - - c->timer.now =BSP_TIME_Get_us() / 1000000.0f; - c->timer.dt =(BSP_TIME_Get_us() - c->timer.last) / 1000000.0f; - c->timer.last =BSP_TIME_Get_us(); - if (c->output.chassis.source >= CMD_SRC_NUM || c->output.gimbal.source >= CMD_SRC_NUM || c->output.shoot.source >= CMD_SRC_NUM) { - Cmd_OFFLINE(c); - return CMD_ERR_SOURCE; // 输入源错误 - } - sourceHandlers[c->output.chassis.source].chassisFunc(c); - sourceHandlers[c->output.gimbal.source].gimbalFunc(c); - sourceHandlers[c->output.shoot.source].shootFunc(c); - return CMD_OK; -} diff --git a/User/module/cmd.h b/User/module/cmd.h deleted file mode 100644 index 9757230..0000000 --- a/User/module/cmd.h +++ /dev/null @@ -1,236 +0,0 @@ -/* - 控制命令 -*/ -#pragma once - -#include -#ifdef __cplusplus -extern "C" { -#endif -/* Includes ----------------------------------------------------------------- */ -#include "module/chassis.h" -#include "module/gimbal.h" -#include "module/shoot.h" -#if CMD_RCTypeTable_Index == 0 -#include "device/dr16.h" -#elif CMD_RCTypeTable_Index == 1 -#include "device/at9s_pro.h" -#elif CMD_RCTypeTable_Index == 2 -#include "device/vt13.h" -#endif - -/* Exported constants ------------------------------------------------------- */ -#define CMD_OK (0) /* 运行正常 */ -#define CMD_ERR_NULL (-1) /* 运行时发现NULL指针 */ -#define CMD_ERR_ERR (-2) /* 运行时发现了其他错误 */ -#define CMD_ERR_SOURCE (-3) /* 运行时配置了不存在的输入源 */ - -/* Exported macro ----------------------------------------------------------- */ -#define CMD_RCTypeTable_Index 0 /* 0:DR16 1:AT9S 2:VT13 */ - -#if CMD_RCTypeTable_Index == 0 -#define CMD_RCType_TABLE(X) X(dr16, DR16) -#elif CMD_RCTypeTable_Index == 1 -#define CMD_RCType_TABLE(X) X(at9s, AT9S) -#elif CMD_RCTypeTable_Index == 2 -#define CMD_RCType_TABLE(X) X(vt13, VT13) -#endif - -#if CMD_RCTypeTable_Index == 1 -#define CMD_NOPC_FLAG -#endif -#define CMDMACRO_NAME_EXPANSION(name, NAME) NAME##_t name -#define CMDMACRO_VAR_RCDATA(name, NAME) NAME##_DataRC_t name; -#define CMDMACRO_VAR_PCDATA(name, NAME) NAME##_DataPC_t name; -#define CMDMACRO_VAR_LASTPCDATA(name, NAME) NAME##_DataPC_t last##name; -/* Exported types ----------------------------------------------------------- */ -#define CMD_REFEREE_MAX_NUM (3) /* 发送命令限定的最大数量 */ -/* 输入源枚举 */ -typedef enum { - CMD_SRC_RC=0, /* 遥控器 */ - CMD_SRC_PC, /* 键盘鼠标 */ - CMD_SRC_NUC, /* 上位机 */ - CMD_SRC_REF, /* 裁判系统 */ - CMD_SRC_NUM -} CMD_InputSource_t; - -/* RC part begin-------------------------------------- */ - -typedef struct { - bool online; - enum {DR16=0, AT9S} type; - CMD_RCType_TABLE(CMDMACRO_VAR_RCDATA) - #undef CMDMACRO_VAR_RCDATA -} CMD_Input_RC_t;//或者这里直接把CMD_Input_RC_t前向声明了，看哪个好看 - -/* RC part end---------------------------------------- */ - -/* PC part begin-------------------------------------- */ -typedef enum { - CMD_MODULE_NONE = 0, - CMD_MODULE_CHASSIS = (1 << 0), - CMD_MODULE_GIMBAL = (1 << 1), - CMD_MODULE_SHOOT = (1 << 2), - CMD_MODULE_ALL = (CMD_MODULE_CHASSIS | CMD_MODULE_GIMBAL | CMD_MODULE_SHOOT) -} CMD_ModuleMask_t; -/* 键盘按键值 */ -typedef enum { - CMD_KEY_W = 0, - CMD_KEY_S, - CMD_KEY_A, - CMD_KEY_D, - CMD_KEY_SHIFT, - CMD_KEY_CTRL, - CMD_KEY_Q, - CMD_KEY_E, - CMD_KEY_R, - CMD_KEY_F, - CMD_KEY_G, - CMD_KEY_Z, - CMD_KEY_X, - CMD_KEY_C, - CMD_KEY_V, - CMD_KEY_B, - CMD_L_CLICK, - CMD_R_CLICK, - CMD_M_CLICK, - CMD_KEY_NUM, -} CMD_PCValue_t; -typedef enum { - CMD_ACTIVE_RISING_EDGE, /* 按下时触发 */ - CMD_ACTIVE_FALLING_EDGE, /* 抬起时触发 */ - CMD_ACTIVE_PRESSED, /* 按住时触发 */ -} CMD_TriggerType_t; - -/* 行为值序列 */ -typedef enum { - CMD_BEHAVIOR_FORE = 0, /* 向前 */ - CMD_BEHAVIOR_BACK, /* 向后 */ - CMD_BEHAVIOR_LEFT, /* 向左 */ - CMD_BEHAVIOR_RIGHT, /* 向右 */ - CMD_BEHAVIOR_ACCELERATE, /* 加速 */ - CMD_BEHAVIOR_DECELEBRATE, /* 减速 */ - CMD_BEHAVIOR_FIRE, /* 开火 */ - CMD_BEHAVIOR_FIRE_MODE, /* 切换开火模式 */ - CMD_BEHAVIOR_BUFF, /* 打符模式 */ - CMD_BEHAVIOR_AUTOAIM, /* 自瞄模式 */ - CMD_BEHAVIOR_OPENCOVER, /* 弹舱盖开关 */ - CMD_BEHAVIOR_ROTOR, /* 小陀螺模式 */ - CMD_BEHAVIOR_REVTRIG, /* 反转拨弹 */ - CMD_BEHAVIOR_FOLLOWGIMBAL35, /* 跟随云台呈35度 */ - CMD_BEHAVIOR_GIMBAL_MODE, /* 切换云台模式 */ - CMD_BEHAVIOR_NUM, -} CMD_Behavior_t; -typedef struct { - CMD_PCValue_t key; - CMD_TriggerType_t trigger_type; -} CMD_KeyMapItem_t; - -/* 行为映射的对应按键数组 */ -typedef struct { - CMD_KeyMapItem_t key_map[CMD_BEHAVIOR_NUM]; -} 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 { - CMD_KeyMap_Params_t map; /* 按键映射行为命令 */ - CMD_PC_Sensitivity_t sensitivity; /* PC灵敏度设置 */ -}CMD_PCParams_t; -#ifndef CMD_NOPC_FLAG -typedef struct { - bool online; - CMD_RCType_TABLE(CMDMACRO_VAR_PCDATA) - CMD_RCType_TABLE(CMDMACRO_VAR_LASTPCDATA) - #undef CMDMACRO_VAR_PCDATA - #undef CMDMACRO_VAR_LASTPCDATA -}CMD_Input_PC_t; -#else - typedef struct { - bool online; -}CMD_Input_PC_t; -#endif -/* PC part end---------------------------------------- */ - -/* NUC part begin------------------------------------- */ -typedef struct { - bool online; - struct { - float delta_yaw; - float delta_pit; - }gimbal; - struct { - float expectedSpeed; - bool fire; - }shoot; -}CMD_Input_NUC_t; - -/* NUC part end--------------------------------------- */ - -/* REF part begin------------------------------------- */ -typedef struct { - bool online; -}CMD_Input_REF_t; - -/* REF part begin------------------------------------- */ - -/* 底盘控制命令 */ -typedef struct { - CMD_InputSource_t source; - Chassis_CMD_t cmd; -} CMD_Output_CHASSIS_t; - -/* 云台控制命令 */ -typedef struct { - CMD_InputSource_t source; - Gimbal_CMD_t cmd; -} CMD_Output_GIMBAL_t; - -/* 射击控制命令 */ -typedef struct { - CMD_InputSource_t source; - Shoot_CMD_t cmd; -} CMD_Output_SHOOT_t; - -typedef struct { - CMD_Input_RC_t rc; - CMD_Input_PC_t pc; - CMD_Input_NUC_t nuc; - CMD_Input_REF_t ref; -} CMD_Input_t; -typedef struct { - CMD_Output_CHASSIS_t chassis; - CMD_Output_GIMBAL_t gimbal; - CMD_Output_SHOOT_t shoot; -} CMD_Output_t; - -typedef struct { - CMD_InputSource_t sourcePriorityConfigs[CMD_SRC_NUM];/* 输入源优先级配置 */ - CMD_PCParams_t pc; -} CMD_Params_t; - -typedef struct { - float now; - float dt; - uint64_t last; -} CMD_Timer_t; -typedef struct { - CMD_Timer_t timer; - CMD_Params_t *params; - - CMD_Input_t input; - CMD_Output_t output; -} CMD_t; - -/* Exported functions prototypes -------------------------------------------- */ -int8_t Cmd_Init(CMD_t *c, CMD_Params_t *params); -int8_t Cmd_Get(CMD_t *c, CMD_RCType_TABLE(CMDMACRO_NAME_EXPANSION)); -int8_t Cmd_GenerateCommand(CMD_t *c); -#ifdef __cplusplus -} -#endif diff --git a/User/module/cmd_v2/cmd.c b/User/module/cmd_v2/cmd.c index 82dbc1f..f64b596 100644 --- a/User/module/cmd_v2/cmd.c +++ b/User/module/cmd_v2/cmd.c @@ -11,7 +11,7 @@ /* ========================================================================== */ /* 从RC输入生成底盘命令 */ -static void CMD_RC_BuildChassisCmd(CMD_Context_t *ctx, const CMD_RawInput_t *input) { +static void CMD_RC_BuildChassisCmd(CMD_t *ctx, const CMD_RawInput_t *input) { CMD_RCModeMap_t *map = &ctx->config->rc_mode_map; /* 根据左拨杆位置选择模式 */ @@ -36,7 +36,7 @@ static void CMD_RC_BuildChassisCmd(CMD_Context_t *ctx, const CMD_RawInput_t *inp } /* 从RC输入生成云台命令 */ -static void CMD_RC_BuildGimbalCmd(CMD_Context_t *ctx, const CMD_RawInput_t *input) { +static void CMD_RC_BuildGimbalCmd(CMD_t *ctx, const CMD_RawInput_t *input) { CMD_RCModeMap_t *map = &ctx->config->rc_mode_map; /* 根据拨杆选择云台模式 */ @@ -61,7 +61,7 @@ static void CMD_RC_BuildGimbalCmd(CMD_Context_t *ctx, const CMD_RawInput_t *inpu } /* 从RC输入生成射击命令 */ -static void CMD_RC_BuildShootCmd(CMD_Context_t *ctx, const CMD_RawInput_t *input) { +static void CMD_RC_BuildShootCmd(CMD_t *ctx, const CMD_RawInput_t *input) { if (input->online) { ctx->shoot.cmd.mode = SHOOT_MODE_SINGLE; } else { @@ -87,7 +87,7 @@ static void CMD_RC_BuildShootCmd(CMD_Context_t *ctx, const CMD_RawInput_t *input } /* 从PC输入生成底盘命令 */ -static void CMD_PC_BuildChassisCmd(CMD_Context_t *ctx, const CMD_RawInput_t *input) { +static void CMD_PC_BuildChassisCmd(CMD_t *ctx, const CMD_RawInput_t *input) { CMD_Sensitivity_t *sens = &ctx->config->sensitivity; if (!input->online) { @@ -126,7 +126,7 @@ static void CMD_PC_BuildChassisCmd(CMD_Context_t *ctx, const CMD_RawInput_t *inp } /* 从PC输入生成云台命令 */ -static void CMD_PC_BuildGimbalCmd(CMD_Context_t *ctx, const CMD_RawInput_t *input) { +static void CMD_PC_BuildGimbalCmd(CMD_t *ctx, const CMD_RawInput_t *input) { CMD_Sensitivity_t *sens = &ctx->config->sensitivity; if (!input->online) { @@ -142,7 +142,7 @@ static void CMD_PC_BuildGimbalCmd(CMD_Context_t *ctx, const CMD_RawInput_t *inpu } /* 从PC输入生成射击命令 */ -static void CMD_PC_BuildShootCmd(CMD_Context_t *ctx, const CMD_RawInput_t *input) { +static void CMD_PC_BuildShootCmd(CMD_t *ctx, const CMD_RawInput_t *input) { if (!input->online) { ctx->shoot.cmd.mode = SHOOT_MODE_SAFE; return; @@ -153,7 +153,7 @@ static void CMD_PC_BuildShootCmd(CMD_Context_t *ctx, const CMD_RawInput_t *input } /* 离线安全模式 */ -static void CMD_SetOfflineMode(CMD_Context_t *ctx) { +static void CMD_SetOfflineMode(CMD_t *ctx) { ctx->chassis.cmd.mode = CHASSIS_MODE_RELAX; ctx->gimbal.cmd.mode = GIMBAL_MODE_RELAX; ctx->shoot.cmd.mode = SHOOT_MODE_SAFE; @@ -163,12 +163,12 @@ static void CMD_SetOfflineMode(CMD_Context_t *ctx) { /* 公开API实现 */ /* ========================================================================== */ -int8_t CMD_Init(CMD_Context_t *ctx, CMD_Config_t *config) { +int8_t CMD_Init(CMD_t *ctx, CMD_Config_t *config) { if (ctx == NULL || config == NULL) { return CMD_ERR_NULL; } - memset(ctx, 0, sizeof(CMD_Context_t)); + memset(ctx, 0, sizeof(CMD_t)); ctx->config = config; /* 初始化适配器 */ @@ -180,7 +180,7 @@ int8_t CMD_Init(CMD_Context_t *ctx, CMD_Config_t *config) { return CMD_OK; } -int8_t CMD_UpdateInput(CMD_Context_t *ctx) { +int8_t CMD_UpdateInput(CMD_t *ctx) { if (ctx == NULL) { return CMD_ERR_NULL; } @@ -196,12 +196,12 @@ int8_t CMD_UpdateInput(CMD_Context_t *ctx) { return CMD_OK; } -int8_t CMD_Arbitrate(CMD_Context_t *ctx) { +int8_t CMD_Arbitrate(CMD_t *ctx) { if (ctx == NULL) { return CMD_ERR_NULL; } - /* 智能仲裁算法：优先级 PC > RC > NUC */ + /* 自动仲裁：优先级 PC > RC > NUC */ CMD_InputSource_t candidates[] = {CMD_SRC_PC, CMD_SRC_RC, CMD_SRC_NUC}; const int num_candidates = sizeof(candidates) / sizeof(candidates[0]); @@ -217,23 +217,23 @@ int8_t CMD_Arbitrate(CMD_Context_t *ctx) { CMD_InputSource_t src = candidates[i]; if (ctx->input[src].online) { ctx->active_source = src; + break; + }else { + ctx->active_source = CMD_SRC_NUM; + continue; } } ctx->chassis.source = ctx->active_source; ctx->gimbal.source = ctx->active_source; ctx->shoot.source = ctx->active_source; + /* 优先级抢占逻辑 */ seize: - - - - /* 没有可用输入源 */ - ctx->active_source = CMD_SRC_NUM; return CMD_OK; } -int8_t CMD_GenerateCommands(CMD_Context_t *ctx) { +int8_t CMD_GenerateCommands(CMD_t *ctx) { if (ctx == NULL) { return CMD_ERR_NULL; } @@ -282,7 +282,7 @@ int8_t CMD_GenerateCommands(CMD_Context_t *ctx) { return CMD_OK; } -int8_t CMD_Update(CMD_Context_t *ctx) { +int8_t CMD_Update(CMD_t *ctx) { int8_t ret; ret = CMD_UpdateInput(ctx); diff --git a/User/module/cmd_v2/cmd.h b/User/module/cmd_v2/cmd.h index a0abc43..fbed0a2 100644 --- a/User/module/cmd_v2/cmd.h +++ b/User/module/cmd_v2/cmd.h @@ -74,8 +74,6 @@ typedef struct { /* RC模式映射 */ CMD_RCModeMap_t rc_mode_map; - /* 是否启用PC输入 */ - bool enable_pc_input; } CMD_Config_t; /* ========================================================================== */ @@ -107,7 +105,7 @@ typedef struct CMD_Context { CMD_GimbalOutput_t gimbal; CMD_ShootOutput_t shoot; -} CMD_Context_t; +} CMD_t; /* ========================================================================== */ /* 主API接口 */ @@ -119,52 +117,52 @@ typedef struct CMD_Context { * @param config 配置指针 * @return CMD_OK成功，其他失败 */ -int8_t CMD_Init(CMD_Context_t *ctx, CMD_Config_t *config); +int8_t CMD_Init(CMD_t *ctx, CMD_Config_t *config); /** * @brief 更新所有输入源的数据 * @param ctx CMD上下文 * @return CMD_OK成功 */ -int8_t CMD_UpdateInput(CMD_Context_t *ctx); +int8_t CMD_UpdateInput(CMD_t *ctx); /** * @brief 执行仲裁，决定使用哪个输入源 * @param ctx CMD上下文 * @return 选中的输入源 */ -int8_t CMD_Arbitrate(CMD_Context_t *ctx); +int8_t CMD_Arbitrate(CMD_t *ctx); /** * @brief 生成所有模块的控制命令 * @param ctx CMD上下文 * @return CMD_OK成功 */ -int8_t CMD_GenerateCommands(CMD_Context_t *ctx); +int8_t CMD_GenerateCommands(CMD_t *ctx); /** * @brief 一键更新（包含UpdateInput + Arbitrate + GenerateCommands） * @param ctx CMD上下文 * @return CMD_OK成功 */ -int8_t CMD_Update(CMD_Context_t *ctx); +int8_t CMD_Update(CMD_t *ctx); /* ========================================================================== */ /* 输出获取接口 */ /* ========================================================================== */ /* 获取底盘命令 */ -static inline Chassis_CMD_t* CMD_GetChassisCmd(CMD_Context_t *ctx) { +static inline Chassis_CMD_t* CMD_GetChassisCmd(CMD_t *ctx) { return &ctx->chassis.cmd; } /* 获取云台命令 */ -static inline Gimbal_CMD_t* CMD_GetGimbalCmd(CMD_Context_t *ctx) { +static inline Gimbal_CMD_t* CMD_GetGimbalCmd(CMD_t *ctx) { return &ctx->gimbal.cmd; } /* 获取射击命令 */ -static inline Shoot_CMD_t* CMD_GetShootCmd(CMD_Context_t *ctx) { +static inline Shoot_CMD_t* CMD_GetShootCmd(CMD_t *ctx) { return &ctx->shoot.cmd; } diff --git a/User/module/cmd_v2/cmd_adapter.c b/User/module/cmd_v2/cmd_adapter.c index 4ca382b..a529620 100644 --- a/User/module/cmd_v2/cmd_adapter.c +++ b/User/module/cmd_v2/cmd_adapter.c @@ -7,8 +7,8 @@ /* ========================================================================== */ /* 适配器存储 */ /* ========================================================================== */ -static CMD_InputAdapter_t *g_adapters[CMD_SRC_NUM] = {0}; - +// static CMD_InputAdapter_t *g_adapters[CMD_SRC_NUM] = {0}; +CMD_InputAdapter_t *g_adapters[CMD_SRC_NUM] = {0}; /* ========================================================================== */ /* DR16 适配器实现 */ /* ========================================================================== */ @@ -66,7 +66,7 @@ int8_t CMD_DR16_PC_GetInput(void *data, CMD_RawInput_t *output) { output->mouse.r_click = dr16->data.pc.mouse.r_click; /* 键盘映射 */ - output->keyboard.bitmap = dr16->data.pc.keyboard.value; + output->keyboard.bitmap = dr16->raw_data.key; return CMD_OK; } @@ -75,10 +75,10 @@ bool CMD_DR16_IsOnline(void *data) { DR16_t *dr16 = (DR16_t *)data; return dr16->header.online; } - +extern DR16_t cmd_dr16; /* 定义适配器实例 */ -CMD_DEFINE_ADAPTER(DR16_RC, dr16, CMD_SRC_RC, CMD_DR16_Init, CMD_DR16_RC_GetInput, CMD_DR16_IsOnline) -CMD_DEFINE_ADAPTER(DR16_PC, dr16, CMD_SRC_PC, CMD_DR16_Init, CMD_DR16_PC_GetInput, CMD_DR16_IsOnline) +CMD_DEFINE_ADAPTER(DR16_RC, cmd_dr16, CMD_SRC_RC, CMD_DR16_Init, CMD_DR16_RC_GetInput, CMD_DR16_IsOnline) +CMD_DEFINE_ADAPTER(DR16_PC, cmd_dr16, CMD_SRC_PC, CMD_DR16_Init, CMD_DR16_PC_GetInput, CMD_DR16_IsOnline) #endif /* CMD_RC_DEVICE_TYPE == 0 */ diff --git a/User/module/cmd_v2/cmd_behavior.c b/User/module/cmd_v2/cmd_behavior.c index 7dd4814..f174565 100644 --- a/User/module/cmd_v2/cmd_behavior.c +++ b/User/module/cmd_v2/cmd_behavior.c @@ -10,49 +10,49 @@ /* ========================================================================== */ /* 行为处理函数实现 */ -int8_t CMD_Behavior_Handle_FORE(CMD_Context_t *ctx) { +int8_t CMD_Behavior_Handle_FORE(CMD_t *ctx) { ctx->chassis.cmd.ctrl_vec.vy += ctx->config->sensitivity.move_sens; return CMD_OK; } -int8_t CMD_Behavior_Handle_BACK(CMD_Context_t *ctx) { +int8_t CMD_Behavior_Handle_BACK(CMD_t *ctx) { ctx->chassis.cmd.ctrl_vec.vy -= ctx->config->sensitivity.move_sens; return CMD_OK; } -int8_t CMD_Behavior_Handle_LEFT(CMD_Context_t *ctx) { +int8_t CMD_Behavior_Handle_LEFT(CMD_t *ctx) { ctx->chassis.cmd.ctrl_vec.vx -= ctx->config->sensitivity.move_sens; return CMD_OK; } -int8_t CMD_Behavior_Handle_RIGHT(CMD_Context_t *ctx) { +int8_t CMD_Behavior_Handle_RIGHT(CMD_t *ctx) { ctx->chassis.cmd.ctrl_vec.vx += ctx->config->sensitivity.move_sens; return CMD_OK; } -int8_t CMD_Behavior_Handle_ACCELERATE(CMD_Context_t *ctx) { +int8_t CMD_Behavior_Handle_ACCELERATE(CMD_t *ctx) { ctx->chassis.cmd.ctrl_vec.vx *= ctx->config->sensitivity.move_fast_mult; ctx->chassis.cmd.ctrl_vec.vy *= ctx->config->sensitivity.move_fast_mult; return CMD_OK; } -int8_t CMD_Behavior_Handle_DECELERATE(CMD_Context_t *ctx) { +int8_t CMD_Behavior_Handle_DECELERATE(CMD_t *ctx) { ctx->chassis.cmd.ctrl_vec.vx *= ctx->config->sensitivity.move_slow_mult; ctx->chassis.cmd.ctrl_vec.vy *= ctx->config->sensitivity.move_slow_mult; return CMD_OK; } -int8_t CMD_Behavior_Handle_FIRE(CMD_Context_t *ctx) { +int8_t CMD_Behavior_Handle_FIRE(CMD_t *ctx) { ctx->shoot.cmd.firecmd = true; return CMD_OK; } -int8_t CMD_Behavior_Handle_FIRE_MODE(CMD_Context_t *ctx) { +int8_t CMD_Behavior_Handle_FIRE_MODE(CMD_t *ctx) { ctx->shoot.cmd.mode = (ctx->shoot.cmd.mode + 1) % SHOOT_MODE_NUM; return CMD_OK; } -int8_t CMD_Behavior_Handle_ROTOR(CMD_Context_t *ctx) { +int8_t CMD_Behavior_Handle_ROTOR(CMD_t *ctx) { if (ctx->chassis.cmd.mode == CHASSIS_MODE_ROTOR) { ctx->chassis.cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL; } else { @@ -62,7 +62,7 @@ int8_t CMD_Behavior_Handle_ROTOR(CMD_Context_t *ctx) { return CMD_OK; } -int8_t CMD_Behavior_Handle_AUTOAIM(CMD_Context_t *ctx) { +int8_t CMD_Behavior_Handle_AUTOAIM(CMD_t *ctx) { /* TODO: 自瞄模式切换 */ return CMD_OK; } @@ -137,7 +137,7 @@ bool CMD_Behavior_IsTriggered(const CMD_RawInput_t *current, } } -int8_t CMD_Behavior_ProcessAll(CMD_Context_t *ctx, +int8_t CMD_Behavior_ProcessAll(CMD_t *ctx, const CMD_RawInput_t *current, const CMD_RawInput_t *last, CMD_ModuleMask_t active_modules) { diff --git a/User/module/cmd_v2/cmd_example.c b/User/module/cmd_v2/cmd_example.c index 4779c56..300bb64 100644 --- a/User/module/cmd_v2/cmd_example.c +++ b/User/module/cmd_v2/cmd_example.c @@ -10,15 +10,7 @@ /* ========================================================================== */ /* 默认配置 */ -static CMD_Config_t g_cmd_config = { - /* 输入源优先级：RC > PC > NUC > REF */ - .source_priority = { - CMD_SRC_RC, - CMD_SRC_PC, - CMD_SRC_NUC, - CMD_SRC_REF, - }, - +static CMD_Config_t g_cmd_config = { /* 灵敏度设置 */ .sensitivity = { .mouse_sens = 0.8f, @@ -40,11 +32,10 @@ static CMD_Config_t g_cmd_config = { .gimbal_sw_down = GIMBAL_MODE_RELATIVE, }, - .enable_pc_input = true, }; /* CMD上下文 */ -static CMD_Context_t g_cmd_ctx; +static CMD_t g_cmd_ctx; /* ========================================================================== */ /* 任务示例 */ @@ -148,6 +139,6 @@ void Example_CMD_Task(void) { * * ### 添加新输出模块 * 1. 在 CMD_OUTPUT_MODULE_TABLE 添加条目 - * 2. 在 CMD_Context_t 中添加输出成员 + * 2. 在 CMD_t 中添加输出成员 * 3. 实现对应的 BuildXXXCmd 函数 */ diff --git a/User/module/cmd_v2/cmd_types.h b/User/module/cmd_v2/cmd_types.h index ff1646f..c009c88 100644 --- a/User/module/cmd_v2/cmd_types.h +++ b/User/module/cmd_v2/cmd_types.h @@ -28,10 +28,10 @@ extern "C" { * 格式: X(枚举名, 优先级, 适配器初始化函数, 获取数据函数) */ #define CMD_INPUT_SOURCE_TABLE(X) \ - X(RC, 0, CMD_RC_AdapterInit, CMD_RC_GetInput) \ - X(PC, 1, CMD_PC_AdapterInit, CMD_PC_GetInput) \ - X(NUC, 2, CMD_NUC_AdapterInit, CMD_NUC_GetInput) \ - X(REF, 3, CMD_REF_AdapterInit, CMD_REF_GetInput) + X(RC, CMD_RC_AdapterInit, CMD_RC_GetInput) \ + X(PC, CMD_PC_AdapterInit, CMD_PC_GetInput) \ + X(NUC, CMD_NUC_AdapterInit, CMD_NUC_GetInput) \ + X(REF, CMD_REF_AdapterInit, CMD_REF_GetInput) /* 输出模块配置宏表 */ #define CMD_OUTPUT_MODULE_TABLE(X) \ @@ -139,7 +139,7 @@ typedef enum { X(RIGHT, CMD_KEY_D, CMD_ACTIVE_PRESSED, CMD_MODULE_CHASSIS) \ X(ACCELERATE, CMD_KEY_SHIFT, CMD_ACTIVE_PRESSED, CMD_MODULE_CHASSIS) \ X(DECELERATE, CMD_KEY_CTRL, CMD_ACTIVE_PRESSED, CMD_MODULE_CHASSIS) \ - X(FIRE, CMD_KEY_NONE, CMD_ACTIVE_PRESSED, CMD_MODULE_SHOOT) \ + X(FIRE, CMD_KEY_L_CLICK, CMD_ACTIVE_PRESSED, CMD_MODULE_SHOOT) \ X(FIRE_MODE, CMD_KEY_B, CMD_ACTIVE_RISING_EDGE, CMD_MODULE_SHOOT) \ X(ROTOR, CMD_KEY_E, CMD_ACTIVE_RISING_EDGE, CMD_MODULE_CHASSIS) \ X(AUTOAIM, CMD_KEY_R, CMD_ACTIVE_RISING_EDGE, CMD_MODULE_GIMBAL | CMD_MODULE_SHOOT) diff --git a/User/module/config.c b/User/module/config.c index 206c654..fcc0719 100644 --- a/User/module/config.c +++ b/User/module/config.c @@ -6,7 +6,7 @@ #include "module/config.h" #include "bsp/can.h" #include "device/motor_dm.h" -#include "module/cmd.h" +#include "module/cmd_v2/cmd.h" #include /* Private typedef ---------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */ @@ -196,7 +196,7 @@ Config_RobotParam_t robot_config = { .reverse = false, }, .yaw_motor = { - .can = BSP_CAN_1, + .can = BSP_CAN_2, .can_id = 0x50, .master_id = 0x60, .module = MOTOR_DM_J4310, @@ -363,39 +363,58 @@ Config_RobotParam_t robot_config = { }, }, }, + // .cmd_param={ + // .sourcePriorityConfigs={ + // CMD_SRC_RC, + // CMD_SRC_PC, + // CMD_SRC_NUC, + // CMD_SRC_REF + // }, + // .pc.map = { /*1<cmd_param); + CMD_Init(&cmd, &Config_GetRobotParam()->cmd_param); /* USER CODE INIT END */ while (1) { @@ -57,19 +57,20 @@ void Task_cmd(void *argument) { #elif CMD_RCTypeTable_Index == 1 osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_at9s, NULL, 0); #endif - Cmd_Get(&cmd,cmd_dr16); - Cmd_GenerateCommand(&cmd); - cmd_for_shoot=cmd.output.shoot.cmd; - cmd_for_chassis=cmd.output.chassis.cmd; - cmd_for_gimbal=cmd.output.gimbal.cmd; + CMD_Update(&cmd); + + /* 获取命令发送到各模块 */ + cmd_for_chassis = CMD_GetChassisCmd(&cmd); + cmd_for_gimbal = CMD_GetGimbalCmd(&cmd); + cmd_for_shoot = CMD_GetShootCmd(&cmd); osMessageQueueReset(task_runtime.msgq.gimbal.cmd); - osMessageQueuePut(task_runtime.msgq.gimbal.cmd, &cmd_for_gimbal, 0, 0); + osMessageQueuePut(task_runtime.msgq.gimbal.cmd, cmd_for_gimbal, 0, 0); osMessageQueueReset(task_runtime.msgq.shoot.cmd); - osMessageQueuePut(task_runtime.msgq.shoot.cmd, &cmd_for_shoot, 0, 0); + osMessageQueuePut(task_runtime.msgq.shoot.cmd, cmd_for_shoot, 0, 0); osMessageQueueReset(task_runtime.msgq.chassis.cmd); - osMessageQueuePut(task_runtime.msgq.chassis.cmd, &cmd_for_chassis, 0, 0); + osMessageQueuePut(task_runtime.msgq.chassis.cmd, cmd_for_chassis, 0, 0); /* USER CODE END */ osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ } -} +} \ No newline at end of file