diff --git a/HAL_N_Middlewares/Src/freertos.c b/HAL_N_Middlewares/Src/freertos.c index 391e140..dabedf9 100644 --- a/HAL_N_Middlewares/Src/freertos.c +++ b/HAL_N_Middlewares/Src/freertos.c @@ -198,7 +198,7 @@ void StartROBOTTASK(void const * argument) { // 200Hz RobotTask(); - osDelay(5); + osDelay(10);//syh此处暂时将时间改为10ms，原因在于未使用缓冲区发送，发送时延时5ms } } diff --git a/Makefile b/Makefile index a0a818a..e03012f 100644 --- a/Makefile +++ b/Makefile @@ -131,7 +131,7 @@ modules/motor/step_motor/step_motor.c \ modules/motor/servo_motor/servo_motor.c \ modules/motor/motor_task.c \ modules/referee/crc.c \ -modules/referee/referee.c \ +modules/referee/rm_referee.c \ modules/referee/referee_UI.c \ modules/referee/referee_communication.c \ modules/remote/remote_control.c \ @@ -143,6 +143,7 @@ modules/vofa/vofa.c \ application/gimbal/gimbal.c \ application/chassis/chassis.c \ application/shoot/shoot.c \ +application/referee/referee.c \ application/cmd/robot_cmd.c \ application/robot.c @@ -224,6 +225,7 @@ C_INCLUDES = \ -Iapplication/shoot \ -Iapplication/gimbal \ -Iapplication/cmd \ +-Iapplication/referee \ -Iapplication \ -Ibsp/dwt \ -Ibsp/can \ diff --git a/README.md b/README.md index 978928a..dc42adb 100644 --- a/README.md +++ b/README.md @@ -384,8 +384,8 @@ ROOT:. ├─referee │ crc.c │ crc.h - │ referee.c - │ referee.h + │ rm_referee.c + │ rm_referee.h │ referee.md │ referee_communication.c │ referee_UI.c diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index 184045a..9ce196e 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -16,7 +16,12 @@ #include "dji_motor.h" #include "super_cap.h" #include "message_center.h" + +///////////////////////// #include "referee.h" +#include "rm_referee.h" +///////////////////////// + #include "general_def.h" #include "bsp_dwt.h" #include "referee_UI.h" @@ -41,7 +46,7 @@ static Subscriber_t *chassis_sub; // 用于订阅底盘的控 static Chassis_Ctrl_Cmd_s chassis_cmd_recv; // 底盘接收到的控制命令 static Chassis_Upload_Data_s chassis_feedback_data; // 底盘回传的反馈数据 -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 SuperCapInstance *cap; // 超级电容 static DJIMotorInstance *motor_lf; // left right forward back static DJIMotorInstance *motor_rf; @@ -99,10 +104,10 @@ void ChassisInit() chassis_motor_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_NORMAL; motor_rb = DJIMotorInit(&chassis_motor_config); - referee_data = RefereeInit(&huart6); // 裁判系统初始化 + // referee_data = RefereeInit(&huart6); // 裁判系统初始化 - while (referee_data->GameRobotState.robot_id ==0); - Interactive_init(referee_data); + // while (referee_data->GameRobotState.robot_id ==0); + // Referee_Interactive_init(referee_data); SuperCap_Init_Config_s cap_conf = { @@ -240,12 +245,12 @@ void ChassisTask() // 根据电机的反馈速度和IMU(如果有)计算真实速度 EstimateSpeed(); - // 获取裁判系统数据 - // 我方颜色id小于7是红色,大于7是蓝色,注意这里发送的是对方的颜色, 0:blue , 1:red - chassis_feedback_data.enemy_color = referee_data->GameRobotState.robot_id > 7 ? 1 : 0; - // 当前只做了17mm热量的数据获取,后续根据robot_def中的宏切换双枪管和英雄42mm的情况 - chassis_feedback_data.bullet_speed = referee_data->GameRobotState.shooter_id1_17mm_speed_limit; - chassis_feedback_data.rest_heat = referee_data->PowerHeatData.shooter_heat0; + // // 获取裁判系统数据 建议将裁判系统与底盘分离，所以此处数据应使用消息中心发送 + // // 我方颜色id小于7是红色,大于7是蓝色,注意这里发送的是对方的颜色, 0:blue , 1:red + // chassis_feedback_data.enemy_color = referee_data->GameRobotState.robot_id > 7 ? 1 : 0; + // // 当前只做了17mm热量的数据获取,后续根据robot_def中的宏切换双枪管和英雄42mm的情况 + // chassis_feedback_data.bullet_speed = referee_data->GameRobotState.shooter_id1_17mm_speed_limit; + // chassis_feedback_data.rest_heat = referee_data->PowerHeatData.shooter_heat0; // 推送反馈消息 #ifdef ONE_BOARD diff --git a/application/referee/referee.c b/application/referee/referee.c new file mode 100644 index 0000000..933c768 --- /dev/null +++ b/application/referee/referee.c @@ -0,0 +1,235 @@ +/** + * @file referee.C + * @author kidneygood (you@domain.com) + * @brief + * @version 0.1 + * @date 2022-11-18 + * + * @copyright Copyright (c) 2022 + * + */ +#include "referee.h" +#include "robot_def.h" +#include "rm_referee.h" +#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 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); + +void Referee_Interactive_init() +{ + referee_data = RefereeInit(&huart6); // 裁判系统初始化 + while (referee_data->GameRobotState.robot_id ==0); + + determine_ID(referee_data); + My_UI_init(referee_data); +} + +void Referee_Interactive_task() +{ + My_UI_Refresh(referee_data,Interactive_data); + +} + +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 uint32_t shoot_line_location[10]={540,960,490,515,565}; + +static void My_UI_init(referee_info_t *_referee_info) +{ + UI_Delete(&_referee_info->referee_id,UI_Data_Del_ALL,0); + + //绘制发射基准线 + Line_Draw(&UI_shoot_line[0],"sl0",UI_Graph_ADD,7,UI_Color_White,3,710,shoot_line_location[0],1210,shoot_line_location[0]); + Line_Draw(&UI_shoot_line[1],"sl1",UI_Graph_ADD,7,UI_Color_White,3,shoot_line_location[1],340,shoot_line_location[1],740); + Line_Draw(&UI_shoot_line[2],"sl2",UI_Graph_ADD,7,UI_Color_Yellow,2,810,shoot_line_location[2],1110,shoot_line_location[2]); + Line_Draw(&UI_shoot_line[3],"sl3",UI_Graph_ADD,7,UI_Color_Yellow,2,810,shoot_line_location[3],1110,shoot_line_location[3]); + Line_Draw(&UI_shoot_line[4],"sl4",UI_Graph_ADD,7,UI_Color_Yellow,2,810,shoot_line_location[4],1110,shoot_line_location[4]); + + UI_ReFresh(&_referee_info->referee_id,5,UI_shoot_line[0],UI_shoot_line[1],UI_shoot_line[2],UI_shoot_line[3],UI_shoot_line[4]); + + //绘制车辆状态标志，静态 + Char_Draw(&UI_State_sta[0],"ss0",UI_Graph_ADD,8,UI_Color_Main,15,2,150,750); + Char_Write(&UI_State_sta[0],"chassis:"); + Char_ReFresh(&_referee_info->referee_id,UI_State_sta[0]); + + Char_Draw(&UI_State_sta[1],"ss1",UI_Graph_ADD,8,UI_Color_Yellow,15,2,150,700); + Char_Write(&UI_State_sta[1],"gimbal:"); + 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_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_ReFresh(&_referee_info->referee_id,UI_State_sta[4]); + + //绘制车辆状态标志，动态 + 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_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_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_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_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_ReFresh(&_referee_info->referee_id,UI_State_dyn[4]); +} + + + + +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 + + +// switch(dbus_infomation.chassis_mode) +// { +// case rotate_mode: +// { +// Char_Draw(&UI_State[0],"s1",UI_Graph_Change,8,UI_Color_Main,15,2,150,750); +// Char_Write(&UI_State[0],"chassis:rotate"); +// break; +// } +// case back_middle_mode: +// { +// if (dbus_infomation.back_middle_mode_XL == X) +// { +// Char_Draw(&UI_State[0],"s1",UI_Graph_Change,8,UI_Color_Main,15,2,150,750); +// Char_Write(&UI_State[0],"chassis:follow_x"); +// } +// else if (dbus_infomation.back_middle_mode_XL == L) +// { +// Char_Draw(&UI_State[0],"s1",UI_Graph_Change,8,UI_Color_Main,15,2,150,750); +// Char_Write(&UI_State[0],"chassis:follow_l"); +// } +// break; +// } +// case free_mode: +// { +// Char_Draw(&UI_State[0],"s1",UI_Graph_Change,8,UI_Color_Main,15,2,150,750); +// Char_Write(&UI_State[0],"chassis:free "); +// break; +// } +// } +// Char_ReFresh(UI_State[0]); + +// 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]); +// } + +// } + + +} + + + + + +/** + * @brief 判断各种ID，选择客户端ID + * @param void + * @retval referee_info + * @attention + */ +static void determine_ID(referee_info_t *_referee_info) +{ + //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 + _referee_info->referee_id.Robot_Color = _referee_info->GameRobotState.robot_id >7 ? Robot_Blue : Robot_Red; + _referee_info->referee_id.Robot_ID=_referee_info->GameRobotState.robot_id; + _referee_info->referee_id.Cilent_ID = 0x0100 + _referee_info->referee_id.Robot_ID;//计算客户端ID + _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 +} + + + + + + + diff --git a/application/referee/referee.h b/application/referee/referee.h new file mode 100644 index 0000000..3446fbb --- /dev/null +++ b/application/referee/referee.h @@ -0,0 +1,45 @@ +#ifndef REFEREE_H +#define REFEREE_H + +#include "rm_referee.h" +#include "robot_def.h" +#pragma pack(1) + +typedef struct +{ + uint32_t chassis_flag : 1; + uint32_t gimbal_flag : 1; + uint32_t cover_flag : 1; + uint32_t friction_flag : 1; + uint32_t Power_flag : 1; + uint32_t end_angle_flag : 1; + +} Referee_Interactive_Flag_t; + + +// 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 +typedef struct +{ + Referee_Interactive_Flag_t Referee_Interactive_Flag; + //为UI绘制以及交互数据所用 + Robot_Status_e Robot_Status;// 机器人状态 + App_Status_e App_Status;// 应用状态 + chassis_mode_e chassis_mode;//底盘模式 + gimbal_mode_e gimbal_mode;//云台模式 + shoot_mode_e shoot_mode;//发射模式设置 + friction_mode_e friction_mode;//摩擦轮关闭 + lid_mode_e lid_mode;//弹舱盖打开 + loader_mode_e loader_mode;//单发...连发 + Chassis_Power_Data_s Chassis_Power_Data;// 功率控制 + +} Referee_Interactive_info_t; + +#pragma pack() + + +void Referee_Interactive_init(void); +void Referee_Interactive_task(void); +#endif // REFEREE_H + + + diff --git a/application/robot.c b/application/robot.c index 9020d70..d830aad 100644 --- a/application/robot.c +++ b/application/robot.c @@ -4,6 +4,7 @@ #if defined(ONE_BOARD) || defined(CHASSIS_BOARD) #include "chassis.h" +#include "referee.h" #endif #if defined(ONE_BOARD) || defined(GIMBAL_BOARD) @@ -23,6 +24,7 @@ void RobotInit() #endif #if defined(ONE_BOARD) || defined(CHASSIS_BOARD) + Referee_Interactive_init();//syh ChassisInit(); #endif } @@ -37,5 +39,6 @@ void RobotTask() #if defined(ONE_BOARD) || defined(CHASSIS_BOARD) ChassisTask(); + Referee_Interactive_task(); #endif } diff --git a/modules/referee/referee_UI.c b/modules/referee/referee_UI.c index 852a399..0ae93c7 100644 --- a/modules/referee/referee_UI.c +++ b/modules/referee/referee_UI.c @@ -1,91 +1,16 @@ #include "referee_UI.h" #include "string.h" #include "crc.h" -#include "bsp_usart.h" #include "stdio.h" -#include "referee.h" - -static void UI_Delete(referee_id_t *_id,uint8_t Del_Operate,uint8_t Del_Layer); -static 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); -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); -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); -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); -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); -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); -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); -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); -static void Char_Write(String_Data_t *graph,char* fmt, ...); -static int UI_ReFresh(referee_id_t *_id,int cnt,...); -static int Char_ReFresh(referee_id_t *_id,String_Data_t string_Data); - -static void determine_ID(referee_info_t *_referee_info); +#include "rm_referee.h" static uint8_t UI_Seq; //包序号 - -void Interactive_init(referee_info_t *_referee_info) -{ - determine_ID(_referee_info); - - - Graph_Data_t graph[5]; - Graph_Data_t num[2]; - String_Data_t sdata[1]; - 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 - memset(&graph[0], 0, 15); - - UI_Delete(&_referee_info->referee_id,UI_Data_Del_ALL,0); - - Line_Draw(&graph[0],"s0",UI_Graph_ADD,0,UI_Color_White,3,710,540,1210,540); - Rectangle_Draw(&graph[1],"s1",UI_Graph_ADD,0,UI_Color_Yellow,4,600,200,800,500); - Circle_Draw(&graph[2],"s2",UI_Graph_ADD,0,UI_Color_Green,5,960,540,100); - Elliptical_Draw(&graph[3],"s3",UI_Graph_ADD,0,UI_Color_Orange,3,960,540,100,20); - Arc_Draw(&graph[4],"s4",UI_Graph_ADD,0,UI_Color_Purplish_red,30,160,3,1200,550,50,100); - - Float_Draw(&num[0],"s5",UI_Graph_ADD,0,UI_Color_Pink,50,3,5,1050,660,1245545); - Integer_Draw(&num[1],"s6",UI_Graph_ADD,0,UI_Color_Cyan,50,5,1050,460,12345); - UI_ReFresh(&_referee_info->referee_id,7,graph[0],graph[1],graph[2],graph[3],graph[4],num[0],num[1]); - - - Char_Draw(&sdata[0],"s7",UI_Graph_ADD,0,UI_Color_Green,20,2,620,710); - Char_Write(&sdata[0],"number:%d",123); - Char_ReFresh(&_referee_info->referee_id,sdata[0]); - -} - -/** - * @brief 判断各种ID，选择客户端ID - * @param void - * @retval referee_info - * @attention - */ -static void determine_ID(referee_info_t *_referee_info) -{ - //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 - _referee_info->referee_id.Robot_Color = _referee_info->GameRobotState.robot_id >7 ? Robot_Blue : Robot_Red; - _referee_info->referee_id.Robot_ID=_referee_info->GameRobotState.robot_id; - _referee_info->referee_id.Cilent_ID = 0x0100 + _referee_info->referee_id.Robot_ID;//计算客户端ID - _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 -} - - - - - - /********************************************删除操作************************************* -**参数：Del_Operate 对应头文件删除操作 +**参数：_id 对应的id结构体 + Del_Operate 对应头文件删除操作 Del_Layer 要删除的层 取值0-9 *****************************************************************************************/ -static void UI_Delete(referee_id_t *_id,uint8_t Del_Operate,uint8_t Del_Layer) +void UI_Delete(referee_id_t *_id,uint8_t Del_Operate,uint8_t Del_Layer) { 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 @@ -122,16 +47,16 @@ static void UI_Delete(referee_id_t *_id,uint8_t Del_Operate,uint8_t Del_Layer) End_x、End_y 终点xy坐标 **********************************************************************************************************/ -static void Line_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color, +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) { + // 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 int i; - //??????syhtodo - for(i=0;i<3&&graphname[i]!='\0';i++) + for(i=0;i<3&&graphname[i]!='\0';i++) //填充至‘0’为止 { - graph->graphic_name[2-i]=graphname[i]; + 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 } - + graph->operate_tpye = Graph_Operate; graph->graphic_tpye = UI_Graph_Line; graph->layer = Graph_Layer; @@ -154,9 +79,10 @@ static void Line_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Opera Start_x、Start_y 起点xy坐标 End_x、End_y 对角顶点xy坐标 **********************************************************************************************************/ -static void Rectangle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color, +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) { + // memset(&graph,0,UI_Operate_LEN_PerDraw); int i; for(i=0;i<3&&graphname[i]!='\0';i++) { @@ -186,9 +112,10 @@ static void Rectangle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_ Graph_Radius 圆形半径 **********************************************************************************************************/ -static void Circle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color, +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) { + // memset(&graph,0,UI_Operate_LEN_PerDraw); int i; for(i=0;i<3&&graphname[i]!='\0';i++) { @@ -215,9 +142,10 @@ static void Circle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Ope Start_x、Start_y 圆心xy坐标 End_x、End_y xy半轴长度 **********************************************************************************************************/ -static void Elliptical_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color, +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) { + // memset(&graph,0,UI_Operate_LEN_PerDraw); int i; for(i=0;i<3&&graphname[i]!='\0';i++) { @@ -249,10 +177,11 @@ static void Elliptical_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph x_Length,y_Length xy半轴长度 **********************************************************************************************************/ -static void Arc_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color, +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) { + //memset(&graph,0,UI_Operate_LEN_PerDraw); int i; for(i=0;i<3&&graphname[i]!='\0';i++) { @@ -288,9 +217,10 @@ static void Arc_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operat end_y=(a>>21)&0x7FF; **********************************************************************************************************/ -static void Float_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color, +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) { + //memset(&graph,0,UI_Operate_LEN_PerDraw); int i; for(i=0;i<3&&graphname[i]!='\0';i++) { @@ -325,9 +255,10 @@ static void Float_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Oper end_x=(a>>10)&0x7FF; end_y=(a>>21)&0x7FF; **********************************************************************************************************/ -static void Integer_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color, +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) { + //memset(&graph,0,UI_Operate_LEN_PerDraw); int i; for(i=0;i<3&&graphname[i]!='\0';i++) { @@ -359,10 +290,11 @@ static void Integer_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Op Graph_Width 图形线宽 Start_x、Start_y 开始坐标 **********************************************************************************************************/ -static void Char_Draw(String_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color, +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 + // //memset(graph->Graph_Control.graphic_name, 0, 3);//syhtodo 是否需要手动清零 + //memset(&graph,0,UI_Operate_LEN_DrawChar); int i; for(i=0;i<3&&graphname[i]!='\0';i++) { @@ -388,14 +320,15 @@ static void Char_Draw(String_Data_t *graph,char graphname[3],uint32_t Graph_Oper /************************************************绘制字符型数据************************************************* **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 **********************************************************************************************************/ -static void Char_Write(String_Data_t *graph,char* fmt, ...) +void Char_Write(String_Data_t *graph,char* fmt, ...) { uint16_t i = 0; va_list ap; va_start(ap,fmt); - vsprintf((char*)graph->show_Data, fmt, ap);//使用参数列表发送格式化输出到字符串 + 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 va_end(ap); i = strlen((const char*)graph->show_Data); graph->Graph_Control.end_angle = i; @@ -407,7 +340,7 @@ static 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 */ -static int UI_ReFresh(referee_id_t *_id,int cnt,...) +void UI_ReFresh(referee_id_t *_id,int cnt,...) { int i; UI_GraphReFresh_t UI_GraphReFresh_data; @@ -437,8 +370,6 @@ static int UI_ReFresh(referee_id_t *_id,int cnt,...) case 7: UI_GraphReFresh_data.datahead.data_cmd_id=UI_Data_ID_Draw7; break; - default: - return (-1); } UI_GraphReFresh_data.datahead.receiver_ID = _id->Cilent_ID; @@ -460,12 +391,10 @@ static int UI_ReFresh(referee_id_t *_id,int cnt,...) va_end(ap);//结束可变参数的获取 UI_Seq++; //包序号+1 - - return 0; } /************************************************UI推送字符（使更改生效）*********************************/ -static int Char_ReFresh(referee_id_t *_id,String_Data_t string_Data) +void Char_ReFresh(referee_id_t *_id,String_Data_t string_Data) { UI_CharReFresh_t UI_CharReFresh_data; @@ -490,6 +419,5 @@ static int Char_ReFresh(referee_id_t *_id,String_Data_t string_Data) RefereeSend((uint8_t *)&UI_CharReFresh_data,LEN_HEADER+LEN_CMDID+temp_datalength+LEN_TAIL); //发送 UI_Seq++; //包序号+1 - return 0; } \ No newline at end of file diff --git a/modules/referee/referee_UI.h b/modules/referee/referee_UI.h index 85752e2..474b966 100644 --- a/modules/referee/referee_UI.h +++ b/modules/referee/referee_UI.h @@ -2,10 +2,9 @@ #define REFEREE_UI_H #include "stdarg.h" -#include "usart.h" #include "stdint.h" #include "referee_def.h" -#include "referee.h" +#include "rm_referee.h" #pragma pack(1) //按1字节对齐 @@ -39,6 +38,40 @@ typedef struct #pragma pack() -void Interactive_init(referee_info_t *_referee_info); + + +void UI_Delete(referee_id_t *_id,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 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 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 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); + +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, ...); + +void UI_ReFresh(referee_id_t *_id,int cnt,...); + +void Char_ReFresh(referee_id_t *_id,String_Data_t string_Data); + #endif diff --git a/modules/referee/referee.c b/modules/referee/rm_referee.c similarity index 96% rename from modules/referee/referee.c rename to modules/referee/rm_referee.c index 7500ccf..e951374 100644 --- a/modules/referee/referee.c +++ b/modules/referee/rm_referee.c @@ -1,4 +1,15 @@ -#include "referee.h" +/** + * @file rm_referee.C + * @author kidneygood (you@domain.com) + * @brief + * @version 0.1 + * @date 2022-11-18 + * + * @copyright Copyright (c) 2022 + * + */ + +#include "rm_referee.h" #include "string.h" #include "crc.h" #include "bsp_usart.h" diff --git a/modules/referee/referee.h b/modules/referee/rm_referee.h similarity index 86% rename from modules/referee/referee.h rename to modules/referee/rm_referee.h index 798f24b..0c22a1f 100644 --- a/modules/referee/referee.h +++ b/modules/referee/rm_referee.h @@ -1,20 +1,10 @@ -/** - * @file referee.h - * @author kidneygood (you@domain.com) - * @brief - * @version 0.1 - * @date 2022-11-18 - * - * @copyright Copyright (c) 2022 - * - */ - -#ifndef REFEREE_H -#define REFEREE_H +#ifndef RM_REFEREE_H +#define RM_REFEREE_H #include "usart.h" #include "referee_def.h" #include "bsp_usart.h" +#include "robot_def.h" #pragma pack(1) @@ -26,7 +16,7 @@ typedef struct uint16_t Receiver_Robot_ID; //机器人车间通信时接收者的ID } referee_id_t; -// 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 +// 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 typedef struct { referee_id_t referee_id;