90 lines
4.1 KiB
C
90 lines
4.1 KiB
C
/*
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ai Task
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通路：上位机 <--串口--> 上层板 <--CAN--> 下层板（本文件）
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下层板职责：
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1. 将云台/IMU 反馈数据通过 CAN 发送给上层板
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2. 从 CAN 解析上层板转发的 AI 控制指令
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3. 将解析结果写入 cmd.nuc 队列供 cmd task 消费
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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/aimbot.h"
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#include "module/config.h"
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#include "module/vision_bridge.h"
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#include "component/ahrs/ahrs.h"
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#include "module/gimbal.h"
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#include "device/referee_proto_types.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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static Aimbot_Param_t aimbot_can; /* CAN 通信参数（从 config 拷贝） */
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static Aimbot_FeedbackData_t aimbot_fb; /* 打包好的反馈数据 */
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static Aimbot_AIResult_t aimbot_cmd; /* 从 CAN 解析到的 AI 指令 */
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static Gimbal_Feedback_t ai_gimbal_fb; /* 来自云台任务的反馈 */
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static AHRS_Quaternion_t ai_imu_quat; /* 来自姿态估计任务的四元数 */
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static Referee_ForAI_t ai_ref; /* 裁判系统转发给 AI 的数据 */
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static AI_cmd_t ai_cmd_for_nuc; /* 转换后发往 cmd.nuc 的指令 */
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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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aimbot_can = Config_GetRobotParam()->aimbot_param;
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Aimbot_Init(&aimbot_can);
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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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/* 读取裁判系统状态（非阻塞） */
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osMessageQueueGet(task_runtime.msgq.ai.ref, &ai_ref, NULL, 0);
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/* 读取云台反馈数据（非阻塞） */
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osMessageQueueGet(task_runtime.msgq.ai.rawdata_FromGimbal, &ai_gimbal_fb, NULL, 0);
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/* 读取 IMU 四元数（非阻塞） */
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osMessageQueueGet(task_runtime.msgq.ai.rawdata_FromIMU, &ai_imu_quat, NULL, 0);
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/* 打包反馈并通过 CAN 发给上层板（6 帧）
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* bullet_speed / bullet_count 暂无独立队列，置零；
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* 如有裁判系统弹速信息可在此处填入。 */
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Aimbot_PackFeedback(&aimbot_fb, &ai_gimbal_fb, &ai_imu_quat,
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0.0f, 0u,
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(uint8_t)(ai_ref.ref_status == REF_STATUS_RUNNING ? 1u : 0u));
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Aimbot_SendFeedbackOnCAN(&aimbot_can, &aimbot_fb);
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/* 解析上层板发来的 AI 指令（非阻塞） */
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if (Aimbot_ParseCmdFromCAN(&aimbot_can, &aimbot_cmd) == DEVICE_OK) {
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/* 将 Aimbot_AIResult_t 转换为 AI_cmd_t 并推送到 cmd.nuc 队列 */
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ai_cmd_for_nuc.mode = aimbot_cmd.mode;
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ai_cmd_for_nuc.gimbal.setpoint.yaw = aimbot_cmd.gimbal_t.setpoint.yaw;
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ai_cmd_for_nuc.gimbal.setpoint.pit = aimbot_cmd.gimbal_t.setpoint.pit;
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ai_cmd_for_nuc.gimbal.vel.yaw = aimbot_cmd.gimbal_t.vel.yaw;
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ai_cmd_for_nuc.gimbal.vel.pit = aimbot_cmd.gimbal_t.vel.pit;
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ai_cmd_for_nuc.gimbal.accl.yaw = aimbot_cmd.gimbal_t.accl.yaw;
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ai_cmd_for_nuc.gimbal.accl.pit = aimbot_cmd.gimbal_t.accl.pit;
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osMessageQueueReset(task_runtime.msgq.cmd.nuc);
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osMessageQueuePut(task_runtime.msgq.cmd.nuc, &ai_cmd_for_nuc, 0, 0);
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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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} |