Merge branch 'dev' of https://github.com/xrobot-org/XRobot into dev

xrobot-org · Jan 27, 2024 · 0c08b91 · 0c08b91
2 parents acf2772 + 56ddf18
commit 0c08b91
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Showing 9 changed files with 16 additions and 16 deletions.
diff --git a/hw/bsp/c-mini/config/balance_infantry.config b/hw/bsp/c-mini/config/balance_infantry.config
@@ -42,7 +42,7 @@ CONFIG_auto_generated_config_prefix_robot-balance_infantry=y
 #
 # CONFIG_auto_generated_config_prefix_device-tof is not set
 CONFIG_auto_generated_config_prefix_device-ai=y
-CONFIG_DEVICE_AI_TASK_STACK_DEPTH=256
+CONFIG_DEVICE_AI_TASK_STACK_DEPTH=384
 
 #
 # 上位机
@@ -55,7 +55,7 @@ CONFIG_auto_generated_config_prefix_device-imu=y
 CONFIG_DEVICE_CAN_IMU_TASK_STACK_DEPTH=256
 # CONFIG_auto_generated_config_prefix_device-servo is not set
 CONFIG_auto_generated_config_prefix_device-dr16=y
-CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=256
+CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=384
 CONFIG_auto_generated_config_prefix_device-referee=y
 CONFIG_DEVICE_REF_TRANS_TASK_STACK_DEPTH=256
 CONFIG_DEVICE_REF_RECV_TASK_STACK_DEPTH=256

diff --git a/hw/bsp/c-mini/config/infantry.config b/hw/bsp/c-mini/config/infantry.config
@@ -72,11 +72,11 @@ CONFIG_DEVICE_BMI088_TASK_STACK_DEPTH=256
 # CONFIG_auto_generated_config_prefix_device-tof is not set
 # CONFIG_auto_generated_config_prefix_device-blink_led is not set
 CONFIG_auto_generated_config_prefix_device-dr16=y
-CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=256
+CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=384
 CONFIG_auto_generated_config_prefix_device-ahrs=y
 CONFIG_DEVICE_AHRS_TASK_STACK_DEPTH=256
 CONFIG_auto_generated_config_prefix_device-ai=y
-CONFIG_DEVICE_AI_TASK_STACK_DEPTH=256
+CONFIG_DEVICE_AI_TASK_STACK_DEPTH=384
 
 #
 # 上位机

diff --git a/hw/bsp/rm-c/config/dart.config b/hw/bsp/rm-c/config/dart.config
@@ -81,7 +81,7 @@ CONFIG_auto_generated_config_prefix_device-mech=y
 # CONFIG_auto_generated_config_prefix_device-tof is not set
 # CONFIG_auto_generated_config_prefix_device-blink_led is not set
 CONFIG_auto_generated_config_prefix_device-dr16=y
-CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=256
+CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=384
 CONFIG_auto_generated_config_prefix_device-ahrs=y
 CONFIG_DEVICE_AHRS_TASK_STACK_DEPTH=256
 # CONFIG_auto_generated_config_prefix_device-ai is not set

diff --git a/hw/bsp/rm-c/config/engineer.config b/hw/bsp/rm-c/config/engineer.config
@@ -79,7 +79,7 @@ CONFIG_auto_generated_config_prefix_device-mech=y
 # CONFIG_auto_generated_config_prefix_device-tof is not set
 CONFIG_auto_generated_config_prefix_device-blink_led=y
 CONFIG_auto_generated_config_prefix_device-dr16=y
-CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=256
+CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=384
 CONFIG_auto_generated_config_prefix_device-ahrs=y
 CONFIG_DEVICE_AHRS_TASK_STACK_DEPTH=256
 # CONFIG_auto_generated_config_prefix_device-ai is not set

diff --git a/hw/bsp/rm-c/config/hero.config b/hw/bsp/rm-c/config/hero.config
@@ -44,15 +44,15 @@ CONFIG_auto_generated_config_prefix_device-imu=y
 CONFIG_DEVICE_CAN_IMU_TASK_STACK_DEPTH=256
 # CONFIG_auto_generated_config_prefix_device-wearlab is not set
 CONFIG_auto_generated_config_prefix_device-dr16=y
-CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=256
+CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=384
 # CONFIG_auto_generated_config_prefix_device-mech is not set
 # CONFIG_auto_generated_config_prefix_device-tof is not set
 CONFIG_auto_generated_config_prefix_device-ahrs=y
 CONFIG_DEVICE_AHRS_TASK_STACK_DEPTH=256
 CONFIG_auto_generated_config_prefix_device-servo=y
 CONFIG_auto_generated_config_prefix_device-motor=y
 CONFIG_auto_generated_config_prefix_device-ai=y
-CONFIG_DEVICE_AI_TASK_STACK_DEPTH=256
+CONFIG_DEVICE_AI_TASK_STACK_DEPTH=384
 
 #
 # 上位机

diff --git a/hw/bsp/rm-c/config/infantry.config b/hw/bsp/rm-c/config/infantry.config
@@ -72,11 +72,11 @@ CONFIG_DEVICE_BMI088_TASK_STACK_DEPTH=256
 # CONFIG_auto_generated_config_prefix_device-tof is not set
 # CONFIG_auto_generated_config_prefix_device-blink_led is not set
 CONFIG_auto_generated_config_prefix_device-dr16=y
-CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=256
+CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=384
 CONFIG_auto_generated_config_prefix_device-ahrs=y
 CONFIG_DEVICE_AHRS_TASK_STACK_DEPTH=256
 CONFIG_auto_generated_config_prefix_device-ai=y
-CONFIG_DEVICE_AI_TASK_STACK_DEPTH=256
+CONFIG_DEVICE_AI_TASK_STACK_DEPTH=384
 
 #
 # 上位机

diff --git a/hw/bsp/rm-c/config/sentry.config b/hw/bsp/rm-c/config/sentry.config
@@ -89,11 +89,11 @@ CONFIG_DEVICE_BMI088_TASK_STACK_DEPTH=256
 # CONFIG_auto_generated_config_prefix_device-tof is not set
 # CONFIG_auto_generated_config_prefix_device-blink_led is not set
 CONFIG_auto_generated_config_prefix_device-dr16=y
-CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=256
+CONFIG_DEVICE_DR16_TASK_STACK_DEPTH=384
 CONFIG_auto_generated_config_prefix_device-ahrs=y
 CONFIG_DEVICE_AHRS_TASK_STACK_DEPTH=256
 CONFIG_auto_generated_config_prefix_device-ai=y
-CONFIG_DEVICE_AI_TASK_STACK_DEPTH=256
+CONFIG_DEVICE_AI_TASK_STACK_DEPTH=384
 
 #
 # 上位机

diff --git a/src/robot/sentry/robot.cpp b/src/robot/sentry/robot.cpp
@@ -7,7 +7,7 @@
 #include "system.hpp"
 
 /* clang-format off */
-Robot::Infantry::Param param = {
+Robot::Sentry::Param param = {
     .chassis={
       .type = Component::Mixer::MECANUM,
 
@@ -405,5 +405,5 @@ Robot::Infantry::Param param = {
 /* clang-format on */
 
 void robot_init() {
-  System::Start<Robot::Infantry, Robot::Infantry::Param>(param, 500.0f);
+  System::Start<Robot::Sentry, Robot::Sentry::Param>(param, 500.0f);
 }
diff --git a/src/robot/sentry/robot.hpp b/src/robot/sentry/robot.hpp
@@ -13,7 +13,7 @@
 
 void robot_init();
 namespace Robot {
-class Infantry {
+class Sentry {
  public:
   typedef struct Param {
     Module::RMChassis::Param chassis;
@@ -38,7 +38,7 @@ class Infantry {
   Module::Gimbal gimbal_;
   Module::Launcher launcher_;
 
-  Infantry(Param& param, float control_freq)
+  Sentry(Param& param, float control_freq)
       : cmd_(Component::CMD::CMD_AUTO_CTRL),
         bmi088_(param.bmi088_rot),
         cap_(param.cap),