163 lines
7.0 KiB
C
163 lines
7.0 KiB
C
/**
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* @file rm_referee.C
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* @author kidneygood (you@domain.com)
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* @brief
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* @version 0.1
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* @date 2022-11-18
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*
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* @copyright Copyright (c) 2022
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*
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*/
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#include "vision_transfer.h"
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#include "string.h"
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#include "crc_ref.h"
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#include "bsp_usart.h"
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#include "task.h"
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#include "daemon.h"
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#include "bsp_log.h"
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#include "cmsis_os.h"
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#include "remote_control.h"
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#define RE_RX_BUFFER_SIZE 128u // 裁判系统接收缓冲区大小
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static USARTInstance *vt_usart_instance; // 裁判系统串口实例
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static DaemonInstance *vision_transfer_daemon; // 裁判系统守护进程
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static referee_info_vt_t referee_info_vt; // 裁判系统数据
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static VT_ctrl_t vt_ctrl[2]; //[0]:当前数据TEMP,[1]:上一次的数据LAST.用于按键持续按下和切换的判断
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/**
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* @brief 读取裁判数据,中断中读取保证速度
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* @param buff: 读取到的裁判系统原始数据
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* @retval 是否对正误判断做处理
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* @attention 在此判断帧头和CRC校验,无误再写入数据，不重复判断帧头
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*/
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static void JudgeReadVTData(uint8_t *buff)
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{
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uint16_t judge_length; // 统计一帧数据长度
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if (buff == NULL) // 空数据包，则不作任何处理
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return;
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// 写入帧头数据(5-byte),用于判断是否开始存储裁判数据
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memcpy(&referee_info_vt.FrameHeader, buff, LEN_HEADER);
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// 判断帧头数据(0)是否为0xA5
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if (buff[SOF] == REFEREE_SOF)
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{
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// 帧头CRC8校验
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if (Verify_CRC8_Check_Sum(buff, LEN_HEADER) == TRUE)
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{
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// 统计一帧数据长度(byte),用于CR16校验
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judge_length = buff[DATA_LENGTH] + LEN_HEADER + LEN_CMDID + LEN_TAIL;
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// 帧尾CRC16校验
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if (Verify_CRC16_Check_Sum(buff, judge_length) == TRUE)
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{
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// 2个8位拼成16位int
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referee_info_vt.CmdID = (buff[6] << 8 | buff[5]);
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// 解析数据命令码,将数据拷贝到相应结构体中(注意拷贝数据的长度)
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// 第8个字节开始才是数据 data=7
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switch (referee_info_vt.CmdID)
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{
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case ID_custom_robot: //0x0302
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memcpy(&referee_info_vt.ReceiveData, (buff + DATA_Offset), LEN__custom_robot);
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break;
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case ID_remote_control: //0x0304
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memcpy(&referee_info_vt.VisionTransfer, (buff + DATA_Offset), LEN_remote_control);
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break;
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}
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}
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}
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// 首地址加帧长度,指向CRC16下一字节,用来判断是否为0xA5,从而判断一个数据包是否有多帧数据
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if (*(buff + sizeof(xFrameHeader) + LEN_CMDID + referee_info_vt.FrameHeader.DataLength + LEN_TAIL) == 0xA5)
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{ // 如果一个数据包出现了多帧数据,则再次调用解析函数,直到所有数据包解析完毕
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JudgeReadVTData(buff + sizeof(xFrameHeader) + LEN_CMDID + referee_info_vt.FrameHeader.DataLength + LEN_TAIL);
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}
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}
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}
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static void vt_to_rc(void)
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{
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// 鼠标解析
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vt_ctrl[TEMP].mouse.x = referee_info_vt.VisionTransfer.mouse_x; //!< Mouse X axis
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vt_ctrl[TEMP].mouse.y = referee_info_vt.VisionTransfer.mouse_y; //!< Mouse Y axis
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vt_ctrl[TEMP].mouse.press_l = referee_info_vt.VisionTransfer.left_button_down; //!< Mouse Left Is Press ?
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vt_ctrl[TEMP].mouse.press_r = referee_info_vt.VisionTransfer.right_button_down; //!< Mouse Right Is Press ?
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// 位域的按键值解算,直接memcpy即可,注意小端低字节在前,即lsb在第一位,msb在最后
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*(uint16_t *)&vt_ctrl[TEMP].key[KEY_PRESS] = referee_info_vt.VisionTransfer.keyboard_value;
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if (vt_ctrl[TEMP].key[KEY_PRESS].ctrl) // ctrl键按下
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vt_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL] = vt_ctrl[TEMP].key[KEY_PRESS];
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else
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memset(&vt_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL], 0, sizeof(Key_t));
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if (vt_ctrl[TEMP].key[KEY_PRESS].shift) // shift键按下
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vt_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT] = vt_ctrl[TEMP].key[KEY_PRESS];
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else
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memset(&vt_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT], 0, sizeof(Key_t));
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uint16_t key_now = vt_ctrl[TEMP].key[KEY_PRESS].keys, // 当前按键是否按下
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key_last = vt_ctrl[LAST].key[KEY_PRESS].keys, // 上一次按键是否按下
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key_with_ctrl = vt_ctrl[TEMP].key[KEY_PRESS_WITH_CTRL].keys, // 当前ctrl组合键是否按下
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key_with_shift = vt_ctrl[TEMP].key[KEY_PRESS_WITH_SHIFT].keys, // 当前shift组合键是否按下
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key_last_with_ctrl = vt_ctrl[LAST].key[KEY_PRESS_WITH_CTRL].keys, // 上一次ctrl组合键是否按下
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key_last_with_shift = vt_ctrl[LAST].key[KEY_PRESS_WITH_SHIFT].keys; // 上一次shift组合键是否按下
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for (uint16_t i = 0, j = 0x1; i < 16; j <<= 1, i++)
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{
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if (i == 4 || i == 5) // 4,5位为ctrl和shift,直接跳过
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continue;
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// 如果当前按键按下,上一次按键没有按下,且ctrl和shift组合键没有按下,则按键按下计数加1(检测到上升沿)
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if ((key_now & j) && !(key_last & j) && !(key_with_ctrl & j) && !(key_with_shift & j))
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vt_ctrl[TEMP].key_count[KEY_PRESS][i]++;
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// 当前ctrl组合键按下,上一次ctrl组合键没有按下,则ctrl组合键按下计数加1(检测到上升沿)
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if ((key_with_ctrl & j) && !(key_last_with_ctrl & j))
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vt_ctrl[TEMP].key_count[KEY_PRESS_WITH_CTRL][i]++;
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// 当前shift组合键按下,上一次shift组合键没有按下,则shift组合键按下计数加1(检测到上升沿)
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if ((key_with_shift & j) && !(key_last_with_shift & j))
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vt_ctrl[TEMP].key_count[KEY_PRESS_WITH_SHIFT][i]++;
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}
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memcpy(&vt_ctrl[LAST], &vt_ctrl[TEMP], sizeof(VT_ctrl_t)); // 保存上一次的数据,用于按键持续按下和切换的判断
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}
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/*裁判系统串口接收回调函数,解析数据 */
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static void VTRefereeRxCallback()
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{
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DaemonReload(vision_transfer_daemon);
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JudgeReadVTData(vt_usart_instance->recv_buff);
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vt_to_rc();
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}
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// 裁判系统丢失回调函数,重新初始化裁判系统串口
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static void VTRefereeLostCallback(void *arg)
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{
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USARTServiceInit(vt_usart_instance);
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LOGWARNING("[rm_ref] lost referee vision data ");
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}
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/* 裁判系统通信初始化 */
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VT_ctrl_t *VTRefereeInit(UART_HandleTypeDef *vt_usart_handle)
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{
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USART_Init_Config_s conf;
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conf.module_callback = VTRefereeRxCallback;
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conf.usart_handle = vt_usart_handle;
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conf.recv_buff_size = RE_RX_BUFFER_SIZE; // mx 255(u8)
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vt_usart_instance = USARTRegister(&conf);
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Daemon_Init_Config_s daemon_conf = {
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.callback = VTRefereeLostCallback,
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.owner_id = vt_usart_instance,
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.reload_count = 30, // 0.3s没有收到数据,则认为丢失,重启串口接收
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};
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vision_transfer_daemon = DaemonRegister(&daemon_conf);
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return &vt_ctrl;
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}
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/**
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* @brief 裁判系统数据发送函数
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* @param
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*/
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void VTRefereeSend(uint8_t *send, uint16_t tx_len)
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{
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USARTSend(vt_usart_instance, send, tx_len, USART_TRANSFER_DMA);
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osDelay(115);
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}
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