sentry_chassis_hzz/modules/referee/referee_UI.c

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#include "referee_UI.h"
#include "string.h"
#include "crc.h"
#include "stdio.h"
#include "rm_referee.h"
static uint8_t UI_Seq; //包序号
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/********************************************删除操作*************************************
**_id id结构体
Del_Operate
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Del_Layer 0-9
*****************************************************************************************/
void UI_Delete(referee_id_t *_id,uint8_t Del_Operate,uint8_t Del_Layer)
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{
UI_delete_t UI_delete_data;
uint8_t temp_datalength = UI_Data_LEN_Head + UI_Operate_LEN_Del; //计算交互数据长度
UI_delete_data.FrameHeader.SOF = REFEREE_SOF;
UI_delete_data.FrameHeader.DataLength = temp_datalength;
UI_delete_data.FrameHeader.Seq = UI_Seq;
UI_delete_data.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&UI_delete_data,LEN_CRC8,0xFF);
UI_delete_data.CmdID = ID_student_interactive;
UI_delete_data.datahead.data_cmd_id = UI_Data_ID_Del;
UI_delete_data.datahead.receiver_ID = _id->Cilent_ID;
UI_delete_data.datahead.sender_ID = _id->Robot_ID;
UI_delete_data.Delete_Operate = Del_Operate; //删除操作
UI_delete_data.Layer = Del_Layer;
UI_delete_data.frametail = Get_CRC16_Check_Sum((uint8_t *)&UI_delete_data,LEN_HEADER+LEN_CMDID+temp_datalength,0xFFFF);
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/* syhtodo为什么填入0xFFFF,关于crc校验 */
RefereeSend((uint8_t *)&UI_delete_data,LEN_HEADER+LEN_CMDID+temp_datalength+LEN_TAIL); //发送
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UI_Seq++; //包序号+1
}
/************************************************绘制直线*************************************************
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***graph Graph_Data类型变量指针
graphname[3]
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Graph_Operate
Graph_Layer 0-9
Graph_Color
Graph_Width 线
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Start_xStart_y xy坐标
End_xEnd_y xy坐标
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**********************************************************************************************************/
void Line_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
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uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t End_x,uint32_t End_y)
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{
// memset(graph,0,UI_Operate_LEN_PerDraw); //如果定义的是非静态变量数据存在初始化未默认为0的情况使用memset方法以下类似 syhtodo
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int i;
for(i=0;i<3&&graphname[i]!='\0';i++) //填充至0为止
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{
graph->graphic_name[2-i]=graphname[i]; //按内存地址增大方向填充所以会有i与2-i
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}
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graph->operate_tpye = Graph_Operate;
graph->graphic_tpye = UI_Graph_Line;
graph->layer = Graph_Layer;
graph->color = Graph_Color;
graph->width = Graph_Width;
graph->start_x = Start_x;
graph->start_y = Start_y;
graph->end_x = End_x;
graph->end_y = End_y;
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}
/************************************************绘制矩形*************************************************
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***graph Graph_Data类型变量指针
graphname[3]
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Graph_Operate
Graph_Layer 0-9
Graph_Color
Graph_Width 线
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Start_xStart_y xy坐标
End_xEnd_y xy坐标
**********************************************************************************************************/
void Rectangle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
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uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t End_x,uint32_t End_y)
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{
// memset(&graph,0,UI_Operate_LEN_PerDraw);
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int i;
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for(i=0;i<3&&graphname[i]!='\0';i++)
{
graph->graphic_name[2-i]=graphname[i];
}
graph->graphic_tpye = UI_Graph_Rectangle;
graph->operate_tpye = Graph_Operate;
graph->layer = Graph_Layer;
graph->color = Graph_Color;
graph->width = Graph_Width;
graph->start_x = Start_x;
graph->start_y = Start_y;
graph->end_x = End_x;
graph->end_y = End_y;
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}
/************************************************绘制整圆*************************************************
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***graph Graph_Data类型变量指针
graphname[3]
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Graph_Operate
Graph_Layer 0-9
Graph_Color
Graph_Width 线
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Start_xStart_y xy坐标
Graph_Radius
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**********************************************************************************************************/
void Circle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
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uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t Graph_Radius)
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{
// memset(&graph,0,UI_Operate_LEN_PerDraw);
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int i;
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for(i=0;i<3&&graphname[i]!='\0';i++)
{
graph->graphic_name[2-i]=graphname[i];
}
graph->graphic_tpye = UI_Graph_Circle;
graph->operate_tpye = Graph_Operate;
graph->layer = Graph_Layer;
graph->color = Graph_Color;
graph->width = Graph_Width;
graph->start_x = Start_x;
graph->start_y = Start_y;
graph->radius = Graph_Radius;
}
/************************************************绘制椭圆*************************************************
***graph Graph_Data类型变量指针
graphname[3]
Graph_Operate
Graph_Layer 0-9
Graph_Color
Graph_Width 线
Start_xStart_y xy坐标
End_xEnd_y xy半轴长度
**********************************************************************************************************/
void Elliptical_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
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uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t end_x,uint32_t end_y)
{
// memset(&graph,0,UI_Operate_LEN_PerDraw);
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int i;
for(i=0;i<3&&graphname[i]!='\0';i++)
{
graph->graphic_name[2-i]=graphname[i];
}
graph->graphic_tpye = UI_Graph_Ellipse;
graph->operate_tpye = Graph_Operate;
graph->layer = Graph_Layer;
graph->color = Graph_Color;
graph->width = Graph_Width;
graph->start_x = Start_x;
graph->start_y = Start_y;
graph->end_x = end_x;
graph->end_y = end_y;
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}
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/************************************************绘制圆弧*************************************************
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***graph Graph_Data类型变量指针
graphname[3]
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Graph_Operate
Graph_Layer 0-9
Graph_Color
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Graph_StartAngle,Graph_EndAngle
Graph_Width 线
Start_y,Start_y xy坐标
x_Length,y_Length xy半轴长度
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**********************************************************************************************************/
void Arc_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
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uint32_t Graph_StartAngle,uint32_t Graph_EndAngle,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,
uint32_t end_x,uint32_t end_y)
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{
//memset(&graph,0,UI_Operate_LEN_PerDraw);
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int i;
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for(i=0;i<3&&graphname[i]!='\0';i++)
{
graph->graphic_name[2-i]=graphname[i];
}
graph->graphic_tpye = UI_Graph_Arc;
graph->operate_tpye = Graph_Operate;
graph->layer = Graph_Layer;
graph->color = Graph_Color;
graph->start_angle = Graph_StartAngle;
graph->end_angle = Graph_EndAngle;
graph->width = Graph_Width;
graph->start_x = Start_x;
graph->start_y = Start_y;
graph->end_x = end_x;
graph->end_y = end_y;
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}
/************************************************绘制浮点型数据*************************************************
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***graph Graph_Data类型变量指针
graphname[3]
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Graph_Operate
Graph_Layer 0-9
Graph_Color
Graph_Size
Graph_Digit
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Graph_Width 线
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Start_xStart_y
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radius=a&0x3FF; a为浮点数乘以1000后的32位整型数
end_x=(a>>10)&0x7FF;
end_y=(a>>21)&0x7FF;
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**********************************************************************************************************/
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void Float_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
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uint32_t Graph_Size,uint32_t Graph_Digit,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,int32_t Graph_Float)
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{
//memset(&graph,0,UI_Operate_LEN_PerDraw);
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int i;
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for(i=0;i<3&&graphname[i]!='\0';i++)
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{
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graph->graphic_name[2-i]=graphname[i];
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}
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graph->graphic_tpye = UI_Graph_Float;
graph->operate_tpye = Graph_Operate;
graph->layer = Graph_Layer;
graph->color = Graph_Color;
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graph->width = Graph_Width;
graph->start_x = Start_x;
graph->start_y = Start_y;
graph->start_angle = Graph_Size;
graph->end_angle = Graph_Digit;
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graph->radius=Graph_Float&0x3FF;
graph->end_x=(Graph_Float>>10)&0x7FF;
graph->end_y=(Graph_Float>>21)&0x7FF;
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}
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/************************************************绘制整型数据*************************************************
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***graph Graph_Data类型变量指针
graphname[3]
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Graph_Operate
Graph_Layer 0-9
Graph_Color
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Graph_Size
Graph_Width 线
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Start_xStart_y
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radius=a&0x3FF; a为32位整型数
end_x=(a>>10)&0x7FF;
end_y=(a>>21)&0x7FF;
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**********************************************************************************************************/
void Integer_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
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uint32_t Graph_Size,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,int32_t Graph_Integer)
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{
//memset(&graph,0,UI_Operate_LEN_PerDraw);
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int i;
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for(i=0;i<3&&graphname[i]!='\0';i++)
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{
graph->graphic_name[2-i]=graphname[i];
}
graph->graphic_tpye = UI_Graph_Int;
graph->operate_tpye = Graph_Operate;
graph->layer = Graph_Layer;
graph->color = Graph_Color;
graph->start_angle = Graph_Size;
graph->width = Graph_Width;
graph->start_x = Start_x;
graph->start_y = Start_y;
graph->radius=Graph_Integer&0x3FF;
graph->end_x=(Graph_Integer>>10)&0x7FF;
graph->end_y=(Graph_Integer>>21)&0x7FF;
}
/************************************************绘制字符型数据*************************************************
***graph Graph_Data类型变量指针
graphname[3]
Graph_Operate
Graph_Layer 0-9
Graph_Color
Graph_Size
Graph_Width 线
Start_xStart_y
**********************************************************************************************************/
void Char_Draw(String_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
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uint32_t Graph_Size,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y)
{
// //memset(graph->Graph_Control.graphic_name, 0, 3);//syhtodo 是否需要手动清零
//memset(&graph,0,UI_Operate_LEN_DrawChar);
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int i;
for(i=0;i<3&&graphname[i]!='\0';i++)
{
graph->Graph_Control.graphic_name[2-i]=graphname[i];
}
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graph->Graph_Control.graphic_tpye = UI_Graph_Char;
graph->Graph_Control.operate_tpye = Graph_Operate;
graph->Graph_Control.layer = Graph_Layer;
graph->Graph_Control.color = Graph_Color;
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graph->Graph_Control.width = Graph_Width;
graph->Graph_Control.start_x = Start_x;
graph->Graph_Control.start_y = Start_y;
graph->Graph_Control.start_angle = Graph_Size;
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//syhtodo无关的赋值为0
graph->Graph_Control.radius=0;
graph->Graph_Control.end_x=0;
graph->Graph_Control.end_y=0;
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}
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/************************************************绘制字符型数据*************************************************
***graph Graph_Data类型变量指针
fmt需要显示的字符串
使printf函数
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**********************************************************************************************************/
void Char_Write(String_Data_t *graph,char* fmt, ...)
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{
uint16_t i = 0;
va_list ap;
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va_start(ap,fmt);
vsprintf((char*)graph->show_Data,fmt,ap);//使用参数列表进行格式化并输出到字符串
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va_end(ap);
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i = strlen((const char*)graph->show_Data);
graph->Graph_Control.end_angle = i;
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}
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/* UI推送函数使更改生效
cnt
...
Tips1257
*/
void UI_ReFresh(referee_id_t *_id,int cnt,...)
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{
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int i;
UI_GraphReFresh_t UI_GraphReFresh_data;
Graph_Data_t graphData;
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va_list ap;//创建一个 va_list 类型变量
va_start(ap,cnt);//初始化 va_list 变量为一个参数列表
UI_GraphReFresh_data.FrameHeader.SOF = REFEREE_SOF;
UI_GraphReFresh_data.FrameHeader.DataLength = UI_Data_LEN_Head+cnt*UI_Operate_LEN_PerDraw;
UI_GraphReFresh_data.FrameHeader.Seq = UI_Seq;
UI_GraphReFresh_data.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&UI_GraphReFresh_data,LEN_CRC8,0xFF);
UI_GraphReFresh_data.CmdID = ID_student_interactive;
switch(cnt)
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{
case 1:
UI_GraphReFresh_data.datahead.data_cmd_id=UI_Data_ID_Draw1;
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break;
case 2:
UI_GraphReFresh_data.datahead.data_cmd_id=UI_Data_ID_Draw2;
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break;
case 5:
UI_GraphReFresh_data.datahead.data_cmd_id=UI_Data_ID_Draw5;
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break;
case 7:
UI_GraphReFresh_data.datahead.data_cmd_id=UI_Data_ID_Draw7;
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break;
}
UI_GraphReFresh_data.datahead.receiver_ID = _id->Cilent_ID;
UI_GraphReFresh_data.datahead.sender_ID = _id->Robot_ID;
//先发送帧头、命令码、交互数据帧头三部分并计算CRC16校验值
UI_GraphReFresh_data.frametail=Get_CRC16_Check_Sum((uint8_t *)&UI_GraphReFresh_data,LEN_HEADER+LEN_CMDID+UI_Data_LEN_Head,0xFFFF);
RefereeSend((uint8_t *)&UI_GraphReFresh_data,LEN_HEADER+LEN_CMDID+UI_Data_LEN_Head);
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for(i=0;i<cnt;i++) //发送交互数据的数据帧并计算CRC16校验值
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{
graphData=va_arg(ap,Graph_Data_t);//访问参数列表中的每个项,第二个参数是你要返回的参数的类型,在取值时需要将其强制转化为指定类型的变量
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//发送并计算CRC16
RefereeSend((uint8_t *)&graphData,UI_Operate_LEN_PerDraw);
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UI_GraphReFresh_data.frametail=Get_CRC16_Check_Sum((uint8_t *)&graphData,UI_Operate_LEN_PerDraw,UI_GraphReFresh_data.frametail);
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}
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RefereeSend((uint8_t *)&UI_GraphReFresh_data.frametail,LEN_TAIL); //发送CRC16校验值
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va_end(ap);//结束可变参数的获取
UI_Seq++; //包序号+1
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}
/************************************************UI推送字符使更改生效*********************************/
void Char_ReFresh(referee_id_t *_id,String_Data_t string_Data)
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{
UI_CharReFresh_t UI_CharReFresh_data;
uint8_t temp_datalength = UI_Data_LEN_Head + UI_Operate_LEN_DrawChar; //计算交互数据长度
UI_CharReFresh_data.FrameHeader.SOF = REFEREE_SOF;
UI_CharReFresh_data.FrameHeader.DataLength = temp_datalength;
UI_CharReFresh_data.FrameHeader.Seq = UI_Seq;
UI_CharReFresh_data.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&UI_CharReFresh_data,LEN_CRC8,0xFF);
UI_CharReFresh_data.CmdID = ID_student_interactive;
UI_CharReFresh_data.datahead.data_cmd_id = UI_Data_ID_DrawChar;
UI_CharReFresh_data.datahead.receiver_ID = _id->Cilent_ID;
UI_CharReFresh_data.datahead.sender_ID = _id->Robot_ID;
UI_CharReFresh_data.String_Data = string_Data;
UI_CharReFresh_data.frametail = Get_CRC16_Check_Sum((uint8_t *)&UI_CharReFresh_data,LEN_HEADER+LEN_CMDID+temp_datalength,0xFFFF);
RefereeSend((uint8_t *)&UI_CharReFresh_data,LEN_HEADER+LEN_CMDID+temp_datalength+LEN_TAIL); //发送
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UI_Seq++; //包序号+1
}