96 lines
3.9 KiB
C
96 lines
3.9 KiB
C
#include <chassis_board_cmd.h>
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#include <pub_sub.h>
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void chassis_board_com_lost(void* obj) {
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//暂时没有效用
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}
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chassis_board_cmd::chassis_board_cmd() : sender([&] {
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can_send<chassis_board_send>::can_send_config config;
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config.device = &BSP_CanTypeDef::can_devices[1];
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config.can_identifier = 0x003;
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return config;
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}()),
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recver([&] {
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can_recv<gimbal_board_send>::can_recv_config config;
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config.device = &BSP_CanTypeDef::can_devices[1];
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config.can_identifier = 0x004;
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config.lost_callback = chassis_board_com_lost;
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return config;
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}()),
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board_buzzer([&] {
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buzzer::buzzer_config config;
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//底盘音乐2
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config.music = &buzzer::buzzer_musics[2];
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config.pwm_device = &BSP_PWM_Typedef::pwm_ports[PWM_BUZZER_PORT];
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return config;
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}()) {
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robot_mode = robot_stop;
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robot_ready = 0;
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chassis_upload_data = NULL;
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board_recv = recver.recv_data;
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memset(&chassis_control, 0, sizeof(cmd_chassis));
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memset(&board_send, 0, sizeof(chassis_board_send));
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}
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void chassis_board_cmd::update() {
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//初始化为RUN
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robot_mode = robot_run;
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//判断板间通信在线
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if (!recver.is_online()) {
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robot_mode = robot_stop; //板间通信掉线，机器人停止
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}
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//接收底盘回传信息，判断底盘IMU在线且初始化完成
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static subscriber<upload_chassis*> chassis_upload_suber("upload_chassis");
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if (!chassis_upload_suber.empty()) {
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chassis_upload_data = chassis_upload_suber.pop();
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if (chassis_upload_data->chassis_status == module_lost) { //底盘模块掉线
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robot_mode = robot_stop;
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}
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}
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if (chassis_upload_data == NULL) { //底盘模块初始化尚未完成，第一次回传数据未收到
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robot_mode = robot_stop;
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} else {
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board_send.gyro_yaw = chassis_upload_data->chassis_imu->euler[2];
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}
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//判断裁判系统是否在线，并处理掉线情况（未实现）
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board_send.heat_limit_remain = 30; //读取裁判系统
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board_send.bullet_speed_max = 30; //读取裁判系统
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//判断除了云台板stop之外，都已经上线，说明底盘板初始化完成，进入ready状态
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if (robot_mode == robot_run) {
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if (!robot_ready) {
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robot_ready = 1;
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board_buzzer.start(); //播放音乐
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}
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board_send.chassis_board_status = module_run;
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} else {
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board_send.chassis_board_status = module_lost;
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}
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//云台板进入stop模式
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if (board_recv->robot_mode == robot_stop) {
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robot_mode = robot_stop;
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}
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if (robot_mode == robot_stop) {
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// STOP模式
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chassis_control.mode = chassis_stop;
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} else {
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// RUN模式
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// 底盘控制指令
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chassis_control.mode = board_recv->chassis_mode;
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chassis_control.speed = board_recv->chassis_speed;
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chassis_control.power.power_buffer = 0; //应该由裁判系统获得，未实现
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chassis_control.power.power_limit = 50; //应该由裁判系统获得，未实现
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}
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//发布指令
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static publisher<cmd_chassis*> chassis_puber("cmd_chassis");
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chassis_puber.push(&chassis_control);
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//板间通信
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sender.send(board_send);
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} |