一致UI初始化至chassis，添加id自动判断
This commit is contained in:
kidneygood
parent
a9e1eb6247
commit
289530ac10
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@ -33,11 +33,6 @@
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "robot.h"
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//////////////////////////////////////////////////syhtodo
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#include "referee_UI.h"
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#include "referee.h"
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#include "referee_def.h"
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//////////////////////////////////////////////////
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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@ -118,33 +113,6 @@ int main(void)
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RobotInit();
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//////////////////////////////////////////////////syhtodo
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Graph_Data_t graph[5];
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Graph_Data_t num[2];
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String_Data_t sdata[1];
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memset(sdata[0].show_Data, 0, 30); //使用memset方法 syhtodo 数据存在初始化未默认为0的情况
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memset(&graph[0], 0, 15);
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UI_Delete(UI_Data_Del_ALL,0);
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Line_Draw(&graph[0],"s0",UI_Graph_ADD,0,UI_Color_White,3,710,540,1210,540);
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Rectangle_Draw(&graph[1],"s1",UI_Graph_ADD,0,UI_Color_Yellow,4,600,200,800,500);
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Circle_Draw(&graph[2],"s2",UI_Graph_ADD,0,UI_Color_Green,5,960,540,100);
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Elliptical_Draw(&graph[3],"s3",UI_Graph_ADD,0,UI_Color_Orange,3,960,540,100,20);
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Arc_Draw(&graph[4],"s4",UI_Graph_ADD,0,UI_Color_Purplish_red,30,160,3,1200,550,50,100);
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Float_Draw(&num[0],"s5",UI_Graph_ADD,0,UI_Color_Pink,50,3,5,1050,660,1245545);
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Integer_Draw(&num[1],"s6",UI_Graph_ADD,0,UI_Color_Cyan,50,5,1050,460,12345);
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UI_ReFresh(7,graph[0],graph[1],graph[2],graph[3],graph[4],num[0],num[1]);
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Char_Draw(&sdata[0],"s7",UI_Graph_ADD,0,UI_Color_Green,20,2,620,710);
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Char_Write(&sdata[0],"number:%d",123);
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Char_ReFresh(sdata[0]);
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//////////////////////////////////////////////////
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/* USER CODE END 2 */
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/* Call init function for freertos objects (in freertos.c) */
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@ -19,7 +19,7 @@
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#include "referee.h"
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#include "general_def.h"
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#include "bsp_dwt.h"
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#include "referee_UI.h"
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#include "arm_math.h"
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/* 根据robot_def.h中的macro自动计算的参数 */
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@ -41,7 +41,7 @@ static Subscriber_t *chassis_sub; // 用于订阅底盘的控
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static Chassis_Ctrl_Cmd_s chassis_cmd_recv; // 底盘接收到的控制命令
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static Chassis_Upload_Data_s chassis_feedback_data; // 底盘回传的反馈数据
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static referee_info_t *referee_data; // 裁判系统的数据
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static referee_info_t *referee_data; // 裁判系统相关数据
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static SuperCapInstance *cap; // 超级电容
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static DJIMotorInstance *motor_lf; // left right forward back
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static DJIMotorInstance *motor_rf;
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@ -101,6 +101,10 @@ void ChassisInit()
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referee_data = RefereeInit(&huart6); // 裁判系统初始化
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while (referee_data->GameRobotState.robot_id ==0);
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Interactive_init(referee_data);
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SuperCap_Init_Config_s cap_conf = {
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.can_config = {
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.can_handle = &hcan2,
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@ -22,7 +22,6 @@ referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle)
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return &referee_info;
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}
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/**
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* @brief 发送函数
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* @param send 待发送数据
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@ -30,11 +29,10 @@ referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle)
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void RefereeSend(uint8_t *send,uint16_t tx_len)
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{
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USARTSend(referee_usart_instance,send,tx_len);
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/* syhtodo DMA请求过快会导致数据发送丢失，考虑数据尽可能打成一阵个包 */
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/* syhtodo DMA请求过快会导致数据发送丢失，考虑数据尽可能打成一个整包以及队列发送 */
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HAL_Delay(5);
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}
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/*裁判系统串口接收回调函数,解析数据 */
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static void RefereeRxCallback()
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{
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@ -76,49 +74,38 @@ static void JudgeReadData(uint8_t *ReadFromUsart)
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case ID_game_state: // 0x0001
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memcpy(&referee_info.GameState, (ReadFromUsart + DATA_Offset), LEN_game_state);
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break;
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case ID_game_result: // 0x0002
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memcpy(&referee_info.GameResult, (ReadFromUsart + DATA_Offset), LEN_game_result);
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break;
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case ID_game_robot_survivors: // 0x0003
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memcpy(&referee_info.GameRobotHP, (ReadFromUsart + DATA_Offset), LEN_game_robot_HP);
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break;
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case ID_event_data: // 0x0101
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memcpy(&referee_info.EventData, (ReadFromUsart + DATA_Offset), LEN_event_data);
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break;
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case ID_supply_projectile_action: // 0x0102
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memcpy(&referee_info.SupplyProjectileAction, (ReadFromUsart + DATA_Offset), LEN_supply_projectile_action);
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break;
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case ID_game_robot_state: // 0x0201
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memcpy(&referee_info.GameRobotState, (ReadFromUsart + DATA_Offset), LEN_game_robot_state);
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break;
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case ID_power_heat_data: // 0x0202
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memcpy(&referee_info.PowerHeatData, (ReadFromUsart + DATA_Offset), LEN_power_heat_data);
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break;
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case ID_game_robot_pos: // 0x0203
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memcpy(&referee_info.GameRobotPos, (ReadFromUsart + DATA_Offset), LEN_game_robot_pos);
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break;
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case ID_buff_musk: // 0x0204
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memcpy(&referee_info.BuffMusk, (ReadFromUsart + DATA_Offset), LEN_buff_musk);
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break;
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case ID_aerial_robot_energy: // 0x0205
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memcpy(&referee_info.AerialRobotEnergy, (ReadFromUsart + DATA_Offset), LEN_aerial_robot_energy);
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break;
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case ID_robot_hurt: // 0x0206
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memcpy(&referee_info.RobotHurt, (ReadFromUsart + DATA_Offset), LEN_robot_hurt);
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break;
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case ID_shoot_data: // 0x0207
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memcpy(&referee_info.ShootData, (ReadFromUsart + DATA_Offset), LEN_shoot_data);
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// JUDGE_ShootNumCount();//发弹量统计
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break;
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}
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}
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@ -130,4 +117,4 @@ static void JudgeReadData(uint8_t *ReadFromUsart)
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JudgeReadData(ReadFromUsart + sizeof(xFrameHeader) + LEN_CMDID + referee_info.FrameHeader.DataLength + LEN_TAIL);
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}
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}
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}
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}
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@ -16,18 +16,21 @@
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#include "referee_def.h"
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#include "bsp_usart.h"
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#define FALSE 0
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#define TRUE 1
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#define JUDGE_DATA_ERROR 0
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#define JUDGE_DATA_CORRECT 1
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#pragma pack(1)
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// 裁判系统接收数据整合进一个结构体
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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
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} referee_id_t;
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// 次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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@ -43,8 +46,7 @@ typedef struct
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ext_robot_hurt_t RobotHurt; // 0x0206
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ext_shoot_data_t ShootData; // 0x0207
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// ext_SendClientData_t ShowData; // 客户端信息
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// ext_CommunatianData_t CommuData; // 队友通信信息
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// syhtodo 机器人间通信如何获取数据
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} referee_info_t;
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@ -52,19 +54,19 @@ typedef struct
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/**
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* @brief 初始化裁判系统,返回接收数据指针
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*
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* @param referee_usart_handle
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* @return referee_info_t*
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*
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* @param referee_usart_handle
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* @return referee_info_t*
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*/
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referee_info_t* RefereeInit(UART_HandleTypeDef *referee_usart_handle);
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referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle);
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/**
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* @brief 发送函数
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* @todo
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* @todo
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* @param send 待发送数据
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*/
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void RefereeSend(uint8_t *send,uint16_t tx_len);
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void RefereeSend(uint8_t *send, uint16_t tx_len);
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extern USARTInstance *referee_usart_instance;
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extern USARTInstance *referee_usart_instance;
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#endif // !REFEREE_H
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@ -2,23 +2,90 @@
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#include "string.h"
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#include "crc.h"
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#include "bsp_usart.h"
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#include "dma.h"
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#include "stdio.h"
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#include "referee.h"
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/* syhtodo 根据自身id判断客户端id
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涉及到的数字是否可以枚举定义？？？
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*/
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uint16_t Robot_ID = UI_Data_RobotID_BHero;
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uint16_t Cilent_ID = UI_Data_CilentID_BHero;
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static void UI_Delete(referee_id_t *_id,uint8_t Del_Operate,uint8_t Del_Layer);
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static 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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static 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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static 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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static 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);
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static 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,
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uint32_t end_x,uint32_t end_y);
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static 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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static 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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static 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);
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static void Char_Write(String_Data_t *graph,char* fmt, ...);
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static int UI_ReFresh(referee_id_t *_id,int cnt,...);
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static int Char_ReFresh(referee_id_t *_id,String_Data_t string_Data);
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static void determine_ID(referee_info_t *_referee_info);
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static uint8_t UI_Seq; //包序号
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void Interactive_init(referee_info_t *_referee_info)
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{
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determine_ID(_referee_info);
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Graph_Data_t graph[5];
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Graph_Data_t num[2];
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String_Data_t sdata[1];
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memset(sdata[0].show_Data, 0, 30); //使用memset方法 syhtodo 数据存在初始化未默认为0的情况
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memset(&graph[0], 0, 15);
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UI_Delete(&_referee_info->referee_id,UI_Data_Del_ALL,0);
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Line_Draw(&graph[0],"s0",UI_Graph_ADD,0,UI_Color_White,3,710,540,1210,540);
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Rectangle_Draw(&graph[1],"s1",UI_Graph_ADD,0,UI_Color_Yellow,4,600,200,800,500);
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Circle_Draw(&graph[2],"s2",UI_Graph_ADD,0,UI_Color_Green,5,960,540,100);
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Elliptical_Draw(&graph[3],"s3",UI_Graph_ADD,0,UI_Color_Orange,3,960,540,100,20);
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Arc_Draw(&graph[4],"s4",UI_Graph_ADD,0,UI_Color_Purplish_red,30,160,3,1200,550,50,100);
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Float_Draw(&num[0],"s5",UI_Graph_ADD,0,UI_Color_Pink,50,3,5,1050,660,1245545);
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Integer_Draw(&num[1],"s6",UI_Graph_ADD,0,UI_Color_Cyan,50,5,1050,460,12345);
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UI_ReFresh(&_referee_info->referee_id,7,graph[0],graph[1],graph[2],graph[3],graph[4],num[0],num[1]);
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Char_Draw(&sdata[0],"s7",UI_Graph_ADD,0,UI_Color_Green,20,2,620,710);
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Char_Write(&sdata[0],"number:%d",123);
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Char_ReFresh(&_referee_info->referee_id,sdata[0]);
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}
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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 void
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* @retval referee_info
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* @attention
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*/
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static void determine_ID(referee_info_t *_referee_info)
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{
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//id小于7是红色,大于7是蓝色,0为红色，1为蓝色 #define Robot_Red 0 #define Robot_Blue 1
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_referee_info->referee_id.Robot_Color = _referee_info->GameRobotState.robot_id >7 ? Robot_Blue : Robot_Red;
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_referee_info->referee_id.Robot_ID=_referee_info->GameRobotState.robot_id;
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_referee_info->referee_id.Cilent_ID = 0x0100 + _referee_info->referee_id.Robot_ID;//计算客户端ID
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_referee_info->referee_id.Receiver_Robot_ID = 0x00; //机器人车间通信时接收者的ID暂时为0
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}
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uint8_t UI_Seq; //包序号
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/********************************************删除操作*************************************
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**参数：Del_Operate 对应头文件删除操作
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Del_Layer 要删除的层 取值0-9
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*****************************************************************************************/
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void UI_Delete(uint8_t Del_Operate,uint8_t Del_Layer)
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static void UI_Delete(referee_id_t *_id,uint8_t Del_Operate,uint8_t Del_Layer)
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{
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UI_delete_t UI_delete_data;
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uint8_t temp_datalength = UI_Data_LEN_Head + UI_Operate_LEN_Del; //计算交互数据长度
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@ -31,8 +98,8 @@ void UI_Delete(uint8_t Del_Operate,uint8_t Del_Layer)
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UI_delete_data.CmdID = ID_student_interactive;
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UI_delete_data.datahead.data_cmd_id = UI_Data_ID_Del;
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UI_delete_data.datahead.receiver_ID = Cilent_ID;
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UI_delete_data.datahead.sender_ID = Robot_ID;
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UI_delete_data.datahead.receiver_ID = _id->Cilent_ID;
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UI_delete_data.datahead.sender_ID = _id->Robot_ID;
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UI_delete_data.Delete_Operate = Del_Operate; //删除操作
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UI_delete_data.Layer = Del_Layer;
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@ -55,7 +122,7 @@ void UI_Delete(uint8_t Del_Operate,uint8_t Del_Layer)
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End_x、End_y 终点xy坐标
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**********************************************************************************************************/
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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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static 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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{
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int i;
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@ -87,7 +154,7 @@ void Line_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint
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Start_x、Start_y 起点xy坐标
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End_x、End_y 对角顶点xy坐标
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**********************************************************************************************************/
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void Rectangle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
|
||||
static void Rectangle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
|
||||
uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t End_x,uint32_t End_y)
|
||||
{
|
||||
int i;
|
||||
|
|
@ -119,7 +186,7 @@ void Rectangle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate
|
|||
Graph_Radius 圆形半径
|
||||
**********************************************************************************************************/
|
||||
|
||||
void Circle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
|
||||
static void Circle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
|
||||
uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t Graph_Radius)
|
||||
{
|
||||
int i;
|
||||
|
|
@ -148,7 +215,7 @@ void Circle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,ui
|
|||
Start_x、Start_y 圆心xy坐标
|
||||
End_x、End_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,
|
||||
static void Elliptical_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
|
||||
uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t end_x,uint32_t end_y)
|
||||
{
|
||||
int i;
|
||||
|
|
@ -182,7 +249,7 @@ void Elliptical_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operat
|
|||
x_Length,y_Length xy半轴长度
|
||||
**********************************************************************************************************/
|
||||
|
||||
void Arc_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
|
||||
static void Arc_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
|
||||
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)
|
||||
{
|
||||
|
|
@ -221,7 +288,7 @@ void Arc_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint3
|
|||
end_y=(a>>21)&0x7FF;
|
||||
**********************************************************************************************************/
|
||||
|
||||
void Float_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
|
||||
static void Float_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
|
||||
uint32_t Graph_Size,uint32_t Graph_Digit,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,int32_t Graph_Float)
|
||||
{
|
||||
int i;
|
||||
|
|
@ -258,7 +325,7 @@ void Float_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uin
|
|||
end_x=(a>>10)&0x7FF;
|
||||
end_y=(a>>21)&0x7FF;
|
||||
**********************************************************************************************************/
|
||||
void Integer_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
|
||||
static void Integer_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
|
||||
uint32_t Graph_Size,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,int32_t Graph_Integer)
|
||||
{
|
||||
int i;
|
||||
|
|
@ -292,7 +359,7 @@ void Integer_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,u
|
|||
Graph_Width 图形线宽
|
||||
Start_x、Start_y 开始坐标
|
||||
**********************************************************************************************************/
|
||||
void Char_Draw(String_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
|
||||
static void Char_Draw(String_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
|
||||
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
|
||||
|
|
@ -323,7 +390,7 @@ void Char_Draw(String_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uin
|
|||
fmt需要显示的字符串
|
||||
syhtodo 尚未理解该函数的写法
|
||||
**********************************************************************************************************/
|
||||
void Char_Write(String_Data_t *graph,char* fmt, ...)
|
||||
static void Char_Write(String_Data_t *graph,char* fmt, ...)
|
||||
{
|
||||
uint16_t i = 0;
|
||||
va_list ap;
|
||||
|
|
@ -340,7 +407,7 @@ void Char_Write(String_Data_t *graph,char* fmt, ...)
|
|||
... 图形变量参数
|
||||
Tips：：该函数只能推送1，2，5，7个图形，其他数目协议未涉及
|
||||
*/
|
||||
int UI_ReFresh(int cnt,...)
|
||||
static int UI_ReFresh(referee_id_t *_id,int cnt,...)
|
||||
{
|
||||
int i;
|
||||
UI_GraphReFresh_t UI_GraphReFresh_data;
|
||||
|
|
@ -374,8 +441,8 @@ int UI_ReFresh(int cnt,...)
|
|||
return (-1);
|
||||
}
|
||||
|
||||
UI_GraphReFresh_data.datahead.receiver_ID = Cilent_ID;
|
||||
UI_GraphReFresh_data.datahead.sender_ID = Robot_ID;
|
||||
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);
|
||||
|
|
@ -398,7 +465,7 @@ int UI_ReFresh(int cnt,...)
|
|||
}
|
||||
|
||||
/************************************************UI推送字符（使更改生效）*********************************/
|
||||
int Char_ReFresh(String_Data_t string_Data)
|
||||
static int Char_ReFresh(referee_id_t *_id,String_Data_t string_Data)
|
||||
{
|
||||
UI_CharReFresh_t UI_CharReFresh_data;
|
||||
|
||||
|
|
@ -412,8 +479,9 @@ int Char_ReFresh(String_Data_t string_Data)
|
|||
UI_CharReFresh_data.CmdID = ID_student_interactive;
|
||||
|
||||
UI_CharReFresh_data.datahead.data_cmd_id = UI_Data_ID_DrawChar;
|
||||
UI_CharReFresh_data.datahead.receiver_ID = Cilent_ID;
|
||||
UI_CharReFresh_data.datahead.sender_ID = Robot_ID;
|
||||
|
||||
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;
|
||||
|
||||
|
|
@ -424,50 +492,4 @@ int Char_ReFresh(String_Data_t string_Data)
|
|||
UI_Seq++; //包序号+1
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
// /**
|
||||
// * @brief 判断自己红蓝方
|
||||
// * @param void
|
||||
// * @retval RED BLUE
|
||||
// * @attention 数据打包,打包完成后通过串口发送到裁判系统
|
||||
// */
|
||||
|
||||
// bool is_red_or_blue(void)
|
||||
// {
|
||||
// Judge_Self_ID = GameRobotStat.robot_id;//读取当前机器人ID
|
||||
|
||||
// if(GameRobotStat.robot_id > 10)
|
||||
// {
|
||||
// return BLUE;
|
||||
// }
|
||||
// else
|
||||
// {
|
||||
// return RED;
|
||||
// }
|
||||
// }
|
||||
|
||||
// /**
|
||||
// * @brief 判断自身ID，选择客户端ID
|
||||
// * @param void
|
||||
// * @retval RED BLUE
|
||||
// * @attention 数据打包,打包完成后通过串口发送到裁判系统
|
||||
// */
|
||||
// void determine_ID(void)
|
||||
// {
|
||||
// Color = is_red_or_blue();
|
||||
// if(Color == BLUE)
|
||||
// {
|
||||
|
||||
// Judge_SelfClient_ID = 0x0110 + (Judge_Self_ID-10);//计算客户端ID
|
||||
// }
|
||||
// else if(Color == RED)
|
||||
// {
|
||||
// Judge_SelfClient_ID = 0x0100 + Judge_Self_ID;//计算客户端ID
|
||||
// }
|
||||
// }
|
||||
|
||||
|
|
@ -5,44 +5,11 @@
|
|||
#include "usart.h"
|
||||
#include "stdint.h"
|
||||
#include "referee_def.h"
|
||||
#pragma pack(1) //按1字节对齐
|
||||
#include "referee.h"
|
||||
|
||||
// #define NULL 0
|
||||
#define __FALSE 100
|
||||
|
||||
/****************************红方机器人ID********************/
|
||||
#define UI_Data_RobotID_RHero 1
|
||||
#define UI_Data_RobotID_REngineer 2
|
||||
#define UI_Data_RobotID_RStandard1 3
|
||||
#define UI_Data_RobotID_RStandard2 4
|
||||
#define UI_Data_RobotID_RStandard3 5
|
||||
#define UI_Data_RobotID_RAerial 6
|
||||
#define UI_Data_RobotID_RSentry 7
|
||||
#define UI_Data_RobotID_RRadar 9
|
||||
/****************************蓝方机器人ID********************/
|
||||
#define UI_Data_RobotID_BHero 101
|
||||
#define UI_Data_RobotID_BEngineer 102
|
||||
#define UI_Data_RobotID_BStandard1 103
|
||||
#define UI_Data_RobotID_BStandard2 104
|
||||
#define UI_Data_RobotID_BStandard3 105
|
||||
#define UI_Data_RobotID_BAerial 106
|
||||
#define UI_Data_RobotID_BSentry 107
|
||||
#define UI_Data_RobotID_BRadar 109
|
||||
/**************************红方操作手ID************************/
|
||||
#define UI_Data_CilentID_RHero 0x0101
|
||||
#define UI_Data_CilentID_REngineer 0x0102
|
||||
#define UI_Data_CilentID_RStandard1 0x0103
|
||||
#define UI_Data_CilentID_RStandard2 0x0104
|
||||
#define UI_Data_CilentID_RStandard3 0x0105
|
||||
#define UI_Data_CilentID_RAerial 0x0106
|
||||
/***************************蓝方操作手ID***********************/
|
||||
#define UI_Data_CilentID_BHero 0x0165
|
||||
#define UI_Data_CilentID_BEngineer 0x0166
|
||||
#define UI_Data_CilentID_BStandard1 0x0167
|
||||
#define UI_Data_CilentID_BStandard2 0x0168
|
||||
#define UI_Data_CilentID_BStandard3 0x0169
|
||||
#define UI_Data_CilentID_BAerial 0x016A
|
||||
#pragma pack(1) //按1字节对齐
|
||||
|
||||
/* 此处的定义只与UI绘制有关 */
|
||||
typedef struct
|
||||
{
|
||||
xFrameHeader FrameHeader;
|
||||
|
|
@ -61,7 +28,6 @@ typedef struct
|
|||
uint16_t frametail;
|
||||
} UI_GraphReFresh_t;
|
||||
|
||||
|
||||
typedef struct
|
||||
{
|
||||
xFrameHeader FrameHeader;
|
||||
|
|
@ -71,23 +37,8 @@ typedef struct
|
|||
uint16_t frametail;
|
||||
} UI_CharReFresh_t; //打印字符串数据
|
||||
|
||||
|
||||
#pragma pack()
|
||||
|
||||
void UI_Delete(uint8_t Del_Operate,uint8_t Del_Layer);
|
||||
|
||||
void Line_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t End_x,uint32_t End_y);
|
||||
void Circle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t Graph_Radius);
|
||||
void Elliptical_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t end_x,uint32_t end_y);
|
||||
void Rectangle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t End_x,uint32_t End_y);
|
||||
void Arc_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,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);
|
||||
void Float_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,uint32_t Graph_Size,uint32_t Graph_Digit,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,int32_t Graph_Float);
|
||||
void Integer_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,uint32_t Graph_Size,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,int32_t Graph_Integer);
|
||||
int UI_ReFresh(int cnt,...);
|
||||
|
||||
|
||||
void Char_Draw(String_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,uint32_t Graph_Size,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y);
|
||||
void Char_Write(String_Data_t *graph,char* fmt, ...);
|
||||
int Char_ReFresh(String_Data_t string_Data);
|
||||
void Interactive_init(referee_info_t *_referee_info);
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -13,6 +13,13 @@
|
|||
|
||||
#include "stdint.h"
|
||||
|
||||
/****************************宏定义部分****************************/
|
||||
/****************************宏定义部分****************************/
|
||||
|
||||
#define REFEREE_SOF 0xA5 // 起始字节,协议固定为0xA5
|
||||
#define Robot_Red 0
|
||||
#define Robot_Blue 1
|
||||
|
||||
#pragma pack(1)
|
||||
|
||||
/****************************通信协议格式****************************/
|
||||
|
|
@ -24,7 +31,7 @@ typedef enum
|
|||
FRAME_HEADER_Offset = 0,
|
||||
CMD_ID_Offset = 5,
|
||||
DATA_Offset = 7,
|
||||
} JudgeFrameOffset;
|
||||
} JudgeFrameOffset_e;
|
||||
|
||||
/* 通信协议长度 */
|
||||
typedef enum
|
||||
|
|
@ -34,12 +41,11 @@ typedef enum
|
|||
LEN_TAIL = 2, // 帧尾CRC16
|
||||
|
||||
LEN_CRC8 = 4, // 帧头CRC8校验长度=帧头+数据长+包序号
|
||||
} JudgeFrameLength;
|
||||
} JudgeFrameLength_e;
|
||||
|
||||
/****************************帧头****************************/
|
||||
/****************************帧头****************************/
|
||||
|
||||
#define REFEREE_SOF 0xA5 // 起始字节,协议固定为0xA5
|
||||
/* 帧头偏移 */
|
||||
typedef enum
|
||||
{
|
||||
|
|
@ -47,7 +53,7 @@ typedef enum
|
|||
DATA_LENGTH = 1, // 帧内数据长度,根据这个来获取数据长度
|
||||
SEQ = 3, // 包序号
|
||||
CRC8 = 4 // CRC8
|
||||
} FrameHeaderOffset;
|
||||
} FrameHeaderOffset_e;
|
||||
|
||||
/* 帧头定义 */
|
||||
typedef struct
|
||||
|
|
@ -78,7 +84,7 @@ typedef enum
|
|||
ID_robot_hurt = 0x0206, // 伤害状态数据
|
||||
ID_shoot_data = 0x0207, // 实时射击数据
|
||||
ID_student_interactive = 0x0301, // 机器人间交互数据
|
||||
} CmdID;
|
||||
} CmdID_e;
|
||||
|
||||
/* 命令码数据段长,根据官方协议来定义长度 */
|
||||
typedef enum
|
||||
|
|
@ -95,7 +101,7 @@ typedef enum
|
|||
LEN_aerial_robot_energy = 1, // 0x0205
|
||||
LEN_robot_hurt = 1, // 0x0206
|
||||
LEN_shoot_data = 7, // 0x0207
|
||||
} JudgeDataLength;
|
||||
} JudgeDataLength_e;
|
||||
|
||||
/****************************接收数据的详细说明****************************/
|
||||
/****************************接收数据的详细说明****************************/
|
||||
|
|
@ -242,7 +248,7 @@ typedef enum
|
|||
UI_Data_ID_Draw5 = 0x103,
|
||||
UI_Data_ID_Draw7 = 0x104,
|
||||
UI_Data_ID_DrawChar = 0x110,
|
||||
} Interactive_Data_ID;
|
||||
} Interactive_Data_ID_e;
|
||||
/* 交互数据长度 */
|
||||
typedef enum
|
||||
{
|
||||
|
|
@ -250,7 +256,7 @@ typedef enum
|
|||
UI_Operate_LEN_Del = 2,
|
||||
UI_Operate_LEN_PerDraw = 15,
|
||||
UI_Operate_LEN_DrawChar = 15 + 30,
|
||||
} UI_Data_Length;
|
||||
} UI_Data_Length_e;
|
||||
|
||||
|
||||
/****************************UI交互数据****************************/
|
||||
|
|
@ -286,7 +292,7 @@ typedef enum
|
|||
UI_Data_Del_NoOperate = 0,
|
||||
UI_Data_Del_Layer = 1,
|
||||
UI_Data_Del_ALL = 2, // 删除全部图层，后面的参数已经不重要了。
|
||||
} UI_Delete_Operate;
|
||||
} UI_Delete_Operate_e;
|
||||
|
||||
/* 图形配置参数__图形操作 */
|
||||
typedef enum
|
||||
|
|
@ -294,7 +300,7 @@ typedef enum
|
|||
UI_Graph_ADD = 1,
|
||||
UI_Graph_Change = 2,
|
||||
UI_Graph_Del = 3,
|
||||
} UI_Graph_Operate;
|
||||
} UI_Graph_Operate_e;
|
||||
|
||||
/* 图形配置参数__图形类型 */
|
||||
typedef enum
|
||||
|
|
@ -308,7 +314,7 @@ typedef enum
|
|||
UI_Graph_Int = 6, // 整形
|
||||
UI_Graph_Char = 7, // 字符型
|
||||
|
||||
} UI_Graph_Type;
|
||||
} UI_Graph_Type_e;
|
||||
|
||||
/* 图形配置参数__图形颜色 */
|
||||
typedef enum
|
||||
|
|
@ -323,8 +329,7 @@ typedef enum
|
|||
UI_Color_Black = 7,
|
||||
UI_Color_White = 8,
|
||||
|
||||
} UI_Graph_Color;
|
||||
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} UI_Graph_Color_e;
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||||
|
||||
#pragma pack()
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue