Code review.

Author: Jiu-xiao

.vscode/extensions.json

@@ -16,7 +16,9 @@
 		"davidanson.vscode-markdownlint",
 		"marus25.cortex-debug",
 		"xyz.local-history",
-		"usernamehw.errorlens"
+		"usernamehw.errorlens",
+		"wayou.vscode-todo-highlight",
+		"gruntfuggly.todo-tree"
 	],
 	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
 	"unwantedRecommendations": []

src/device/ai/dev_ai.cpp

@@ -24,7 +24,7 @@ AI::AI(bool autoscan_enable)
     AI *ai = static_cast<AI *>(arg);
     ai->data_ready_.Post();
   };
-
+  // TODO: AUTOAIM和AI串口接收都要加idle回调
   bsp_uart_register_callback(BSP_UART_AI, BSP_UART_RX_CPLT_CB, rx_cplt_callback,
                              this);
 
@@ -59,9 +59,7 @@ AI::AI(bool autoscan_enable)
       ai->ai_tp_.Publish(ai->cmd_for_ref_);
 
       /* 发送数据到上位机 */
-      // quat_sub.DumpData(ai->quat_);
       ai->PackMCU();
-
       ai->StartTrans();
 
       System::Thread::Sleep(2);
@@ -201,9 +199,10 @@ void AI::DecideAction() {
   }
 
   /* 发射机构行为 */
-  if (this->notice_ == 2) { /* 开火 */
+  // TODO: notice应该按位与，防止命令冲突
+  if (this->notice_ == AI_NOTICE_FIRE) { /* 开火 */
     this->action_.ai_launcher = AI::Action::FIRE;
-  } else if (this->notice_ == 5) {
+  } else if (this->notice_ == AI_NOTICE_AUTO_AIM) {
     this->action_.ai_launcher = AI::Action::CEASEFIRE; /* 不发弹 */
   }
 }
@@ -241,35 +240,23 @@ bool AI::PackCMD() {
         case SCANF:
           /*yaw轴旋转加入随机数扰动*/
           static float smoothed_random =
-              0.0f;            // 静态变量，用于存储平滑后的随机值
-          float alpha = 0.1f;  // 平滑系数，控制新随机值的影响程度
+              0.0f; /* 静态变量，用于存储平滑后的随机值 */
+          float alpha = 0.1f; /* 平滑系数，控制新随机值的影响程度 */
           float raw_random =
-              static_cast<float>(rand() % 10 - 5) / 1000.0f;  // 原始随机扰动
+              static_cast<float>(rand() % 10 - 5) / 1000.0f; /* 原始随机扰动 */
           smoothed_random = alpha * raw_random +
-                            (1.0f - alpha) * smoothed_random;  // 低通滤波
+                            (1.0f - alpha) * smoothed_random; /* 低通滤波 */
           float yaw_rate = this->scanf_mode_.scanf_yaw_rate;
           this->target_scan_angle_ += yaw_rate * (1.0f + smoothed_random);
-          // this->cmd_.gimbal.eulr.yaw = this->target_scan_angle_;
           this->cmd_.gimbal.eulr.yaw = this->eulr_.yaw;
 
           float t = static_cast<float>(bsp_time_get_ms()) / 1000.0f;
-          // float pit_phase =
-          //     fmodf(t * this->scanf_mode_.scanf_pit_omega, 2.0f * M_PI);
-          // // 三角波输出范围 [0, 1]
-          // float triangle_wave =
-          //     (pit_phase < M_PI ? pit_phase / M_PI
-          //                       : (2.0f * M_PI - pit_phase) / M_PI);
-          // float mapped_triangle_wave = 2.0f * triangle_wave - 1.0f;
-          // // 计算俯仰角
-          // this->cmd_.gimbal.eulr.pit =
-          //     this->scanf_mode_.scanf_pit_center +
-          //     this->scanf_mode_.scanf_pit_range * mapped_triangle_wave;
-
-          /*计算三角波*/
+
+          /* 计算三角波 */
           float phase =
               fmodf(t * this->scanf_mode_.scanf_pit_omega, 2.0f * M_PI);
           float triangle_wave_mapped =
-              (fabsf(phase / M_PI - 1.0f) * 2.0f) - 1.0f;
+              (fabsf(phase / static_cast<float>(M_PI) - 1.0f) * 2.0f) - 1.0f;
           this->cmd_.gimbal.eulr.pit =
               this->scanf_mode_.scanf_pit_center +
               this->scanf_mode_.scanf_pit_range * triangle_wave_mapped;
@@ -340,14 +327,14 @@ bool AI::PackCMD() {
 }
 
 void AI::PraseRef() {
+// TODO: 错误的射速
 #if RB_HERO
-  this->ref_.ball_speed = BULLET_SPEED_LIMIT_42MM
+  this->ref_.ball_speed = BULLET_SPEED_LIMIT_42MM;
 #else
   this->ref_.ball_speed = BULLET_SPEED_LIMIT_17MM;
 #endif
 
-                          this->ref_.max_hp =
-      this->raw_ref_.robot_status.max_hp;
+  this->ref_.max_hp = this->raw_ref_.robot_status.max_hp;
 
   this->ref_.hp = this->raw_ref_.robot_status.remain_hp;
 
@@ -397,12 +384,11 @@ void AI::PraseRef() {
 
   this->ref_.game_progress = this->raw_ref_.game_status.game_progress;
 
+  // TODO: game_robot_hp只有哨兵？
   if (this->raw_ref_.robot_status.robot_id < 100) {
     this->ref_.base_hp = this->raw_ref_.game_robot_hp.red_base;
     this->ref_.outpost_hp = this->raw_ref_.game_robot_hp.red_outpose;
     this->ref_.hp = this->raw_ref_.game_robot_hp.red_7;
-    // this->ref_.hp = 400;
-
   } else {
     this->ref_.base_hp = this->raw_ref_.game_robot_hp.blue_base;
     this->ref_.outpost_hp = this->raw_ref_.game_robot_hp.blue_outpose;

src/device/ai/dev_ai.hpp

@@ -134,9 +134,7 @@ class AI {
 
   /* angle record */
   float chassis_yaw_offset_ = 0;
-  // float gimbal_scan_start_angle_;
   Component::Type::Eulr eulr_;
-  // Component::Type::Quaternion quat_;
   Component::Type::CycleValue target_scan_angle_ = 0.0;
   struct {
     float yaw; /* 偏航角（Yaw angle） */

src/device/aim/dev_aim.cpp

@@ -19,8 +19,14 @@ AIM::AIM()
     aim->data_ready_.Post();
   };
 
+  auto rx_idle_callback = [](void* arg){
+    AIM *aim = static_cast<AIM *>(arg);
+    aim->data_ready_.Post();
+  };
+
   bsp_uart_register_callback(BSP_UART_AI, BSP_UART_RX_CPLT_CB, rx_cplt_callback,
                              this);
+  bsp_uart_register_callback(BSP_UART_AI, BSP_UART_IDLE_LINE_CB, rx_idle_callback, this);
 
   Component::CMD::RegisterController(this->cmd_tp_);
  auto ai_thread = [](AIM *aim) {
@@ -34,28 +40,21 @@ AIM::AIM()
 
         /* 接收上位机数据 */
         aim->StartRecv();
-        if (aim->data_ready_.Wait(0))
+        if (aim->data_ready_.Wait(10))
         {
             aim->PraseHost();
             aim->PackCMD();
         }
 
-        //发送数据给上位机
+        /* 发送数据给上位机 */
         aim->PackMCU();
         aim->StartTran();
-
-        System::Thread::Sleep(2);
      }
     };
     this->thread_.Create(ai_thread, this, "aim_thread", DEVICE_AI_TASK_STACK_DEPTH,
                        System::Thread::REALTIME);
 }
 
-double convert_to_0_to_2pi(double theta_prime) {
-  double theta = fmod(theta_prime + 2 * M_PI, 2 * M_PI);
-  return theta;
-}
-
 bool AIM::PackCMD() {
   /* 确保遥控器开关最高控制权，关遥控器即断控 */
   if (!Component::CMD::Online()) {
@@ -106,7 +105,7 @@ bool AIM::PraseHost() {
   return false;
 }
 
-double convert_to_minus_pi_to_pi(double theta) {
+float convert_to_minus_pi_to_pi(float theta) {
   while (theta > M_PI) {
     theta -= 2 * M_PI;
   }
@@ -141,7 +140,7 @@ bool AIM::StartTran()
     void *src = NULL;
     src = &(this->to_host_);
     memcpy(txbuf, src, len);
-    return bsp_uart_transmit(BSP_UART_AI, txbuf, len,false) == BSP_OK;
+    return bsp_uart_transmit(BSP_UART_AI, txbuf, len, false) == BSP_OK;
 }
 
 bool AIM::StartRecv()

src/device/aim/dev_aim.hpp

@@ -16,7 +16,7 @@ namespace Device {
 class AIM {
  public:
 
-  //MCU需要从上位机获取的数据
+  // TODO: 移动到protocol里面
   typedef struct __attribute__((packed)) RevforAI{
   uint8_t header = 0xA5;
   bool is_fire : 1;
@@ -28,7 +28,7 @@ class AIM {
   float pitch;
   float yaw;
   uint16_t checksum = 0;
-  }RefForAI_t;
+  } RefForAI_t;
 
   typedef struct __attribute__ ((packed)) TranToAI{
   uint8_t header = 0x5A;
@@ -118,6 +118,6 @@ class AIM {
 
   bool PackMCU();
 
-uint32_t last_online_time_ = 0;
+  uint32_t last_online_time_ = 0;
 };
 }  // namespace Device