123 lines
3.5 KiB
C
123 lines
3.5 KiB
C
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#ifndef RM_REFEREE_H
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#define RM_REFEREE_H
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#include "usart.h"
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#include "referee_protocol.h"
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#include "robot_def.h"
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#include "bsp_usart.h"
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#include "FreeRTOS.h"
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extern uint8_t UI_Seq;
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#pragma pack(1)
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typedef struct
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{
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uint8_t Robot_Color; // 机器人颜色
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uint16_t Robot_ID; // 本机器人ID
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uint16_t Cilent_ID; // 本机器人对应的客户端ID
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uint16_t Receiver_Robot_ID; // 机器人车间通信时接收者的ID，必须和本机器人同颜色
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} referee_id_t;
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// 此结构体包含裁判系统接收数据以及UI绘制与机器人车间通信的相关信息
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typedef struct
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{
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referee_id_t referee_id;
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xFrameHeader FrameHeader; // 接收到的帧头信息
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uint16_t CmdID;
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ext_game_state_t GameState; // 0x0001
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ext_game_result_t GameResult; // 0x0002
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ext_game_robot_HP_t GameRobotHP; // 0x0003
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ext_event_data_t EventData; // 0x0101
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ext_supply_projectile_action_t SupplyProjectileAction; // 0x0102
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ext_game_robot_state_t GameRobotState; // 0x0201
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ext_power_heat_data_t PowerHeatData; // 0x0202
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ext_game_robot_pos_t GameRobotPos; // 0x0203
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ext_buff_musk_t BuffMusk; // 0x0204
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aerial_robot_energy_t AerialRobotEnergy; // 0x0205
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ext_robot_hurt_t RobotHurt; // 0x0206
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ext_shoot_data_t ShootData; // 0x0207
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// 自定义交互数据的接收
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Communicate_ReceiveData_t ReceiveData;
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uint8_t init_flag;
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} referee_info_t;
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// 此结构体为图传链路传输的数据
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typedef struct
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{
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referee_id_t referee_id;
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xFrameHeader FrameHeader; // 接收到的帧头信息
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uint16_t CmdID;
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remote_control_t RemoteControl; // 0x304
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custom_robot_data_t CustomControl; // 0x302
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uint8_t init_flag;
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} VT_info_t;
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// 模式是否切换标志位，0为未切换，1为切换，static定义默认为0
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typedef struct
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{
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uint32_t chassis_flag : 1;
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uint32_t gimbal_flag : 1;
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uint32_t shoot_flag : 1;
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uint32_t lid_flag : 1;
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uint32_t friction_flag : 1;
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uint32_t Power_flag : 1;
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uint32_t aim_flag : 1;
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uint32_t cap_flag : 1;
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uint32_t pump_flag : 1;
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} Referee_Interactive_Flag_t;
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// 此结构体包含UI绘制与机器人车间通信的需要的其他非裁判系统数据
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typedef struct
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{
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Referee_Interactive_Flag_t Referee_Interactive_Flag;
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// 为UI绘制以及交互数据所用
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chassis_mode_e chassis_mode; // 底盘模式
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gimbal_mode_e gimbal_mode; // 云台模式
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pump_mode_e pump_mode; // 气泵模式
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to_stretch_mode_e to_stretch_mode; // 抬升+前伸模式
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// 上一次的模式，用于flag判断
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chassis_mode_e chassis_last_mode;
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gimbal_mode_e gimbal_last_mode;
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pump_mode_e pump_last_mode;
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to_stretch_mode_e to_stretch_last_mode;
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uint8_t aim_last_fire;
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float xyz[3]; // xyz三轴位置
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float diff_pitch_angle;
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float big_pitch_angle;
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} Referee_Interactive_info_t;
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#pragma pack()
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/**
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* @brief 裁判系统通信初始化,该函数会初始化裁判系统串口,开启中断
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*
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* @param referee_usart_handle 串口handle,C板一般用串口6
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* @return referee_info_t* 返回裁判系统反馈的数据,包括热量/血量/状态等
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*/
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referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle);
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/**
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* @brief UI绘制和交互数的发送接口,由UI绘制任务和多机通信函数调用
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* @note 内部包含了一个实时系统的延时函数,这是因为裁判系统接收CMD数据至高位10Hz
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*
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* @param send 发送数据首地址
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* @param tx_len 发送长度
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*/
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void RefereeSend(uint8_t *send, uint16_t tx_len);
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#endif // !REFEREE_H
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