From 846a8b1cafa3dc6d9744e88271ba253f30e28d39 Mon Sep 17 00:00:00 2001 From: kidneygood <2979564623@qq.com> Date: Wed, 25 Jan 2023 22:32:13 +0800 Subject: [PATCH] =?UTF-8?q?chassis=5Fmode=E5=8A=A8=E6=80=81=E5=88=B7?= =?UTF-8?q?=E6=96=B0=E5=AE=8C=E6=88=90=E6=B5=8B=E8=AF=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- application/referee/referee.c | 409 +++++++++++++++++++--------------- application/referee/referee.h | 9 +- application/robot_def.h | 1 - 3 files changed, 238 insertions(+), 181 deletions(-) diff --git a/application/referee/referee.c b/application/referee/referee.c index 933c768..98d50f9 100644 --- a/application/referee/referee.c +++ b/application/referee/referee.c @@ -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 } - - - - - - - diff --git a/application/referee/referee.h b/application/referee/referee.h index 3446fbb..8f6bf54 100644 --- a/application/referee/referee.h +++ b/application/referee/referee.h @@ -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 diff --git a/application/robot_def.h b/application/robot_def.h index a4fe70d..c877e60 100644 --- a/application/robot_def.h +++ b/application/robot_def.h @@ -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---------------- */