64 lines
2.1 KiB
C
64 lines
2.1 KiB
C
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#include "robot_def.h"
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#include "robot_cmd.h"
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#include "remote_control.h"
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#include "ins_task.h"
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#include "master_process.h"
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#include "message_center.h"
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/* gimbal_cmd应用包含的模块实例指针和交互信息存储*/
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#ifndef ONE_BOARD
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#include "can_comm.h"
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static CANCommInstance *chasiss_can_comm; // 双板通信
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#endif // !ONE_BOARD
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static RC_ctrl_t *remote_control_data; // 遥控器数据
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static Vision_Recv_s *vision_recv_data; // 视觉接收数据
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static Vision_Send_s *vision_send_data; // 视觉发送数据
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static Publisher_t *gimbal_cmd_pub;
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static Gimbal_Ctrl_Cmd_s gimbal_cmd_send; // 传递给云台的控制信息
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static Subscriber_t *gimbal_cmd_feed_sub;
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static Gimbal_Upload_Data_s gimbal_fetch_data; // 从云台获取的反馈信息
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static Publisher_t *shoot_cmd_pub;
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static Shoot_Ctrl_Cmd_s shoot_cmd_send; // 传递给发射的控制信息
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static Subscriber_t *shoot_cmd_feed_sub;
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static Shoot_Upload_Data_s shoot_fetch_data; // 从发射获取的反馈信息
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static Publisher_t *chassis_cmd_pub;
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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
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static Subscriber_t *chassis_cmd_feed_sub;
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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
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static void CalcOffsetAngle()
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{
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}
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static void SetRobotMode()
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{
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}
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static void SetCtrlData()
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{
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}
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static void SetCtrlMessage()
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{
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}
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void GimbalCMDInit()
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{
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remote_control_data = RC_init(&huart3);
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vision_recv_data = VisionInit(&huart1);
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gimbal_cmd_pub = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
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gimbal_cmd_feed_sub = SubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
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shoot_cmd_pub = PubRegister("shoot_cmd", sizeof(Shoot_Ctrl_Cmd_s));
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shoot_cmd_feed_sub = SubRegister("shoot_feed", sizeof(Shoot_Upload_Data_s));
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chassis_cmd_pub = PubRegister("gimbal2chassis", sizeof(Chassis_Ctrl_Cmd_s));
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chassis_cmd_feed_sub = SubRegister("chassis2gimbal", sizeof(Chassis_Upload_Data_s));
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}
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void GimbalCMDTask()
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{
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}
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