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sentry_chassis_hzz
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动态UI样例绘制、测试

This commit is contained in:
kidneygood 2023-01-26 15:07:00 +08:00
parent 846a8b1caf
commit 67940a4e38
6 changed files with 233 additions and 176 deletions
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3
application/gimbal/gimbal.c
View File

@ -16,8 +16,7 @@ static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv; // 来自cmd的控制信息
void GimbalInit()
{
/* syh referee不需要imu
暂时关闭以加快初始化速度 */
/* syh referee不需要imu暂时关闭以加快初始化速度 */
// gimba_IMU_data = INS_Init(); // IMU先初始化,获取姿态数据指针赋给yaw电机的其他数据来源
// YAW

393
application/referee/referee.c
View File

@ -14,16 +14,18 @@
#include "referee_UI.h"
static Referee_Interactive_info_t Interactive_data; // 非裁判系统数据
static referee_info_t *referee_data; // 裁判系统相关数据
static referee_info_t *referee_data; // 裁判系统相关数据
static void determine_ID(referee_info_t *_referee_info);
static void My_UI_init(referee_info_t *_referee_info);
static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_info_t *_Interactive_data);
static void robot_mode_change(Referee_Interactive_info_t *_Interactive_data); // 测试用函数，实现模式自动变化
static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data); // 模式切换检测
void Referee_Interactive_init()
{
referee_data = RefereeInit(&huart6); // 裁判系统初始化
while (referee_data->GameRobotState.robot_id == 0);
while (referee_data->GameRobotState.robot_id == 0)
;
determine_ID(referee_data);
My_UI_init(referee_data);
}
@ -35,8 +37,8 @@ void Referee_Interactive_task()
}
static Graph_Data_t UI_shoot_line[10]; // 射击准线
static String_Data_t UI_State_sta[5]; // 机器人状态,静态只需画一次
static String_Data_t UI_State_dyn[5]; // 机器人状态,动态先add才能change
static String_Data_t UI_State_sta[6]; // 机器人状态,静态只需画一次
static String_Data_t UI_State_dyn[6]; // 机器人状态,动态先add才能change
static uint32_t shoot_line_location[10] = {540, 960, 490, 515, 565};
static void My_UI_init(referee_info_t *_referee_info)
@ -62,40 +64,48 @@ static void My_UI_init(referee_info_t *_referee_info)
Char_ReFresh(&_referee_info->referee_id, UI_State_sta[1]);
Char_Draw(&UI_State_sta[2], "ss2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 150, 650);
Char_Write(&UI_State_sta[2], "cover:");
Char_Write(&UI_State_sta[2], "shoot:");
Char_ReFresh(&_referee_info->referee_id, UI_State_sta[2]);
Char_Draw(&UI_State_sta[3], "ss3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 600);
Char_Write(&UI_State_sta[3], "frict:");
Char_ReFresh(&_referee_info->referee_id, UI_State_sta[3]);
// 底盘功率显示，静态
Char_Draw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 720, 210);
Char_Write(&UI_State_sta[4], "Power:");
Char_Draw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 550);
Char_Write(&UI_State_sta[4], "lid:");
Char_ReFresh(&_referee_info->referee_id, UI_State_sta[4]);
// 绘制车辆状态标志，动态
//syhtodo 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
// 底盘功率显示，静态
Char_Draw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 720, 210);
Char_Write(&UI_State_sta[5], "Power:");
Char_ReFresh(&_referee_info->referee_id, UI_State_sta[5]);
// 绘制车辆状态标志，动态
// 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
Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 270, 750);
Char_Write(&UI_State_dyn[0], "0000");
Char_Write(&UI_State_dyn[0], "zeroforce");
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[0]);
Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 270, 700);
Char_Write(&UI_State_dyn[1], "0000");
Char_Write(&UI_State_dyn[1], "zeroforce");
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[1]);
Char_Draw(&UI_State_dyn[2], "sd2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 270, 650);
Char_Write(&UI_State_dyn[2], "0000");
Char_Write(&UI_State_dyn[2], "off");
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[2]);
Char_Draw(&UI_State_dyn[3], "sd3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 600);
Char_Write(&UI_State_dyn[3], "0000");
Char_Write(&UI_State_dyn[3], "off");
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[3]);
// 底盘功率显示，动态
Char_Draw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 840, 210);
Char_Write(&UI_State_dyn[4], "0000");
Char_Draw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 550);
Char_Write(&UI_State_dyn[4], "open ");
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[4]);
// 底盘功率显示，动态
Char_Draw(&UI_State_dyn[5], "sd5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 840, 210);
Char_Write(&UI_State_dyn[5], "0000");
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[5]);
}
static uint8_t count = 0;
@ -108,174 +118,225 @@ static void robot_mode_change(Referee_Interactive_info_t *_Interactive_data) //
count = 0;
count1++;
}
switch (count1%4)
switch (count1 % 4)
{
case 0:
{
_Interactive_data->chassis_mode =CHASSIS_ZERO_FORCE;
_Interactive_data->gimbal_mode =GIMBAL_ZERO_FORCE;
_Interactive_data->shoot_mode = SHOOT_ON;
_Interactive_data->friction_mode = FRICTION_ON;
_Interactive_data->lid_mode = LID_OPEN;
break;
}
case 1:
{;
_Interactive_data->chassis_mode =CHASSIS_ROTATE;
_Interactive_data->gimbal_mode =GIMBAL_FREE_MODE;
_Interactive_data->shoot_mode = SHOOT_OFF;
_Interactive_data->friction_mode = FRICTION_OFF;
_Interactive_data->lid_mode = LID_CLOSE;
break;
}
case 2:
{
_Interactive_data->chassis_mode =CHASSIS_NO_FOLLOW;
_Interactive_data->gimbal_mode =GIMBAL_GYRO_MODE;
_Interactive_data->shoot_mode = SHOOT_ON;
_Interactive_data->friction_mode = FRICTION_ON;
_Interactive_data->lid_mode = LID_OPEN;
break;
}
case 3:
{
_Interactive_data->chassis_mode =CHASSIS_FOLLOW_GIMBAL_YAW;
_Interactive_data->gimbal_mode =GIMBAL_ZERO_FORCE;
_Interactive_data->shoot_mode = SHOOT_OFF;
_Interactive_data->friction_mode = FRICTION_OFF;
_Interactive_data->lid_mode = LID_CLOSE;
break;
}
default : break;
}
case 0:
{
_Interactive_data->chassis_mode = CHASSIS_ZERO_FORCE;
_Interactive_data->gimbal_mode = GIMBAL_ZERO_FORCE;
_Interactive_data->shoot_mode = SHOOT_ON;
_Interactive_data->friction_mode = FRICTION_ON;
_Interactive_data->lid_mode = LID_OPEN;
break;
}
case 1:
{
;
_Interactive_data->chassis_mode = CHASSIS_ROTATE;
_Interactive_data->gimbal_mode = GIMBAL_FREE_MODE;
_Interactive_data->shoot_mode = SHOOT_OFF;
_Interactive_data->friction_mode = FRICTION_OFF;
_Interactive_data->lid_mode = LID_CLOSE;
break;
}
case 2:
{
_Interactive_data->chassis_mode = CHASSIS_NO_FOLLOW;
_Interactive_data->gimbal_mode = GIMBAL_GYRO_MODE;
_Interactive_data->shoot_mode = SHOOT_ON;
_Interactive_data->friction_mode = FRICTION_ON;
_Interactive_data->lid_mode = LID_OPEN;
break;
}
case 3:
{
_Interactive_data->chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
_Interactive_data->gimbal_mode = GIMBAL_ZERO_FORCE;
_Interactive_data->shoot_mode = SHOOT_OFF;
_Interactive_data->friction_mode = FRICTION_OFF;
_Interactive_data->lid_mode = LID_CLOSE;
break;
}
default:
break;
}
}
static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_info_t *_Interactive_data)
{
// syhtodo 按键刷新
// syhtodo与上次不一样才要进入刷新，避免重复发送，使用新结构体flag
if (_Interactive_data->chassis_mode !=_Interactive_data->chassis_last_mode)
Mode_Change_Check(_Interactive_data);
// chassis
if (_Interactive_data->Referee_Interactive_Flag.chassis_flag == 1)
{
_Interactive_data->Referee_Interactive_Flag.chassis_flag=1;
switch (_Interactive_data->chassis_mode)
{
case CHASSIS_ZERO_FORCE:
{
Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750);
Char_Write(&UI_State_dyn[0], "zeroforce");
break;
}
case CHASSIS_ROTATE:
{
Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750);
Char_Write(&UI_State_dyn[0], "rotate "); // 此处注意字数对齐问题，字数相同才能覆盖掉
break;
}
case CHASSIS_NO_FOLLOW:
{
Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750);
Char_Write(&UI_State_dyn[0], "nofollow ");
break;
}
case CHASSIS_FOLLOW_GIMBAL_YAW:
{
Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750);
Char_Write(&UI_State_dyn[0], "follow ");
break;
}
}
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[0]);
_Interactive_data->Referee_Interactive_Flag.chassis_flag = 0;
}
// gimbal
if (_Interactive_data->Referee_Interactive_Flag.gimbal_flag == 1)
{
switch (_Interactive_data->gimbal_mode)
{
case GIMBAL_ZERO_FORCE:
{
Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700);
Char_Write(&UI_State_dyn[1], "zeroforce");
break;
}
case GIMBAL_FREE_MODE:
{
Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700);
Char_Write(&UI_State_dyn[1], "free ");
break;
}
case GIMBAL_GYRO_MODE:
{
Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700);
Char_Write(&UI_State_dyn[1], "gyro ");
break;
}
}
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[1]);
_Interactive_data->Referee_Interactive_Flag.gimbal_flag = 0;
}
// shoot
if (_Interactive_data->Referee_Interactive_Flag.shoot_flag == 1)
{
switch (_Interactive_data->shoot_mode)
{
case SHOOT_OFF:
{
Char_Draw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Orange, 15, 2, 270, 650);
Char_Write(&UI_State_dyn[2], "off");
break;
}
case SHOOT_ON:
{
Char_Draw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Orange, 15, 2, 270, 650);
Char_Write(&UI_State_dyn[2], "on ");
break;
}
}
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[2]);
_Interactive_data->Referee_Interactive_Flag.shoot_flag = 0;
}
// friction
if (_Interactive_data->Referee_Interactive_Flag.friction_flag == 1)
{
switch (_Interactive_data->friction_mode)
{
case FRICTION_OFF:
{
Char_Draw(&UI_State_dyn[3], "sd3", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 600);
Char_Write(&UI_State_dyn[3], "off");
break;
}
case FRICTION_ON:
{
Char_Draw(&UI_State_dyn[3], "sd3", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 600);
Char_Write(&UI_State_dyn[3], "on ");
break;
}
}
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[3]);
_Interactive_data->Referee_Interactive_Flag.friction_flag = 0;
}
// lid
if (_Interactive_data->Referee_Interactive_Flag.lid_flag == 1)
{
switch (_Interactive_data->lid_mode)
{
case LID_CLOSE:
{
Char_Draw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 550);
Char_Write(&UI_State_dyn[4], "close");
break;
}
case LID_OPEN:
{
Char_Draw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 550);
Char_Write(&UI_State_dyn[4], "open ");
break;
}
}
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[4]);
_Interactive_data->Referee_Interactive_Flag.lid_flag = 0;
}
}
/**
* @brief 模式切换检测,模式发生切换时，对flag置位
* @param Referee_Interactive_info_t *_Interactive_data
* @retval none
* @attention
*/
static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data)
{
if (_Interactive_data->chassis_mode != _Interactive_data->chassis_last_mode)
{
_Interactive_data->Referee_Interactive_Flag.chassis_flag = 1;
_Interactive_data->chassis_last_mode = _Interactive_data->chassis_mode;
}
if (_Interactive_data->Referee_Interactive_Flag.chassis_flag==1)
if (_Interactive_data->gimbal_mode != _Interactive_data->gimbal_last_mode)
{
switch(_Interactive_data->chassis_mode)
{
case CHASSIS_ZERO_FORCE:
{
Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750);
Char_Write(&UI_State_dyn[0], "zeroforce");
break;
}
case CHASSIS_ROTATE:
{
Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750);
Char_Write(&UI_State_dyn[0], "rotate "); //此处注意字数对齐问题，字数相同才能覆盖掉
break;
}
case CHASSIS_NO_FOLLOW:
{
Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750);
Char_Write(&UI_State_dyn[0], "nofollow ");
break;
}
case CHASSIS_FOLLOW_GIMBAL_YAW:
{
Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750);
Char_Write(&UI_State_dyn[0], "follow ");
break;
}
}
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[0]);
_Interactive_data->Referee_Interactive_Flag.chassis_flag=0;
_Interactive_data->Referee_Interactive_Flag.gimbal_flag = 1;
_Interactive_data->gimbal_last_mode = _Interactive_data->gimbal_mode;
}
if (_Interactive_data->shoot_mode != _Interactive_data->shoot_last_mode)
{
_Interactive_data->Referee_Interactive_Flag.shoot_flag = 1;
_Interactive_data->shoot_last_mode = _Interactive_data->shoot_mode;
}
if (_Interactive_data->friction_mode != _Interactive_data->friction_last_mode)
{
_Interactive_data->Referee_Interactive_Flag.friction_flag = 1;
_Interactive_data->friction_last_mode = _Interactive_data->friction_mode;
}
// switch(dbus_infomation.gimbal_mode)
// {
// case mechanical_mode:
// {
// Char_Draw(&UI_State[1],"s2",UI_Graph_Change,8,UI_Color_Yellow,15,2,150,700);
// Char_Write(&UI_State[1],"gimbal:mech ");
// break;
// }
// case visual_mode:
// {
// Char_Draw(&UI_State[1],"s2",UI_Graph_Change,8,UI_Color_Yellow,15,2,150,700);
// Char_Write(&UI_State[1],"gimbal:visual");
// break;
// }
// case gyro_mode:
// {
// Char_Draw(&UI_State[1],"s2",UI_Graph_Change,8,UI_Color_Yellow,15,2,150,700);
// Char_Write(&UI_State[1],"gimbal:gyro ");
// break;
// }
// }
// Char_ReFresh(UI_State[1]);
// switch(dbus_infomation.cover_state)
// {
// case cover_close_sign:
// {
// Char_Draw(&UI_State[2],"s3",UI_Graph_Change,8,UI_Color_Orange,15,2,150,650);
// Char_Write(&UI_State[2],"cover:OFF");
// break;
// }
// case cover_open_sign:
// {
// Char_Draw(&UI_State[2],"s3",UI_Graph_Change,8,UI_Color_Orange,15,2,150,650);
// Char_Write(&UI_State[2],"cover:ON ");
// break;
// }
// }
// Char_ReFresh(UI_State[2]);
// switch(dbus_infomation.friction_state)
// {
// case friction_stop_sign:
// {
// Char_Draw(&UI_State[3],"s4",UI_Graph_Change,8,UI_Color_Pink,15,2,150,600);
// Char_Write(&UI_State[3],"friction:OFF");
// break;
// }
// case friction_start_sign:
// {
// Char_Draw(&UI_State[3],"s4",UI_Graph_Change,8,UI_Color_Pink,15,2,150,600);
// Char_Write(&UI_State[3],"friction:ON ");
// break;
// }
// }
// Char_ReFresh(UI_State[3]);
// }
// else if(timer_count == PEFEREE_PERIOD_TX_C/2)
// {
// //功率值变化
// Char_Draw(&UI_State[4],"s5",UI_Graph_Change,8,UI_Color_Green,18,2,720,240);
// Char_Write(&UI_State[4],"Voltage:%dV",super_cap_info.cap_voltage_cap);
// Char_ReFresh(UI_State[4]);
// }
// }
if (_Interactive_data->lid_mode != _Interactive_data->lid_last_mode)
{
_Interactive_data->Referee_Interactive_Flag.lid_flag = 1;
_Interactive_data->lid_last_mode = _Interactive_data->lid_mode;
}
}
/**
* @brief 判断各种ID，选择客户端ID
* @param void
* @retval referee_info
* @param referee_info_t *_referee_info
* @retval none
* @attention
*/
static void determine_ID(referee_info_t *_referee_info)

4
application/referee/referee.h
View File

@ -10,10 +10,10 @@ typedef struct
{
uint32_t chassis_flag : 1;
uint32_t gimbal_flag : 1;
uint32_t cover_flag : 1;
uint32_t shoot_flag : 1;
uint32_t lid_flag : 1;
uint32_t friction_flag : 1;
uint32_t Power_flag : 1;
uint32_t end_angle_flag : 1;
} Referee_Interactive_Flag_t;

3
modules/referee/referee_UI.c
View File

@ -30,7 +30,7 @@ void UI_Delete(referee_id_t *_id,uint8_t Del_Operate,uint8_t Del_Layer)
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);
/* syhtodo为什么填入0xFFFF */
/* 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
@ -321,7 +321,6 @@ void Char_Draw(String_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uin
**参数：*graph Graph_Data类型变量指针，用于存放图形数据
fmt需要显示的字符串
此函数的实现和具体使用类似于printf函数
syhtodo 尚未理解该函数的写法
**********************************************************************************************************/
void Char_Write(String_Data_t *graph,char* fmt, ...)
{

4
modules/referee/referee_def.h
View File

@ -228,9 +228,7 @@ typedef struct
/****************************机器人间交互数据****************************/
/****************************机器人间交互数据****************************/
/* 发送的内容数据段最大为 113 检测是否超出大小限制
实际上图形段不会超，数据段最多30个，也不会超，检查验证一下
syhtodo */
/* 发送的内容数据段最大为 113 检测是否超出大小限制?实际上图形段不会超，数据段最多30个，也不会超下*/
/* 交互数据头结构 */
typedef struct
{

2
modules/referee/rm_referee.c
View File

@ -40,7 +40,7 @@ referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle)
void RefereeSend(uint8_t *send,uint16_t tx_len)
{
USARTSend(referee_usart_instance,send,tx_len);
/* 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 */
/* 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，并且发送函数添加缓冲区 */
HAL_Delay(5);
}