HFUT_Firmament_EC
/
sentry_chassis_hzz
11
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

裁判系统发送重构前提交

This commit is contained in:
Kidenygood 2023-04-03 17:05:43 +08:00
parent 11b401c2bc
commit 7bb41c56b7
5 changed files with 44 additions and 43 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
.vscode/extensions.json vendored Normal file
View File

@ -0,0 +1,3 @@
{
"recommendations": []
}

24
.vscode/tasks.json vendored
View File

@ -3,10 +3,10 @@
"version": "2.0.0", "version": "2.0.0",
"tasks": [ "tasks": [
{ {
"label": "build task", // 任务标签 "label": "build task",
"type": "shell", // 任务类型,因为要调用mingw32-make,是在终端(CMD)里运行的,所以是shell任务 "type": "shell",
"command": "mingw32-make -j24",// 任务命令,线程数可以根据自己的电脑修改,建议为核数的4~8倍 "command": "mingw32-make -j24",
"problemMatcher": [], "problemMatcher": [],
"group": { "group": {
"kind": "build", "kind": "build",
"isDefault": true "isDefault": true
@ -14,21 +14,21 @@
}, },
{ {
"label": "download dap", "label": "download dap",
"type": "shell", // 如果希望在下载前编译,可以把command换成下面的命令 "type": "shell",
"command":"mingw32-make download_dap", // "mingw32-make -j24 && mingw32-make download_dap", "command": "mingw32-make download_dap",
"group": { // 如果没有修改代码,编译任务不会消耗时间,因此推荐使用上面的替换. "group": {
"kind": "build", "kind": "build",
"isDefault": false, "isDefault": false
}, }
}, },
{ {
"label": "download jlink", "label": "download jlink",
"type": "shell", "type": "shell",
"command":"mingw32-make download_jlink", // "mingw32-make -j24 && mingw32-make download_dap" "command": "mingw32-make download_jlink",
"group": { "group": {
"kind": "build", "kind": "build",
"isDefault": false, "isDefault": false
} }
}, }
] ]
} }

57
application/referee/referee.c
View File

@ -15,7 +15,7 @@
#include "referee_communication.h" #include "referee_communication.h"
static Referee_Interactive_info_t Interactive_data; // 非裁判系统数据 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 robot_interactive_data_t *SendData; static robot_interactive_data_t *SendData;
static void determine_ID(referee_info_t *_referee_info); static void determine_ID(referee_info_t *_referee_info);
@ -23,25 +23,26 @@ 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 My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_info_t *_Interactive_data);
static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data); // 模式切换检测 static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data); // 模式切换检测
//syhtod 正式上车后需删除 // syhtod 正式上车后需删除
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 robot_mode_change(Referee_Interactive_info_t *_Interactive_data); // 测试用函数，实现模式自动变化
static void UI_test_init(referee_info_t *_referee_info);//UI测试函数 static void UI_test_init(referee_info_t *_referee_info); // UI测试函数
void Referee_Interactive_init() void Referee_Interactive_init()
{ {
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) // while (referee_data->GameRobotState.robot_id == 0);
; referee_data->GameRobotState.robot_id = 101; // syhtodo RobotInit中关闭了中断进行初始化，无法读取到裁判系统的ID，暂时在此处写死
determine_ID(referee_data); determine_ID(referee_data);
My_UI_init(referee_data); // My_UI_init(referee_data);
//UI_test_init(referee_data); UI_test_init(referee_data); // syhtodo此处先使用测试函数
for (int i=0;i<Communicate_Data_LEN;i++) // syhtodo此处先关闭机器人车间通信
{ // for (int i=0;i<Communicate_Data_LEN;i++)
SendData->data[i]=i+1; // {
} // SendData->data[i]=i+1;
referee_data->referee_id.Receiver_Robot_ID = RobotID_BEngineer; // 机器人车间通信时接收者的ID暂时发给蓝色2 // }
Communicate_SendData(&referee_data->referee_id,SendData); // referee_data->referee_id.Receiver_Robot_ID = RobotID_BEngineer; // 机器人车间通信时接收者的ID暂时发给蓝色2
// Communicate_SendData(&referee_data->referee_id,SendData);
} }
void Referee_Interactive_task() void Referee_Interactive_task()
@ -305,7 +306,6 @@ static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_inf
} }
} }
/** /**
* @brief 模式切换检测,模式发生切换时，对flag置位 * @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 * @param Referee_Interactive_info_t *_Interactive_data
@ -357,29 +357,28 @@ static void determine_ID(referee_info_t *_referee_info)
_referee_info->referee_id.Robot_Color = _referee_info->GameRobotState.robot_id > 7 ? Robot_Blue : Robot_Red; _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.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.Cilent_ID = 0x0100 + _referee_info->referee_id.Robot_ID; // 计算客户端ID
_referee_info->referee_id.Receiver_Robot_ID = 0; _referee_info->referee_id.Receiver_Robot_ID = 0;
} }
/* 测试用函数 */ /* 测试用函数 */
static void UI_test_init(referee_info_t *_referee_info) static void UI_test_init(referee_info_t *_referee_info)
{ {
Graph_Data_t graph[5]; Graph_Data_t graph[5];
Graph_Data_t num[2]; Graph_Data_t num[2];
String_Data_t sdata[1]; String_Data_t sdata[1];
UI_Delete(&_referee_info->referee_id, UI_Data_Del_ALL, 0); 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); 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); 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); 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); 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); 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); 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); 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]); 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_Draw(&sdata[0],"s7",UI_Graph_ADD,0,UI_Color_Green,20,2,620,710); Char_Write(&sdata[0], "number:%d", 123);
Char_Write(&sdata[0],"number:%d",123); Char_ReFresh(&_referee_info->referee_id, sdata[0]);
Char_ReFresh(&_referee_info->referee_id,sdata[0]);
} }

2
application/robot.c
View File

@ -52,6 +52,6 @@ void RobotTask()
#if defined(ONE_BOARD) || defined(CHASSIS_BOARD) #if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
ChassisTask(); ChassisTask();
Referee_Interactive_task(); // Referee_Interactive_task();
#endif #endif
} }

1
modules/referee/rm_referee.c
View File

@ -43,7 +43,6 @@ void RefereeSend(uint8_t *send, uint16_t tx_len)
{ {
USARTSend(referee_usart_instance, send, 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，并且发送函数添加缓冲区 */ /* 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);
} }
/*裁判系统串口接收回调函数,解析数据 */ /*裁判系统串口接收回调函数,解析数据 */