133 lines
3.0 KiB
Markdown
133 lines
3.0 KiB
Markdown
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# master_process
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<p align='right'>neozng1@hnu.edu.cn</p>
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> TODO:
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>
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> 1. 补全标志位解析和发送设置的代码
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> 2. 增加发送给视觉数据的时间戳用于数据对齐
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## 总览和封装说明
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模块包含了和视觉通信的初始化、向上位机发送信息的接口和模块的串口的回调处理。接口的定义统一，可以方便的替换成其他通信方式，如CAN。
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## 代码结构
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.h文件内包括了外部接口和与**视觉上位机通信的数据结构定义**，以及模块对应的宏。c文件内为私有函数和外部接口的定义。
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本模块主要是对协议解析的处理和协议发送的封装，实际内容不多。协议相关内容都在`seasky_protocol.h`中。
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## 类型定义
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和视觉通信所必须的标志位和数据。包括开火模式，目标状态，目标类型，接收/发送数据结构体。
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```c
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typedef enum
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{
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NO_FIRE = 0,
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AUTO_FIRE = 1,
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AUTO_AIM = 2
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} Fire_Mode_e;
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typedef enum
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{
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NO_TARGET = 0,
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TARGET_CONVERGING = 1,
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READY_TO_FIRE = 2
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} Target_State_e;
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typedef enum
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{
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NO_TARGET_NUM = 0,
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HERO1 = 1,
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ENGINEER2 = 2,
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INFANTRY3 = 3,
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INFANTRY4 = 4,
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INFANTRY5 = 5,
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OUTPOST = 6,
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SENTRY = 7,
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BASE = 8
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} Target_Type_e;
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typedef struct
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{
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Fire_Mode_e fire_mode;
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Target_State_e target_state;
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Target_Type_e target_type;
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float pitch;
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float yaw;
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} Vision_Recv_s;
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typedef enum
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{
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BLUE = 0,
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RED = 1
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} Enemy_Color_e;
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typedef enum
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{
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MODE_AIM = 0,
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MODE_SMALL_BUFF = 1,
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MODE_BIG_BUFF = 2
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} Work_Mode_e;
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typedef enum
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{
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BIG_AMU_10 = 10,
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SMALL_AMU_15 = 15,
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BIG_AMU_16 = 16,
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SMALL_AMU_18 = 18,
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SMALL_AMU_30 = 30,
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} Bullet_Speed_e;
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typedef struct
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{
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Enemy_Color_e enemy_color;
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Work_Mode_e work_mode;
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Bullet_Speed_e bullet_speed;
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float yaw;
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float pitch;
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float roll;
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} Vision_Send_s;
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```
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## 外部接口
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```c
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Vision_Recv_s *VisionInit(UART_HandleTypeDef *_handle);
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void VisionSend(Vision_Send_s *send);
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```
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给`VisionInit()`传入串口handle，将初始化一个视觉通信模块，返回值是接收数据的结构体指针。拥有视觉模块的应用应该在初始化中调用此函数，并保存返回值的指针。
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调用`VisionSend`并传入填好发送数据的结构体，会通过底层的通信模块向视觉发送一帧报文。
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## 私有函数和变量
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```c
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static Vision_Recv_s recv_data;
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static usart_instance *vision_usart_instance;
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static void DecodeVision()
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{
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static uint16_t flag_register;
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get_protocol_info(vision_usart_instance->recv_buff, &flag_register, (uint8_t*)&recv_data.pitch);
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// TODO: code to resolve flag_register;
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}
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```
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第一个是保存接收数据的结构体，其指针将会在初始化的时候返回给拥有者。目前最多只能配置一个视觉模块。
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第二个是该模块拥有的串口实例指针，用于调度其底层的发送和接收。如果要换成CAN/SPI等，替换成对应实例，并修改初始化和发送的实现即可。
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`DecodeVision()`是解析视觉接收数据的回调函数，会在串口接收回调中被调用。如果修改通信协议，只需要更改
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`get_protocol_info()`。
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