feat: ✨ add map

contest/arduino/include/canmvk210.h

@@ -3,9 +3,18 @@
 
 #include <Arduino.h>
 
+#define CANMVK210_MSG_LEN 50
+
 class CanMVK210 {
 public:
   CanMVK210(HardwareSerial *serial, int baud); // 构造函数
+  void messageRecord(void);                    // 读取串口数据
+
+  uint8_t receive[CANMVK210_MSG_LEN]; // 实时记录收到的信息
+  uint8_t message[CANMVK210_MSG_LEN]; // 确认无误后用于解码的信息
+
+  HardwareSerial *getSerial(void); // 获取串口
+
 private:
   HardwareSerial *_serial; // 串口
   int _baud;               // 波特率

contest/arduino/include/jy62.h

@@ -77,9 +77,10 @@ class JY62 {
   float getTemp(void);  // 获取温度
   void printData(uint8_t type, HardwareSerial &serial); // 打印数据
 
+  HardwareSerial *getSerial(void); // 获取串口
+
   void decode(void); // 解码
 
-protected:
   uint8_t receive[JY62_MSG_LEN]; // 实时记录收到的信息
   uint8_t message[JY62_MSG_LEN]; // 确认无误后用于解码的信息
 

contest/arduino/include/zigbee.h

@@ -15,6 +15,8 @@ class Zigbee {
   uint8_t receive[ZIGBEE_MSG_LEN]; // 实时记录收到的信息
   uint8_t message[ZIGBEE_MSG_LEN]; // 确认无误后用于解码的信息
 
+  HardwareSerial *getSerial(void); // 获取串口
+
 private:
   HardwareSerial *_serial; // 串口
   int _baud;               // 波特率

contest/arduino/src/canmvk210.cpp

@@ -3,4 +3,33 @@
 CanMVK210::CanMVK210(HardwareSerial *serial, int baud) {
   _serial = serial;
   _baud = baud;
-}
+}
+
+void CanMVK210::messageRecord() {
+  uint8_t head = 0;
+  while (1) {
+    if (_serial->available()) {
+      head = _serial->read();
+      if (head == 0x55 || head == 0x56) {
+        break;
+      }
+    }
+  }
+  receive[0] = head;
+  _serial->readBytes(receive + 1, 2);
+  if (receive[1] != 0xAA) {
+    return;
+  }
+  uint8_t len = receive[2];
+  _serial->readBytes(receive + 3, len);
+  uint8_t sum = 0;
+  for (int i = 0; i < len + 3; i++) {
+    sum += receive[i];
+  }
+  if (sum == receive[len + 3]) {
+    memcpy(message, receive, len + 4);
+  }
+}
+
+// @brief 获取串口
+HardwareSerial *CanMVK210::getSerial(void) { return _serial; }

contest/arduino/src/jy62.cpp

@@ -30,9 +30,7 @@ void JY62::messageRecord(void) {
     sum += receive[i];
   }
   if (sum == receive[JY62_MSG_LEN - 1]) {
-    for (int i = 0; i < JY62_MSG_LEN; i++) {
-      message[i] = receive[i];
-    }
+    memcpy(message, receive, JY62_MSG_LEN);
     decode();
   }
 }
@@ -189,3 +187,6 @@ void JY62::decodeAngl(void) {
 void JY62::decodeTemp(void) {
   _temp.temp = (float)((int16_t)(message[9] << 8 | message[8])) / 340.0 + 36.53;
 }
+
+// @brief 获取串口
+HardwareSerial *JY62::getSerial(void) { return _serial; }

contest/arduino/src/main.cpp

@@ -13,6 +13,7 @@ HardwareSerial SerialUART1(PB7, PB6);   // 和电脑通信串口
 HardwareSerial SerialUART2(PA3, PA2);   // 和jy62通信串口
 HardwareSerial SerialUART3(PB11, PB10); // 和zigbee通信串口
 
+CanMVK210 camera(&SerialUART1, 115200);
 JY62 imu(&SerialUART2, 115200);
 TB6612FNG motor(PB3, PC12, PD2, PB4, PC10, PC11, PB5);
 Zigbee zigbee(&SerialUART3, 115200);
@@ -27,47 +28,73 @@ boolean setHome = false;
 
 boolean runStatus = false;
 
-static void vIMUMessageRecordTask(void *pvParameters) {
+static void vCameraMessageRecordTask(void *pvParameters) {
   UNUSED(pvParameters);
   while (1) {
-    if (SerialUART2.available()) {
-      imu.messageRecord();
+    if (camera.getSerial()->available()) {
+      camera.messageRecord();
     }
   }
 }
 
-static void vIMUPrintDataTask(void *pvParameters) {
+static void vIMUMessageRecordTask(void *pvParameters) {
   UNUSED(pvParameters);
   while (1) {
-    imu.printData(0, SerialUART1);
-    vTaskDelay(configTICK_RATE_HZ);
+    if (imu.getSerial()->available()) {
+      imu.messageRecord();
+    }
   }
 }
 
+// static void vIMUPrintDataTask(void *pvParameters) {
+//   UNUSED(pvParameters);
+//   while (1) {
+//     imu.printData(0, SerialUART1);
+//     vTaskDelay(configTICK_RATE_HZ);
+//   }
+// }
+
 static void vZigbeeMessageRecordTask(void *pvParameters) {
   UNUSED(pvParameters);
   while (1) {
-    zigbee.messageRecord();
-    vTaskDelay(configTICK_RATE_HZ);
+    if (zigbee.getSerial()->available()) {
+      zigbee.messageRecord();
+    }
   }
 }
 
-static void vPlayerUpdateTask(void *pvParameters) {
+static void vPlayerUpdatePlayerInfoTask(void *pvParameters) {
   UNUSED(pvParameters);
   while (1) {
     player.updatePlayerInfo();
     vTaskDelay(configTICK_RATE_HZ);
   }
 }
 
-static void vPlayerPrintInfoTask(void *pvParameters) {
+// static void vPlayerPrintPlayerInfoTask(void *pvParameters) {
+//   UNUSED(pvParameters);
+//   while (1) {
+//     player.printPlayerInfo(SerialUART1);
+//     vTaskDelay(configTICK_RATE_HZ * 2);
+//   }
+// }
+
+static void vPlayerUpdateMapInfoTask(void *pvParameters) {
   UNUSED(pvParameters);
   while (1) {
-    player.printPlayerInfo(SerialUART1);
-    vTaskDelay(configTICK_RATE_HZ * 2);
+    player.updateMapInfo();
+    vTaskDelay(configTICK_RATE_HZ);
   }
 }
 
+// static void vPlayerPrintMapInfoTask(void *pvParameters) {
+//   UNUSED(pvParameters);
+//   while (1) {
+//     player.printMapInfo(SerialUART1);
+//     vTaskDelay(configTICK_RATE_HZ * 2);
+//   }
+// }
+
 static void vPlayerChangeStatusTask(void *pvParameters) {
   UNUSED(pvParameters);
   while (1) {
@@ -124,18 +151,25 @@ void setup() {
   imu.initAngle();
   imu.calibrate();
   motor.init();
+  player.setCanMVK210(&camera);
   player.setJY62(&imu);
   player.setTB6612FNG(&motor);
   player.setZigbee(&zigbee);
+  xTaskCreate(vCameraMessageRecordTask, "CameraMessageRecordTask", 128, NULL,
+              tskIDLE_PRIORITY, NULL);
   xTaskCreate(vIMUMessageRecordTask, "IMUMessageRecordTask", 128, NULL,
               tskIDLE_PRIORITY, &xIMUMessageRecordTask);
   // xTaskCreate(vIMUPrintDataTask, "IMUPrintDataTask", 128, NULL,
   //             tskIDLE_PRIORITY, &xIMUPrintDataTask);
   xTaskCreate(vZigbeeMessageRecordTask, "ZigbeeMessageRecordTask", 256, NULL,
               tskIDLE_PRIORITY, NULL);
-  xTaskCreate(vPlayerUpdateTask, "PlayerUpdateTask", 128, NULL,
+  xTaskCreate(vPlayerUpdatePlayerInfoTask, "PlayerUpdatePlayerInfoTask", 128,
+              NULL, tskIDLE_PRIORITY, NULL);
+  // xTaskCreate(vPlayerPrintPlayerInfoTask, "PlayerPrintPlayerInfoTask", 128,
+  //             NULL, tskIDLE_PRIORITY, NULL);
+  xTaskCreate(vPlayerUpdateMapInfoTask, "PlayerUpdateMapInfoTask", 128, NULL,
               tskIDLE_PRIORITY, NULL);
-  // xTaskCreate(vPlayerPrintInfoTask, "PlayerPrintInfoTask", 128, NULL,
+  // xTaskCreate(vPlayerPrintMapInfoTask, "PlayerPrintMapInfoTask", 128, NULL,
   //             tskIDLE_PRIORITY, NULL);
   xTaskCreate(vPlayerChangeStatusTask, "PlayerChangeStatusTask", 128, NULL,
               tskIDLE_PRIORITY, NULL);

contest/arduino/src/player.cpp

@@ -60,8 +60,26 @@ void Player::updatePlayerInfo() {
 }
 
 void Player::updateMapInfo() {
-  if (_canmvk210 != NULL) {
-    // TODO
+  if (_canmvk210 != NULL &&
+      (_canmvk210->message[0] == 0x55 || _canmvk210->message[0] == 0x56) &&
+      _canmvk210->message[1] == 0xAA) {
+    uint8_t type = _canmvk210->message[0];
+    uint8_t len = _canmvk210->message[2];
+    uint8_t *data = _canmvk210->message + 3;
+    if (type == 0x55) {
+      _mapInfo.goldMine.clear();
+      for (int i = 0; i < len / 8; i++) {
+        _mapInfo.goldMine.push_back(Position(*((float_t *)(data + i * 8 + 0)),
+                                             *((float_t *)(data + i * 8 + 4))));
+      }
+    } else if (type == 0x56) {
+      _mapInfo.diamondMine.clear();
+      for (int i = 0; i < len / 8; i++) {
+        _mapInfo.diamondMine.push_back(
+            Position(*((float_t *)(data + i * 8 + 0)),
+                     *((float_t *)(data + i * 8 + 4))));
+      }
+    }
   }
 }
 

contest/arduino/src/zigbee.cpp

@@ -36,9 +36,7 @@ void Zigbee::messageRecord(void) {
     sum ^= receive[i];
   }
   if (sum == receive[4]) {
-    for (int i = 0; i < len + 5; i++) {
-      message[i] = receive[i];
-    }
+    memcpy(message, receive, len + 5);
   }
 }
 
@@ -48,4 +46,7 @@ void Zigbee::messageRecord(void) {
  * @param msg 数据
  * @param len 数据长度
  */
-void Zigbee::send(uint8_t *msg, uint8_t len) { _serial->write(msg, len); }
+void Zigbee::send(uint8_t *msg, uint8_t len) { _serial->write(msg, len); }
+
+// @brief 获取串口
+HardwareSerial *Zigbee::getSerial(void) { return _serial; }