233 lines
11 KiB
C
233 lines
11 KiB
C
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/**
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* @file referee.C
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* @author kidneygood (you@domain.com)
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* @brief
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* @version 0.1
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* @date 2022-11-18
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*
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* @copyright Copyright (c) 2022
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*
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*/
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#include "referee_task.h"
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#include "robot_def.h"
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#include "rm_referee.h"
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#include "referee_UI.h"
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#include "string.h"
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#include "cmsis_os.h"
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#include "chassis.h"
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#include "super_cap.h"
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extern SuperCapInstance *cap; // 超级电容
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static Referee_Interactive_info_t *Interactive_data; // UI绘制需要的机器人状态数据
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static referee_info_t *referee_recv_info; // 接收到的裁判系统数据
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Referee_Interactive_info_t ui_data;
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uint8_t UI_Seq; // 包序号，供整个referee文件使用
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// @todo 不应该使用全局变量
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/**
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* @brief 判断各种ID，选择客户端ID
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* @param referee_info_t *referee_recv_info
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* @retval none
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* @attention
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*/
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static void DeterminRobotID()
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{
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// id小于7是红色,大于7是蓝色 #define Robot_Red 0 #define Robot_Blue 1
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referee_recv_info->referee_id.Robot_Color = referee_recv_info->GameRobotState.robot_id > 7 ? Robot_Blue : Robot_Red;
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referee_recv_info->referee_id.Robot_ID = referee_recv_info->GameRobotState.robot_id;
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referee_recv_info->referee_id.Cilent_ID = 0x0100 + referee_recv_info->referee_id.Robot_ID; // 计算客户端ID
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referee_recv_info->referee_id.Receiver_Robot_ID = 0;
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}
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static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_info_t *_Interactive_data);
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static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data); // 模式切换检测
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static void RobotModeTest(Referee_Interactive_info_t *_Interactive_data); // 测试用函数，实现模式自动变化
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static void xyz_refresh(referee_info_t *referee_recv_info, Referee_Interactive_info_t *_Interactive_data);
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referee_info_t *UITaskInit(UART_HandleTypeDef *referee_usart_handle, Referee_Interactive_info_t *UI_data)
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{
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referee_recv_info = RefereeInit(referee_usart_handle); // 初始化裁判系统的串口,并返回裁判系统反馈数据指针
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Interactive_data = UI_data; // 获取UI绘制需要的机器人状态数据
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referee_recv_info->init_flag = 1;
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return referee_recv_info;
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}
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void UITask()
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{
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MyUIRefresh(referee_recv_info, Interactive_data);
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xyz_refresh(referee_recv_info, Interactive_data);
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}
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static String_Data_t UI_State_sta[7]; // 机器人状态,静态只需画一次
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static String_Data_t UI_State_dyn[7]; // 机器人状态,动态先add才能change
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static Graph_Data_t UI_State_dyn_graph[2];
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static Graph_Data_t UI_angle[4];
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#define AXIS_LEN 250
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#define AXIS_X0 550
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#define AXIS_Y0 80
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static Graph_Data_t xyz_axis[6]; // 抬升 横移位置
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void MyUIInit()
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{
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//if (!referee_recv_info->init_flag)
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//vTaskDelete(NULL); // 如果没有初始化裁判系统则直接删除ui任务
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while (referee_recv_info->GameRobotState.robot_id == 0)
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osDelay(100); // 若还未收到裁判系统数据,等待一段时间后再检查
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DeterminRobotID(); // 确定ui要发送到的目标客户端
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UIDelete(&referee_recv_info->referee_id, UI_Data_Del_ALL, 0); // 清空UI
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// 绘制车辆状态标志指示
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UICharDraw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Green, 20, 2, 10, 750, "G.AIR_PUMP:");
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UICharDraw(&UI_State_sta[1], "ss1", UI_Graph_ADD, 8, UI_Color_Green, 20, 2, 10, 700, "ARM_MODE:");
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UICharDraw(&UI_State_sta[2], "ss2", UI_Graph_ADD, 8, UI_Color_Green, 20, 2, 10, 650, "PITCH:");
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UICharDraw(&UI_State_sta[3], "ss2", UI_Graph_ADD, 8, UI_Color_Green, 20, 2, 10, 600, "BIG_PITCH:");
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UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[0]);
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UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[1]);
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UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[2]);
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UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[3]);
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// xyz坐标系 静态
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UILineDraw(&xyz_axis[0], "x_axis_s", UI_Graph_ADD, 7, UI_Color_Green, 1, AXIS_X0, AXIS_Y0,AXIS_X0+AXIS_LEN , AXIS_Y0);
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UILineDraw(&xyz_axis[1], "y_axis_s", UI_Graph_ADD, 7, UI_Color_Green, 1, AXIS_X0, AXIS_Y0,AXIS_X0+AXIS_LEN , AXIS_Y0+AXIS_LEN);
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UILineDraw(&xyz_axis[2], "z_axis_s", UI_Graph_ADD, 7, UI_Color_Green, 1, AXIS_X0, AXIS_Y0,AXIS_X0 , AXIS_Y0+AXIS_LEN);
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UIGraphRefresh(&referee_recv_info->referee_id,1,xyz_axis[0]);
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UIGraphRefresh(&referee_recv_info->referee_id,2,xyz_axis[1],xyz_axis[2]);
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// xyz坐标系 动态
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UILineDraw(&xyz_axis[3], "x_axis_d", UI_Graph_ADD, 8, UI_Color_Green, 5, AXIS_X0, AXIS_Y0,AXIS_X0+AXIS_LEN*0.5 , AXIS_Y0);
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UILineDraw(&xyz_axis[4], "y_axis_d", UI_Graph_ADD, 8, UI_Color_Green, 5, AXIS_X0, AXIS_Y0,AXIS_X0+AXIS_LEN*0.5 , AXIS_Y0+AXIS_LEN*0.5);
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UILineDraw(&xyz_axis[5], "z_axis_d", UI_Graph_ADD, 8, UI_Color_Green, 5, AXIS_X0, AXIS_Y0,AXIS_X0 , AXIS_Y0+AXIS_LEN*0.5);
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UIGraphRefresh(&referee_recv_info->referee_id,1,xyz_axis[3]);
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UIGraphRefresh(&referee_recv_info->referee_id,2,xyz_axis[4],xyz_axis[5]);
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// 绘制车辆状态标志，动态
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// 由于初始化时xxx_last_mode默认为0，所以此处对应UI也应该设为0时对应的UI，防止模式不变的情况下无法置位flag，导致UI无法刷新
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UICharDraw(&UI_State_dyn[1], "gimbal_mode", UI_Graph_ADD, 8, UI_Color_Yellow, 20, 2, 230, 700, "ZERO_FORCE");
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UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[1]);
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UICircleDraw(&UI_State_dyn_graph[1], "pump_open", UI_Graph_ADD, 8, UI_Color_Purplish_red, 10, 350, 800, 10);
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UIGraphRefresh(&referee_recv_info->referee_id,1,UI_State_dyn_graph[1]);
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// 关节角度显示,动态
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UIFloatDraw(&UI_angle[0], "pitch_angle", UI_Graph_ADD, 8, UI_Color_Green, 20, 2, 2, 230, 650, Interactive_data->diff_pitch_angle * 1000);
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UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_angle[0]);
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UIFloatDraw(&UI_angle[1], "big_pitch_angle", UI_Graph_ADD, 8, UI_Color_Green, 20, 2, 2, 230, 600, Interactive_data->big_pitch_angle * 1000);
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UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_angle[1]);
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}
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static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_info_t *_Interactive_data)
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{
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UIChangeCheck(_Interactive_data);
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// 显示 pitch 轴编码器位置
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UIFloatDraw(&UI_angle[0], "pitch_angle", UI_Graph_Change, 8, UI_Color_Green, 20, 2, 2, 230, 650, Interactive_data->diff_pitch_angle * 1000);
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UIFloatDraw(&UI_angle[1], "big_pitch_angle", UI_Graph_Change, 8, UI_Color_Green, 20, 2, 2, 230, 600, Interactive_data->big_pitch_angle * 1000);
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UIGraphRefresh(&referee_recv_info->referee_id, 2, UI_angle[0],UI_angle[1]);
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// arm
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if (_Interactive_data->Referee_Interactive_Flag.gimbal_flag == 1)
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{
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switch (_Interactive_data->gimbal_mode)
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{
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case GIMBAL_ZERO_FORCE:
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{
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UICharDraw(&UI_State_dyn[1], "gimbal_mode", UI_Graph_Change, 8, UI_Color_Yellow, 20, 2, 230, 700, "ZERO_FORCE");
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break;
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}
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case ARM_MANUAL_MODE:
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{
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UICharDraw(&UI_State_dyn[1], "gimbal_mode", UI_Graph_Change, 8, UI_Color_Yellow, 20, 2, 230, 700, "MANUAL ");
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break;
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}
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case GIMBAL_SILVER_MODE:
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{
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UICharDraw(&UI_State_dyn[1], "gimbal_mode", UI_Graph_Change, 8, UI_Color_Yellow, 20, 2, 230, 700, "SILVER ");
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break;
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}
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case GIMBAL_FLOOR_MODE:
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{
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UICharDraw(&UI_State_dyn[1], "gimbal_mode", UI_Graph_Change, 8, UI_Color_Yellow, 20, 2, 230, 700, "FLOOR ");
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break;
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}
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case GIMBAL_IKINE_MODE:
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{
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UICharDraw(&UI_State_dyn[1], "gimbal_mode", UI_Graph_Change, 8, UI_Color_Yellow, 20, 2, 230, 700, "CUSTOM ");
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break;
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}
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case GIMBAL_STORAGE_MODE:
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{
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UICharDraw(&UI_State_dyn[1], "gimbal_mode", UI_Graph_Change, 8, UI_Color_Yellow, 20, 2, 230, 700, "STORAGE ");
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break;
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}
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}
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UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[1]);
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_Interactive_data->Referee_Interactive_Flag.gimbal_flag = 0;
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}
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// pump
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if (_Interactive_data->Referee_Interactive_Flag.pump_flag == 1)
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{
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switch (_Interactive_data->pump_mode) {
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case PUMP_STOP:
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//UILineDraw(&UI_State_dyn_graph[0], "pump_close", UI_Graph_Change, 8, UI_Color_Purplish_red, 10, 330, 695, 377, 743);
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UICircleDraw(&UI_State_dyn_graph[1], "pump_open", UI_Graph_Change, 8, UI_Color_Purplish_red, 10, 350, 800, 10);
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break;
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case PUMP_OPEN:
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//UILineDraw(&UI_State_dyn_graph[0], "pump_close", UI_Graph_Change, 8, UI_Color_Purplish_red, 0, 330, 695, 330, 695);
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UICircleDraw(&UI_State_dyn_graph[1], "pump_open", UI_Graph_Change, 8, UI_Color_Green, 10, 350, 800, 25);
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break;
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}
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UIGraphRefresh(&referee_recv_info->referee_id,1,UI_State_dyn_graph[1]);
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_Interactive_data->Referee_Interactive_Flag.pump_flag = 0;
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}
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}
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/**
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* @brief 模式切换检测,模式发生切换时，对flag置位
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* @param Referee_Interactive_info_t *_Interactive_data
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* @retval none
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* @attention
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*/
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static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data)
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{
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if (_Interactive_data->chassis_mode != _Interactive_data->chassis_last_mode)
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{
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_Interactive_data->Referee_Interactive_Flag.chassis_flag = 1;
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_Interactive_data->chassis_last_mode = _Interactive_data->chassis_mode;
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}
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if (_Interactive_data->gimbal_mode != _Interactive_data->gimbal_last_mode)
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{
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_Interactive_data->Referee_Interactive_Flag.gimbal_flag = 1;
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_Interactive_data->gimbal_last_mode = _Interactive_data->gimbal_mode;
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}
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if (_Interactive_data->pump_mode != _Interactive_data->pump_last_mode)
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{
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_Interactive_data->Referee_Interactive_Flag.pump_flag = 1;
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_Interactive_data->pump_last_mode = _Interactive_data->pump_mode;
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}
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}
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static void xyz_refresh(referee_info_t *referee_recv_info, Referee_Interactive_info_t *_Interactive_data)
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{
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const float y_max = 0;//单位mm
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const float z_max = 0;//单位mm
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float y_ratio = _Interactive_data->xyz[1]/y_max;
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float z_ratio = _Interactive_data->xyz[2]/z_max;
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// xyz坐标系 动态
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UILineDraw(&xyz_axis[3], "x_axis_d", UI_Graph_Change, 8, UI_Color_Green, 5, AXIS_X0, AXIS_Y0,AXIS_X0+AXIS_LEN , AXIS_Y0);
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UILineDraw(&xyz_axis[4], "y_axis_d", UI_Graph_Change, 8, UI_Color_Green, 5, AXIS_X0, AXIS_Y0,AXIS_X0+(AXIS_LEN*y_ratio) , AXIS_Y0+(AXIS_LEN*y_ratio));
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UILineDraw(&xyz_axis[5], "z_axis_d", UI_Graph_Change, 8, UI_Color_Green, 5, AXIS_X0, AXIS_Y0,AXIS_X0 , AXIS_Y0+(AXIS_LEN*z_ratio));
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UIGraphRefresh(&referee_recv_info->referee_id,2,xyz_axis[3],xyz_axis[4]);
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UIGraphRefresh(&referee_recv_info->referee_id,1,xyz_axis[5]);
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}
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