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

chassis_mode动态刷新完成测试

This commit is contained in:
kidneygood 2023-01-25 22:32:13 +08:00
parent 68f7e64c2a
commit 846a8b1caf
3 changed files with 238 additions and 181 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

409
application/referee/referee.c
View File

@ -13,223 +13,276 @@
#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 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);
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
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);
}
}
void Referee_Interactive_task()
{
My_UI_Refresh(referee_data,Interactive_data);
robot_mode_change(&Interactive_data); // 测试用函数，实现模式自动变化
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 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);
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]);
// 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]);
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]);
// 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[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]);
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]);
//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]);
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]);
//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]);
// 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]);
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]);
// 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
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[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]);
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]);
//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]);
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 uint8_t count = 0;
static uint16_t count1 = 0;
static void robot_mode_change(Referee_Interactive_info_t *_Interactive_data) // 测试用函数，实现模式自动变化
{
count++;
if (count >= 50)
{
count = 0;
count1++;
}
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;
}
}
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)
{
// syhtodo 按键刷新
// syhtodo与上次不一样才要进入刷新，避免重复发送
// 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)
{
_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)
{
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;
}
// 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]);
// }
// }
// 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
*/
* @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
// 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
}

9
application/referee/referee.h
View File

@ -5,6 +5,7 @@
#include "robot_def.h"
#pragma pack(1)
//模式是否切换标志位，0为未切换，1为切换，static定义默认为0
typedef struct
{
uint32_t chassis_flag : 1;
@ -13,7 +14,6 @@ typedef struct
uint32_t friction_flag : 1;
uint32_t Power_flag : 1;
uint32_t end_angle_flag : 1;
} Referee_Interactive_Flag_t;
@ -32,11 +32,16 @@ typedef struct
loader_mode_e loader_mode;//单发...连发
Chassis_Power_Data_s Chassis_Power_Data;// 功率控制
chassis_mode_e chassis_last_mode;//底盘模式
gimbal_mode_e gimbal_last_mode;//云台模式
shoot_mode_e shoot_last_mode;//发射模式设置
friction_mode_e friction_last_mode;//摩擦轮关闭
lid_mode_e lid_last_mode;//弹舱盖打开
} Referee_Interactive_info_t;
#pragma pack()
void Referee_Interactive_init(void);
void Referee_Interactive_task(void);
#endif // REFEREE_H

1
application/robot_def.h
View File

@ -127,7 +127,6 @@ typedef enum
// 功率限制,从裁判系统获取
typedef struct
{ // 功率控制
} Chassis_Power_Data_s;
/* ----------------CMD应用发布的控制数据,应当由gimbal/chassis/shoot订阅---------------- */