userThread encapsulated

Meta-Team · Jul 11, 2023 · 9cbdcb7 · 9cbdcb7
1 parent 8ec8f85
commit 9cbdcb7
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Showing 4 changed files with 101 additions and 35 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -278,6 +278,7 @@ add_executable(DART
         dev/interface/referee/referee_interface.cpp
         dev/application/vehicles/dart/can_motor_config.cpp
         dev/application/vehicles/dart/main_dart.cpp
+        dev/application/vehicles/dart/user_dart.cpp
         )
 target_include_directories(DART PRIVATE dev/application/vehicles/dart)
 target_compile_definitions(DART PRIVATE DART)

diff --git a/dev/application/vehicles/dart/main_dart.cpp b/dev/application/vehicles/dart/main_dart.cpp
@@ -1,5 +1,5 @@
 //
-// Created by Wu Feiyang on 2023/76.
+// Created by Wu Feiyang on 2023/7/6.
 //
 #include "ch.hpp"
 #include "hal.h"
@@ -8,43 +8,44 @@
 #include "chprintf.h"
 #include "shell.h"
 #include "remote_interpreter.h"
+#include "user_dart.h"
 
 CANInterface can1(&CAND1);
 CANInterface can2(&CAND2);
 
-class remoteThread:public BaseStaticThread<512>{
-private:
-    void main() final;
-    CANMotorFeedback feedback;
-}remote_thread;
-
-void remoteThread::main(){
-    setName("RemoteControl");
-    static float angle;
-    feedback = CANMotorIF::motor_feedback[CANMotorCFG::MOTOR_ONE];
-    angle = feedback.accumulate_angle();
-    while(!shouldTerminate()){
-        chSysLock();
-        if(Remote::rc.s1 == Remote::S_UP){
-            CANMotorCFG::enable_v2i[CANMotorCFG::MOTOR_ONE] = false;
-            CANMotorCFG::enable_a2v[CANMotorCFG::MOTOR_ONE] = false;
-            CANMotorController::set_target_current(CANMotorCFG::MOTOR_ONE,0);
-        }else if(Remote::rc.s1 == Remote::S_MIDDLE){
-            CANMotorCFG::enable_v2i[CANMotorCFG::MOTOR_ONE] = true;
-            CANMotorCFG::enable_a2v[CANMotorCFG::MOTOR_ONE] = false;
-            CANMotorController::set_target_vel(CANMotorCFG::MOTOR_ONE, 200*Remote::rc.ch0);
-        }else if(Remote::rc.s1 == Remote::S_DOWN){
-            CANMotorCFG::enable_v2i[CANMotorCFG::MOTOR_ONE] = true;
-            CANMotorCFG::enable_a2v[CANMotorCFG::MOTOR_ONE] = true;
-            CANMotorController::set_target_angle(CANMotorCFG::MOTOR_ONE,angle);
-        }
-
-        chSysUnlock();
-        feedback = CANMotorIF::motor_feedback[CANMotorCFG::MOTOR_ONE];
-        LOG("initial angle: %f, current angle: %f\r\n",angle,feedback.accumulate_angle());
-        chThdSleepMilliseconds(100);
-    }
-}
+//class remoteThread:public BaseStaticThread<512>{
+//private:
+//    void main() final;
+//    CANMotorFeedback feedback;
+//}remote_thread;
+//
+//void remoteThread::main(){
+//    setName("RemoteControl");
+//    static float angle;
+//    feedback = CANMotorIF::motor_feedback[CANMotorCFG::MOTOR_ONE];
+//    angle = feedback.accumulate_angle();
+//    while(!shouldTerminate()){
+//        chSysLock();
+//        if(Remote::rc.s1 == Remote::S_UP){
+//            CANMotorCFG::enable_v2i[CANMotorCFG::MOTOR_ONE] = false;
+//            CANMotorCFG::enable_a2v[CANMotorCFG::MOTOR_ONE] = false;
+//            CANMotorController::set_target_current(CANMotorCFG::MOTOR_ONE,0);
+//        }else if(Remote::rc.s1 == Remote::S_MIDDLE){
+//            CANMotorCFG::enable_v2i[CANMotorCFG::MOTOR_ONE] = true;
+//            CANMotorCFG::enable_a2v[CANMotorCFG::MOTOR_ONE] = false;
+//            CANMotorController::set_target_vel(CANMotorCFG::MOTOR_ONE, 200*Remote::rc.ch0);
+//        }else if(Remote::rc.s1 == Remote::S_DOWN){
+//            CANMotorCFG::enable_v2i[CANMotorCFG::MOTOR_ONE] = true;
+//            CANMotorCFG::enable_a2v[CANMotorCFG::MOTOR_ONE] = true;
+//            CANMotorController::set_target_angle(CANMotorCFG::MOTOR_ONE,angle);
+//        }
+//
+//        chSysUnlock();
+//        feedback = CANMotorIF::motor_feedback[CANMotorCFG::MOTOR_ONE];
+//        LOG("initial angle: %f, current angle: %f\r\n",angle,feedback.accumulate_angle());
+//        chThdSleepMilliseconds(100);
+//    }
+//}
 
 class printThread: public BaseStaticThread<512>{
 private:
@@ -67,7 +68,8 @@ int main(){
     Remote::start();
     can1.start(NORMALPRIO+3);
     can2.start(NORMALPRIO+4);
-    remote_thread.start(NORMALPRIO-1);
+    UserDart::start(NORMALPRIO-1);
+//    remote_thread.start(NORMALPRIO-1);
     CANMotorController::start(HIGHPRIO-1,HIGHPRIO-2,&can1,&can2);
 //    print_thread.start(HIGHPRIO);
     chThdSleepSeconds(5);

diff --git a/dev/application/vehicles/dart/user_dart.cpp b/dev/application/vehicles/dart/user_dart.cpp
@@ -0,0 +1,36 @@
+//
+// Created by Wu Feiyang on 2023/7/11.
+//
+#include "user_dart.h"
+UserDart::UserThread UserDart::userThread;
+void UserDart::start(tprio_t user_thd_prio) {
+    userThread.start(user_thd_prio);
+}
+
+void UserDart::UserThread::main(){
+    setName("RemoteControl");
+    static float angle;
+    feedback = CANMotorIF::motor_feedback[CANMotorCFG::MOTOR_ONE];
+    angle = feedback.accumulate_angle();
+    while(!shouldTerminate()){
+        chSysLock();
+        if(Remote::rc.s1 == Remote::S_UP){
+            CANMotorCFG::enable_v2i[CANMotorCFG::MOTOR_ONE] = false;
+            CANMotorCFG::enable_a2v[CANMotorCFG::MOTOR_ONE] = false;
+            CANMotorController::set_target_current(CANMotorCFG::MOTOR_ONE,0);
+        }else if(Remote::rc.s1 == Remote::S_MIDDLE){
+            CANMotorCFG::enable_v2i[CANMotorCFG::MOTOR_ONE] = true;
+            CANMotorCFG::enable_a2v[CANMotorCFG::MOTOR_ONE] = false;
+            CANMotorController::set_target_vel(CANMotorCFG::MOTOR_ONE, 200*Remote::rc.ch0);
+        }else if(Remote::rc.s1 == Remote::S_DOWN){
+            CANMotorCFG::enable_v2i[CANMotorCFG::MOTOR_ONE] = true;
+            CANMotorCFG::enable_a2v[CANMotorCFG::MOTOR_ONE] = true;
+            CANMotorController::set_target_angle(CANMotorCFG::MOTOR_ONE,angle);
+        }
+
+        chSysUnlock();
+        feedback = CANMotorIF::motor_feedback[CANMotorCFG::MOTOR_ONE];
+        LOG("initial angle: %f, current angle: %f\r\n",angle,feedback.accumulate_angle());
+        chThdSleepMilliseconds(100);
+    }
+}
diff --git a/dev/application/vehicles/dart/user_dart.h b/dev/application/vehicles/dart/user_dart.h
@@ -0,0 +1,27 @@
+//
+// Created by Wu Feiyang on 2023/7/11.
+//
+#ifndef META_EMBEDDED_USER_DART_H
+#define META_EMBEDDED_USER_DART_H
+#include "ch.hpp"
+#include "can_interface.h"
+#include "can_motor_interface.h"
+#include "can_motor_feedback.h"
+#include "can_motor_controller.h"
+#include "remote_interpreter.h"
+
+
+class UserDart{
+public:
+    static void start(tprio_t user_thd_prio);
+private:
+    class UserThread:public BaseStaticThread<512>{
+    private:
+        void main() final;
+        CANMotorFeedback feedback;
+    };
+    static UserThread userThread;
+};
+
+
+#endif //META_EMBEDDED_USER_DART_H