355 lines
15 KiB
C
355 lines
15 KiB
C
// app
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#include "robot_def.h"
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#include "robot_cmd.h"
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// module
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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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#include "general_def.h"
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#include "dji_motor.h"
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#include "auto_aim.h"
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#include "super_cap.h"
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#include "user_lib.h"
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#include "air_pump.h"
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// bsp
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#include "bsp_dwt.h"
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#include "bsp_log.h"
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#include "referee_task.h"
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#include "referee_VT.h"
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// 私有宏,自动将编码器转换成角度值
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#define YAW_ALIGN_ANGLE (YAW_CHASSIS_ALIGN_ECD * ECD_ANGLE_COEF_DJI) // 对齐时的角度,0-360
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#define PTICH_HORIZON_ANGLE (PITCH_HORIZON_ECD * ECD_ANGLE_COEF_DJI) // pitch水平时电机的角度,0-360
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/* cmd应用包含的模块实例指针和交互信息存储*/
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#ifdef GIMBAL_BOARD // 对双板的兼容,条件编译
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#include "can_comm.h"
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static CANCommInstance *cmd_can_comm; // 双板通信
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#endif
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#ifdef ONE_BOARD
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static Publisher_t *chassis_cmd_pub; // 底盘控制消息发布者
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static Subscriber_t *chassis_feed_sub; // 底盘反馈信息订阅者
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#endif // ONE_BOARD
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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 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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extern SuperCapInstance *cap; // 超级电容
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static RC_ctrl_t *rc_data; // 遥控器数据,初始化时返回
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//static Vision_Recv_s *vision_recv_data; // 视觉接收数据指针,初始化时返回
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//static Vision_Send_s vision_send_data; // 视觉发送数据
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static RecievePacket_t *vision_recv_data; // 视觉接收数据指针,初始化时返回
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static SendPacket_t vision_send_data; // 视觉发送数据
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PumpInstance *air_pump; //吸盘
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//自瞄相关信息
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static Trajectory_Type_t trajectory_cal;
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static Aim_Select_Type_t aim_select;
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static uint32_t no_find_cnt; // 未发现目标计数
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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
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static Publisher_t *gimbal_cmd_pub; // 云台控制消息发布者
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static Subscriber_t *gimbal_feed_sub; // 云台反馈信息订阅者
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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 Gimbal_Upload_Data_s gimbal_fetch_data; // 从云台获取的反馈信息
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static Publisher_t *to_stretch_cmd_pub; // 伸缩控制消息发布者
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static Subscriber_t *to_stretch_feed_sub; // 伸缩反馈信息订阅者
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static To_stretch_Ctrl_Cmd_s to_stretch_cmd_send; // 传递给伸缩的控制信息
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static To_stretch_Upload_Data_s to_stretch_fetch_data; // 从发射伸缩的反馈信息
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static Robot_Status_e robot_state; // 机器人整体工作状态
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static referee_info_t *referee_data; // 用于获取裁判系统的数据
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VT_info_t *referee_VT_data; //图传链路数据
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custom_control_t CustomControl; //自定义控制器数据
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void RobotCMDInit() {
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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
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vision_recv_data = VisionInit(&huart1); // 视觉通信串口
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referee_data = UITaskInit(&huart6, &ui_data); // 裁判系统初始化,会同时初始化UI
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referee_VT_data = VTInit(&huart1);
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air_pump = PumpInit(&htim1,TIM_CHANNEL_1);
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gimbal_cmd_pub = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
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gimbal_feed_sub = SubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
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to_stretch_cmd_pub = PubRegister("to_stretch_cmd", sizeof(To_stretch_Ctrl_Cmd_s));
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to_stretch_feed_sub = SubRegister("to_stretch_feed", sizeof(To_stretch_Upload_Data_s));
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#ifdef ONE_BOARD // 双板兼容
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chassis_cmd_pub = PubRegister("chassis_cmd", sizeof(Chassis_Ctrl_Cmd_s));
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chassis_feed_sub = SubRegister("chassis_feed", sizeof(Chassis_Upload_Data_s));
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#endif // ONE_BOARD
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#ifdef GIMBAL_BOARD
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CANComm_Init_Config_s comm_conf = {
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.can_config = {
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.can_handle = &hcan1,
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.tx_id = 0x312,
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.rx_id = 0x311,
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},
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.recv_data_len = sizeof(Chassis_Upload_Data_s),
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.send_data_len = sizeof(Chassis_Ctrl_Cmd_s),
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};
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cmd_can_comm = CANCommInit(&comm_conf);
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#endif // GIMBAL_BOARD
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gimbal_cmd_send.pitch = 40;
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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
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}
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/**
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* @brief 根据gimbal app传回的当前电机角度计算和零位的误差
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* 单圈绝对角度的范围是0~360,说明文档中有图示
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*
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*/
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static void CalcOffsetAngle() {
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// 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
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static float angle;
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angle = gimbal_fetch_data.yaw_motor_single_round_angle; // 从云台获取的当前yaw电机单圈角度
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#if YAW_ECD_GREATER_THAN_4096 // 如果大于180度
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if (angle > YAW_ALIGN_ANGLE && angle <= 180.0f + YAW_ALIGN_ANGLE)
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chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
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else if (angle > 180.0f + YAW_ALIGN_ANGLE)
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chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE - 360.0f;
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else
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chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
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#else // 小于180度
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if (angle > YAW_ALIGN_ANGLE)
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chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
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else if (angle <= YAW_ALIGN_ANGLE && angle >= YAW_ALIGN_ANGLE - 180.0f)
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chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE;
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else
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chassis_cmd_send.offset_angle = angle - YAW_ALIGN_ANGLE + 360.0f;
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#endif
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}
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static void death_check()
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{
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if(referee_data->GameRobotState.remain_HP)
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{
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gimbal_cmd_send.MotorEnableFlag=5;
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}
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}
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/**
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* @brief 控制输入为遥控器(调试时)的模式和控制量设置
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*
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*/
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static void update_ui_data() {
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ui_data.gimbal_mode = gimbal_cmd_send.gimbal_mode;
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ui_data.chassis_mode = chassis_cmd_send.chassis_mode;
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ui_data.to_stretch_mode = to_stretch_cmd_send.to_stretch_mode;
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ui_data.xyz[1] = to_stretch_fetch_data.protract_x;
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ui_data.xyz[2] = to_stretch_fetch_data.lift_z;
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}
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// 出招表
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static void RemoteControlSet() {
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// 吸盘气泵控制,拨轮向上打为负,向下为正
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if (rc_data[TEMP].rc.dial < -300) // 向上超过300,打开气泵
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{
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Pump_open(air_pump);
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ui_data.pump_mode = PUMP_OPEN;
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}
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else
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{
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Pump_stop(air_pump);
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ui_data.pump_mode = PUMP_STOP;
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}
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if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[上],底盘运动,伸缩保持不动
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{
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chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
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to_stretch_cmd_send.to_stretch_mode = TO_STRETCH_KEEP;
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gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
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// 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
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chassis_cmd_send.vx = 15.0f * (float) rc_data[TEMP].rc.rocker_r_; // _水平方向
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chassis_cmd_send.vy = 15.0f * (float) rc_data[TEMP].rc.rocker_r1; // 1数值方向
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chassis_cmd_send.wz = -1.0f * (float) rc_data[TEMP].rc.rocker_l_; //旋转
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to_stretch_cmd_send.tc += 0.0025F * (float) rc_data[TEMP].rc.rocker_l1;//图传
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// 图传限位
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if (to_stretch_cmd_send.tc >= TUCHUAN_MAX_ANGLE) to_stretch_cmd_send.tc = TUCHUAN_MAX_ANGLE;
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if (to_stretch_cmd_send.tc <= TUCHUAN_MAX_ANGLE) to_stretch_cmd_send.tc = TUCHUAN_MIN_ANGLE;
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} else if (switch_is_mid(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[中],底盘平移，伸缩运动
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{
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chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
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to_stretch_cmd_send.to_stretch_mode = TO_STRETCH_MODE;
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gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
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chassis_cmd_send.vx = 15.0f * (float) rc_data[TEMP].rc.rocker_r_; // _水平方向
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chassis_cmd_send.vy = 15.0f * (float) rc_data[TEMP].rc.rocker_r1; // 1数值方向
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to_stretch_cmd_send.ud += 0.0025F * (float) rc_data[TEMP].rc.rocker_l_;//抬升
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to_stretch_cmd_send.fb += 0.0025F * (float) rc_data[TEMP].rc.rocker_l1;//前伸
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//伸缩限位待添加
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// if (gimbal_cmd_send.pitch >= PITCH_MAX_ANGLE) gimbal_cmd_send.pitch = PITCH_MAX_ANGLE;
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// if (gimbal_cmd_send.pitch <= PITCH_MIN_ANGLE) gimbal_cmd_send.pitch = PITCH_MIN_ANGLE;
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}
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// 右侧开关状态为[下],机械臂
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if (switch_is_down(rc_data[TEMP].rc.switch_right)) {
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// 左侧开关状态为[下],前两轴
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if(switch_is_down(rc_data[TEMP].rc.switch_left))
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{
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gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
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gimbal_cmd_send.pitch += 0.001f * (float) rc_data[TEMP].rc.rocker_r1;
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gimbal_cmd_send.yaw += 0.001f * (float) rc_data[TEMP].rc.rocker_r_;
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}
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// 左侧开关状态为[中],后三轴
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if(switch_is_mid(rc_data[TEMP].rc.switch_left))
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{
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gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
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gimbal_cmd_send.roll += 0.001f * (float) rc_data[TEMP].rc.rocker_l_;
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gimbal_cmd_send.diff_pitch += 0.001f * (float) rc_data[TEMP].rc.rocker_r1;
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gimbal_cmd_send.diff_roll += 0.001f * (float) rc_data[TEMP].rc.rocker_r_;
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}
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// 左侧开关状态为[上],逆解模式
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if(switch_is_up(rc_data[TEMP].rc.switch_left))
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{
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gimbal_cmd_send.gimbal_mode = GIMBAL_IKINE_MODE;
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gimbal_cmd_send.x_add = 1e-6f * (float) rc_data[TEMP].rc.rocker_r_;
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gimbal_cmd_send.y_add = 1e-6f * (float) rc_data[TEMP].rc.rocker_r1;
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gimbal_cmd_send.z_add = 1e-6f * (float) rc_data[TEMP].rc.rocker_l1;
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//自定义控制器控制末端姿态
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for (int i = 0; i < 4; ++i) {
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gimbal_cmd_send.quat[i] = (float)(CustomControl.q[i])*1e-4f;
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}
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gimbal_cmd_send.pitch += 0.001f * (float) rc_data[TEMP].rc.rocker_r1;
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gimbal_cmd_send.yaw += 0.001f * (float) rc_data[TEMP].rc.rocker_r_;
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}
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}
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// 云台软件限位
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gimbal_cmd_send.pitch = float_constrain(gimbal_cmd_send.pitch,PITCH_MIN,PITCH_MAX);
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gimbal_cmd_send.yaw = float_constrain(gimbal_cmd_send.yaw,-YAW,YAW);
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gimbal_cmd_send.roll = float_constrain(gimbal_cmd_send.roll,-ROLL,ROLL);
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gimbal_cmd_send.diff_pitch = float_constrain(gimbal_cmd_send.diff_pitch,-DIFF_PITCH,DIFF_PITCH);
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gimbal_cmd_send.diff_roll = float_constrain(gimbal_cmd_send.diff_roll,-DIFF_ROLL,DIFF_ROLL);
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}
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/**
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* @brief 输入为键鼠时模式和控制量设置
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*
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*/
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static void MouseKeySet() {
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chassis_cmd_send.vy = rc_data[TEMP].key[KEY_PRESS].w * 3000 - rc_data[TEMP].key[KEY_PRESS].s * 3000; // 系数待测
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chassis_cmd_send.vx = rc_data[TEMP].key[KEY_PRESS].a * 3000 - rc_data[TEMP].key[KEY_PRESS].d * 3000;
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chassis_cmd_send.wz = (float) rc_data[TEMP].mouse.x / 660 * 4;
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to_stretch_cmd_send.tc -= (float) rc_data[TEMP].mouse.y / 660 * 6;
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to_stretch_cmd_send.ud += rc_data[TEMP].key[KEY_PRESS].q * 10 - rc_data[TEMP].key[KEY_PRESS].e * 10;
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to_stretch_cmd_send.fb += rc_data[TEMP].key[KEY_PRESS].z * 10 - rc_data[TEMP].key[KEY_PRESS].c * 10;
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switch (rc_data[TEMP].key_count[KEY_PRESS][Key_R] % 2) // R键手动刷新UI
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{
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case 1:
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MyUIInit();
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rc_data[TEMP].key_count[KEY_PRESS][Key_R]++;
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break;
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default:
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break;
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}
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switch (rc_data[TEMP].key_count[KEY_PRESS][Key_F] % 2) // F按键开关气泵
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{
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case 0:
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Pump_stop(air_pump);
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ui_data.pump_mode = PUMP_STOP;
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break;
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default:
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Pump_open(air_pump);
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ui_data.pump_mode = PUMP_OPEN;
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break;
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}
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// switch (rc_data[TEMP].key_count[KEY_PRESS][Key_E] % 2) // E键开关小陀螺
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// {
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// case 0:
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// chassis_cmd_send.chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
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// gimbal_cmd_send.gimbal_mode = GIMBAL_FREE_MODE;
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// break;
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// default:
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// chassis_cmd_send.chassis_mode = CHASSIS_ROTATE;
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// gimbal_cmd_send.gimbal_mode = GIMBAL_GYRO_MODE;
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// break;
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// }
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}
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/**
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* @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
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* 停止的阈值'300'待修改成合适的值,或改为开关控制.
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*
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* @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
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*
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*/
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static void EmergencyHandler() {
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// 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
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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
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{
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robot_state = ROBOT_STOP;
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gimbal_cmd_send.gimbal_mode = GIMBAL_ZERO_FORCE;
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chassis_cmd_send.chassis_mode = CHASSIS_ZERO_FORCE;
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to_stretch_cmd_send.to_stretch_mode = TO_STRETCH_ZERO_FORCE;
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LOGERROR("[CMD] emergency stop!");
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}
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// 遥控器右侧开关为[上],恢复正常运行
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if (switch_is_up(rc_data[TEMP].rc.switch_right)) {
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robot_state = ROBOT_READY;
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LOGINFO("[CMD] reinstate, robot ready");
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}
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}
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/* 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率) */
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void RobotCMDTask() {
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// 从其他应用获取回传数据
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#ifdef ONE_BOARD
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SubGetMessage(chassis_feed_sub, (void *) &chassis_fetch_data);
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#endif // ONE_BOARD
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#ifdef GIMBAL_BOARD
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chassis_fetch_data = *(Chassis_Upload_Data_s *)CANCommGet(cmd_can_comm);
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#endif // GIMBAL_BOARD
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//获取自定义控制器数据
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memcpy(&CustomControl,&referee_VT_data->CustomControl,sizeof(custom_control_t));
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SubGetMessage(to_stretch_feed_sub, &to_stretch_fetch_data);
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SubGetMessage(gimbal_feed_sub, &gimbal_fetch_data);
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update_ui_data();
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// 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
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CalcOffsetAngle();
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// 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
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// if (switch_is_down(rc_data[TEMP].rc.switch_left) ||
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// 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
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RemoteControlSet();
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// 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
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// MouseKeySet();
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EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况
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// 推送消息,双板通信,视觉通信等
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// 其他应用所需的控制数据在remotecontrolsetmode和mousekeysetmode中完成设置
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#ifdef ONE_BOARD
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PubPushMessage(chassis_cmd_pub, (void *) &chassis_cmd_send);
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#endif // ONE_BOARD
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#ifdef GIMBAL_BOARD
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CANCommSend(cmd_can_comm, (void *)&chassis_cmd_send);
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#endif // GIMBAL_BOARD
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PubPushMessage(to_stretch_cmd_pub, (void *) &to_stretch_cmd_send);
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PubPushMessage(gimbal_cmd_pub, (void *) &gimbal_cmd_send);
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VisionSend(&vision_send_data);
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}
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