412 lines
16 KiB
C
412 lines
16 KiB
C
// app
|
|
#include "robot_def.h"
|
|
#include "robot_cmd.h"
|
|
// module
|
|
#include "remote_control.h"
|
|
#include "ins_task.h"
|
|
#include "master_process.h"
|
|
#include "message_center.h"
|
|
#include "general_def.h"
|
|
#include "dji_motor.h"
|
|
#include "auto_aim.h"
|
|
// bsp
|
|
#include "bsp_dwt.h"
|
|
#include "bsp_log.h"
|
|
#include "referee_task.h"
|
|
|
|
// 私有宏,自动将编码器转换成角度值
|
|
#define YAW_ALIGN_ANGLE (YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF_DJI) // 对齐时的角度,0-360
|
|
#define PTICH_HORIZON_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF_DJI) // pitch水平时电机的角度,0-360
|
|
|
|
/* cmd应用包含的模块实例指针和交互信息存储*/
|
|
#ifdef GIMBAL_BOARD // 对双板的兼容,条件编译
|
|
#include "can_comm.h"
|
|
static CANCommInstance *cmd_can_comm; // 双板通信
|
|
#endif
|
|
#ifdef ONE_BOARD
|
|
static Publisher_t *chassis_cmd_pub; // 底盘控制消息发布者
|
|
static Subscriber_t *chassis_feed_sub; // 底盘反馈信息订阅者
|
|
#endif // ONE_BOARD
|
|
|
|
static Chassis_Ctrl_Cmd_s chassis_cmd_send; // 发送给底盘应用的信息,包括控制信息和UI绘制相关
|
|
static Chassis_Upload_Data_s chassis_fetch_data; // 从底盘应用接收的反馈信息信息,底盘功率枪口热量与底盘运动状态等
|
|
|
|
static RC_ctrl_t *rc_data; // 遥控器数据,初始化时返回
|
|
//static Vision_Recv_s *vision_recv_data; // 视觉接收数据指针,初始化时返回
|
|
//static Vision_Send_s vision_send_data; // 视觉发送数据
|
|
static RecievePacket_t *vision_recv_data; // 视觉接收数据指针,初始化时返回
|
|
static SendPacket_t vision_send_data; // 视觉发送数据
|
|
|
|
//自瞄相关信息
|
|
static Trajectory_Type_t trajectory_cal;
|
|
static Aim_Select_Type_t aim_select;
|
|
static uint32_t no_find_cnt; // 未发现目标计数
|
|
static uint8_t auto_aim_flag = 0; //辅助瞄准标志位 视野内有目标开启 目标丢失关闭
|
|
|
|
static Publisher_t *gimbal_cmd_pub; // 云台控制消息发布者
|
|
static Subscriber_t *gimbal_feed_sub; // 云台反馈信息订阅者
|
|
static Gimbal_Ctrl_Cmd_s gimbal_cmd_send; // 传递给云台的控制信息
|
|
static Gimbal_Upload_Data_s gimbal_fetch_data; // 从云台获取的反馈信息
|
|
|
|
static Publisher_t *shoot_cmd_pub; // 发射控制消息发布者
|
|
static Subscriber_t *shoot_feed_sub; // 发射反馈信息订阅者
|
|
static Shoot_Ctrl_Cmd_s shoot_cmd_send; // 传递给发射的控制信息
|
|
static Shoot_Upload_Data_s shoot_fetch_data; // 从发射获取的反馈信息
|
|
|
|
static Robot_Status_e robot_state; // 机器人整体工作状态
|
|
|
|
static referee_info_t *referee_data; // 用于获取裁判系统的数据
|
|
|
|
void RobotCMDInit() {
|
|
rc_data = RemoteControlInit(&huart3); // 修改为对应串口,注意如果是自研板dbus协议串口需选用添加了反相器的那个
|
|
vision_recv_data = VisionInit(&huart1); // 视觉通信串口
|
|
|
|
referee_data = UITaskInit(&huart6, &ui_data); // 裁判系统初始化,会同时初始化UI
|
|
|
|
gimbal_cmd_pub = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
|
|
gimbal_feed_sub = SubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
|
|
shoot_cmd_pub = PubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s));
|
|
shoot_feed_sub = SubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s));
|
|
|
|
#ifdef ONE_BOARD // 双板兼容
|
|
chassis_cmd_pub = PubRegister("chassis_cmd", sizeof(Chassis_Ctrl_Cmd_s));
|
|
chassis_feed_sub = SubRegister("chassis_feed", sizeof(Chassis_Upload_Data_s));
|
|
#endif // ONE_BOARD
|
|
#ifdef GIMBAL_BOARD
|
|
CANComm_Init_Config_s comm_conf = {
|
|
.can_config = {
|
|
.can_handle = &hcan1,
|
|
.tx_id = 0x312,
|
|
.rx_id = 0x311,
|
|
},
|
|
.recv_data_len = sizeof(Chassis_Upload_Data_s),
|
|
.send_data_len = sizeof(Chassis_Ctrl_Cmd_s),
|
|
};
|
|
cmd_can_comm = CANCommInit(&comm_conf);
|
|
#endif // GIMBAL_BOARD
|
|
gimbal_cmd_send.pitch = 0;
|
|
|
|
robot_state = ROBOT_READY; // 启动时机器人进入工作模式,后续加入所有应用初始化完成之后再进入
|
|
}
|
|
|
|
/**
|
|
* @brief 根据gimbal app传回的当前电机角度计算和零位的误差
|
|
* 单圈绝对角度的范围是0~360,说明文档中有图示
|
|
*
|
|
*/
|
|
static void CalcOffsetAngle() {
|
|
// 别名angle提高可读性,不然太长了不好看,虽然基本不会动这个函数
|
|
static float angle;
|
|
angle = gimbal_fetch_data.yaw_motor_single_round_angle; // 从云台获取的当前yaw电机单圈角度
|
|
#if YAW_ECD_GREATER_THAN_4096 // 如果大于180度
|
|
if (angle > YAW_ALIGN_ANGLE && angle <= 180.0f + YAW_ALIGN_ANGLE)
|
|
chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
|
|
else if (angle > 180.0f + YAW_ALIGN_ANGLE)
|
|
chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE - 360.0f;
|
|
else
|
|
chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
|
|
#else // 小于180度
|
|
if (angle > YAW_ALIGN_ANGLE)
|
|
chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
|
|
else if (angle <= YAW_ALIGN_ANGLE && angle >= YAW_ALIGN_ANGLE - 180.0f)
|
|
chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
|
|
else
|
|
chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE + 360.0f;
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief 控制输入为遥控器(调试时)的模式和控制量设置
|
|
*
|
|
*/
|
|
static void update_ui_data() {
|
|
ui_data.chassis_mode = chassis_cmd_send.chassis_mode;
|
|
ui_data.gimbal_mode = gimbal_cmd_send.gimbal_mode;
|
|
ui_data.friction_mode = shoot_cmd_send.friction_mode;
|
|
ui_data.shoot_mode = shoot_cmd_send.shoot_mode;
|
|
ui_data.Chassis_Power_Data.chassis_power_mx = referee_data->GameRobotState.chassis_power_limit;
|
|
}
|
|
|
|
static void auto_aim_mode() {
|
|
trajectory_cal.v0 = 25; //弹速30
|
|
if (vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0
|
|
&& vision_recv_data->vx == 0 && vision_recv_data->vy == 0 && vision_recv_data->vz == 0) {
|
|
aim_select.suggest_fire = 0;
|
|
//未发现目标
|
|
no_find_cnt++;
|
|
|
|
if (no_find_cnt >= 2000) {
|
|
//gimbal_scan_flag = 1;
|
|
//auto_aim_flag = 0;
|
|
}
|
|
//else
|
|
//auto_aim_flag = 1;
|
|
} else {
|
|
//弹道解算
|
|
no_find_cnt = 0;
|
|
auto_aim_flag = 1;
|
|
|
|
auto_aim(&aim_select, &trajectory_cal, vision_recv_data);
|
|
|
|
VisionSetAim(aim_select.aim_point[0], aim_select.aim_point[1], aim_select.aim_point[2]);
|
|
|
|
float single_angle_yaw_now = gimbal_fetch_data.gimbal_imu_data.Yaw;
|
|
float diff_yaw = trajectory_cal.cmd_yaw * 180 / PI - single_angle_yaw_now;
|
|
float yaw_err = diff_yaw;
|
|
|
|
if(diff_yaw>180)
|
|
diff_yaw -= 360;
|
|
else if(diff_yaw<-180)
|
|
diff_yaw += 360;
|
|
|
|
gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle + diff_yaw;
|
|
|
|
gimbal_cmd_send.pitch = trajectory_cal.cmd_pitch * 180 / PI;
|
|
|
|
if (yaw_err <= 3) //3度
|
|
{
|
|
aim_select.suggest_fire = 1;
|
|
}
|
|
else
|
|
aim_select.suggest_fire = 0;
|
|
}
|
|
}
|
|
|
|
static void RemoteControlSet() {
|
|
// 控制底盘和云台运行模式,云台待添加,云台是否始终使用IMU数据?
|
|
if (switch_is_down(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[下],小陀螺
|
|
{
|
|
chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
|
|
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
|
|
|
|
} else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],,底盘跟随云台
|
|
{
|
|
|
|
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
|
|
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
|
|
}
|
|
// else if (switch_is_up(rc_data[TEMP].rc.switch_right))// 右侧开关状态[上],小陀螺
|
|
// {
|
|
// chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
|
|
// gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
|
|
// }
|
|
|
|
// 云台参数,确定云台控制数据
|
|
if (switch_is_mid(rc_data[TEMP].rc.switch_left) ||
|
|
(vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0
|
|
&& vision_recv_data->vx == 0 && vision_recv_data->vy == 0 &&
|
|
vision_recv_data->vz == 0)) // 左侧开关状态为[中],或视觉未识别到目标,纯遥控器拨杆控制
|
|
{
|
|
// 待添加,视觉会发来和目标的误差,同样将其转化为total angle的增量进行控制
|
|
// ...
|
|
aim_select.suggest_fire = 0;
|
|
gimbal_cmd_send.yaw -= 0.0025f * (float) rc_data[TEMP].rc.rocker_l_;
|
|
gimbal_cmd_send.pitch -= 0.001f * (float) rc_data[TEMP].rc.rocker_l1;
|
|
|
|
if (gimbal_cmd_send.pitch >= PITCH_MAX_ANGLE) gimbal_cmd_send.pitch = PITCH_MAX_ANGLE;
|
|
if (gimbal_cmd_send.pitch <= PITCH_MIN_ANGLE) gimbal_cmd_send.pitch = PITCH_MIN_ANGLE;
|
|
|
|
|
|
}
|
|
// 左侧开关状态为[下],视觉模式
|
|
if (switch_is_down(rc_data[TEMP].rc.switch_left)) {
|
|
auto_aim_mode();
|
|
}
|
|
// 云台软件限位
|
|
|
|
// 底盘参数,目前没有加入小陀螺(调试似乎暂时没有必要),系数需要调整，遥控器输入灵敏度
|
|
chassis_cmd_send.vx = 8.0f * (float) rc_data[TEMP].rc.rocker_r_; // _水平方向
|
|
chassis_cmd_send.vy = 8.0f * (float) rc_data[TEMP].rc.rocker_r1; // 1数值方向
|
|
|
|
// 发射参数
|
|
if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[上],弹舱打开
|
|
; // 弹舱舵机控制,待添加servo_motor模块,开启
|
|
else; // 弹舱舵机控制,待添加servo_motor模块,关闭
|
|
|
|
|
|
// 摩擦轮控制,拨轮向上打为负,向下为正
|
|
if (rc_data[TEMP].rc.dial < -100) // 向上超过100,打开摩擦轮
|
|
shoot_cmd_send.friction_mode = FRICTION_ON;
|
|
else
|
|
shoot_cmd_send.friction_mode = FRICTION_OFF;
|
|
|
|
// 拨弹控制,遥控器固定为一种拨弹模式,可自行选择
|
|
if (rc_data[TEMP].rc.dial < -500)//
|
|
shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
|
|
else
|
|
shoot_cmd_send.load_mode = LOAD_STOP;
|
|
|
|
// 视觉控制发射
|
|
// if (aim_select.suggest_fire == 1) {
|
|
// //shoot_cmd_send.friction_mode = FRICTION_ON;
|
|
// //shoot_cmd_send.shoot_mode = SHOOT_ON;
|
|
// shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
|
|
// } else {
|
|
// //shoot_cmd_send.friction_mode = FRICTION_OFF;
|
|
// shoot_cmd_send.load_mode = LOAD_STOP;
|
|
// }
|
|
|
|
// 射频控制,固定每秒1发,后续可以根据左侧拨轮的值大小切换射频,
|
|
shoot_cmd_send.shoot_rate = 8;
|
|
}
|
|
|
|
|
|
/**
|
|
* @brief 输入为键鼠时模式和控制量设置
|
|
*
|
|
*/
|
|
static void MouseKeySet() {
|
|
chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].w * 3000 - rc_data[TEMP].key[KEY_PRESS].s * 3000; // 系数待测
|
|
chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 3000 - rc_data[TEMP].key[KEY_PRESS].d * 3000;
|
|
|
|
gimbal_cmd_send.yaw -= (float) rc_data[TEMP].mouse.x / 660 * 4; // 系数待测
|
|
gimbal_cmd_send.pitch -= (float) rc_data[TEMP].mouse.y / 660 * 6;
|
|
|
|
if (gimbal_cmd_send.pitch >= PITCH_MAX_ANGLE) gimbal_cmd_send.pitch = PITCH_MAX_ANGLE;
|
|
if (gimbal_cmd_send.pitch <= PITCH_MIN_ANGLE) gimbal_cmd_send.pitch = PITCH_MIN_ANGLE;
|
|
|
|
|
|
if (rc_data[TEMP].mouse.press_l && (!rc_data[TEMP].mouse.press_r)) // 左键发射模式
|
|
{
|
|
if (shoot_cmd_send.friction_mode == FRICTION_ON) {
|
|
shoot_cmd_send.shoot_mode = SHOOT_ON;
|
|
shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
|
|
}
|
|
} else if ((!rc_data[TEMP].mouse.press_l) && (!rc_data[TEMP].mouse.press_r)) {
|
|
shoot_cmd_send.load_mode = LOAD_STOP;
|
|
|
|
}
|
|
if (rc_data[TEMP].mouse.press_r) // 右键自瞄模式
|
|
{
|
|
|
|
if ((vision_recv_data->x == 0 && vision_recv_data->y == 0 && vision_recv_data->z == 0
|
|
&& vision_recv_data->vx == 0 && vision_recv_data->vy == 0 &&
|
|
vision_recv_data->vz == 0)) {
|
|
shoot_cmd_send.load_mode = LOAD_STOP;
|
|
} else {
|
|
auto_aim_mode();
|
|
if (aim_select.suggest_fire == 1 && rc_data[TEMP].mouse.press_l &&
|
|
shoot_cmd_send.friction_mode == FRICTION_ON) {
|
|
shoot_cmd_send.shoot_mode = SHOOT_ON;
|
|
shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
|
|
} else {
|
|
shoot_cmd_send.load_mode = LOAD_STOP;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_R] % 2) // R键手动刷新UI
|
|
{
|
|
case 1:
|
|
MyUIInit();
|
|
rc_data[TEMP].key_count[KEY_PRESS][Key_R]++;
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_F] % 2) // F键开关摩擦轮
|
|
{
|
|
case 0:
|
|
shoot_cmd_send.friction_mode = FRICTION_OFF;
|
|
break;
|
|
default:
|
|
shoot_cmd_send.shoot_mode = SHOOT_ON;
|
|
shoot_cmd_send.friction_mode = FRICTION_ON;
|
|
break;
|
|
}
|
|
switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
|
|
{
|
|
case 0:
|
|
chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
|
|
gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
|
|
break;
|
|
default:
|
|
chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
|
|
gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
|
|
break;
|
|
}
|
|
|
|
switch (rc_data[TEMP].key[KEY_PRESS].shift) // 待添加 按shift允许超功率 消耗缓冲能量
|
|
{
|
|
case 1:
|
|
|
|
break;
|
|
|
|
default:
|
|
|
|
break;
|
|
}
|
|
|
|
shoot_cmd_send.shoot_rate = 8;
|
|
}
|
|
|
|
/**
|
|
* @brief 紧急停止,包括遥控器左上侧拨轮打满/重要模块离线/双板通信失效等
|
|
* 停止的阈值'300'待修改成合适的值,或改为开关控制.
|
|
*
|
|
* @todo 后续修改为遥控器离线则电机停止(关闭遥控器急停),通过给遥控器模块添加daemon实现
|
|
*
|
|
*/
|
|
static void EmergencyHandler() {
|
|
// 拨轮的向下拨超过一半进入急停模式.注意向打时下拨轮是正
|
|
if (rc_data[TEMP].rc.dial > 300 || robot_state == ROBOT_STOP) // 还需添加重要应用和模块离线的判断
|
|
{
|
|
robot_state = ROBOT_STOP;
|
|
gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
|
|
chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
|
|
shoot_cmd_send.shoot_mode = SHOOT_OFF;
|
|
shoot_cmd_send.friction_mode = FRICTION_OFF;
|
|
shoot_cmd_send.load_mode = LOAD_STOP;
|
|
LOGERROR("[CMD] emergency stop!");
|
|
}
|
|
// 遥控器右侧开关为[上],恢复正常运行
|
|
if (switch_is_up(rc_data[TEMP].rc.switch_right)) {
|
|
robot_state = ROBOT_READY;
|
|
shoot_cmd_send.shoot_mode = SHOOT_ON;
|
|
LOGINFO("[CMD] reinstate, robot ready");
|
|
}
|
|
}
|
|
|
|
/* 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率) */
|
|
void RobotCMDTask() {
|
|
// 从其他应用获取回传数据
|
|
#ifdef ONE_BOARD
|
|
SubGetMessage(chassis_feed_sub, (void *) &chassis_fetch_data);
|
|
#endif // ONE_BOARD
|
|
#ifdef GIMBAL_BOARD
|
|
chassis_fetch_data = *(Chassis_Upload_Data_s *)CANCommGet(cmd_can_comm);
|
|
#endif // GIMBAL_BOARD
|
|
SubGetMessage(shoot_feed_sub, &shoot_fetch_data);
|
|
SubGetMessage(gimbal_feed_sub, &gimbal_fetch_data);
|
|
update_ui_data();
|
|
// 根据gimbal的反馈值计算云台和底盘正方向的夹角,不需要传参,通过static私有变量完成
|
|
CalcOffsetAngle();
|
|
// 根据遥控器左侧开关,确定当前使用的控制模式为遥控器调试还是键鼠
|
|
if (switch_is_down(rc_data[TEMP].rc.switch_left) ||
|
|
switch_is_mid(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[下],[中],遥控器控制
|
|
RemoteControlSet();
|
|
else if (switch_is_up(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[上],键盘控制
|
|
MouseKeySet();
|
|
|
|
EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况
|
|
|
|
// 设置视觉发送数据,还需增加加速度和角速度数据
|
|
VisionSetFlag(!referee_data->referee_id.Robot_Color);
|
|
|
|
//根据裁判系统反馈确定底盘功率上限
|
|
chassis_cmd_send.chassis_power_limit = referee_data->GameRobotState.chassis_power_limit;
|
|
|
|
// 推送消息,双板通信,视觉通信等
|
|
// 其他应用所需的控制数据在remotecontrolsetmode和mousekeysetmode中完成设置
|
|
#ifdef ONE_BOARD
|
|
PubPushMessage(chassis_cmd_pub, (void *) &chassis_cmd_send);
|
|
#endif // ONE_BOARD
|
|
#ifdef GIMBAL_BOARD
|
|
CANCommSend(cmd_can_comm, (void *)&chassis_cmd_send);
|
|
#endif // GIMBAL_BOARD
|
|
PubPushMessage(shoot_cmd_pub, (void *) &shoot_cmd_send);
|
|
PubPushMessage(gimbal_cmd_pub, (void *) &gimbal_cmd_send);
|
|
VisionSend(&vision_send_data);
|
|
}
|