From a30eb3200af7317dd92a5b88b709ba3e1d5ed356 Mon Sep 17 00:00:00 2001 From: Horldsence Date: Wed, 14 Oct 2026 19:43:14 +0800 Subject: [PATCH] =?UTF-8?q?armor:=20ESP32-C3=20=E8=A3=85=E7=94=B2=E6=9D=BF?= =?UTF-8?q?=E5=9B=BA=E4=BB=B6=EF=BC=88=E4=B8=80=E4=B8=BB=E4=B8=89=E4=BB=8E?= =?UTF-8?q?=EF=BC=89+=20=E7=83=A7=E5=BD=95=E8=84=9A=E6=9C=AC=EF=BC=8C?= =?UTF-8?q?=E4=B9=8B=E5=89=8D=E4=B8=80=E7=9B=B4=E6=B2=A1=E6=8F=90=E4=BA=A4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 这一块代码本来就写好了、根 README 里也按"已实现"描述，但一直没有进仓库， 只存在于工作区里。同一个提交里带上 `.env.example` 的两个新变量（ARMOR_TEAM、 ARMOR_THRESHOLD）——它们的说明文字就是为这套固件写的。 内容： - armor-protocol：规则层（血量、每板独立 50ms 受击冷却、受击后只有那一路灯带全黑、 按键 FSM、上报编码）。纯计算，主机上 22 个测试，已跑通。 - armor-firmware：四路压电片 ADC 连续采样、四路 WS2812（C3 只有一个 RMT 通道可用， 靠 rmt_tx_switch_gpio 轮流驱动）、NVS、BOOT 键、WiFi + UDP 广播。 - scripts：build_armor.sh / flash_armor.sh / armor_probe.py（不开界面单看广播）。 armor/ 是独立 workspace（目标 RISC-V 的 ESP32-C3），与外层 Xtensa 的图传固件互不相干， 各自 .cargo/config.toml 就是这条边界。构建产物由根 .gitignore 的 `/armor/target/` 覆盖， 本次没有把任何 target/ 或 build/ 下的东西加进来。 顺带把 `.DS_Store` 加进 .gitignore。 --- .env.example | 10 + .gitignore | 3 + armor/.cargo/config.toml | 31 + armor/Cargo.lock | 1718 +++++++++++++++++++++++ armor/Cargo.toml | 15 + armor/README.md | 351 +++++ armor/armor-firmware/Cargo.toml | 26 + armor/armor-firmware/build.rs | 3 + armor/armor-firmware/partitions.csv | 10 + armor/armor-firmware/sdkconfig.defaults | 29 + armor/armor-firmware/src/esp.rs | 27 + armor/armor-firmware/src/leds.rs | 312 ++++ armor/armor-firmware/src/main.rs | 556 ++++++++ armor/armor-firmware/src/net.rs | 142 ++ armor/armor-firmware/src/piezo.rs | 213 +++ armor/armor-firmware/src/settings.rs | 65 + armor/armor-protocol/.cargo/config.toml | 7 + armor/armor-protocol/Cargo.toml | 9 + armor/armor-protocol/src/lib.rs | 872 ++++++++++++ scripts/armor_probe.py | 167 +++ scripts/build_armor.sh | 49 + scripts/flash_armor.sh | 75 + 22 files changed, 4690 insertions(+) create mode 100644 armor/.cargo/config.toml create mode 100644 armor/Cargo.lock create mode 100644 armor/Cargo.toml create mode 100644 armor/README.md create mode 100644 armor/armor-firmware/Cargo.toml create mode 100644 armor/armor-firmware/build.rs create mode 100644 armor/armor-firmware/partitions.csv create mode 100644 armor/armor-firmware/sdkconfig.defaults create mode 100644 armor/armor-firmware/src/esp.rs create mode 100644 armor/armor-firmware/src/leds.rs create mode 100644 armor/armor-firmware/src/main.rs create mode 100644 armor/armor-firmware/src/net.rs create mode 100644 armor/armor-firmware/src/piezo.rs create mode 100644 armor/armor-firmware/src/settings.rs create mode 100644 armor/armor-protocol/.cargo/config.toml create mode 100644 armor/armor-protocol/Cargo.toml create mode 100644 armor/armor-protocol/src/lib.rs create mode 100755 scripts/armor_probe.py create mode 100755 scripts/build_armor.sh create mode 100755 scripts/flash_armor.sh diff --git a/.env.example b/.env.example index 454dbed..84aa21b 100644 --- a/.env.example +++ b/.env.example @@ -6,6 +6,16 @@ WIFI_PASS=your-password # Optional +# Armor plates (armor/). Which team this board belongs to: 0 = team one (red), +# 1 = team two (blue). Decides the LED colour and the `team` field in the health +# reports, so it is baked in at build time - reflash to switch teams. +#ARMOR_TEAM=0 + +# Armor plates: raw 12-bit ADC level above which a piezo sample counts as a hit +# (default 2000, same as the reference firmware). Calibrate from the `peak[...]` +# field in the serial status line: idle noise well below, a real tap well above. +#ARMOR_THRESHOLD=2000 + # Capture resolution: qqvga | qvga | cif | hvga | vga | svga | xga | sxga | uxga #CAM_RES=vga # JPEG quality 0-63, lower is better quality diff --git a/.gitignore b/.gitignore index 4c223ea..8a22b3c 100644 --- a/.gitignore +++ b/.gitignore @@ -25,3 +25,6 @@ # pnpm 在本机把 store 落在了工作区里（沙箱下 HOME 里的 store 不可写）。 /.pnpm-store/ + +# macOS 的目录元数据。不锚定，子目录里的也一起忽略。 +.DS_Store diff --git a/armor/.cargo/config.toml b/armor/.cargo/config.toml new file mode 100644 index 0000000..3d19e4b --- /dev/null +++ b/armor/.cargo/config.toml @@ -0,0 +1,31 @@ +# 装甲板的目标是 ESP32-C3（RISC-V），与外层 esp32/.cargo/config.toml 的 +# Xtensa 目标互不相干。这个文件离得近，所以会覆盖外层同名键（尤其是 MCU）。 +[build] +target = "riscv32imc-esp-espidf" + +[target.riscv32imc-esp-espidf] +linker = "ldproxy" +runner = "espflash flash --monitor" +rustflags = ["--cfg", "espidf_time64"] + +[unstable] +# `esp` 工具链只带了 host 的预编译 std，没有 esp 目标（与图传板那套一样）。 +# 所以必须自己编 std：键名是 `build-std`（连字符），写成 `build_std` 会被 cargo +# 当成未知键静默忽略，然后在链接阶段报找不到 `core`。 +build-std = ["std", "panic_abort"] + +[env] +MCU = "esp32c3" + +# 本机装了两套 ESP-IDF： +# +# /Users/peng/.espressif/v6.0.1/esp-idf eim 装的，工具链齐全（含 RISC-V） +# /Users/peng/.espressif/esp-idf/v5.5.5 只有 Xtensa 工具链（图传板在用） +# +# C3 是 RISC-V，所以这里指向 v6.0.1。esp-idf-sys 0.38.1 支持 6.0–6.2。 +# +# `ESP_IDF_TOOLS_INSTALL_DIR` 刻意 `force = false`：默认 `global`（即 ~/.espressif）， +# 但如果环境里已经给了 `custom:<可写目录>`（沙箱、CI），就用环境里的那个。 +# 形状必须与外层 esp32/.cargo/config.toml 一致（都是表），否则 cargo 合并配置会报错。 +IDF_PATH = { value = "/Users/peng/.espressif/v6.0.1/esp-idf", force = true } +ESP_IDF_TOOLS_INSTALL_DIR = { value = "global", force = false } diff --git a/armor/Cargo.lock b/armor/Cargo.lock new file mode 100644 index 0000000..7386def --- /dev/null +++ b/armor/Cargo.lock @@ -0,0 +1,1718 @@ +# This file is automatically @generated by Cargo. +# It is not intended for manual editing. +version = 4 + +[[package]] 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diff --git a/armor/Cargo.toml b/armor/Cargo.toml new file mode 100644 index 0000000..ab6296e --- /dev/null +++ b/armor/Cargo.toml @@ -0,0 +1,15 @@ +# 装甲板固件（ESP32-C3）：一主三从，主板一颗 MCU，四路压电片 + 四路 WS2812 都接在它上面。 +# +# 独立 workspace，不参与外层 esp32/ crate 的构建：两者目标芯片不同 +# （外层是 Xtensa 的 ESP32-S3 图传，这里是 RISC-V 的 ESP32-C3），各自的 +# `.cargo/config.toml` 就是这条边界的体现。 +[workspace] +resolver = "2" +members = ["armor-firmware", "armor-protocol"] + +[profile.release] +opt-level = "s" + +[profile.dev] +debug = true +opt-level = "z" diff --git a/armor/README.md b/armor/README.md new file mode 100644 index 0000000..3ad9537 --- /dev/null +++ b/armor/README.md @@ -0,0 +1,351 @@ +# 装甲板（ESP32-C3 / Rust / ESP-IDF）—— 一主三从，与裁判终端联动 + +一辆车四块装甲板（前/后/左/右），**只有主板一颗 MCU**：另外三块"从"板里没有单片机， +各自只有一路 WS2812 和一路压电片，直接接线到主板上。主板负责四路击打检测、四路灯带、 +整车血量，并把血量广播给本项目裁判终端。 + +固件是跑在 ESP-IDF 上的 Rust，目标芯片 **ESP32-C3（RISC-V）**。 + +```text +armor/ +├── Cargo.toml workspace：两个 crate，各自独立构建 +├── armor-protocol/ 规则层 + 线路格式（纯计算，主机上 22 个单元测试） +├── armor-firmware/ 固件：ADC / RMT / NVS / 按键 / WiFi+UDP +│ ├── src/leds.rs 四路 WS2812（单 RMT 通道轮流切 GPIO） +│ ├── src/piezo.rs 四路压电片（40 kHz ADC 连续采样） +│ ├── src/net.rs UDP 广播 ArmorHealth +│ ├── src/settings.rs NVS：队伍与颜色 +│ └── sdkconfig.defaults / partitions.csv +└── .cargo/config.toml riscv32imc-esp-espidf + MCU=esp32c3 +``` + +**为什么拆成两个 crate。** 规则层（算不算一次受击、扣几滴血、这一刻灯该显示什么、 +按一下键算短按还是长按）是最容易写错、又最不适合"烧上去看现象"的部分 —— 压电片的 +尖峰在硬件上根本没法按需复现。放在 `armor-protocol` 里就能喂 `Duration` 假时间来测。 +固件侧只做外设接线。 + +## 接线 + +| 功能 | GPIO | 说明 | +| --- | --- | --- | +| WS2812 前 | **IO10** | 每条灯带 3 颗灯珠，GRB、MSB first | +| WS2812 后 | **IO5** | | +| WS2812 左 | **IO6** | | +| WS2812 右 | **IO7** | | +| 压电片 前 | GPIO0（ADC1_CH0） | 0 dB 衰减、12 bit | +| 压电片 后 | GPIO4（ADC1_CH4） | | +| 压电片 左 | GPIO3（ADC1_CH3） | | +| 压电片 右 | GPIO1（ADC1_CH1） | | +| BOOT 键 | GPIO9 | 低有效，内部上拉 | +| 调试串口 UART0 TXD | GPIO21 | 115200 8N1，日志从这里出来（主控制台） | +| 调试串口 UART0 RXD | GPIO20 | 目前空闲，留给以后的命令通道 | + +引脚与参考实现完全一致（灯：前 10 / 后 5 / 左 6 / 右 7；压电：前 0 / 后 4 / 左 3 / +右 1）。调试口用 UART0 而不是 USB Serial/JTAG，是为了让"RXD/TXD"这对丝印就是日志口。 + +**日志同时从板上原生 USB 口出来。** `sdkconfig.defaults` 里把 USB Serial/JTAG 配成了 +**次**控制台（`CONFIG_ESP_CONSOLE_SECONDARY_USB_SERIAL_JTAG=y`）：主控制台仍是 UART0， +所以"RXD/TXD 就是调试口"这条成立；而只用原生 USB 线烧录、没接 USB-TTL 的人也能看到日志， +否则那种接法下应用日志一个字符都看不到（只有 ROM 的启动信息）。 + +## 规则 + +| | 值 | 在哪 | +| --- | --- | --- | +| 整车血量 | 100 | `Rules::max_hp` | +| 每次受击扣血 | 3 | `Rules::damage_per_hit` | +| 受击后变暗 | **只有被打的那一路**全黑 50 ms，其余三路不动 | `Rules::hit_blink` + `Armor::strip` | +| 同一板位重复判定抑制 | 50 ms | `Rules::hit_cooldown` | +| 受击阈值 | 原始 12 bit ADC > 2000（`ARMOR_THRESHOLD` 可改） | `Rules::threshold` | +| 血量归零 | 四路全黑，直到复位 | `Armor::strip` | +| 正常颜色 | 队伍一红（`0xFF0000`）、队伍二蓝（`0x0000FF`） | `Rgb::for_team` | +| 复位（新一局） | 长按 BOOT ≥500 ms → 满血、清计数 | `Button` + `Armor::reset` | +| 打印状态 | 短按 BOOT → 立刻打一行状态并重发上报 | `ButtonEvent::Click` | + +**整车一条血量，四格同值。** 板子算账、裁判端只显示：每条上报的 `hp` 相同， +`index` 分别是 0..3，所以裁判端已经画好的四格血量界面不用改。 + +**为什么要"每板独立冷却"。** 参考实现用全局 50 ms 冷却：一块板挨打后，别块板在这 +50 ms 内的击打会被吃掉。四路各自独立才是"每面各自挨打"的正确语义，这里有单元测试 +钉住（`cooldown_is_per_plate_not_global`）。 + +## 上报（UDP） + +主板每 200 ms 广播四条 `protocol::ArmorHealth` 到 `255.255.255.255:5601`： + +```text +magic "MVC1"(4) | type(1)=5 | version(2) | sender_id(4) | ... | team(1) | index(1) | hp(2) +``` + +- **血量一变立刻发**，没变就按 200 ms 心跳重发。裁判端靠心跳判断板子还在线，一次 + 丢包不该让界面退回"未接入"。 +- `sender_id` 用 MAC 派生的板子 id（`protocol::id_from_mac`），不是 0 —— 0 是裁判 + 终端的保留 id，抓包时一块装甲板发的包不该长得像裁判端发的。 +- 四条 `index` 的 `hp` 相同（整车一条血），裁判端按 `(team, index)` 收齐四条才显示。 +- 广播而不是单播：裁判终端的 IP 是 DHCP 给的，会变。图传板用 Hello 广播绕开这件事， + 装甲板沿用同一个约定。 + +### 裁判端怎么收 + +`client/src/armor.rs` 里的 `ArmorHealthStore`（裁判端角色才启动）： + +- 绑 `0.0.0.0:5601` 收广播，按 `(team, index)` 存最后一次读数。 +- **四条都在 1.5 s 内收到**才交给界面显示；否则回退占位符。心跳 200 ms，1.5 s 是连丢 + 7 个包，偶发丢包不会让四个格子各自跳。 +- 队伍端不用它（界面不显示对手血量），所以那台机器不会去占 5601。 +- 血量变化会打日志（`armor: team 0 hp 100 -> 97`）：窗口是给别人看的，抓日志的人 + 也得能看见掉血。 + +**裁判端界面原本看不到血量。** 协议与 `ArmorSource` 早已就位，但 Slint 里那 4 格只是 +绿/灰方块 —— `hps` 的数值从没被渲染，于是"板子被打到 0"在界面上完全看不出来（现场 +表现就是"敲死了裁判系统没掉血"）。现在 `TeamHealth` 多了一个 `hp-text` 与 `critical`： +队伍名旁边直接显示血量数字，归零显示 `0 · 已击毁`，低于 30 或归零时数字与四格转红。 + +## 构建 + +凭据与队伍号走 `.env`（与图传固件共用同一个文件）： + +```bash +# .env +WIFI_SSID=your-ssid +WIFI_PASS=your-password +ARMOR_TEAM=0 # 0 = 队伍一（红），1 = 队伍二（蓝） +ARMOR_THRESHOLD=2000 # 受击阈值（原始 12 bit ADC），看日志里的 peak 来定 + +scripts/build_armor.sh # 编译 +ARMOR_TEAM=1 scripts/build_armor.sh # 临时当队伍二编译 +ARMOR_THRESHOLD=1200 scripts/build_armor.sh # 换受击阈值（看日志里的 peak 来定） +``` + +产物：`armor/target/riscv32imc-esp-espidf/release/armor`。 + +`ARMOR_TEAM` 是**编译期**注入的：换队伍重刷固件即可，不用先擦 NVS。NVS 里另外记着 +`team` 与 `color`（命名空间 `armor`，与参考实现同名），两者不一致时以 `ARMOR_TEAM` +为准并覆盖，日志里会说一声。 + +本机已有的 ESP-IDF 与工具链通过 `armor/.cargo/config.toml` 指定（`IDF_PATH` / +`ESP_IDF_TOOLS_INSTALL_DIR`），不需要先 `activate` ESP-IDF。删掉那两行就交给 +esp-idf-sys 自己下载它钉住的版本。 + +### 用的是 ESP-IDF v6.0.1，不是图传板那套 v5.5.5 + +这台机器上有两套 ESP-IDF： + +| | 路径 | 工具链 | +| --- | --- | --- | +| v6.0.1（eim 装的） | `/Users/peng/.espressif/v6.0.1/esp-idf` | Xtensa + **RISC-V（`esp-15.2.0_20251204`）** | +| v5.5.5（图传板在用） | `/Users/peng/.espressif/esp-idf/v5.5.5` | 只有 Xtensa | + +C3 是 **RISC-V**，而 v5.5.5 那套缺 `riscv32-esp-elf`（它要的是 `esp-14.2.0_20260121`， +本机没有，而 GitHub release 又下不动）。所以装甲板固件指向 v6.0.1 —— 它的工具链齐全， +且 `esp-idf-sys` 0.38.1 支持的版本范围是 4.4.4+、5.0–5.5、**6.0–6.2**。 + +两套 IDF 共存没有冲突：各自 `.cargo/config.toml` 里的 `IDF_PATH` 是每套 crate 自己钉的。 + +`ESP_IDF_TOOLS_INSTALL_DIR` 默认 `global`（即 `~/.espressif`，工具所在处），但**没有**加 +`force`：沙箱或 CI 里可以用 `ESP_IDF_TOOLS_INSTALL_DIR=custom:<可写目录>` 覆盖（工具目录 +不可写时把 `tools/` 软链到已装好的工具即可，Python venv 会建在那个可写目录里）。 + +### 主机侧测试 + +规则层在 PC 上跑，不需要板子： + +```bash +cd armor/armor-protocol && cargo test # 22 个测试 +cd protocol && cargo test # 线路格式往返（含 ArmorHealth） +``` + +（`armor-protocol/.cargo/config.toml` 把 target 覆盖回 host：它坐在 `armor/` 目录树 +里，否则会继承 RISC-V 目标，链接必然失败。这与 `protocol/`、`client/` 的做法一致。） + +## 烧录与实测 + +```bash +scripts/flash_armor.sh # 自动找串口，烧完看 20 秒日志 +ESP_PORT=/dev/cu.usbmodem1101 scripts/flash_armor.sh +scripts/flash_armor.sh --monitor 60 # 看 60 秒 +scripts/flash_armor.sh --no-monitor # 只烧不抓 +``` + +烧的是 ELF（`espflash` 自己从 ELF 里读分区表与 bootloader），芯片 `esp32c3`。 + +不打开裁判端界面，也可以单独确认板子在广播、血量对不对： + +```bash +python3 scripts/armor_probe.py 15 +``` + +它手写协议常量（不依赖 Rust 侧代码），所以是线路格式的**独立**检查：如果固件编码写错， +这个脚本会立刻报不一致。 + +### 串口日志长什么样（实机抓的） + +```text +I (321) armor: pins: ws2812 front=IO10 rear=IO5 left=IO6 right=IO7 +I (321) armor: pins: piezo front=GPIO0 rear=GPIO4 left=GPIO3 right=GPIO1 +I (4864) esp_netif_handlers: sta ip: 192.168.1.117, mask: 255.255.255.0, gw: 192.168.1.1 +I (5034) armor: joined "SR-602-2G4" on 192.168.1.117 +I (5034) armor::net: reporting to 255.255.255.255:5601 over UDP +I (5034) armor::net: this board's id is 0xA820D321, from MAC [98, A3, 16, 4C, 67, C8] +I (6044) armor: status: hp=100 hits=0 dead=false plates[front=0 rear=0 left=0 right=0] + peak[front=490 rear=395 left=456 right=475] thr=2000 + strips[front=#FF0000 rear=#FF0000 left=#FF0000 right=#FF0000] + ap=SR-602-2G4 rssi=-36 ch=6 ip=192.168.1.117 reports=5 errs=0 +I (63104) armor: hit plate=front raw=4095 hp=1 (hits=33) +I (63314) armor: hit plate=front raw=4095 hp=0 (hits=34) +W (63314) armor: hp reached 0: all four strips stay dark until the next reset +W (306504) armor: BOOT long press: hp reset to 100 (new round) +``` + +（日志里的长行是这里折行显示的，实机是一行。） + +## 实测（2026-10-14，ESP32-C3 devkit，MAC `98:a3:16:4c:67:c8`） + +| 项 | 结果 | +| --- | --- | +| 编译 | `cargo build --release` 通过；text 1,081,093 B，app 镜像 **1,082,848 B**，占 4 MB flash 的 26% | +| 启动 | 无 panic/重启；状态行每秒一条 | +| WiFi | 关联 `SR-602-2G4`（rssi −36，ch 6），DHCP 拿到 `192.168.1.117` | +| 上报 | `scripts/armor_probe.py` 收到队伍一四条、约 5 包/秒、`sender_id 0xA820D321`、四格同值 | +| 裁判端 | `cam-client --role referee` 日志 `team 0 plate 0..3 is online (hp 100) via 192.168.1.117`，界面显示血量数字 | +| 受击 | 敲前装甲板：`hit plate=front raw=2663..4095`，每次 −3（100→97→94…），只有 front 计数 | +| 变暗 | 敲击瞬间**只有前那一路**全黑 50 ms，其余不变（现场确认） | +| 死亡 | 34 击到 0；状态行 `dead=true strips[front=off rear=off left=off right=off]`，四路全黑 | +| 复位 | BOOT 长按 → 板子 `reset to 100`，裁判端日志 `armor: team 0 hp 0 -> 100` | +| 底噪 | 未敲击时四路 peak 约 380–510，阈值 2000 有明显余量 | +| 未接线 | 后/左/右三路压电片与灯带本次未接（用户说明），代码按四路齐全写 | + +### 裁判端这边踩到的坑：界面根本不显示血量 + +协议、`ArmorSource`、`ArmorHealthStore` 都对，但改之前 Slint 里那 4 格只是绿/灰方块， +`hps` 的**数值从不渲染**——板子被打到 0，界面四格还是绿的，看起来像"没掉血"。现在 +队伍名旁边直接显示数字（归零显示 `0 · 已击毁`，低于 30 转红），并且客户端日志会打 +`armor: team 0 hp 100 -> 97`。 + +## 实现要点（都是踩过的坑） + +### 1. ESP32-C3 的 RMT 只有 96 个 symbol 的通道内存 + +C3 的 RMT 只有一个 block，总计 96 个 symbol，按 48 为单位分给两个 TX 通道。`mem_block_symbols = 64` +会被向上取整到 96，也就是一个通道吃光全部内存，第二个 `rmt_new_tx_channel()` 就会失败： + +```text +E rmt: rmt_tx_register_to_group(168): no free tx channels +``` + +四条灯带不可能各占一个通道（只有 2 个 TX 通道）。所以这里只建**一个**通道、让它独占 +96 个 symbol（一帧 = 3 珠 × 24 bit + reset = 73 个 symbol，装得下），再用 +`rmt_tx_switch_gpio()` 依次切到四个 GPIO 上发送；每路约 90 µs。 + +**为什么不用 `esp-idf-hal` 的 `TxChannelDriver`。** 它把 `rmt_channel_handle_t` 藏在 +结构体里（`as_ptr()` 是 `pub(crate)`），拿不到句柄就调不了 `rmt_tx_switch_gpio()`。 +所以 `leds.rs` 直接用 sys 绑定：通道、官方 copy encoder、transmit 都是 IDF 原生的那 +几个函数，用法与参考实现的 `led_strip_encoder.c` 一一对应。 + +**每路内容没变就不重发。** 参考实现里四条灯带永远同色，所以每 10 ms 无条件刷四遍； +这里四路颜色独立（被打的那一路要单独变暗），于是只在内容变化时才走 +`disable → switch → enable → transmit`，另外每秒强制全刷一次（掉电、静电都可能让 +某条灯带丢帧，缓存不能当真相）。 + +### 2. 压电片必须连续（DMA）采样 + +一次击打的波形只有几十微秒宽，oneshot 轮询几乎必然从尖峰旁边擦过去，表现就是"敲得响 +才算"。这里与参考实现一致：四通道合计 40 kHz（每通道 10 kHz），一帧 10 ms = 400 个 +采样点，一帧就是主循环的节拍。 + +`esp-idf-hal` 0.47 的 `adc::continuous` 多通道入口 `EmptyAdcChannels::chain` 的约束是 +`A: Adc` 且 `O: AdcChannels`：`ADC1` 满足前者、`ADCU1` 满足后者，同一个 +类型参数凑不齐，四路 ADC1 通道拼不出来。所以 `piezo.rs` 同样直接用 sys 绑定，与参考 +实现逐行对应。 + +采样点的通道号由硬件结果自带（`type2.channel()`），映射不依赖"结果按 pattern 顺序 +轮转"这个假设。 + +### 3. 一次击打会被算成几十次 + +40 kHz 下，压电片一次击打会连续几十个采样点过阈值。**去抖不在采样层做**，而是 +`Armor::on_sample` 的冷却窗口把它收敛成一次受击 —— 这样"算不算受击"这条规则可以在 +主机上测（`repeat_samples_inside_the_cooldown_are_one_hit`）。 + +### 4. 控制台放在 UART0 + +`sdkconfig.defaults` 里显式写了 `CONFIG_ESP_CONSOLE_UART_DEFAULT=y`：C3 的 ROM 默认 +控制台就是 UART0，引脚正好是 RXD=GPIO20 / TXD=GPIO21，与要求一致。换成 USB +Serial/JTAG 输出只要把这一行换成 `CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG`。 + +### 5. 应用分区给 2 MB + +默认的 1 MB 单 app 槽对带 WiFi 的 Rust 固件太紧，`partitions.csv` 按参考实现给 +factory 划了 2 MB。 + +### 6. WiFi 省电关掉 + +省电模式下上报会晚一个信标间隔（上百毫秒），而"受击后 50 ms 变暗"本来就是要给人即时 +反馈的。板子是车载供电，这点电流不值得换不确定性。另外主循环里每 5 s 检查一次连接， +断了就重连 —— 一块静默失联的装甲板在场上是最难查的故障。 + +### 7. 判断"连上没有"要问 IDF，不要信 esp-idf-svc 的事件缓存 + +`BlockingWifi::is_connected()/is_up()/wait_netif_up()` 读的是 esp-idf-svc 自己维护的 +WiFi 事件状态。实测在 **IDF v6.0.1 + esp-idf-svc 0.53** 上它会停在"已连接"：日志说 +一切正常、`get_ip_info()` 却是 `0.0.0.0`，而 IDF 的 `esp_wifi_sta_get_ap_info()` 明明 +说没关联。后果是 `join()` 假装连上了、看门狗永远不会重试，板子静默失联。 + +所以固件里一律用 IDF 的 API 判断： + +- 关联：`esp_wifi_sta_get_ap_info()` +- 地址：`esp_netif_get_handle_from_ifkey("WIFI_STA_DEF")` + `esp_netif_get_ip_info()` + +而且 **WiFi 是尽力而为**：`join()` 失败只警告、不退出。一块因为没网就不亮灯的装甲板， +比"裁判端看不到血量"糟糕得多。看门狗每 5 s 检查一次"关联 + 有 IP"，不满足就断开重连 +（重连时只等 3 s IP，别让主循环错过受击）。 + +### 8. 日志里"有没有连上"要说清楚 + +状态行长这样： + +```text +status: hp=0 hits=37 dead=true plates[front=37 rear=0 left=0 right=0] + peak[front=504 rear=379 left=459 right=486] thr=2000 + strips[front=off rear=off left=off right=off] + ap=SR-602-2G4 rssi=-29 ch=6 ip=192.168.1.117 reports=1745 errs=0 +``` + +- `peak[...]` 是**这一秒内每路 ADC 的峰值**，用来校准阈值：没敲时的底噪要明显低于 + 阈值，正常敲击要明显高于它（实测底噪 ~400–500，敲击 2000–4095）。只报"有没有过阈值" + 没法判断阈值该调到哪。 +- `thr=` 是当前阈值，`ARMOR_THRESHOLD=1200 scripts/build_armor.sh` 可以改。 +- `ap=` / `ip=` / `reports=` 一眼分清"板子没连上"和"包发出去了但对端没显示"。 + +### 9. USB 控制台看不到复位后的头两秒 + +主控制台是 UART0，另外把 USB Serial/JTAG 配成了次控制台，所以插原生 USB 也能看日志。 +但复位时 USB 会重新枚举，**复位后最初约 1–2 秒的日志会丢**（我们实测错过过启动横幅）。 +要看完整启动过程就用 UART0 那对脚接 USB-TTL——那才是设计中的调试口。 + +## 与参考实现（`reference/armor`）的差异 + +| | 参考实现 | 这里 | 为什么 | +| --- | --- | --- | --- | +| 主从链路 | ESP-NOW 配对，两块板对拷 | 无：三块从板只是直接接线的灯与传感器 | 按实际硬件（只有主板一颗 MCU） | +| DBUS 透传 | UART0 收发 10 字节 DBUS，USB CDC 打 CSV | 不做 | 这套硬件没有 DBUS 需求；UART0 让给日志 | +| 受击变暗 | 四条灯带一起全黑 50 ms | 只暗被打的那一路 | 每面独立灯带的意义就在这里 | +| 冷却窗口 | 全局 50 ms | 每板独立 50 ms | 别块板的击打不该被吃掉 | +| 灯带刷新 | 每 10 ms 无条件刷四遍 | 只在内容变化时刷 + 每秒强制全刷 | 四路独立控制后，省掉四轮 RMT 开销 | +| 血量 | 只有击打计数，无血量 | 整车 100 血、每击 −3、0 血全黑，按 `ArmorHealth` 上报 | 与裁判端已画好的四格血量对齐 | +| 颜色切换 | BOOT 短按切红/蓝，存 NVS | 颜色由 `ARMOR_TEAM` 决定（红/蓝），短按打状态 | 队别不该靠现场按键切错 | +| 按键 | 移植 OneButton 状态机（短按配对，长按切色） | 本地 FSM：长按复位血量、短按打状态 | 只有两种动作，且要能在主机上测 | +| 上报 sender_id | —（不走 UDP） | MAC 派生 id | 0 是裁判终端保留 id | + +## 还没做的 + +- **另外三路（后/左/右）的压电片与灯带还没接**（2026-10-14 实机只有前一路）。 + 代码按四路齐全写，接线后无需改代码；但"四路同时受击"、"每路独立变暗"这两件事 + 还没在实板上验证过。 +- **UART0 RX（GPIO20）上的命令通道**：日志方向已经能用；反向的 `status` / `reset` + 命令还没接（当前复位走 BOOT 长按）。 +- **从板加 MCU 的方案**：如果以后从板也装单片机（走 UART 或无线回传）， + `armor-protocol` 里已经预留了板位枚举与上报格式，加一个 `slave` bin 即可。 +- **双击 / 多击**：`Button` 只实现短按与长按，参考实现里未使用的 OneButton 功能没有移植。 +- **下发血量**：当前板子本地算账（裁判端只显示）。若以后要裁判端权威（下发血量/复位）， + 需要新增一条下行消息并在 `client` 里发。 diff --git a/armor/armor-firmware/Cargo.toml b/armor/armor-firmware/Cargo.toml new file mode 100644 index 0000000..1b68516 --- /dev/null +++ b/armor/armor-firmware/Cargo.toml @@ -0,0 +1,26 @@ +[package] +name = "armor-firmware" +version = "0.1.0" +edition = "2021" +resolver = "2" +rust-version = "1.82" + +# 一个 bin：主板固件。三块"从"装甲板里没有 MCU，只有一路 WS2812 + 一路压电片 +# 直接接在主板 GPIO 上，所以没有第二份固件可烧（见 armor/README.md）。 +[[bin]] +name = "armor" +path = "src/main.rs" +harness = false # 不在固件里跑主机测试框架；规则层的测试在 armor-protocol + +[dependencies] +log = "0.4" +anyhow = "1" +embedded-svc = "0.29" +esp-idf-svc = "0.53" + +# 规则层 + 线路格式：血量、去抖、按键、灯带输出，以及上报给裁判终端的 +# `protocol::ArmorHealth`（armor-protocol 再导出）。规则层能在主机上单测。 +armor-protocol = { path = "../armor-protocol" } + +[build-dependencies] +embuild = "0.33.5" diff --git a/armor/armor-firmware/build.rs b/armor/armor-firmware/build.rs new file mode 100644 index 0000000..112ec3f --- /dev/null +++ b/armor/armor-firmware/build.rs @@ -0,0 +1,3 @@ +fn main() { + embuild::espidf::sysenv::output(); +} diff --git a/armor/armor-firmware/partitions.csv b/armor/armor-firmware/partitions.csv new file mode 100644 index 0000000..d049fc9 --- /dev/null +++ b/armor/armor-firmware/partitions.csv @@ -0,0 +1,10 @@ +# 装甲板固件（4 MB flash）的自定义分区表。 +# +# nvs : 颜色 / 队伍等应用设置，外加 WiFi 校准数据 +# phy_init : 射频校准数据 +# factory : 唯一的分区镜像（2 MB 余量；固件实测不到 1 MB，但默认的 1 MB 单 app +# 槽对带 WiFi 的固件太紧） +# Name, Type, SubType, Offset, Size, Flags +nvs, data, nvs, 0x9000, 0x6000, +phy_init, data, phy, 0xf000, 0x1000, +factory, app, factory, 0x10000, 0x200000, diff --git a/armor/armor-firmware/sdkconfig.defaults b/armor/armor-firmware/sdkconfig.defaults new file mode 100644 index 0000000..841afc1 --- /dev/null +++ b/armor/armor-firmware/sdkconfig.defaults @@ -0,0 +1,29 @@ +# 装甲板固件（ESP32-C3）的默认配置。 +# +# CONFIG_IDF_TARGET 必须显式写出来：本机装的是通用 ESP-IDF，默认目标是 ESP32， +# 不写这一行会按 ESP32 去配 ADC/RMT 通道，编译期就报"没有这个外设"。 +# +# 串口调试走 UART0（RXD = GPIO20 / TXD = GPIO21，115200 8N1）——这是 C3 的 ROM +# 默认控制台引脚，和参考固件里给 DBUS 用的那两个脚是同一对。想改成 USB +# Serial/JTAG 输出，把 CONFIG_ESP_CONSOLE_UART_DEFAULT 换成 +# CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG 即可。 +CONFIG_IDF_TARGET="esp32c3" + +# 4 MB flash；应用分区放到 2 MB（见 partitions.csv），默认的 1 MB 单 app 槽对 +# WiFi + 日志的 Rust 固件太紧。 +CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y +CONFIG_PARTITION_TABLE_CUSTOM=y + +# 调试口 = UART0（GPIO20 RX / GPIO21 TX）。 +# +# 同时打开 USB Serial/JTAG 作为**次**控制台：日志会同时从板上那个原生 USB 口出来。 +# 这样现场两种接法都能看到日志 —— 接了 USB-TTL 到 RXD/TXD 的看 UART0，直接插板上 +# USB 口的看 USB。主控制台仍是 UART0，所以"RXD/TXD 就是调试口"这条成立。 +# +# 只用原生 USB 口烧录（不接 USB-TTL）时，这一条是能看见日志的唯一办法。 +CONFIG_ESP_CONSOLE_UART_DEFAULT=y +CONFIG_ESP_CONSOLE_SECONDARY_USB_SERIAL_JTAG=y + +# Rust 的 main 与规则层在同一个任务栈上跑，另外 log 会用到一些栈；默认 3.5 KB +# 在带 WiFi 的固件里容易爆栈。 +CONFIG_ESP_MAIN_TASK_STACK_SIZE=8192 diff --git a/armor/armor-firmware/src/esp.rs b/armor/armor-firmware/src/esp.rs new file mode 100644 index 0000000..9d5eca8 --- /dev/null +++ b/armor/armor-firmware/src/esp.rs @@ -0,0 +1,27 @@ +//! 把 IDF 的 `esp_err_t` 返回值变成可读的 `anyhow::Error`。 +//! +//! 固件里到处都要判 `ESP_OK` 并把错误码翻译成人能看懂的名字；不翻译的话现场只会 +//! 看到 `0x105`，而 IDF 的错误码表并不在脑子里。 + +use anyhow::{anyhow, Result}; +use esp_idf_svc::sys as ffi; + +/// `ESP_OK` 之外的返回值转成 `Err`，`what` 是出错的那一步的名字。 +pub fn check(what: &str, rc: ffi::esp_err_t) -> Result<()> { + if rc == ffi::ESP_OK { + return Ok(()); + } + + Err(anyhow!("{what} failed: {} (0x{rc:x})", name(rc))) +} + +/// 错误码的名字，例如 `ESP_ERR_INVALID_ARG`。 +#[must_use] +pub fn name(rc: ffi::esp_err_t) -> String { + // SAFETY: esp_err_to_name 对任意 esp_err_t 都返回一个静态 C 字符串。 + unsafe { + core::ffi::CStr::from_ptr(ffi::esp_err_to_name(rc)) + .to_string_lossy() + .into_owned() + } +} diff --git a/armor/armor-firmware/src/leds.rs b/armor/armor-firmware/src/leds.rs new file mode 100644 index 0000000..d850170 --- /dev/null +++ b/armor/armor-firmware/src/leds.rs @@ -0,0 +1,312 @@ +//! 四路 WS2812 灯带：一个 RMT TX 通道 + 官方 copy encoder，靠切 GPIO 轮流驱动。 +//! +//! # 为什么不用 `esp-idf-hal` 的 `TxChannelDriver` +//! +//! 它把 `rmt_channel_handle_t` 藏在结构体里（`as_ptr()` 是 `pub(crate)`），而 +//! "一个通道依次驱动四路灯带"必须用 `rmt_tx_switch_gpio()` 换脚。ESP32-C3 的 RMT +//! 只有 **2 个 TX 通道**，四路灯带不可能各占一个，所以这里直接用 `esp-idf-svc` 的 +//! sys 绑定：通道、encoder、transmit 都是 IDF 原生的那几个函数，用法与参考实现的 +//! `led_strip_encoder.c` 一一对应。 +//! +//! # ESP32-C3 的 RMT 内存限制（照抄参考实现的踩坑记录） +//! +//! C3 的 RMT 只有一个 block，总计 **96 个 symbol 的通道内存**，按 +//! `SOC_RMT_MEM_WORDS_PER_CHANNEL = 48` 为单位分配。`mem_block_symbols = 64` 会被 +//! 向上取整到 96，也就是一个通道吃光全部内存，第二个 `rmt_new_tx_channel()` 会以 +//! `no free tx channels` 失败： +//! +//! ```text +//! E rmt: rmt_tx_register_to_group(168): no free tx channels +//! ``` +//! +//! 所以这里只建**一个**通道、让它独占 96 个 symbol（一帧 = 3 珠 × 24 bit + reset +//! = 73 个 symbol，装得下），再用 `rmt_tx_switch_gpio()` 依次切到四个 GPIO 上发送。 +//! 每路约 90 µs，10 ms 周期里的开销可以忽略。 +//! +//! # 与参考实现的差异 +//! +//! 参考实现里四条灯带永远同色，所以每 10 ms 无条件刷四遍。这里四路颜色各自独立 +//! （被打的那一路要单独变暗），于是： +//! +//! - 内容没变的路不发（`refresh` 里比较上一次的 [`Strip`]），省掉每次 +//! `disable → switch → enable → transmit` 的四轮开销； +//! - 每秒仍强制全刷一次：灯带可能因为上电次序、掉电、静电而丢帧，缓存不能当真相。 + +use core::ffi::c_void; +use core::time::Duration; + +use anyhow::Result; +use esp_idf_svc::hal::rmt::{PinState, Pulse, Symbol}; +use esp_idf_svc::hal::units::Hertz; +use esp_idf_svc::sys as ffi; +use log::{info, warn}; + +use armor_protocol::{Plate, Rgb, Strip}; + +use crate::esp; + +/// RMT 计时分辨率：10 MHz，即 1 tick = 0.1 µs。 +const RMT_RESOLUTION_HZ: u32 = 10_000_000; + +/// 每条灯带 3 颗灯珠（与参考实现一致）。 +const LEDS_PER_STRIP: usize = 3; + +/// 一帧的符号数：24 bit/珠 × 3 珠 + 1 个 reset 符号。 +const FRAME_SYMBOLS: usize = LEDS_PER_STRIP * 24 + 1; + +/// 独占 C3 全部 RMT 通道内存，只建一个通道（见模块文档）。 +const MEM_BLOCK_SYMBOLS: usize = 96; + +/// WS2812 的位时序：T0H / T0L / T1H / T1L。 +const T0H_NS: u64 = 300; +const T0L_NS: u64 = 900; +const T1H_NS: u64 = 900; +const T1L_NS: u64 = 300; + +/// 帧尾低电平时长；WS2812 要 >50 µs 才锁存。 +const RESET_US: u64 = 50; + +/// 灯带数据脚（GPIO 号，按 [`Plate`] 的 index 排列）：前 10 / 后 5 / 左 6 / 右 7。 +const STRIP_GPIO: [i32; 4] = [10, 5, 6, 7]; + +/// `rmt_tx_wait_all_done` 的超时（毫秒）。一帧只要 ~90 µs，1 s 是"卡死就报错"的量级。 +const TX_TIMEOUT_MS: i32 = 1000; + +/// 强制全刷的周期：缓存不可信（掉电、静电都可能让灯带丢帧）。 +const FULL_REFRESH_MS: u64 = 1000; + +/// 四路 WS2812。 +pub struct Leds { + channel: ffi::rmt_channel_handle_t, + encoder: ffi::rmt_encoder_handle_t, + /// 通道当前是否处于 enable 状态；切 GPIO 只能在 INIT 状态下做。 + enabled: bool, + bit0: Symbol, + bit1: Symbol, + reset: Symbol, + /// 每路的预编码帧。放在 `Box` 里：`rmt_transmit` 只借用指针，堆上的地址不会 + /// 因为结构体搬动而失效。 + frames: Box<[[ffi::rmt_symbol_word_t; FRAME_SYMBOLS]; 4]>, + /// 上一次真正发出去的内容，用来跳过没变化的刷新。 + current: [Option; 4], + last_full_refresh_ms: u64, +} + +impl Leds { + /// 建通道与 encoder，把四路灯带全刷成黑色（上电先灭）。 + pub fn new() -> Result { + let mut config = ffi::rmt_tx_channel_config_t::default(); + // 先落在前装甲板那一路；其余三路靠 switch_gpio 换过去。 + config.gpio_num = STRIP_GPIO[Plate::Front.index() as usize] as _; + config.clk_src = ffi::soc_periph_rmt_clk_src_t_RMT_CLK_SRC_DEFAULT; + config.resolution_hz = RMT_RESOLUTION_HZ; + config.mem_block_symbols = MEM_BLOCK_SYMBOLS; + config.trans_queue_depth = 4; + + let mut channel: ffi::rmt_channel_handle_t = core::ptr::null_mut(); + esp::check( + "rmt_new_tx_channel", + // SAFETY: config 与 channel 都是本函数的局部量，调用期间有效。 + unsafe { ffi::rmt_new_tx_channel(&config, &mut channel) }, + )?; + + let mut encoder: ffi::rmt_encoder_handle_t = core::ptr::null_mut(); + let copy_config = ffi::rmt_copy_encoder_config_t::default(); + if let Err(err) = esp::check( + "rmt_new_copy_encoder", + // SAFETY: 同上，copy encoder 只是把用户给的 symbol 原样搬进硬件。 + unsafe { ffi::rmt_new_copy_encoder(©_config, &mut encoder) }, + ) { + // SAFETY: 通道刚建好且未使用，可以直接删。 + unsafe { ffi::rmt_del_channel(channel) }; + return Err(err); + } + + let resolution = Hertz(RMT_RESOLUTION_HZ); + let bit0 = Symbol::new_with( + resolution, + PinState::High, + Duration::from_nanos(T0H_NS), + PinState::Low, + Duration::from_nanos(T0L_NS), + )?; + let bit1 = Symbol::new_with( + resolution, + PinState::High, + Duration::from_nanos(T1H_NS), + PinState::Low, + Duration::from_nanos(T1L_NS), + )?; + let reset_low = + Pulse::new_with_duration(resolution, PinState::Low, Duration::from_micros(RESET_US))?; + // reset = 一整段（两半都是低电平）的符号。 + let reset = Symbol::new(reset_low, reset_low); + + // `rmt_symbol_word_t` 是 union，bindgen 不给它 `Default`，只能自己写一个全零符号。 + let blank = ffi::rmt_symbol_word_t { val: 0 }; + + let mut leds = Self { + channel, + encoder, + enabled: false, + bit0, + bit1, + reset, + frames: Box::new([[blank; FRAME_SYMBOLS]; 4]), + current: [None; 4], + last_full_refresh_ms: 0, + }; + + info!( + "ws2812: 1 RMT channel x {MEM_BLOCK_SYMBOLS} symbols, {LEDS_PER_STRIP} leds/strip on GPIO {:?}", + STRIP_GPIO + ); + + // 上电先灭：不知道灯带上一次显示的是什么。 + for plate in Plate::ALL { + leds.write(plate, Strip::Black)?; + } + + Ok(leds) + } + + /// 把预编码的帧发到指定那一路。 + fn write(&mut self, plate: Plate, strip: Strip) -> Result<()> { + let slot = plate.index() as usize; + + self.encode(slot, strip.color()); + + // 切 GPIO 只能在 INIT 状态下做，所以先 disable。 + if self.enabled { + esp::check("rmt_disable", unsafe { ffi::rmt_disable(self.channel) })?; + self.enabled = false; + } + + esp::check( + "rmt_tx_switch_gpio", + // SAFETY: 通道处于 INIT 状态；gpio 是 C3 上的合法输出脚。 + unsafe { ffi::rmt_tx_switch_gpio(self.channel, STRIP_GPIO[slot] as _, false) }, + )?; + + esp::check("rmt_enable", unsafe { ffi::rmt_enable(self.channel) })?; + self.enabled = true; + + let tx_config = ffi::rmt_transmit_config_t { + loop_count: 0, // 不循环 + ..Default::default() + }; + + esp::check( + "rmt_transmit", + // SAFETY: frames[slot] 在 Box 上，地址稳定；调用期间不会被移动。 + unsafe { + ffi::rmt_transmit( + self.channel, + self.encoder, + self.frames[slot].as_ptr() as *const c_void, + core::mem::size_of_val(&self.frames[slot]), + &tx_config, + ) + }, + )?; + + esp::check( + "rmt_tx_wait_all_done", + // SAFETY: 纯等待，超时给 1 s。 + unsafe { ffi::rmt_tx_wait_all_done(self.channel, TX_TIMEOUT_MS) }, + )?; + + self.current[slot] = Some(strip); + Ok(()) + } + + /// 把 `rgb` 编成一条灯带的整帧（GRB、MSB first，3 珠同色）。 + fn encode(&mut self, slot: usize, rgb: Rgb) { + let grb = rgb.to_grb(); + let frame = &mut self.frames[slot]; + + // 一颗灯珠的 24 个符号只算一遍，再复制给另外两颗 —— 四条灯带都是 3 珠， + // 中间那两步没必要重复算。 + let mut one_led = [ffi::rmt_symbol_word_t { val: 0 }; 24]; + for (byte_index, byte) in grb.iter().enumerate() { + for bit in 0..8 { + let symbol = if (byte >> (7 - bit)) & 1 == 1 { + self.bit1 + } else { + self.bit0 + }; + one_led[byte_index * 8 + bit] = symbol.into(); + } + } + + for led in 0..LEDS_PER_STRIP { + frame[led * 24..(led + 1) * 24].copy_from_slice(&one_led); + } + + // 帧尾：>50 µs 低电平，灯带才会锁存这一帧。 + frame[FRAME_SYMBOLS - 1] = self.reset.into(); + } + + /// 按 [`Plate`] 的 index 刷四路灯带。 + /// + /// 内容与上一次相同的路直接跳过（除非到了每秒一次的强制全刷），所以稳态下 + /// 这个函数几乎不花时间。 + pub fn refresh(&mut self, strips: [Strip; 4], now_ms: u64) -> Result<()> { + let full = now_ms.saturating_sub(self.last_full_refresh_ms) >= FULL_REFRESH_MS; + + for plate in Plate::ALL { + let strip = strips[plate.index() as usize]; + + if !full && self.current[plate.index() as usize] == Some(strip) { + continue; + } + + self.write(plate, strip)?; + } + + if full { + self.last_full_refresh_ms = now_ms; + } + + Ok(()) + } +} + +impl Drop for Leds { + fn drop(&mut self) { + // 固件里 main 永不返回，这段只在异常路径（比如 new() 之后的早期返回）跑到。 + unsafe { + if self.enabled { + ffi::rmt_disable(self.channel); + } + if !self.encoder.is_null() { + ffi::rmt_del_encoder(self.encoder); + } + if !self.channel.is_null() { + ffi::rmt_del_channel(self.channel); + } + } + } +} + +/// 供 main 打印一次用：把四路输出拼成一行，便于对照。 +pub fn describe(strips: [Strip; 4]) -> String { + Plate::ALL + .iter() + .map(|plate| { + let strip = strips[plate.index() as usize]; + let text = if strip.is_black() { + "off".to_string() + } else { + format!("#{:06X}", strip.color().to_u32()) + }; + format!("{}={text}", plate.name()) + }) + .collect::>() + .join(" ") +} + +/// 记一次刷新失败：诊断信息比重启有用，现场灯带接错线也不该把固件打挂。 +pub fn log_failure(err: &anyhow::Error) { + warn!("ws2812 refresh failed: {err:#}"); +} diff --git a/armor/armor-firmware/src/main.rs b/armor/armor-firmware/src/main.rs new file mode 100644 index 0000000..c2f2cd7 --- /dev/null +++ b/armor/armor-firmware/src/main.rs @@ -0,0 +1,556 @@ +//! 装甲板主板固件（ESP32-C3）：一主三从，与裁判终端联动。 +//! +//! # 这套硬件是什么 +//! +//! 一辆车四块装甲板（前/后/左/右），但只有**主板一颗 MCU**：另外三块"从"板里没有 +//! 单片机，各自只有一路 WS2812 和一路压电片，直接接线到主板上。所以这份固件同时管 +//! 四路输入与四路输出： +//! +//! ```text +//! 压电片 前/后/左/右 ──ADC──┐ +//! ├──► armor-protocol（血量 / 去抖 / 灯色） +//! BOOT 键 ──────── GPIO9 ──┘ │ +//! ├──► WS2812 前/后/左/右 +//! └──► UDP 广播 ──► 裁判终端 :5601 +//! ``` +//! +//! # 规则（见 `armor-protocol`，那里有单元测试） +//! +//! - 整车一条血量：100 起，每次受击 −3，减到 0 不变负；0 血四路全黑。 +//! - 受击时**只有被打的那一路**灯带全黑 50 ms，其余三路不动。 +//! - 颜色由队伍决定：队伍一红、队伍二蓝；`ARMOR_TEAM` 编译期注入。 +//! - 血量账在板子上算，按 `protocol::ArmorHealth` 广播给本项目裁判终端。 +//! +//! # 构建与烧录 +//! +//! ```text +//! scripts/build_armor.sh # 用 .env 里的 WIFI_SSID/WIFI_PASS/ARMOR_TEAM +//! scripts/flash_armor.sh # 编译 + espflash + 串口日志 +//! ``` +//! +//! 串口调试走 UART0：RXD = GPIO20 / TXD = GPIO21，115200 8N1（日志从 TX 出来， +//! RX 目前空闲，留给以后加命令通道）。USB Serial/JTAG 配成了次控制台，所以插原生 +//! USB 口也能看到同一份日志。完整接线表、协议与踩坑见 `armor/README.md`。 + +use std::time::Duration; + +use anyhow::{anyhow, Result}; +use embedded_svc::wifi::{AuthMethod, ClientConfiguration, Configuration, PmfConfiguration}; +use esp_idf_svc::eventloop::EspSystemEventLoop; +use esp_idf_svc::hal::gpio::{PinDriver, Pull}; +use esp_idf_svc::hal::peripherals::Peripherals; +use esp_idf_svc::nvs::EspDefaultNvsPartition; +use esp_idf_svc::wifi::{BlockingWifi, EspWifi}; +use log::{error, info, warn}; + +use armor_protocol::{Armor, Button, ButtonEvent, Plate, ReportSchedule, Rules, TEAM_2}; + +mod esp; +mod leds; +mod net; +mod piezo; +mod settings; + +/// WiFi 账号来自 .env（构建期注入，固件里不留密码）。 +const SSID: &str = env!("WIFI_SSID"); +const PASSWORD: &str = env!("WIFI_PASS"); + +/// 编译期注入的队伍号：`0` = 队伍一（红），`1` = 队伍二（蓝）。不写就是队伍一。 +const TEAM_ENV: &str = match option_env!("ARMOR_TEAM") { + Some(value) => value, + None => "0", +}; + +/// 受击阈值（原始 12 bit ADC）。参考实现用 2000，但压电片的幅度取决于贴装、线长 +/// 与有没有放大级，所以这里留一个编译期入口：`ARMOR_THRESHOLD=1200`。 +/// +/// 怎么定这个值：看串口 status 行里的 `peak[...]`。没敲时的底噪要明显低于阈值， +/// 正常敲击要明显高于它。 +const THRESHOLD_ENV: &str = match option_env!("ARMOR_THRESHOLD") { + Some(value) => value, + None => "2000", +}; + +/// 血量不变时的重发周期。裁判端靠它判断板子还在线 —— 一次丢包不该让界面变回 +/// "装甲板未接入"。 +const REPORT_HEARTBEAT_MS: u64 = 200; + +/// 状态行的打印周期（UART 调试口）。 +const STATUS_INTERVAL_MS: u64 = 1000; + +/// WiFi 断线检查周期。 +const WIFI_CHECK_MS: u64 = 5000; + +/// 毫秒时基。`esp_timer` 是微秒计数器，转毫秒后 u64 不会被绕回。 +fn now_ms() -> u64 { + // SAFETY: 纯读计时器。 + (unsafe { esp_idf_svc::sys::esp_timer_get_time() } as u64) / 1000 +} + +fn main() -> Result<()> { + // esp-idf-sys 的运行时补丁必须跑一次，日志系统也要先起来。 + esp_idf_svc::sys::link_patches(); + esp_idf_svc::log::EspLogger::initialize_default(); + + let team = armor_protocol::parse_team(TEAM_ENV) + .ok_or_else(|| anyhow!("ARMOR_TEAM must be 0 or 1, got {TEAM_ENV:?}"))?; + + let peripherals = Peripherals::take()?; + let sys_loop = EspSystemEventLoop::take()?; + let nvs = EspDefaultNvsPartition::take()?; + + // 队别与颜色：ARMOR_TEAM 是权威，NVS 只记住结果。 + let color = settings::Settings::new(nvs.clone())?.resolve_color(team)?; + + let threshold: u16 = THRESHOLD_ENV + .parse() + .map_err(|_| anyhow!("ARMOR_THRESHOLD must be a number, got {THRESHOLD_ENV:?}"))?; + let rules = Rules { + threshold, + ..Rules::default() + }; + + let mut armor = Armor::new(rules, color); + + info!("pins: ws2812 front=IO10 rear=IO5 left=IO6 right=IO7"); + info!("pins: piezo front=GPIO0 rear=GPIO4 left=GPIO3 right=GPIO1"); + info!("pins: boot=GPIO9 debug uart0 rxd=GPIO20 txd=GPIO21 115200 8N1"); + info!( + "armor board: team={team} ({}), {} hp, -{} per hit, {} ms dark on the hit strip", + if team == TEAM_2 { "blue" } else { "red" }, + armor.hp(), + rules.damage_per_hit, + rules.hit_blink.as_millis() + ); + + let mut leds = leds::Leds::new()?; + let mut piezo = piezo::Piezo::new()?; + + // BOOT 键（GPIO9，低有效）：内部上拉，按下读低。 + let button = PinDriver::input(peripherals.pins.gpio9, Pull::Up)?; + let mut button_fsm = Button::default(); + + let mut wifi = BlockingWifi::wrap( + EspWifi::new(peripherals.modem, sys_loop.clone(), Some(nvs))?, + sys_loop, + )?; + // WiFi 是尽力而为：**连不上也绝不能挡住受击检测与灯效**。一块因为没网就不亮 + // 灯的装甲板，在场上比"裁判端看不到血量"糟糕得多。所以这里只报警，主循环照跑， + // 由看门狗每 5 s 重试。 + if let Err(err) = join(&mut wifi, Duration::from_secs(10)) { + warn!("no referee link yet ({err:#}); hits and LEDs still work, retrying every {WIFI_CHECK_MS} ms"); + } + + let reporter = net::Reporter::new()?; + let sender_id = net::local_id(); + + let mut hits: Vec<(Plate, u16)> = Vec::with_capacity(16); + let mut reports = ReportSchedule::new(Duration::from_millis(REPORT_HEARTBEAT_MS)); + let mut last_status_ms = now_ms(); + let mut last_wifi_check_ms = now_ms(); + // 启动即发一次：裁判端不用等到第一次受击才知道板子在线。 + let mut force_report = true; + // 上报统计，状态行里打出来：现场"裁判端没显示"时，第一件事是分清是链路问题 + // 还是对端问题。计数在涨就说明包已经出去了。 + let mut reports_sent: u64 = 0; + let mut report_errors: u64 = 0; + // 上一次状态行以来每路 ADC 的峰值（校准阈值用），打印后清零。 + let mut peak = [0u16; 4]; + + info!("entering the main loop: long-press BOOT to reset hp, short-press to print status"); + + loop { + let now = Duration::from_millis(now_ms()); + + // 采样：一次读一帧（约 10 ms），这一帧就是主循环的节拍。 + match piezo.read_frame(armor.rules().threshold, &mut hits) { + Ok(stats) => { + for (slot, value) in stats.peak.iter().enumerate() { + peak[slot] = peak[slot].max(*value); + } + + for (plate, raw) in hits.iter().copied() { + if let Some(event) = armor.on_sample(plate, raw, now) { + info!( + "hit plate={} raw={} hp={} (hits={})", + event.plate.name(), + event.raw, + event.hp, + armor.hits() + ); + if event.dead { + warn!("hp reached 0: all four strips stay dark until the next reset"); + } + } + } + } + Err(err) => { + warn!("adc frame failed: {err:#}"); + // 读失败时别把循环变成没有节拍的忙等。 + std::thread::sleep(Duration::from_millis(10)); + } + } + + // 灯带：只有内容变化的那一路才真的发 RMT（每秒另有一次强制全刷）。 + let strips = armor.strips(now); + if let Err(err) = leds.refresh(strips, now_ms()) { + leds::log_failure(&err); + } + + // 按键。BOOT 低有效，所以"按下" = 读到低电平。 + match button_fsm.tick(button.is_low(), now) { + ButtonEvent::LongPress => { + armor.reset(); + warn!("BOOT long press: hp reset to {} (new round)", armor.hp()); + force_report = true; + } + ButtonEvent::Click => { + info!( + "status: {}", + status_with_link(&armor, now, reports_sent, report_errors, peak) + ); + force_report = true; + } + ButtonEvent::None => {} + } + + // 上报：血量一变立刻发，其余按心跳重发。 + let current_ms = now_ms(); + if force_report || reports.due(armor.hp(), now) { + match broadcast_health(&reporter, &armor, team, sender_id) { + Ok(()) => { + reports.mark_sent(armor.hp(), now); + reports_sent = reports_sent.saturating_add(1); + } + Err(err) => { + report_errors = report_errors.saturating_add(1); + warn!("report failed: {err:#}"); + } + } + force_report = false; + } + + // 状态行：现场不看串口也能从日志确认板子活着、血量是多少、链路通不通。 + if current_ms.saturating_sub(last_status_ms) >= STATUS_INTERVAL_MS { + last_status_ms = current_ms; + info!( + "status: {}", + status_with_link(&armor, now, reports_sent, report_errors, peak) + ); + // 峰值是"上一秒"的量，打完就清零，这样现场能一眼看出没敲时的底噪。 + peak = [0u16; 4]; + } + + // WiFi 看门狗：**关联上 + 拿到 IP** 才算链路好。 + // + // 判断不用 `BlockingWifi::is_connected()/is_up()`：那两个读的是 esp-idf-svc + // 自己的事件缓存，实测在 IDF v6.0.1 上会停留在"已连接"，而 IDF 的 API 明明 + // 说没关联（现场表现就是日志说一切正常、裁判端一个包都收不到）。所以这里 + // 直接问 IDF：`esp_wifi_sta_get_ap_info()` 与 `esp_netif_get_ip_info()`。 + // + // 重连时只给 3 s 等 IP（启动时给的 10 s）：这里是主循环，等太久会漏掉受击。 + if current_ms.saturating_sub(last_wifi_check_ms) >= WIFI_CHECK_MS { + last_wifi_check_ms = current_ms; + + let link = link_state(); + let ip = sta_ip(); + let healthy = link.associated() && ip.is_some_and(|ip| !ip.is_unspecified()); + + if !healthy { + warn!("link is not usable ({}); reconnecting", describe_link(&link, ip)); + + // 断开再连：关联掉了或 DHCP 没下来时，只有重新来一遍才会好。 + if let Err(err) = wifi.disconnect() { + warn!("disconnect failed: {err}"); + } + if let Err(err) = join(&mut wifi, Duration::from_secs(3)) { + warn!("reconnect failed: {err:#}"); + } + } + } + } +} + +/// 广播四块装甲板的血量给裁判终端。 +/// +/// 四条数据报的 `hp` 相同（整车一条血量），`index` 分别是 0..3 —— 裁判端已有的 +/// 四格血量界面无需改动。`sender_id` 用 MAC 派生的板子 id，方便抓包时分辨是谁发的。 +fn broadcast_health( + reporter: &net::Reporter, + armor: &Armor, + team: u8, + sender_id: u32, +) -> Result<()> { + for datagram in armor.datagrams_from(team, sender_id) { + reporter.broadcast(&datagram)?; + } + Ok(()) +} + +/// 状态行 + 当场问出来的链路状态。 +/// +/// 每次都现算而不是缓存：现场排查时最怕看到的是过期的好消息。 +fn status_with_link( + armor: &Armor, + now: Duration, + reports_sent: u64, + report_errors: u64, + peak: [u16; 4], +) -> String { + status_line( + armor, + now, + &link_line(&link_state(), sta_ip(), reports_sent, report_errors), + peak, + ) +} + +/// 一行状态，给 UART 调试口用。 +/// +/// `peak` 是这一秒里每路 ADC 的峰值。它比"有没有受击"更有用：现场要判断阈值该调到 +/// 多少，靠的就是"没敲时的底噪"和"敲击时的幅度"这两个数字。 +fn status_line(armor: &Armor, now: Duration, link: &str, peak: [u16; 4]) -> String { + let counts = armor.plate_hits_all(); + let per_plate = Plate::ALL + .iter() + .map(|plate| format!("{}={}", plate.name(), counts[plate.index() as usize])) + .collect::>() + .join(" "); + let peaks = Plate::ALL + .iter() + .map(|plate| format!("{}={}", plate.name(), peak[plate.index() as usize])) + .collect::>() + .join(" "); + + format!( + "hp={} hits={} dead={} plates[{}] peak[{}] thr={} strips[{}] {link}", + armor.hp(), + armor.hits(), + armor.dead(), + per_plate, + peaks, + armor.rules().threshold, + leds::describe(armor.strips(now)), + ) +} + +/// 链路那半截状态：连的是哪个 AP、信号多强、有没有 IP、上报发了多少包。 +/// +/// 现场"裁判端没显示"时，第一件事是分清链路问题还是对端问题：`reports` 在涨就说明 +/// 包已经出去了，该去查裁判端；一直不动就是这块板子没连上。而"没连上"还要再分 +/// 关联与 DHCP —— 关联上但 IP 是 0.0.0.0 是最容易看错的一种。 +fn link_line(link: &Link, ip: Option, reports_sent: u64, report_errors: u64) -> String { + format!( + "{} reports={reports_sent} errs={report_errors}", + describe_link(link, ip) + ) +} + +/// 当前关联状态。**来源是 IDF 的 API**，不是 esp-idf-svc 的事件缓存（见看门狗注释）。 +#[derive(Debug, Clone)] +enum Link { + /// 关联上了：AP 名字、RSSI、信道。 + Associated { + ssid: String, + rssi: i8, + channel: u8, + }, + /// 没关联（或者 IDF 说 STA 没在跑）。 + Idle { rc: i32 }, +} + +impl Link { + #[must_use] + fn associated(&self) -> bool { + matches!(self, Link::Associated { .. }) + } +} + +/// 问一次 IDF：STA 关联到哪个 AP 了。 +fn link_state() -> Link { + let mut record = esp_idf_svc::sys::wifi_ap_record_t::default(); + + // SAFETY: record 是本函数的局部量，IDF 只往里写；未关联时返回非 OK 而不动它。 + let rc = unsafe { esp_idf_svc::sys::esp_wifi_sta_get_ap_info(&mut record) }; + if rc != esp_idf_svc::sys::ESP_OK { + return Link::Idle { rc }; + } + + // ssid 是定长 33 字节、以 0 结尾的缓冲区。 + let ssid = unsafe { + core::ffi::CStr::from_ptr(record.ssid.as_ptr() as *const core::ffi::c_char) + .to_string_lossy() + .into_owned() + }; + + Link::Associated { + ssid, + rssi: record.rssi, + channel: record.primary, + } +} + +/// STA 网卡当前的 IPv4 地址（直接从 `esp_netif` 读，绕开 esp-idf-svc 的封装）。 +/// +/// `None` 表示还没拿到 DHCP 地址。0.0.0.0 也按 `None` 处理 —— 那等于没有地址。 +fn sta_ip() -> Option { + // 默认 STA 网卡的 interface key（`esp_netif_create_default_wifi_sta` 用的就是它）。 + let handle = unsafe { + esp_idf_svc::sys::esp_netif_get_handle_from_ifkey(c"WIFI_STA_DEF".as_ptr()) + }; + if handle.is_null() { + return None; + } + + let mut info = esp_idf_svc::sys::esp_netif_ip_info_t::default(); + // SAFETY: info 是局部量，handle 来自上面的查询。 + if unsafe { esp_idf_svc::sys::esp_netif_get_ip_info(handle, &mut info) } + != esp_idf_svc::sys::ESP_OK + { + return None; + } + + // lwIP 的 `ip4_addr_t.addr` 是网络字节序，所以最低字节是点分表示的第一段。 + let raw = info.ip.addr; + let ip = std::net::Ipv4Addr::new( + (raw & 0xFF) as u8, + ((raw >> 8) & 0xFF) as u8, + ((raw >> 16) & 0xFF) as u8, + ((raw >> 24) & 0xFF) as u8, + ); + + if ip.is_unspecified() { + None + } else { + Some(ip) + } +} + +/// 链路状态的一行描述，日志与状态行共用。 +fn describe_link(link: &Link, ip: Option) -> String { + let ip = match ip { + Some(ip) => ip.to_string(), + None => "none".to_string(), + }; + + match link { + Link::Associated { + ssid, + rssi, + channel, + } => format!("ap={ssid} rssi={rssi} ch={channel} ip={ip}"), + Link::Idle { rc } => format!("ap=none (rc=0x{rc:x}) ip={ip}"), + } +} + +/// 等到 STA 真的拿到 IP（权威来源），最多等 `timeout`。 +/// +/// 不用 `BlockingWifi::wait_netif_up()`：它读的是 esp-idf-svc 的事件缓存，在 +/// IDF v6.0.1 上会"立刻成功"而实际没有地址 —— 那样 join() 会假装连上了，看门狗 +/// 也就永远不会重试。 +fn wait_for_ip(timeout: Duration) -> Option { + let deadline = std::time::Instant::now() + timeout; + + loop { + if let Some(ip) = sta_ip() { + return Some(ip); + } + + if std::time::Instant::now() >= deadline { + return None; + } + + std::thread::sleep(Duration::from_millis(200)); + } +} + +/// 连上 WiFi 并等一个 IP（幂等：已启动就不再 start 一次）。 +/// +/// 连不上时把扫到的网络打出来：这块模块只有 2.4 GHz，SSID 若在 5 GHz 上，现场看到 +/// 一张空列表比看一个关联超时有用得多。**调用方不应该因为这个错误就退出** —— 没有 +/// 网也要能打灯。 +fn join(wifi: &mut BlockingWifi>, ip_timeout: Duration) -> Result<()> { + if !wifi.is_started()? { + wifi.start()?; + } + + if !link_state().associated() { + let config = Configuration::Client(ClientConfiguration { + ssid: SSID + .try_into() + .map_err(|_| anyhow!("WIFI_SSID too long (max 32 bytes)"))?, + bssid: None, + auth_method: default_auth_method(), + password: PASSWORD + .try_into() + .map_err(|_| anyhow!("WIFI_PASS too long (max 64 bytes)"))?, + channel: None, + // 通告 PMF：WPA2/WPA3 混合模式的路由器否则会丢掉握手；`required: false` + // 仍然允许纯 WPA2 的 AP。 + pmf_cfg: PmfConfiguration::Capable { required: false }, + ..Default::default() + }); + + wifi.set_configuration(&config)?; + + if let Err(err) = wifi.connect() { + error!("could not join \"{SSID}\": {err}"); + report_scan(wifi); + return Err(err.into()); + } + } + + // 省电模式换来的电流不值得：它会让上报晚一个信标间隔（上百毫秒），而"受击后 + // 50 ms 变暗"这件事本来就是要给人即时反馈的。 + let rc = unsafe { + esp_idf_svc::sys::esp_wifi_set_ps(esp_idf_svc::sys::wifi_ps_type_t_WIFI_PS_NONE) + }; + if rc != esp_idf_svc::sys::ESP_OK { + warn!("could not disable wifi power save ({})", esp::name(rc)); + } + + let link = link_state(); + + let Some(ip) = wait_for_ip(ip_timeout) else { + report_scan(wifi); + return Err(anyhow!( + "no DHCP address within {} ms ({})", + ip_timeout.as_millis(), + describe_link(&link, None) + )); + }; + + info!("joined \"{SSID}\" on {ip}"); + Ok(()) +} + +/// 没写 `WIFI_PASS` 就是开放网络。 +fn default_auth_method() -> AuthMethod { + if PASSWORD.is_empty() { + AuthMethod::None + } else { + AuthMethod::WPA2Personal + } +} + +/// 把扫到的网络打出来，并标出我们要连的那个。连不上时的第一诊断信息。 +fn report_scan(wifi: &mut BlockingWifi>) { + match wifi.scan() { + Ok(aps) if aps.is_empty() => { + error!("scan found no networks; check the antenna and that the AP is on 2.4 GHz"); + } + Ok(aps) => { + for ap in aps { + info!( + " {:<32} ch {:>2} {:>4} dBm {:?}{}", + ap.ssid, + ap.channel, + ap.signal_strength, + ap.auth_method, + if ap.ssid.as_str() == SSID { " <- target" } else { "" } + ); + } + } + Err(err) => warn!("scan failed: {err}"), + } +} diff --git a/armor/armor-firmware/src/net.rs b/armor/armor-firmware/src/net.rs new file mode 100644 index 0000000..1dbf6cb --- /dev/null +++ b/armor/armor-firmware/src/net.rs @@ -0,0 +1,142 @@ +//! 上报通道：把 [`ArmorHealth`](armor_protocol::ArmorHealth) 广播给本项目裁判终端。 +//! +//! # 为什么直接写 lwIP 的 socket +//! +//! 与同仓库的图传固件（`src/udp.rs`）一样：`std::net` 在 lwIP 上的行为要靠一层 +//! VFS 转接，而这里只需要"建一个 UDP socket + 广播"这一件事，直接用 IDF 原生的 +//! `lwip_*` 就能与图传板跑在同一条被验证过的代码路径上。 +//! +//! # 为什么不 bind +//! +//! 装甲板只发不收：血量是板子算出来的，裁判端只显示。所以 socket 不绑定端口， +//! 由 lwIP 选一个临时端口即可 —— 绑定 5601 反而会和裁判端、以及同网段的另一块 +//! 装甲板抢同一个端口。裁判端监听 5601，板子往 5601 发，方向是单向的。 +//! +//! # 广播而不是单播 +//! +//! 裁判终端的地址是 DHCP 变的（图传板的 Hello 广播就是为了绕开这件事）。装甲板 +//! 沿用同一个约定：不知道也不关心裁判端在哪，反正同一个局域网里它会收到。 + +use core::ffi::c_void; +use std::net::SocketAddrV4; + +use anyhow::{anyhow, Result}; +use esp_idf_svc::sys as ffi; +use log::{info, warn}; + +use armor_protocol::{ARMOR_PORT, BROADCAST_ADDR}; + +/// 把 Rust 的 socket 地址转成 lwIP 期望的 C 结构。 +/// +/// 逐字段构造而不是 `transmute`：`SocketAddrV4` 是紧凑的 6 字节（端口在前、主机 +/// 字节序），C 的 `sockaddr_in` 是 16 字节且地址是网络字节序 —— 指针强转会发到一个 +/// 乱地址，而且不会报错。 +fn to_sockaddr(addr: SocketAddrV4) -> ffi::sockaddr_in { + let octets = addr.ip().octets(); + + ffi::sockaddr_in { + sin_len: core::mem::size_of::() as u8, + sin_family: ffi::AF_INET as ffi::sa_family_t, + // 用 lwIP 的 htons，字节序不必在 Rust 侧推理。 + sin_port: unsafe { ffi::lwip_htons(addr.port()) }, + sin_addr: ffi::in_addr { + s_addr: u32::from_le_bytes(octets), + }, + sin_zero: [0; 8], + } +} + +/// 本机 id：由 WiFi MAC 派生（FNV-1a），重启不变，且避开 0 —— 0 留给裁判终端。 +pub fn local_id() -> u32 { + let mut mac = [0u8; 6]; + + // SAFETY: `mac` 有 6 字节空间，函数会把 6 字节写满。 + let rc = unsafe { ffi::esp_read_mac(mac.as_mut_ptr(), ffi::esp_mac_type_t_ESP_MAC_WIFI_STA) }; + + if rc != ffi::ESP_OK { + warn!("could not read the WiFi MAC ({:#x}); using a fixed id", rc); + return 0xF1F0_0001; + } + + let id = armor_protocol::id_from_mac(&mac); + info!("this board's id is 0x{id:08X}, from MAC {mac:02X?}"); + id +} + +/// 广播上报器。 +pub struct Reporter { + socket: i32, +} + +impl Reporter { + /// 建一个开了广播许可的 UDP socket。 + pub fn new() -> Result { + // SAFETY: 建 socket 不涉及 Rust 内存。 + let socket = unsafe { ffi::lwip_socket(ffi::AF_INET as i32, ffi::SOCK_DGRAM as i32, 0) }; + if socket < 0 { + // 用 std 的 errno 读取：`__errno` 不是每个目标的绑定里都有，而 lwIP 的 + // socket 错误码就是同一个 errno。 + return Err(anyhow!( + "could not create UDP socket: {}", + std::io::Error::last_os_error() + )); + } + + // 目标地址是 255.255.255.255，不开这个选项 sendto 会返回 EACCES。默认就是 + // 关的，而且失败不会自己冒出来 —— 只会表现为"裁判端一直显示未接入"。 + let enable: i32 = 1; + // SAFETY: optval 指向栈上的 i32，optlen 与它一致。 + let rc = unsafe { + ffi::lwip_setsockopt( + socket, + ffi::SOL_SOCKET as i32, + ffi::SO_BROADCAST as i32, + &enable as *const i32 as *const c_void, + core::mem::size_of::() as u32, + ) + }; + if rc != 0 { + let err = std::io::Error::last_os_error(); + // SAFETY: 关闭本函数刚建的 socket。 + unsafe { ffi::lwip_close(socket) }; + return Err(anyhow!("could not enable SO_BROADCAST: {err}")); + } + + info!("reporting to {BROADCAST_ADDR}:{ARMOR_PORT} over UDP"); + + Ok(Self { socket }) + } + + /// 把一个数据报广播到裁判终端。 + pub fn broadcast(&self, payload: &[u8]) -> Result<()> { + let addr = to_sockaddr(SocketAddrV4::new(BROADCAST_ADDR, ARMOR_PORT)); + + // SAFETY: 缓冲区与地址在调用期间都有效；sendto 复制数据而不是持有指针。 + let rc = unsafe { + ffi::lwip_sendto( + self.socket, + payload.as_ptr() as *const c_void, + payload.len(), + ffi::MSG_DONTWAIT as i32, + &addr as *const ffi::sockaddr_in as *const ffi::sockaddr, + core::mem::size_of::() as ffi::socklen_t, + ) + }; + + if rc < 0 { + return Err(anyhow!( + "broadcast failed: {}", + std::io::Error::last_os_error() + )); + } + + Ok(()) + } +} + +impl Drop for Reporter { + fn drop(&mut self) { + // SAFETY: 关闭本结构体自己建的 socket。 + unsafe { ffi::lwip_close(self.socket) }; + } +} diff --git a/armor/armor-firmware/src/piezo.rs b/armor/armor-firmware/src/piezo.rs new file mode 100644 index 0000000..38c1061 --- /dev/null +++ b/armor/armor-firmware/src/piezo.rs @@ -0,0 +1,213 @@ +//! 四路压电片的 ADC 连续采样（ESP32-C3）。 +//! +//! # 为什么要连续（DMA）采样 +//! +//! 压电片被敲一下的波形只有几十微秒宽。用 oneshot 轮询（每圈读一次）几乎必然从 +//! 尖峰旁边擦过去，表现就是"有时候敲得响才算"；参考实现因此用 40 kHz 的连续采样， +//! 这里保持一致：四个通道合计 40 kHz（每通道 10 kHz），一帧 10 ms = 400 个采样点。 +//! +//! # 为什么也走 sys 绑定 +//! +//! `esp-idf-hal` 的 `adc::continuous` 要用 `AdcChannels` 组合通道，而多通道组合的 +//! 入口 `EmptyAdcChannels::chain` 在 0.47 里的约束是 `A: Adc` 且 +//! `O: AdcChannels` —— `ADC1` 满足前者、`ADCU1` 满足后者，同一个类型 +//! 参数凑不齐，四路 ADC1 通道拼不出来。直接照着 IDF 的 C API 建驱动反而更短，也 +//! 与参考实现逐行对应。 +//! +//! 采样点的通道号由硬件结果自带（`type2.channel`），所以映射不依赖"结果按 pattern +//! 顺序轮转"这个假设。 + +use anyhow::Result; +use esp_idf_svc::sys as ffi; +use log::info; + +use armor_protocol::Plate; + +use crate::esp; + +/// 四个通道合计的采样率；每通道 10 kHz。 +const SAMPLE_FREQ_HZ: u32 = 40_000; + +/// 一帧的采样点数：10 ms × 40 kHz。 +pub const FRAME_MEASUREMENTS: usize = 400; + +/// 一帧的字节数（每个结果 4 字节）。 +const FRAME_BYTES: u32 = FRAME_MEASUREMENTS as u32 * ffi::SOC_ADC_DIGI_RESULT_BYTES; + +/// 连续读的超时：正常情况 10 ms 就凑满一帧，200 ms 只用来发现"驱动卡住了"。 +const READ_TIMEOUT_MS: u32 = 200; + +/// 每个板位对应的 ADC 通道号（ESP32-C3：GPIO0/4/3/1 = ADC1_CH0/CH4/CH3/CH1）。 +/// +/// 顺序与 [`Plate`] 的 index 一致；硬件结果里的通道号就是这些值。 +const PLATE_CHANNEL: [u8; 4] = [0, 4, 3, 1]; + +/// 一帧的统计：读到多少采样点，以及每个板位的峰值。 +/// +/// 峰值是给**现场校准阈值**用的：压电片的输出幅度取决于贴装、线长和有没有放大， +/// 只报"有没有过阈值"没法判断该把阈值调到哪里。status 行每秒打印一次。 +#[derive(Debug, Clone, Copy, Default)] +pub struct FrameStats { + /// 这一帧实际读到的采样点数。 + pub samples: usize, + /// 每个板位的最大原始 ADC 值，按 [`Plate`] 的 index 排列。 + pub peak: [u16; 4], +} + +/// 连续采样的压电片输入。 +pub struct Piezo { + handle: ffi::adc_continuous_handle_t, + /// 一帧的原始结果。`adc_digi_output_data_t` 里有 union，bindgen 不给 `Default`， + /// 所以用零值显式初始化（这个类型是纯 POD，零值是合法状态）。 + frame: Box<[ffi::adc_digi_output_data_t; FRAME_MEASUREMENTS]>, +} + +impl Piezo { + /// 建驱动并开始采样。 + pub fn new() -> Result { + let handle_config = ffi::adc_continuous_handle_cfg_t { + // 两帧的余量：这一帧还没读完时，下一帧有地方落。 + max_store_buf_size: FRAME_BYTES * 2, + conv_frame_size: FRAME_BYTES, + ..Default::default() + }; + + let mut handle: ffi::adc_continuous_handle_t = core::ptr::null_mut(); + esp::check( + "adc_continuous_new_handle", + // SAFETY: 两个指针都指向本函数的局部量，调用期间有效。 + unsafe { ffi::adc_continuous_new_handle(&handle_config, &mut handle) }, + )?; + + // 四路通道的采样参数：0 dB 衰减、12 bit、都在 ADC1。 + let mut patterns = [ffi::adc_digi_pattern_config_t { + atten: ffi::adc_atten_t_ADC_ATTEN_DB_0 as u8, + channel: 0, + unit: ffi::adc_unit_t_ADC_UNIT_1 as u8, + bit_width: 12, + }; 4]; + + for (pattern, channel) in patterns.iter_mut().zip(PLATE_CHANNEL) { + pattern.channel = channel; + } + + let config = ffi::adc_continuous_config_t { + pattern_num: patterns.len() as u32, + adc_pattern: patterns.as_mut_ptr(), + sample_freq_hz: SAMPLE_FREQ_HZ, + conv_mode: ffi::adc_digi_convert_mode_t_ADC_CONV_SINGLE_UNIT_1, + // C3 的连续采样只支持 12 bit 的 TYPE2 结果布局，也正好对应下面读的 + // `type2.data`（参考实现依赖了默认值 0，这里写明确）。 + format: ffi::adc_digi_output_format_t_ADC_DIGI_OUTPUT_FORMAT_TYPE2, + ..Default::default() + }; + + if let Err(err) = esp::check( + "adc_continuous_config", + // SAFETY: IDF 会把 patterns 复制进驱动，调用后不再持有这个指针。 + unsafe { ffi::adc_continuous_config(handle, &config) }, + ) { + // SAFETY: 句柄刚建好、还没 start，可以直接删。 + unsafe { ffi::adc_continuous_deinit(handle) }; + return Err(err); + } + + esp::check("adc_continuous_start", unsafe { + ffi::adc_continuous_start(handle) + })?; + + let zero = ffi::adc_digi_output_data_t { + __bindgen_anon_1: ffi::adc_digi_output_data_t__bindgen_ty_1 { val: 0 }, + }; + + info!( + "piezo: {SAMPLE_FREQ_HZ} Hz total over {} channels, {} measurements/frame (10 ms)", + PLATE_CHANNEL.len(), + FRAME_MEASUREMENTS + ); + + Ok(Self { + handle, + frame: Box::new([zero; FRAME_MEASUREMENTS]), + }) + } + + /// 读一帧（约 10 ms），把过阈值的采样点收集进 `hits`。 + /// + /// `hits` 会被清空后填充 `(板位, 原始值)`；返回值里带这一帧的采样点数与每路峰值。 + /// **去抖与扣血不在这里做** —— 那是 + /// [`armor_protocol::Armor::on_sample`] 的职责，一次击打的多个过阈值采样点由它 + /// 的冷却窗口收敛成一次受击。 + pub fn read_frame( + &mut self, + threshold: u16, + hits: &mut Vec<(Plate, u16)>, + ) -> Result { + hits.clear(); + let mut stats = FrameStats::default(); + + let mut out_length: u32 = 0; + let rc = unsafe { + ffi::adc_continuous_read( + self.handle, + self.frame.as_mut_ptr() as *mut u8, + FRAME_BYTES, + &mut out_length, + READ_TIMEOUT_MS, + ) + }; + + if rc == ffi::ESP_ERR_TIMEOUT { + // 没有数据不算错误：上一帧还没凑满，下一圈再来。 + return Ok(stats); + } + esp::check("adc_continuous_read", rc)?; + + let count = (out_length as usize / ffi::SOC_ADC_DIGI_RESULT_BYTES as usize) + .min(FRAME_MEASUREMENTS); + stats.samples = count; + + for index in 0..count { + // SAFETY: 配置的是 TYPE2（12 bit）格式，`type2` 是有效成员；每个结果 + // 4 字节且已 4 字节对齐。 + let result = unsafe { self.frame[index].__bindgen_anon_1.type2 }; + let raw = result.data() as u16; + + let Some(plate) = plate_of_channel(result.channel() as u8) else { + continue; + }; + + // 峰值取自**所有**采样点，不只是过阈值的：阈值调得对不对，要靠没敲时 + // 的底噪和敲击时的幅度两个数字一起看。 + let slot = plate.index() as usize; + if raw > stats.peak[slot] { + stats.peak[slot] = raw; + } + + if raw > threshold { + hits.push((plate, raw)); + } + } + + Ok(stats) + } +} + +impl Drop for Piezo { + fn drop(&mut self) { + // 固件里 main 永不返回；这段只在启动失败路径上跑到。 + unsafe { + if !self.handle.is_null() { + ffi::adc_continuous_stop(self.handle); + ffi::adc_continuous_deinit(self.handle); + } + } + } +} + +/// 硬件结果里的通道号 → 板位。 +#[must_use] +fn plate_of_channel(channel: u8) -> Option { + let slot = PLATE_CHANNEL.iter().position(|c| *c == channel)?; + Plate::ALL.get(slot).copied() +} diff --git a/armor/armor-firmware/src/settings.rs b/armor/armor-firmware/src/settings.rs new file mode 100644 index 0000000..08a43fd --- /dev/null +++ b/armor/armor-firmware/src/settings.rs @@ -0,0 +1,65 @@ +//! 板子自己的持久化设置（NVS）：队别与颜色。 +//! +//! 命名空间与键名都沿用参考实现（`armor` / `color`），所以从参考固件刷过来时， +//! 之前存过的颜色还能被读到。新增一个 `team` 键用来记住这块板子是哪一队。 + +use anyhow::Result; +use esp_idf_svc::nvs::{EspDefaultNvsPartition, EspNvs, NvsDefault}; +use log::info; + +use armor_protocol::Rgb; + +/// NVS 命名空间（与参考实现一致）。 +const NAMESPACE: &str = "armor"; +/// 队别键名。 +const KEY_TEAM: &str = "team"; +/// 颜色键名，值是 `0x00RRGGBB`（与参考实现一致）。 +const KEY_COLOR: &str = "color"; + +/// 打开着的 NVS 句柄。 +pub struct Settings { + nvs: EspNvs, +} + +impl Settings { + /// 打开（必要时创建）命名空间。 + pub fn new(partition: EspDefaultNvsPartition) -> Result { + Ok(Self { + nvs: EspNvs::new(partition, NAMESPACE, true)?, + }) + } + + /// 定出这次该用哪个颜色，并把它写回 NVS。 + /// + /// 规则：**编译期注入的 `ARMOR_TEAM` 是权威**。换队伍只要重刷固件，不用先擦 + /// NVS；NVS 里的值只用来记住当前状态（也给以后加"手动换色"留位置）。两者 + /// 不一致时以 `ARMOR_TEAM` 为准并覆盖，日志里会说一声，免得现场纳闷为什么 + /// 灯色变了。 + pub fn resolve_color(&self, team: u8) -> Result { + let expected = Rgb::for_team(team); + let stored_team = self.nvs.get_u8(KEY_TEAM)?; + let stored_color = self.nvs.get_u32(KEY_COLOR)?; + + let color = match (stored_team, stored_color) { + (Some(stored), Some(raw)) if stored == team => Rgb::from_u32(raw), + (Some(stored), Some(raw)) => { + info!( + "ARMOR_TEAM={team} overrides the stored team {stored} (colour #{raw:06X}); rewriting NVS" + ); + expected + } + _ => { + info!( + "first boot as team {team}: storing colour #{:06X}", + expected.to_u32() + ); + expected + } + }; + + self.nvs.set_u8(KEY_TEAM, team)?; + self.nvs.set_u32(KEY_COLOR, color.to_u32())?; + + Ok(color) + } +} diff --git a/armor/armor-protocol/.cargo/config.toml b/armor/armor-protocol/.cargo/config.toml new file mode 100644 index 0000000..387575d --- /dev/null +++ b/armor/armor-protocol/.cargo/config.toml @@ -0,0 +1,7 @@ +# 这个 crate 在主机上跑单元测试，不交叉编译。 +# +# 它坐在 armor/ 目录树里，cargo 会向上继承 armor/.cargo/config.toml 的 RISC-V +# 目标与 ldproxy linker —— 把主机测试编译成 ESP32-C3 固件会直接失败在链接上。 +# 把 target 覆盖回 host triple 就够了，别的键对非 ESP 目标没有影响。 +[build] +target = "aarch64-apple-darwin" diff --git a/armor/armor-protocol/Cargo.toml b/armor/armor-protocol/Cargo.toml new file mode 100644 index 0000000..dca6c59 --- /dev/null +++ b/armor/armor-protocol/Cargo.toml @@ -0,0 +1,9 @@ +[package] +name = "armor-protocol" +version = "0.1.0" +edition = "2021" + +# 只依赖错误检查用的东西：规则层是纯计算（血量、去抖、按键状态机）， +# 这样它能在 PC 上跑单元测试，不需要 ESP32-C3 硬件。 +[dependencies] +protocol = { path = "../../protocol" } diff --git a/armor/armor-protocol/src/lib.rs b/armor/armor-protocol/src/lib.rs new file mode 100644 index 0000000..a8716f1 --- /dev/null +++ b/armor/armor-protocol/src/lib.rs @@ -0,0 +1,872 @@ +//! 装甲板规则层：板位、整车血量、受击判定、按键状态机、上报帧。 +//! +//! # 为什么和固件分开 +//! +//! 这一层全是纯计算：一次采样算不算新受击、扣几滴血、灯带这一刻该显示什么颜色、 +//! 按一下键算短按还是长按。这些恰好是最容易写错、又最不适合"烧上去看现象"的部分 +//! —— 在 ESP32-C3 上，受击是几微秒的压电片尖峰，现场根本没法复现"冷却期内的第二次 +//! 采样被误判"这类 bug。放在这里就能用 `Duration` 喂假时间来测。 +//! +//! 固件侧（`armor-firmware`）只负责把外设接到这层：ADC 采样值、GPIO 电平、毫秒 +//! 时基、UDP 发送。 +//! +//! # 硬件形态（一主三从） +//! +//! **只有主板一颗 MCU**：三块"从"装甲板里没有单片机，只有一路 WS2812 和一路压电片， +//! 直接接到主板上。所以这一层同时管四路： +//! +//! | 板位 | WS2812 | 压电片 ADC | +//! | --- | --- | --- | +//! | 前 front | GPIO10 | ADC1_CH0 (GPIO0) | +//! | 后 rear | GPIO5 | ADC1_CH4 (GPIO4) | +//! | 左 left | GPIO6 | ADC1_CH3 (GPIO3) | +//! | 右 right | GPIO7 | ADC1_CH1 (GPIO1) | +//! +//! # 规则（已与本项目裁判端对齐） +//! +//! - 整车一条血量：初始 100，每次受击 −3，减到 0 为止**不变负**，血量 0 时四路灯带 +//! 全黑（"死了全黑"）。 +//! - 受击时**只有被打的那一路**灯带全黑 50 ms，其余三路不动；50 ms 同时是同一板位的 +//! 重复判定冷却。 +//! - 颜色由队伍决定：队伍一红、队伍二蓝（RoboMaster 惯例）。 +//! - 血量账在板子上算，按 [`protocol::ArmorHealth`] 上报给本项目裁判终端（UDP 5601）。 +//! 整车一条血量 → 四条上报的 `hp` 相同，`index` 分别是 0..3，裁判端已有的四格血量 +//! 界面无需改动。 + +use std::time::Duration; + +pub use protocol::{id_from_mac, ArmorHealth, ARMOR_PORT, BROADCAST_ADDR, MsgType}; + +/// 队伍一。 +pub const TEAM_1: u8 = 0; +/// 队伍二。 +pub const TEAM_2: u8 = 1; + +/// 一块装甲板。 +/// +/// 判别值就是上报里的 `index`（0..3），所以 `Plate::Front.index() == 0` 与裁判端 +/// 的四格顺序一一对应。 +#[derive(Debug, Clone, Copy, PartialEq, Eq, PartialOrd, Ord, Hash)] +#[repr(u8)] +pub enum Plate { + /// 前装甲板，WS2812 = GPIO10，压电片 = ADC1_CH0。 + Front = 0, + /// 后装甲板，WS2812 = GPIO5，压电片 = ADC1_CH4。 + Rear = 1, + /// 左装甲板，WS2812 = GPIO6，压电片 = ADC1_CH3。 + Left = 2, + /// 右装甲板，WS2812 = GPIO7，压电片 = ADC1_CH1。 + Right = 3, +} + +impl Plate { + /// 按 index 顺序的四块板，也是灯带刷新和 ADC 通道表里用的顺序。 + pub const ALL: [Plate; 4] = [Plate::Front, Plate::Rear, Plate::Left, Plate::Right]; + + /// 上报里的 `index`。 + #[must_use] + pub const fn index(self) -> u8 { + self as u8 + } + + /// 日志里用的短名（英文，和本仓库其余固件的日志一致）。 + #[must_use] + pub const fn name(self) -> &'static str { + match self { + Plate::Front => "front", + Plate::Rear => "rear", + Plate::Left => "left", + Plate::Right => "right", + } + } + + /// 从 `index` 还原，越界返回 `None`。 + #[must_use] + pub const fn from_index(value: u8) -> Option { + match value { + 0 => Some(Plate::Front), + 1 => Some(Plate::Rear), + 2 => Some(Plate::Left), + 3 => Some(Plate::Right), + _ => None, + } + } + + /// 数组下标。 + #[must_use] + const fn slot(self) -> usize { + self as usize + } +} + +/// 颜色，`0x00RRGGBB`（与参考实现里 `Adafruit_NeoPixel::Color(r, g, b)` 一致）。 +#[derive(Debug, Clone, Copy, PartialEq, Eq)] +pub struct Rgb(pub u8, pub u8, pub u8); + +impl Rgb { + /// 队伍一的颜色。 + pub const RED: Rgb = Rgb(0xFF, 0x00, 0x00); + /// 队伍二的颜色。 + pub const BLUE: Rgb = Rgb(0x00, 0x00, 0xFF); + /// 全黑，也就是熄灭。 + pub const BLACK: Rgb = Rgb(0x00, 0x00, 0x00); + + /// 队伍对应的颜色：队伍二蓝，其余（含误配的值）红。 + #[must_use] + pub const fn for_team(team: u8) -> Rgb { + if team == TEAM_2 { + Rgb::BLUE + } else { + Rgb::RED + } + } + + /// 打包成 `0x00RRGGBB`，用于写 NVS 或日志。 + #[must_use] + pub const fn to_u32(self) -> u32 { + ((self.0 as u32) << 16) | ((self.1 as u32) << 8) | (self.2 as u32) + } + + /// 从 `0x00RRGGBB` 还原。 + #[must_use] + pub const fn from_u32(value: u32) -> Rgb { + Rgb( + ((value >> 16) & 0xFF) as u8, + ((value >> 8) & 0xFF) as u8, + (value & 0xFF) as u8, + ) + } + + /// WS2812 的线上字节序：GRB，MSB first。 + /// + /// 交错顺序错了不会报错，只会显示成另一种颜色（红蓝互换），所以单独有测试钉住。 + #[must_use] + pub const fn to_grb(self) -> [u8; 3] { + [self.1, self.0, self.2] + } +} + +/// 一条灯带这一刻要显示的内容。 +#[derive(Debug, Clone, Copy, PartialEq, Eq)] +pub enum Strip { + /// 正常颜色。 + Color(Rgb), + /// 全黑：受击的 50 ms 窗口内，或者整车血量已经归零。 + Black, +} + +impl Strip { + /// 是否熄灭。 + #[must_use] + pub const fn is_black(self) -> bool { + matches!(self, Strip::Black) + } + + /// 实际颜色，`Black` 就是 [`Rgb::BLACK`]。 + #[must_use] + pub const fn color(self) -> Rgb { + match self { + Strip::Color(rgb) => rgb, + Strip::Black => Rgb::BLACK, + } + } +} + +/// 规则参数。 +#[derive(Debug, Clone, Copy, PartialEq, Eq)] +pub struct Rules { + /// 整车初始血量。 + pub max_hp: u16, + /// 每次受击扣多少血。 + pub damage_per_hit: u16, + /// 受击后该路灯带全黑的时长。 + pub hit_blink: Duration, + /// 同一块板重复受击的抑制窗口（压电片一次击打会在多个采样点上过阈值）。 + pub hit_cooldown: Duration, + /// 原始 12 bit ADC 采样值超过它才算受击。 + pub threshold: u16, +} + +impl Default for Rules { + /// 现场取值：100 血、每击 −3、50 ms 变暗/冷却、阈值 2000（与参考实现一致）。 + fn default() -> Self { + Self { + max_hp: 100, + damage_per_hit: 3, + hit_blink: Duration::from_millis(50), + hit_cooldown: Duration::from_millis(50), + threshold: 2000, + } + } +} + +/// 一次被计入的受击。 +#[derive(Debug, Clone, Copy, PartialEq, Eq)] +pub struct HitEvent { + /// 哪块装甲板。 + pub plate: Plate, + /// 触发这次判定的原始 ADC 值，用来现场校准阈值。 + pub raw: u16, + /// 扣血之后的整车血量。 + pub hp: u16, + /// 这一击是否把血量打到 0。 + pub dead: bool, + /// 判定时刻。 + pub at: Duration, +} + +/// 装甲板状态机：血量、受击冷却、灯带输出。 +#[derive(Debug, Clone)] +pub struct Armor { + rules: Rules, + color: Rgb, + hp: u16, + hits: u32, + plate_hits: [u32; 4], + last_hit: [Option; 4], +} + +impl Armor { + /// 满血、`color` 为正常色。 + #[must_use] + pub fn new(rules: Rules, color: Rgb) -> Self { + Self { + rules, + color, + hp: rules.max_hp, + hits: 0, + plate_hits: [0; 4], + last_hit: [None; 4], + } + } + + /// 规则参数。 + #[must_use] + pub fn rules(&self) -> Rules { + self.rules + } + + /// 当前整车血量。 + #[must_use] + pub fn hp(&self) -> u16 { + self.hp + } + + /// 血量是否归零。 + #[must_use] + pub fn dead(&self) -> bool { + self.hp == 0 + } + + /// 累计计入的受击次数。 + #[must_use] + pub fn hits(&self) -> u32 { + self.hits + } + + /// 某块装甲板各自被计中的次数。 + #[must_use] + pub fn plate_hits(&self, plate: Plate) -> u32 { + self.plate_hits[plate.slot()] + } + + /// 四块板各自被计中的次数，按 index 排列。 + #[must_use] + pub fn plate_hits_all(&self) -> [u32; 4] { + self.plate_hits + } + + /// 正常显示颜色。 + #[must_use] + pub fn color(&self) -> Rgb { + self.color + } + + /// 换正常显示颜色（队伍变了、或从 NVS 读回）。 + pub fn set_color(&mut self, color: Rgb) { + self.color = color; + } + + /// 喂一个 ADC 采样值。 + /// + /// 只有"过阈值 + 该板不在冷却期内"才计入受击并扣血；其余返回 `None`。 + /// 一次击打在 40 kHz 采样下会连续多个点过阈值，冷却窗口就是把这些点算成一次。 + pub fn on_sample(&mut self, plate: Plate, raw: u16, now: Duration) -> Option { + if raw <= self.rules.threshold { + return None; + } + + let slot = plate.slot(); + + if let Some(last) = self.last_hit[slot] { + if now.saturating_sub(last) < self.rules.hit_cooldown { + return None; + } + } + + self.last_hit[slot] = Some(now); + self.hits = self.hits.saturating_add(1); + self.plate_hits[slot] = self.plate_hits[slot].saturating_add(1); + + let before = self.hp; + self.hp = self.hp.saturating_sub(self.rules.damage_per_hit); + + Some(HitEvent { + plate, + raw, + hp: self.hp, + // 是"这一击打死了"，不是"打完之后已经死了"：已经 0 血以后继续挨打不该 + // 每次都报一次死亡，否则现场日志会被刷屏、上报也会抖。 + dead: self.hp == 0 && before > 0, + at: now, + }) + } + + /// 这块装甲板这一刻该显示什么。 + /// + /// 整车死亡优先于一切：死了四路全黑。否则只有被打的那一路在 50 ms 窗口内全黑。 + #[must_use] + pub fn strip(&self, plate: Plate, now: Duration) -> Strip { + if self.dead() { + return Strip::Black; + } + + if let Some(last) = self.last_hit[plate.slot()] { + if now.saturating_sub(last) < self.rules.hit_blink { + return Strip::Black; + } + } + + Strip::Color(self.color) + } + + /// 四路灯带这一刻的输出，按 index 排列 —— 固件照着它刷 RMT。 + #[must_use] + pub fn strips(&self, now: Duration) -> [Strip; 4] { + Plate::ALL.map(|plate| self.strip(plate, now)) + } + + /// 复位成"新一局"：满血、清计数、清冷却（颜色不动）。 + pub fn reset(&mut self) { + self.hp = self.rules.max_hp; + self.hits = 0; + self.plate_hits = [0; 4]; + self.last_hit = [None; 4]; + } + + /// 要上报给裁判端的四条记录。 + /// + /// 整车一条血量，所以四条 `hp` 相同、`index` 分别是 0..3；裁判端按 + /// [`protocol::ArmorHealth::team`] 把这里的数据归到对应队伍。 + #[must_use] + pub fn reports(&self, team: u8) -> [ArmorHealth; 4] { + Plate::ALL.map(|plate| ArmorHealth { + team, + index: plate.index(), + hp: self.hp, + }) + } + + /// 四条记录编码成可以直接 `sendto` 的字节串。 + #[must_use] + pub fn datagrams(&self, team: u8) -> Vec> { + self.datagrams_from(team, 0) + } + + /// 同 [`datagrams`](Self::datagrams)，但帧头带上板子自己的 id（由 MAC 派生）。 + /// + /// 用 `sender_id` 而不是默认的 0：0 是裁判终端的保留 id，抓包时一块装甲板发的 + /// 包不该长得像裁判端发的。 + #[must_use] + pub fn datagrams_from(&self, team: u8, sender_id: u32) -> Vec> { + self.reports(team) + .iter() + .map(|report| report.encode_from(sender_id)) + .collect() + } +} + +/// 上报节奏：血量一变立刻发，没变就按心跳周期重发。 +/// +/// 裁判终端只看得到最后一条，"每 200 ms 重发"是它判断板子还在线的唯一依据 —— +/// 没有心跳，一次丢包就会让界面显示成"装甲板未接入"。 +#[derive(Debug, Clone)] +pub struct ReportSchedule { + heartbeat: Duration, + last: Option<(u16, Duration)>, +} + +impl ReportSchedule { + /// `heartbeat` 是血量不变时的重发周期。 + #[must_use] + pub fn new(heartbeat: Duration) -> Self { + Self { + heartbeat, + last: None, + } + } + + /// 这一刻该不该发。 + #[must_use] + pub fn due(&self, hp: u16, now: Duration) -> bool { + match self.last { + None => true, + Some((last_hp, last_at)) => { + last_hp != hp || now.saturating_sub(last_at) >= self.heartbeat + } + } + } + + /// 记下"这一刻用这个血量发过了"。 + pub fn mark_sent(&mut self, hp: u16, now: Duration) { + self.last = Some((hp, now)); + } +} + +/// 按键事件。 +#[derive(Debug, Clone, Copy, PartialEq, Eq)] +pub enum ButtonEvent { + /// 什么都没发生。 + None, + /// 短按（按下后很快松开）：固件用它打印一次状态并立刻重发上报。 + Click, + /// 长按（按住到阈值）：固件用它复位血量，也就是"新一局"。 + LongPress, +} + +/// 按键状态机：去抖 + 短按 / 长按，事件只发一次。 +/// +/// 参考实现移植了 OneButton 2.6.1 的整套状态机（它还带双击、多击、idle 回调）。 +/// 这里只有两种动作，所以按同样的语义重写了一个本地版本：电平去抖，长按在按住 +/// 到阈值时立刻产生一次且不重复，松开时若在短按窗口内则产生一次短按。 +#[derive(Debug, Clone)] +pub struct Button { + debounce: Duration, + click_max: Duration, + long_press: Duration, + stable_pressed: bool, + candidate: bool, + candidate_since: Duration, + pressed_since: Duration, + long_fired: bool, +} + +impl Default for Button { + /// BOOT 键（GPIO9，低有效）的现场取值：去抖 20 ms、短按 <500 ms、长按 ≥500 ms。 + fn default() -> Self { + Self::new( + Duration::from_millis(20), + Duration::from_millis(500), + Duration::from_millis(500), + ) + } +} + +impl Button { + /// 自定义时间参数，主要给测试用。 + #[must_use] + pub fn new(debounce: Duration, click_max: Duration, long_press: Duration) -> Self { + Self { + debounce, + click_max, + long_press, + stable_pressed: false, + candidate: false, + candidate_since: Duration::ZERO, + pressed_since: Duration::ZERO, + long_fired: false, + } + } + + /// 喂一次电平（已换算成"是否按下"）与当前时刻，最多产生一个事件。 + pub fn tick(&mut self, pressed: bool, now: Duration) -> ButtonEvent { + let mut event = ButtonEvent::None; + + if pressed != self.stable_pressed { + if self.candidate != pressed { + // 抖动的新电平：重新开始计稳定时间。 + self.candidate = pressed; + self.candidate_since = now; + } else if now.saturating_sub(self.candidate_since) >= self.debounce { + self.stable_pressed = pressed; + + if pressed { + self.pressed_since = now; + self.long_fired = false; + } else if !self.long_fired + && now.saturating_sub(self.pressed_since) < self.click_max + { + event = ButtonEvent::Click; + } + } + } else { + // 电平回到稳定值，候选作废。 + self.candidate = pressed; + } + + if event == ButtonEvent::None + && self.stable_pressed + && !self.long_fired + && now.saturating_sub(self.pressed_since) >= self.long_press + { + self.long_fired = true; + event = ButtonEvent::LongPress; + } + + event + } +} + +/// 解析编译期注入的 `ARMOR_TEAM`。 +/// +/// 只接受 "0" 与 "1"：把队伍认错会让裁判端把血记到对手头上，现场很难发现， +/// 所以宁可启动就报错。 +#[must_use] +pub fn parse_team(value: &str) -> Option { + match value.trim() { + "0" => Some(TEAM_1), + "1" => Some(TEAM_2), + _ => None, + } +} + +#[cfg(test)] +mod tests { + use super::*; + + fn ms(v: u64) -> Duration { + Duration::from_millis(v) + } + + fn armor() -> Armor { + Armor::new(Rules::default(), Rgb::for_team(TEAM_1)) + } + + // ---------------------------------------------------------------- 血量 -- + + #[test] + fn starts_at_full_hp_and_is_not_dead() { + let a = armor(); + assert_eq!(a.hp(), 100); + assert!(!a.dead()); + assert_eq!(a.hits(), 0); + } + + #[test] + fn each_hit_costs_three_and_floors_at_zero() { + let mut a = armor(); + let mut hits = 0; + + // 100 / 3 = 33.33，所以第 34 击才归零。 + for i in 0..34 { + let at = ms(i * 1000); + a.on_sample(Plate::Front, 2500, at).expect("hit should count"); + hits += 1; + } + + assert_eq!(hits, 34); + assert_eq!(a.hp(), 0); + assert!(a.dead()); + + // 已经归零之后继续打，不会变负，也不算"新的一击导致死亡"。 + let event = a + .on_sample(Plate::Rear, 2500, ms(40_000)) + .expect("still counts as a hit"); + assert_eq!(event.hp, 0); + assert!(!event.dead, "0 -> 0 不是新的死亡事件"); + assert_eq!(a.hp(), 0); + } + + #[test] + fn sample_below_threshold_is_not_a_hit() { + let mut a = armor(); + assert!(a.on_sample(Plate::Front, 2000, ms(0)).is_none(), "阈值是严格大于"); + assert!(a.on_sample(Plate::Front, 1999, ms(0)).is_none()); + assert!(a.on_sample(Plate::Front, 2001, ms(0)).is_some()); + assert_eq!(a.hp(), 97); + } + + #[test] + fn per_plate_hit_counts_are_separate() { + let mut a = armor(); + + a.on_sample(Plate::Front, 3000, ms(0)); + a.on_sample(Plate::Left, 3000, ms(1000)); + a.on_sample(Plate::Left, 3000, ms(2000)); + + assert_eq!(a.plate_hits(Plate::Front), 1); + assert_eq!(a.plate_hits(Plate::Left), 2); + assert_eq!(a.plate_hits(Plate::Rear), 0); + assert_eq!(a.plate_hits(Plate::Right), 0); + assert_eq!(a.hits(), 3); + // 整车一条血量：三击共扣 9。 + assert_eq!(a.hp(), 91); + } + + // ------------------------------------------------------------ 受击去抖 -- + + #[test] + fn repeat_samples_inside_the_cooldown_are_one_hit() { + let mut a = armor(); + + // 40 kHz 采样下，一次击打会连续几十个点过阈值。 + for i in 0..49 { + a.on_sample(Plate::Left, 2600, ms(i)); + } + + assert_eq!(a.plate_hits(Plate::Left), 1, "49 ms 内的连续采样算一次"); + assert_eq!(a.hp(), 97); + } + + #[test] + fn a_sample_after_the_cooldown_is_a_new_hit() { + let mut a = armor(); + + a.on_sample(Plate::Left, 2600, ms(0)); + assert!(a.on_sample(Plate::Left, 2600, ms(49)).is_none()); + assert!(a.on_sample(Plate::Left, 2600, ms(50)).is_some(), "50 ms 是边界，算新受击"); + assert_eq!(a.plate_hits(Plate::Left), 2); + assert_eq!(a.hp(), 94); + } + + #[test] + fn cooldown_is_per_plate_not_global() { + let mut a = armor(); + + // 参考实现用全局冷却：一块板挨打后，别块板在这 50 ms 内的击打会被吃掉。 + // 每板独立冷却才是"每面各自挨打"的正确语义。 + a.on_sample(Plate::Front, 3000, ms(0)); + assert!(a.on_sample(Plate::Left, 3000, ms(1)).is_some()); + assert!(a.on_sample(Plate::Rear, 3000, ms(2)).is_some()); + assert_eq!(a.hits(), 3); + assert_eq!(a.hp(), 91); + } + + // ------------------------------------------------------------ 灯带输出 -- + + #[test] + fn hit_plate_goes_black_for_fifty_ms_only() { + let mut a = armor(); + a.on_sample(Plate::Left, 3000, ms(1000)); + + assert!(a.strip(Plate::Left, ms(1000)).is_black(), "受击瞬间"); + assert!(a.strip(Plate::Left, ms(1049)).is_black(), "窗口内"); + assert_eq!( + a.strip(Plate::Left, ms(1050)), + Strip::Color(Rgb::RED), + "窗口结束恢复原色" + ); + + // 其余三路全程不受影响 —— 这正是每面独立灯带的意义。 + for plate in [Plate::Front, Plate::Rear, Plate::Right] { + assert_eq!(a.strip(plate, ms(1000)), Strip::Color(Rgb::RED)); + assert_eq!(a.strip(plate, ms(1049)), Strip::Color(Rgb::RED)); + } + } + + #[test] + fn dead_blacks_out_every_strip() { + let mut a = armor(); + let last = 34 * 1000; + + for i in 0..34 { + a.on_sample(Plate::Front, 3000, ms(i * 1000)); + } + + assert!(a.dead()); + for plate in Plate::ALL { + assert!(a.strip(plate, ms(last)).is_black(), "{plate:?} 死了要全黑"); + } + // 冷却窗口早就过了，仍然全黑：死优先于一切。 + assert!(a.strip(Plate::Left, ms(last + 10_000)).is_black()); + } + + #[test] + fn strips_returns_all_four_in_index_order() { + let mut a = armor(); + a.on_sample(Plate::Rear, 3000, ms(0)); + let strips = a.strips(ms(0)); + + assert_eq!(strips.len(), 4); + assert!(strips[Plate::Rear.index() as usize].is_black()); + assert_eq!(strips[Plate::Front.index() as usize].color(), Rgb::RED); + } + + // ---------------------------------------------------------------- 复位 -- + + #[test] + fn reset_restores_full_hp_and_keeps_the_colour() { + let mut a = armor(); + a.on_sample(Plate::Front, 3000, ms(0)); + a.on_sample(Plate::Right, 3000, ms(100)); + a.set_color(Rgb::BLUE); + + a.reset(); + + assert_eq!(a.hp(), 100); + assert_eq!(a.hits(), 0); + assert_eq!(a.plate_hits_all(), [0; 4]); + assert_eq!(a.color(), Rgb::BLUE); + assert_eq!(a.strip(Plate::Front, ms(100)), Strip::Color(Rgb::BLUE)); + } + + // ---------------------------------------------------------------- 上报 -- + + #[test] + fn reports_carry_the_shared_hp_on_all_four_indices() { + let mut a = armor(); + a.on_sample(Plate::Front, 3000, ms(0)); + a.on_sample(Plate::Front, 3000, ms(1000)); + + let reports = a.reports(TEAM_2); + assert_eq!(reports.len(), 4); + + for (i, report) in reports.iter().enumerate() { + assert_eq!(report.team, TEAM_2); + assert_eq!(report.index, i as u8, "四格按 index 排列"); + assert_eq!(report.hp, 94, "整车一条血量，四格同值"); + } + } + + #[test] + fn datagrams_round_trip_through_the_shared_protocol() { + let mut a = armor(); + a.on_sample(Plate::Left, 3000, ms(0)); + + let datagrams = a.datagrams(TEAM_1); + assert_eq!(datagrams.len(), 4); + + for (i, bytes) in datagrams.iter().enumerate() { + // 裁判端就是用这个函数解回来的，编码错了这里立刻挂。 + let decoded = ArmorHealth::decode(bytes).expect("裁判端要能解出来"); + assert_eq!(decoded.team, TEAM_1); + assert_eq!(decoded.index, i as u8); + assert_eq!(decoded.hp, 97); + assert_eq!(bytes.len(), protocol::HEADER_LEN + 4); + assert_eq!(bytes[4], MsgType::ArmorHealth as u8); + } + } + + #[test] + fn datagrams_can_carry_the_board_id() { + let a = armor(); + let datagrams = a.datagrams_from(TEAM_2, 0xABCD_1234); + + for bytes in &datagrams { + let header = protocol::decode_header(bytes).expect("帧头可解"); + assert_eq!(header.sender_id, 0xABCD_1234); + assert_eq!(ArmorHealth::decode(bytes).map(|r| r.team), Some(TEAM_2)); + } + + // 默认入口仍然是裁判终端的保留 id 0。 + let plain = a.datagrams(TEAM_2); + assert_eq!( + protocol::decode_header(&plain[0]).map(|h| h.sender_id), + Some(0) + ); + } + + #[test] + fn report_schedule_fires_immediately_then_heartbeats() { + let mut s = ReportSchedule::new(ms(200)); + + assert!(s.due(100, ms(0)), "第一次一定发"); + s.mark_sent(100, ms(0)); + + assert!(!s.due(100, ms(199))); + assert!(s.due(100, ms(200)), "心跳到期"); + + // 血量变化不等心跳。 + assert!(s.due(97, ms(201))); + s.mark_sent(97, ms(201)); + assert!(!s.due(97, ms(250))); + assert!(s.due(94, ms(251))); + } + + // ---------------------------------------------------------------- 按键 -- + + #[test] + fn button_needs_the_debounce_window() { + let mut b = Button::new(ms(20), ms(500), ms(500)); + + assert_eq!(b.tick(true, ms(0)), ButtonEvent::None); + assert_eq!(b.tick(false, ms(5)), ButtonEvent::None, "5 ms 的毛刺不算按下"); + assert_eq!(b.tick(true, ms(10)), ButtonEvent::None); + // 从 10 ms 起连续按下到 30 ms 才稳定。 + assert_eq!(b.tick(true, ms(29)), ButtonEvent::None); + assert_eq!(b.tick(true, ms(30)), ButtonEvent::None, "按下本身不产生事件"); + } + + #[test] + fn short_press_is_a_click() { + let mut b = Button::new(ms(20), ms(500), ms(500)); + + b.tick(true, ms(0)); + b.tick(true, ms(20)); // 稳定按下 + b.tick(false, ms(100)); + assert_eq!(b.tick(false, ms(120)), ButtonEvent::Click); + // 只发一次。 + assert_eq!(b.tick(false, ms(200)), ButtonEvent::None); + } + + #[test] + fn holding_produces_one_long_press_and_no_click_on_release() { + let mut b = Button::new(ms(20), ms(500), ms(500)); + + b.tick(true, ms(0)); + b.tick(true, ms(20)); // 稳定按下 + assert_eq!(b.tick(true, ms(400)), ButtonEvent::None); + assert_eq!(b.tick(true, ms(520)), ButtonEvent::LongPress, "按住到阈值"); + assert_eq!(b.tick(true, ms(900)), ButtonEvent::None, "不回弹重复长按"); + + b.tick(false, ms(1000)); + assert_eq!( + b.tick(false, ms(1020)), + ButtonEvent::None, + "长按过的这一下不该再算短按" + ); + } + + // ---------------------------------------------------------------- 其它 -- + + #[test] + fn colours_match_the_robo_master_convention() { + assert_eq!(Rgb::for_team(TEAM_1), Rgb::RED); + assert_eq!(Rgb::for_team(TEAM_2), Rgb::BLUE); + + // 存 NVS / 打印与 Adafruit_NeoPixel::Color 的打包一致。 + assert_eq!(Rgb::RED.to_u32(), 0x00FF_0000); + assert_eq!(Rgb::BLUE.to_u32(), 0x0000_00FF); + assert_eq!(Rgb::from_u32(0x0012_3456), Rgb(0x12, 0x34, 0x56)); + } + + #[test] + fn ws2812_byte_order_is_grb() { + assert_eq!(Rgb::RED.to_grb(), [0x00, 0xFF, 0x00]); + assert_eq!(Rgb::BLUE.to_grb(), [0x00, 0x00, 0xFF]); + assert_eq!(Rgb(0x11, 0x22, 0x33).to_grb(), [0x22, 0x11, 0x33]); + } + + #[test] + fn plate_indices_are_stable() { + assert_eq!(Plate::Front.index(), 0); + assert_eq!(Plate::Rear.index(), 1); + assert_eq!(Plate::Left.index(), 2); + assert_eq!(Plate::Right.index(), 3); + + for plate in Plate::ALL { + assert_eq!(Plate::from_index(plate.index()), Some(plate)); + } + assert_eq!(Plate::from_index(4), None); + } + + #[test] + fn team_env_parsing_rejects_anything_but_zero_and_one() { + assert_eq!(parse_team("0"), Some(TEAM_1)); + assert_eq!(parse_team("1"), Some(TEAM_2)); + assert_eq!(parse_team(" 1\n"), Some(TEAM_2)); + assert_eq!(parse_team("2"), None); + assert_eq!(parse_team("team1"), None); + assert_eq!(parse_team(""), None); + } +} diff --git a/scripts/armor_probe.py b/scripts/armor_probe.py new file mode 100755 index 0000000..b3034aa --- /dev/null +++ b/scripts/armor_probe.py @@ -0,0 +1,167 @@ +#!/usr/bin/env python3 +"""独立验证装甲板血量上报的诊断脚本。 + +不依赖 Rust，也不依赖 protocol / armor-protocol crate——常量是手写的。正因如此它 +是线路格式的**独立**检查：如果 Rust 侧的编码写错了，这个脚本仍按文档解析，会立刻 +报出不一致。 + +用法： + + python3 scripts/armor_probe.py [秒数] + +它监听 UDP 5601（装甲板主板的广播目标），把收到 `ArmorHealth` 数据报按 +`(team, index)` 汇总，打印血量变化与心跳间隔。板子每 200 ms 广播四条，所以 +正常情况下每秒每个 `(team, index)` 大约 5 条。 + +用它可以确认三件事，都不需要打开裁判端界面： + + 1. 板子在广播、IP 与 MAC 派生 id 是多少 + 2. 四条 index 的血量是否一致（协议约定：整车一条血，四格同值） + 3. 血量有没有随受击下降（每击 −3，100 起） + +常量与 protocol/src/lib.rs 保持一致。改了协议记得改这里——这正是它作为交叉检查 +的价值所在。 +""" +import socket +import sys +import time +from collections import defaultdict + +# ---- 与 protocol/src/lib.rs 一致 ---- +HEADER = 27 # magic4 + type1 + ver2 + sender4 + frame4 + idx2 + cnt2 + len4 + w2 + h2 +MAGIC = 0x4D564331 # "MVC1" +ARMOR_PORT = 5601 # ARMOR_PORT +MSG_ARMOR_HEALTH = 5 # MsgType::ArmorHealth + +TEAM_NAMES = {0: "队伍一", 1: "队伍二"} + + +def decode(data): + """解析一个数据报，返回 (team, index, hp, sender_id, version) 或 None。""" + if len(data) < HEADER + 4: + return None + + if int.from_bytes(data[0:4], "little") != MAGIC: + return None + + if data[4] != MSG_ARMOR_HEALTH: + return None + + version = int.from_bytes(data[5:7], "little") + sender_id = int.from_bytes(data[7:11], "little") + team = data[HEADER] + index = data[HEADER + 1] + hp = int.from_bytes(data[HEADER + 2 : HEADER + 4], "little") + + return team, index, hp, sender_id, version + + +def main(): + seconds = float(sys.argv[1]) if len(sys.argv) > 1 else 10.0 + + sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) + sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) + sock.bind(("", ARMOR_PORT)) + sock.settimeout(0.5) + + print(f"listening on UDP {ARMOR_PORT} for {seconds:g}s ...") + + # (team, index) -> 最后一次 (hp, 收到时刻) + latest = {} + # (team, index) -> 收到过的 hp 序列（去重后按时间） + history = defaultdict(list) + # (team, index) -> 包数 + counts = defaultdict(int) + senders = set() + versions = set() + + deadline = time.time() + seconds + while time.time() < deadline: + try: + data, addr = sock.recvfrom(2048) + except socket.timeout: + continue + + parsed = decode(data) + if parsed is None: + continue + + team, index, hp, sender_id, version = parsed + now = time.time() + key = (team, index) + counts[key] += 1 + senders.add((sender_id, f"{addr[0]}:{addr[1]}")) + versions.add(version) + + previous = latest.get(key) + if previous is None or previous[0] != hp: + history[key].append((round(now, 3), hp)) + print( + f" {TEAM_NAMES.get(team, f'team{team}')} plate {index}: " + f"hp {hp}" + + (f" (was {previous[0]})" if previous else " (first seen)") + ) + latest[key] = (hp, now) + + print() + + if not counts: + print("没有收到装甲板上报。检查：") + print(" - 板子上电了吗（UART0 上应有 'reporting to 255.255.255.255:5601'）") + print(" - 板子和这台机器在同一个局域网、同一个子网吗") + print(" - 防火墙放行 UDP 5601 了吗") + return 1 + + print(f"发送方 ({len(senders)}):") + for sender_id, addr in sorted(senders): + print(f" 0x{sender_id:08X} {addr}") + + print(f"协议版本: {sorted(versions)}") + print() + + by_team = defaultdict(dict) + for (team, index), count in sorted(counts.items()): + by_team[team][index] = count + + elapsed = max(seconds, 0.001) + + print("每个 (队伍, index) 的包数 / 心率:") + for team, plates in sorted(by_team.items()): + cells = [] + for index in range(4): + n = plates.get(index, 0) + cells.append(f"index{index}={n} ({n / elapsed:.1f}/s)") + print(f" {TEAM_NAMES.get(team, f'team{team}')}: " + " ".join(cells)) + + # 协议约定：整车一条血 → 四格同值；四条都在新鲜期内才等于"这条队伍在线"。 + print() + print("四条 index 的血量:") + for team, plates in sorted(by_team.items()): + hps = [] + for index in range(4): + reading = latest.get((team, index)) + hps.append(str(reading[0]) if reading else "-") + same = len(set(hps)) == 1 and "-" not in hps + print( + f" {TEAM_NAMES.get(team, f'team{team}')}: [{', '.join(hps)}]" + + (" <- 一致（整车一条血量）" if same else " <- 不一致：检查 index 或丢包") + ) + + if history: + print() + print("血量变化:") + for key in sorted(history): + team, index = key + events = history[key] + if len(events) == 1: + continue + line = " ".join(f"t={t:+.1f}s hp={hp}" for t, hp in events[:12]) + if len(events) > 12: + line += f" ... (+{len(events) - 12} more)" + print(f" {TEAM_NAMES.get(team, f'team{team}')} plate {index}: {line}") + + return 0 + + +if __name__ == "__main__": + sys.exit(main()) diff --git a/scripts/build_armor.sh b/scripts/build_armor.sh new file mode 100755 index 0000000..e61aa38 --- /dev/null +++ b/scripts/build_armor.sh @@ -0,0 +1,49 @@ +#!/usr/bin/env bash +# 编译装甲板固件（ESP32-C3），凭据与队伍号来自 .env。 +# +# ARMOR_TEAM=1 scripts/build_armor.sh # 队伍二（蓝） +# scripts/build_armor.sh # 队伍一（红，默认） +# +# ESP-IDF 的位置来自 armor/.cargo/config.toml（IDF_PATH / ESP_IDF_TOOLS_INSTALL_DIR）， +# 所以这里不需要先 activate ESP-IDF。 +set -euo pipefail + +cd "$(dirname "$0")/.." + +if [ -f .env ]; then + set -a + # shellcheck disable=SC1091 + . ./.env + set +a +fi + +: "${WIFI_SSID:?set WIFI_SSID in .env (or export it) before building}" +export WIFI_PASS="${WIFI_PASS:-}" +# 队伍一（红）是默认值；队伍号在固件里决定灯色，也在上报里决定裁判端算哪一边。 +export ARMOR_TEAM="${ARMOR_TEAM:-0}" +# 受击阈值（原始 12 bit ADC）。看 status 行里的 peak[...] 来定：底噪要明显低于它， +# 正常敲击要明显高于它。不写就是参考实现的 2000。 +export ARMOR_THRESHOLD="${ARMOR_THRESHOLD:-2000}" + +case "$ARMOR_TEAM" in + 0 | 1) ;; + *) + echo "ARMOR_TEAM must be 0 or 1, got '$ARMOR_TEAM'" >&2 + exit 1 + ;; +esac + +case "$ARMOR_THRESHOLD" in + '' | *[!0-9]*) + echo "ARMOR_THRESHOLD must be a non-negative integer, got '$ARMOR_THRESHOLD'" >&2 + exit 1 + ;; +esac + +echo "==> building armor firmware for esp32c3 (team $ARMOR_TEAM, threshold $ARMOR_THRESHOLD)" +cd armor +cargo build --release --bin armor "$@" + +echo +echo "elf: armor/target/riscv32imc-esp-espidf/release/armor" +echo "next: scripts/flash_armor.sh" diff --git a/scripts/flash_armor.sh b/scripts/flash_armor.sh new file mode 100755 index 0000000..cef8395 --- /dev/null +++ b/scripts/flash_armor.sh @@ -0,0 +1,75 @@ +#!/usr/bin/env bash +# 编译 + 烧录装甲板固件，然后抓一段串口日志（UART0 = RXD GPIO20 / TXD GPIO21）。 +# +# scripts/flash_armor.sh # 自动找串口，烧完看 20 秒日志 +# ESP_PORT=/dev/cu.usbmodem1101 scripts/flash_armor.sh +# scripts/flash_armor.sh --monitor 60 # 看 60 秒 +# scripts/flash_armor.sh --no-monitor # 只烧不抓 +# +# 板子上的调试口就是 UART0，所以烧完之后日志会直接从这里出来，不需要另开串口工具。 +set -euo pipefail + +cd "$(dirname "$0")/.." + +MONITOR_SECS=20 +while [ $# -gt 0 ]; do + case "$1" in + --monitor) + MONITOR_SECS="${2:-20}" + shift 2 + ;; + --no-monitor) + MONITOR_SECS=0 + shift + ;; + *) break ;; + esac +done + +port="${ESP_PORT:-}" +if [ -z "$port" ]; then + port=$(ls /dev/cu.usbmodem* /dev/cu.wchusbserial* /dev/cu.SLAB* /dev/cu.usbserial* 2>/dev/null | head -1 || true) +fi +if [ -z "$port" ]; then + echo "no serial port found; set ESP_PORT=/dev/cu.xxx" >&2 + exit 1 +fi + +echo "==> build" +./scripts/build_armor.sh "$@" + +elf="armor/target/riscv32imc-esp-espidf/release/armor" +if [ ! -f "$elf" ]; then + echo "expected $elf; run scripts/build_armor.sh first" >&2 + exit 1 +fi + +echo "==> flash $port" +# espflash 直接吃 ELF：分区表与 bootloader 都从 ELF 里读，不用手工拼地址。 +espflash flash --chip esp32c3 --port "$port" --non-interactive "$elf" + +if [ "$MONITOR_SECS" -gt 0 ]; then + echo "==> serial log (${MONITOR_SECS}s, 115200 8N1)" + python3 - "$port" "$MONITOR_SECS" <<'PY' +import os, sys, termios, time + +fd = os.open(sys.argv[1], os.O_RDONLY | os.O_NOCTTY) +a = termios.tcgetattr(fd) +a[0] = a[1] = a[3] = 0 +a[2] = termios.CS8 | termios.CREAD | termios.CLOCAL +a[4] = a[5] = termios.B115200 +a[6][termios.VMIN] = 0 +a[6][termios.VTIME] = 1 +termios.tcsetattr(fd, termios.TCSANOW, a) + +end = time.time() + float(sys.argv[2]) +while time.time() < end: + try: + data = os.read(fd, 4096) + except OSError: + break + if data: + sys.stdout.write(data.decode("utf-8", "replace")) + sys.stdout.flush() +PY +fi