sentry_left/application/cmd/robot_cmd.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 "DM4310.h"
#include "auto_aim.h"
#include "referee_task.h"
// bsp
#include "bsp_dwt.h"
#include "bsp_log.h"

// 私有宏,自动将编码器转换成角度值
#define YAW_ALIGN_ANGLE 245.0f //(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

#define PITCH_SCAN 20.0f //扫描阶段PITCH固定角度 寻找前哨站

#define SHOOT_RATE 15.0f //射频
#define MIN_SHOOT_RATE 5.0f //热量过高降低射频射频

/* 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

#include "can_comm.h"

static CANCommInstance *cmd_can_comm; //哨兵左右云台 双板通信

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 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
static Referee_Interactive_info_t ui_data; // UI数据，将底盘中的数据传入此结构体的对应变量中，UI会自动检测是否变化，对应显示UI

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

    CANComm_Init_Config_s comm_conf = {
            .can_config = {
                    .can_handle = &hcan1,
                    .tx_id = 0x312,
                    .rx_id = 0x311,
            },
            .recv_data_len = sizeof(Gimbal_Upload_Data_s),
            .send_data_len = sizeof(Gimbal_Ctrl_Cmd_s),
    };
    cmd_can_comm = CANCommInit(&comm_conf);

    gimbal_cmd_send.pitch = PITCH_SCAN;
    gimbal_cmd_send.yaw = 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

    //如果大yaw轴电机不在线  不计算底盘跟随
    if (gimbal_fetch_data.big_yaw_online == 0) {
        chassis_cmd_send.offset_angle = 0;
        return;
    }
    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 0                              // 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 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;
    }


    // 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
        // ...
        gimbal_cmd_send.yaw -= 0.0005f * (float) rc_data[TEMP].rc.rocker_l_;
        gimbal_cmd_send.big_yaw -= 0.0005f * (float) rc_data[TEMP].rc.rocker_l_;
        gimbal_cmd_send.pitch -= 0.0005f * (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)) {
        gimbal_cmd_send.control_mode = TEST_CONTROL;
        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 >= 200) {
                //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]);

            gimbal_cmd_send.yaw = trajectory_cal.cmd_yaw * 180 / PI;

            gimbal_cmd_send.pitch = trajectory_cal.cmd_pitch * 180 / PI;
            float yaw_err = fabsf(gimbal_cmd_send.yaw - gimbal_fetch_data.gimbal_imu_data.Yaw);

            if (yaw_err <= 3) //3度
                aim_select.suggest_fire = 1;
            else
                aim_select.suggest_fire = 0;
        }
    }


    // 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
    chassis_cmd_send.vx = 0.001f * (float) rc_data[TEMP].rc.rocker_r1; // _水平方向
    chassis_cmd_send.vy = -0.001f * (float) rc_data[TEMP].rc.rocker_r_; // 1数值方向
    //chassis_cmd_send.wz = -0.001f * (float)rc_data[TEMP].rc.rocker_l_; // 1数值方向
//    if (vision_recv_data->nav_vx != 0 || vision_recv_data->nav_vy != 0 || vision_recv_data->nav_wz != 0) {
//        chassis_cmd_send.vx = vision_recv_data->nav_vx;
//        chassis_cmd_send.vy = vision_recv_data->nav_vy;
//        chassis_cmd_send.wz = vision_recv_data->nav_wz;
//
//    }

    // 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;
        //gimbal_cmd_send.friction_mode = FRICTION_ON;
    else
        shoot_cmd_send.friction_mode = FRICTION_OFF;
    //gimbal_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;
        //gimbal_cmd_send.load_mode = LOAD_BURSTFIRE;
    else
        shoot_cmd_send.load_mode = LOAD_STOP;
    //gimbal_cmd_send.load_mode = LOAD_STOP;

    gimbal_cmd_send.shoot_mode = shoot_cmd_send.shoot_mode;//遥控发射指令同步发送给右边
    gimbal_cmd_send.load_mode = shoot_cmd_send.load_mode;//遥控发射指令同步发送给右边
    gimbal_cmd_send.friction_mode = shoot_cmd_send.friction_mode;//遥控发射指令同步发送给右边

    // 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 = SHOOT_RATE;
    //检测到卡弹  拨弹盘反转
    if (shoot_fetch_data.stalled_flag == 1)
        shoot_cmd_send.load_mode = LOAD_REVERSE;
}

/**
 * @brief 自动模式时模式和控制量设置
 *
 */

static uint8_t sentry_state;

static void AutoControlSet() {
    uint16_t myOutpost = 0,theirOutpost = 0;

    if(referee_data->referee_id.Robot_Color == Robot_Blue)
    {
        myOutpost = referee_data->GameRobotHP.blue_outpost_HP;
        theirOutpost = referee_data->GameRobotHP.red_outpost_HP;
    }
    else if(referee_data->referee_id.Robot_Color == Robot_Red)
    {
        myOutpost = referee_data->GameRobotHP.red_outpost_HP;
        theirOutpost = referee_data->GameRobotHP.blue_outpost_HP;
    }

    if(myOutpost > 0)
        chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
    else
        chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;

    chassis_cmd_send.vx = vision_recv_data->nav_vx;
    chassis_cmd_send.vy = vision_recv_data->nav_vy;
    //云台保持陀螺仪控制
    gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;


    static int8_t gimbal_scan_flag = 1;
    static int8_t yaw_dir = 1;
    static int8_t pitch_dir = 1;
    //trajectory_cal.v0 = 30; //弹速30

    //小云台扫描
    if (gimbal_scan_flag == 1) {
        if(sentry_state != 1){ //为一时进攻前哨站
            gimbal_cmd_send.pitch = 0;
        }else{
            gimbal_cmd_send.pitch = PITCH_SCAN;
        }


        if (yaw_dir == 1) gimbal_cmd_send.yaw += 0.06f;
        else gimbal_cmd_send.yaw -= 0.06f;
        if (gimbal_fetch_data.mini_yaw_encode_angle <= YAW_MIN_ENCODE_ANGLE + 2.0f) yaw_dir = 1;
        if (gimbal_fetch_data.mini_yaw_encode_angle >= YAW_MAX_ENCODE_ANGLE - 2.0f) yaw_dir = -1;

        shoot_cmd_send.load_mode = LOAD_STOP;
    }

    trajectory_cal.v0 = 28; //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 >= 200) {
            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 <= 5) //3度
        {
            aim_select.suggest_fire = 1;
            shoot_cmd_send.shoot_mode = SHOOT_ON;
            shoot_cmd_send.shoot_rate = SHOOT_RATE;
            shoot_cmd_send.load_mode = LOAD_BURSTFIRE;
        } else {
            aim_select.suggest_fire = 0;
            //shoot_cmd_send.shoot_mode = SHOOT_OFF;
            shoot_cmd_send.load_mode = LOAD_STOP;
        }

        if (gimbal_fetch_data.mini_yaw_encode_angle <= YAW_MIN_ENCODE_ANGLE + 2.0f)
            gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle;
        if (gimbal_fetch_data.mini_yaw_encode_angle >= YAW_MAX_ENCODE_ANGLE - 2.0f)
            gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle;

    }
    // 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;
    //检测到卡弹  拨弹盘反转

    shoot_cmd_send.friction_mode = FRICTION_ON;

    if (shoot_fetch_data.stalled_flag == 1)
        shoot_cmd_send.load_mode = LOAD_REVERSE;

}

/**
 * @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;

        gimbal_cmd_send.control_mode = ZERO_FORCE;
        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;
//        gimbal_cmd_send.yaw = gimbal_fetch_data.gimbal_imu_data.YawTotalAngle;
//        gimbal_cmd_send.big_yaw = gimbal_cmd_send.yaw;
        gimbal_cmd_send.yaw = gimbal_fetch_data.big_yaw_angle;
        gimbal_cmd_send.big_yaw = gimbal_fetch_data.big_yaw_angle;
        LOGINFO("[CMD] reinstate, robot ready");
    }
}

uint8_t sentry_behave();
uint8_t sentry_behave_RMUC();

/* 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率) */
static uint8_t cool_down;

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);

    // 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
    static control_mode_e last_gimbal_mode = 0;
    if (robot_state != ROBOT_STOP && rc_data[TEMP].rc.dial < 300) {
        if (switch_is_up(rc_data[TEMP].rc.switch_left)) // 遥控器左侧开关状态为[上],自动模式
        {
            gimbal_cmd_send.control_mode = AUTO_CONTROL;
            AutoControlSet();
        } else {
            if (last_gimbal_mode == AUTO_CONTROL) {
                gimbal_cmd_send.yaw = gimbal_fetch_data.big_yaw_angle;
                gimbal_cmd_send.pitch = 0;
            }
            gimbal_cmd_send.control_mode = RC_CONTROL;
            RemoteControlSet();
        }
    }
    EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况

    gimbal_cmd_send.enemy_color = !referee_data->referee_id.Robot_Color;
    gimbal_cmd_send.rest_heat = referee_data->PowerHeatData.shooter_17mm_2_barrel_heat;


    last_gimbal_mode = gimbal_cmd_send.control_mode;

    //热量控制
    if (referee_data->PowerHeatData.shooter_17mm_1_barrel_heat > 350)
        shoot_cmd_send.load_mode = LOAD_STOP;

    if (referee_data->PowerHeatData.shooter_17mm_1_barrel_heat > 350){
        cool_down = 1;  //进入冷却状态
    }else if(referee_data->PowerHeatData.shooter_17mm_1_barrel_heat < 100){
        cool_down = 0;  //退出冷却状态
    }
    if(cool_down){
        shoot_cmd_send.shoot_rate = MIN_SHOOT_RATE;
    }



//    chassis_feedback_data.enemy_color = !referee_data->referee_id.Robot_Color;
//    // 当前只做了17mm热量的数据获取,后续根据robot_def中的宏切换双枪管和英雄42mm的情况
//    //chassis_feedback_data.bullet_speed = referee_data->GameRobotState.shooter_id1_17mm_speed_limit;
//    chassis_feedback_data.rest_heat = referee_data->PowerHeatData.shooter_heat0;
//    chassis_feedback_data.game_progress = referee_data->GameState.game_progress;
//    chassis_feedback_data.remain_HP = referee_data->GameRobotState.current_HP;
    // 设置视觉发送数据,还需增加加速度和角速度数据
    // VisionSetFlag(chassis_fetch_data.enemy_color,,chassis_fetch_data.bullet_speed)




//    if (referee_data->GameState.game_progress == 4) {
//        if (referee_data->GameState.stage_remain_time >= (300 - 60))
//            sentry_state = 1;//前一分钟
//        else if (referee_data->GameState.stage_remain_time <= 60)
//            sentry_state = 3;//后一分钟
//        else
//            sentry_state = 2;//中间阶段
//    }
//
//    gimbal_cmd_send.game_state = sentry_state;
    //对抗赛版本决策
    sentry_state = sentry_behave_RMUC();
    static float target_x,target_y;
    if(referee_data->map_command.cmd_keyboard == 'G')
    {
        //蓝方启动区中心为原点   28 - 6*2
        target_x = -(referee_data->map_command.target_position_x - 22.10f); // 参考原点为红方启动区中心  //x正方向为蓝方基地方向
        target_y = -(referee_data->map_command.target_position_y - 8.10f) + 1.6f; //y正方向为红方飞镖闸门侧 //ros 为右手系
    }
    VisionSetFlag(!referee_data->referee_id.Robot_Color, sentry_state, target_x, target_y);
    // 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

    CANCommSend(cmd_can_comm, (void *) &gimbal_cmd_send); //哨兵左右云台双板通信
    PubPushMessage(shoot_cmd_pub, (void *) &shoot_cmd_send);
    PubPushMessage(gimbal_cmd_pub, (void *) &gimbal_cmd_send);
//    VisionSend(&vision_send_data);
}

uint8_t sentry_behave() {
    static uint8_t behave_flag = 0;
    static uint8_t last_behave_flag = 0;
    static uint8_t recover_cnt = 0;
    // 比赛阶段  0准备阶段  1前1分钟  2中间阶段  3后一分钟 4比赛结束  9补给区回血  10保留（无响应）
    // 0 未开始 1 进攻点1 2 进攻点2 3 不动 4 回初始点 9补血
    if (referee_data->GameState.game_progress < 4)
        behave_flag = 0;
    else if (referee_data->GameState.game_progress == 4) {
        if (referee_data->GameState.stage_remain_time >= (420 - 60))
            behave_flag = 1;//前一分钟
        else if (referee_data->GameState.stage_remain_time <= 60)
            behave_flag = 3;//后一分钟
        else
            behave_flag = 2;//中间阶段
    } else if (referee_data->GameState.game_progress == 5)
        behave_flag = 4;

    if (referee_data->GameRobotState.current_HP < 200 && referee_data->GameState.stage_remain_time >= 60) {
        behave_flag = 9;
    }


    static uint16_t last_HP = 600;
    static uint16_t recover_start_T = 0;

    if (behave_flag == 9) //回去回血了
    {
        if (last_behave_flag != 9) {
            recover_start_T = referee_data->GameState.stage_remain_time;
            recover_cnt++;
        }

        if ((referee_data->GameState.stage_remain_time - recover_start_T) > 10)
            behave_flag = 10;//随便给一个值
    }

    last_behave_flag = behave_flag;
    return behave_flag;
}

uint8_t sentry_behave_RMUC()
{
    uint8_t behave_flag = 0;
    uint16_t myOutpost,theirOutpost;
    if(referee_data->referee_id.Robot_Color == Robot_Blue)
    {
        myOutpost = referee_data->GameRobotHP.blue_outpost_HP;
        theirOutpost = referee_data->GameRobotHP.red_outpost_HP;
    }
    else if(referee_data->referee_id.Robot_Color == Robot_Red)
    {
        myOutpost = referee_data->GameRobotHP.red_outpost_HP;
        theirOutpost = referee_data->GameRobotHP.blue_outpost_HP;
    }
    uint16_t allowance = referee_data->projectile_allowance.projectile_allowance_17mm;
    // 准备阶段
    if (referee_data->GameState.game_progress < 4)
        behave_flag = 0;

    else if(referee_data->GameState.game_progress == 4)
    {
        if( theirOutpost>0 && myOutpost>400)
            behave_flag = 1; //打前哨站
        if( theirOutpost<=0 || myOutpost<=400 || allowance <= 0)
            behave_flag = 2; //回巡逻站
//        if(referee_data->GameRobotState.current_HP <= 100)
//            behave_flag = 9; //回补给区
    }

    // 比赛结束
    else if (referee_data->GameState.game_progress == 5)
        behave_flag = 4;



    return behave_flag;
}