操作部分宏定义换枚举
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kidneygood
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2d41034769
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a9e1eb6247
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@ -345,7 +345,6 @@ int UI_ReFresh(int cnt,...)
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int i;
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UI_GraphReFresh_t UI_GraphReFresh_data;
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Graph_Data_t graphData;
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// uint8_t temp_datalength = UI_Data_LEN_Head + UI_Operate_LEN_Del; //计算交互数据长度
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va_list ap;//创建一个 va_list 类型变量
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va_start(ap,cnt);//初始化 va_list 变量为一个参数列表
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@ -381,16 +380,13 @@ int UI_ReFresh(int cnt,...)
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//先发送帧头、命令码、交互数据帧头三部分，并计算CRC16校验值
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UI_GraphReFresh_data.frametail=Get_CRC16_Check_Sum((uint8_t *)&UI_GraphReFresh_data,LEN_HEADER+LEN_CMDID+UI_Data_LEN_Head,0xFFFF);
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RefereeSend((uint8_t *)&UI_GraphReFresh_data,LEN_HEADER+LEN_CMDID+UI_Data_LEN_Head);
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unsigned char *framepoint; //读写指针 syhtodo是否可以去掉
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for(i=0;i<cnt;i++) //发送交互数据的数据帧，并计算CRC16校验值
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{
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graphData=va_arg(ap,Graph_Data_t);//访问参数列表中的每个项,第二个参数是你要返回的参数的类型,在取值时需要将其强制转化为指定类型的变量
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//发送
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//发送并计算CRC16
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RefereeSend((uint8_t *)&graphData,UI_Operate_LEN_PerDraw);
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framepoint=(uint8_t *)&graphData;
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UI_GraphReFresh_data.frametail=Get_CRC16_Check_Sum(framepoint,UI_Operate_LEN_PerDraw,UI_GraphReFresh_data.frametail);
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UI_GraphReFresh_data.frametail=Get_CRC16_Check_Sum((uint8_t *)&graphData,UI_Operate_LEN_PerDraw,UI_GraphReFresh_data.frametail);
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}
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RefereeSend((uint8_t *)&UI_GraphReFresh_data.frametail,LEN_TAIL); //发送CRC16校验值
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@ -432,53 +428,6 @@ int Char_ReFresh(String_Data_t string_Data)
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// #define send_max_len 200
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// unsigned char CliendTxBuffer[send_max_len];
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// void JUDGE_Show_Data(void)
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// {
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// static uint8_t datalength,i;
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// uint8_t judge_led = 0xff;//初始化led为全绿
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// static uint8_t auto_led_time = 0;
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// static uint8_t buff_led_time = 0;
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// determine_ID();//判断发送者ID和其对应的客户端ID
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// ShowData.txFrameHeader.SOF = 0xA5;
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// ShowData.txFrameHeader.DataLength = sizeof(ext_student_interactive_header_data_t) + sizeof(client_custom_data_t);
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// ShowData.txFrameHeader.Seq = 0;
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// memcpy(CliendTxBuffer, &ShowData.txFrameHeader, sizeof(xFrameHeader));//写入帧头数据
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// Append_CRC8_Check_Sum(CliendTxBuffer, sizeof(xFrameHeader));//写入帧头CRC8校验码
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// ShowData.CmdID = 0x0301;
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// ShowData.dataFrameHeader.data_cmd_id = 0xD180;//发给客户端的cmd,官方固定
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// //ID已经是自动读取的了
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// ShowData.dataFrameHeader.send_ID = Judge_Self_ID;//发送者的ID
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// ShowData.dataFrameHeader.receiver_ID = Judge_SelfClient_ID;//客户端的ID，只能为发送者机器人对应的客户端
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// /*- 自定义内容 -*/
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// ShowData.clientData.data1 = (float)Capvoltage_Percent();//电容剩余电量
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// ShowData.clientData.data2 = (float)Base_Angle_Measure();//吊射角度测
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// ShowData.clientData.data3 = GIMBAL_PITCH_Judge_Angle();//云台抬头角度
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// ShowData.clientData.masks = judge_led;//0~5位0红灯,1绿灯
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// //打包写入数据段
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// memcpy(
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// CliendTxBuffer + 5,
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// (uint8_t*)&ShowData.CmdID,
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// (sizeof(ShowData.CmdID)+ sizeof(ShowData.dataFrameHeader)+ sizeof(ShowData.clientData))
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// );
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// Append_CRC16_Check_Sum(CliendTxBuffer,sizeof(ShowData));//写入数据段CRC16校验码
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// datalength = sizeof(ShowData);
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// for(i = 0;i < datalength;i++)
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// {
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// USART_SendData(UART5,(uint16_t)CliendTxBuffer[i]);
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// while(USART_GetFlagStatus(UART5,USART_FLAG_TC)==RESET);
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// }
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// }
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@ -488,7 +437,7 @@ int Char_ReFresh(String_Data_t string_Data)
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// * @retval RED BLUE
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// * @attention 数据打包,打包完成后通过串口发送到裁判系统
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// */
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// bool Color;
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// bool is_red_or_blue(void)
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// {
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// Judge_Self_ID = GameRobotStat.robot_id;//读取当前机器人ID
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@ -42,33 +42,6 @@
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#define UI_Data_CilentID_BStandard2 0x0168
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#define UI_Data_CilentID_BStandard3 0x0169
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#define UI_Data_CilentID_BAerial 0x016A
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/***************************删除操作***************************/
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#define UI_Data_Del_NoOperate 0
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#define UI_Data_Del_Layer 1
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#define UI_Data_Del_ALL 2 //删除全部图层，后面的参数已经不重要了。
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/***************************图形配置参数__图形操作********************/
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#define UI_Graph_ADD 1
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#define UI_Graph_Change 2
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#define UI_Graph_Del 3
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/***************************图形配置参数__图形类型********************/
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#define UI_Graph_Line 0 //直线
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#define UI_Graph_Rectangle 1 //矩形
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#define UI_Graph_Circle 2 //整圆
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#define UI_Graph_Ellipse 3 //椭圆
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#define UI_Graph_Arc 4 //圆弧
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#define UI_Graph_Float 5 //浮点型
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#define UI_Graph_Int 6 //整形
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#define UI_Graph_Char 7 //字符型
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/***************************图形配置参数__图形颜色********************/
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#define UI_Color_Main 0 //红蓝主色
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#define UI_Color_Yellow 1
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#define UI_Color_Green 2
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#define UI_Color_Orange 3
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#define UI_Color_Purplish_red 4 //紫红色
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#define UI_Color_Pink 5
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#define UI_Color_Cyan 6 //青色
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#define UI_Color_Black 7
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#define UI_Color_White 8
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typedef struct
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{
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@ -0,0 +1,51 @@
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// #define send_max_len 200
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// unsigned char CliendTxBuffer[send_max_len];
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// void JUDGE_Show_Data(void)
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// {
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// static uint8_t datalength,i;
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// uint8_t judge_led = 0xff;//初始化led为全绿
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// static uint8_t auto_led_time = 0;
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// static uint8_t buff_led_time = 0;
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// determine_ID();//判断发送者ID和其对应的客户端ID
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// ShowData.txFrameHeader.SOF = 0xA5;
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// ShowData.txFrameHeader.DataLength = sizeof(ext_student_interactive_header_data_t) + sizeof(client_custom_data_t);
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// ShowData.txFrameHeader.Seq = 0;
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// memcpy(CliendTxBuffer, &ShowData.txFrameHeader, sizeof(xFrameHeader));//写入帧头数据
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// Append_CRC8_Check_Sum(CliendTxBuffer, sizeof(xFrameHeader));//写入帧头CRC8校验码
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// ShowData.CmdID = 0x0301;
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// ShowData.dataFrameHeader.data_cmd_id = 0xD180;//发给客户端的cmd,官方固定
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// //ID已经是自动读取的了
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// ShowData.dataFrameHeader.send_ID = Judge_Self_ID;//发送者的ID
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// ShowData.dataFrameHeader.receiver_ID = Judge_SelfClient_ID;//客户端的ID，只能为发送者机器人对应的客户端
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// /*- 自定义内容 -*/
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// ShowData.clientData.data1 = (float)Capvoltage_Percent();//电容剩余电量
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// ShowData.clientData.data2 = (float)Base_Angle_Measure();//吊射角度测
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// ShowData.clientData.data3 = GIMBAL_PITCH_Judge_Angle();//云台抬头角度
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// ShowData.clientData.masks = judge_led;//0~5位0红灯,1绿灯
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// //打包写入数据段
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// memcpy(
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// CliendTxBuffer + 5,
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// (uint8_t*)&ShowData.CmdID,
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// (sizeof(ShowData.CmdID)+ sizeof(ShowData.dataFrameHeader)+ sizeof(ShowData.clientData))
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// );
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// Append_CRC16_Check_Sum(CliendTxBuffer,sizeof(ShowData));//写入数据段CRC16校验码
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// datalength = sizeof(ShowData);
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// for(i = 0;i < datalength;i++)
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// {
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// USART_SendData(UART5,(uint16_t)CliendTxBuffer[i]);
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// while(USART_GetFlagStatus(UART5,USART_FLAG_TC)==RESET);
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// }
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// }
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@ -16,20 +16,7 @@
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#pragma pack(1)
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//暂时放在这里
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/***************交互数据********************/
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/*
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0x0301 机器人间交互数据，发送方触发发送，上限 10Hz
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己方机器人间通信与UI绘制共用同一个cmd_id
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根据数据段内容ID的不同区分
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*/
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/* 交互数据接收信息：0x0301 */
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typedef struct
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{
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uint16_t data_cmd_id;
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uint16_t send_ID;
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uint16_t receiver_ID;
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} ext_student_interactive_header_data_t;
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/*
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客户端 客户端自定义数据：cmd_id:0x0301。内容 ID:0xD180
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@ -33,13 +33,12 @@ typedef enum
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LEN_CMDID = 2, // 命令码长度
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LEN_TAIL = 2, // 帧尾CRC16
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LEN_CRC8 = 4, //帧头CRC8校验长度=帧头+数据长+包序号
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LEN_CRC8 = 4, // 帧头CRC8校验长度=帧头+数据长+包序号
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} JudgeFrameLength;
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/****************************帧头****************************/
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/****************************帧头****************************/
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#define REFEREE_SOF 0xA5 // 起始字节,协议固定为0xA5
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/* 帧头偏移 */
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typedef enum
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@ -234,12 +233,8 @@ typedef struct
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uint16_t receiver_ID;
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} ext_student_interactive_header_data_t;
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/* 内容ID数据 */
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//己方机器人通信未写，实际上删除几个图形的id可以直接计算得出
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typedef enum
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/* 交互数据ID */
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typedef enum
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{
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UI_Data_ID_Del = 0x100,
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UI_Data_ID_Draw1 = 0x101,
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@ -247,41 +242,88 @@ typedef enum
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UI_Data_ID_Draw5 = 0x103,
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UI_Data_ID_Draw7 = 0x104,
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UI_Data_ID_DrawChar = 0x110,
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} UI_Data_ID;
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} Interactive_Data_ID;
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/* 交互数据长度 */
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typedef enum
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{
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UI_Data_LEN_Head = 6,
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UI_Operate_LEN_Del =2,
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UI_Operate_LEN_Del = 2,
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UI_Operate_LEN_PerDraw = 15,
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UI_Operate_LEN_DrawChar = 15+30,
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UI_Operate_LEN_DrawChar = 15 + 30,
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} UI_Data_Length;
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/****************************UI交互数据****************************/
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/****************************UI交互数据****************************/
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/* 图形数据 */
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typedef struct
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{
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uint8_t graphic_name[3];
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uint32_t operate_tpye:3;
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uint32_t graphic_tpye:3;
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uint32_t layer:4;
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uint32_t color:4;
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uint32_t start_angle:9;
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uint32_t end_angle:9;
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uint32_t width:10;
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uint32_t start_x:11;
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uint32_t start_y:11;
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uint32_t radius:10;
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uint32_t end_x:11;
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uint32_t end_y:11;
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} Graph_Data_t;//syhtodo 定义要有-t
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{
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uint8_t graphic_name[3];
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uint32_t operate_tpye : 3;
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uint32_t graphic_tpye : 3;
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uint32_t layer : 4;
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uint32_t color : 4;
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uint32_t start_angle : 9;
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uint32_t end_angle : 9;
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uint32_t width : 10;
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uint32_t start_x : 11;
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uint32_t start_y : 11;
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uint32_t radius : 10;
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uint32_t end_x : 11;
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uint32_t end_y : 11;
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} Graph_Data_t; // syhtodo 定义要有-t
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typedef struct
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{
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Graph_Data_t Graph_Control;
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uint8_t show_Data[30];
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} String_Data_t; //打印字符串数据
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Graph_Data_t Graph_Control;
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uint8_t show_Data[30];
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} String_Data_t; // 打印字符串数据
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/* 删除操作 */
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typedef enum
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{
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UI_Data_Del_NoOperate = 0,
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UI_Data_Del_Layer = 1,
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UI_Data_Del_ALL = 2, // 删除全部图层，后面的参数已经不重要了。
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} UI_Delete_Operate;
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/* 图形配置参数__图形操作 */
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typedef enum
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{
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UI_Graph_ADD = 1,
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UI_Graph_Change = 2,
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UI_Graph_Del = 3,
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} UI_Graph_Operate;
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/* 图形配置参数__图形类型 */
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typedef enum
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{
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UI_Graph_Line = 0, // 直线
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UI_Graph_Rectangle = 1, // 矩形
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UI_Graph_Circle = 2, // 整圆
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UI_Graph_Ellipse = 3, // 椭圆
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UI_Graph_Arc = 4, // 圆弧
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UI_Graph_Float = 5, // 浮点型
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UI_Graph_Int = 6, // 整形
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UI_Graph_Char = 7, // 字符型
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} UI_Graph_Type;
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/* 图形配置参数__图形颜色 */
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typedef enum
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{
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UI_Color_Main = 0, // 红蓝主色
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UI_Color_Yellow = 1,
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UI_Color_Green = 2,
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UI_Color_Orange = 3,
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UI_Color_Purplish_red = 4, // 紫红色
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UI_Color_Pink = 5,
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UI_Color_Cyan = 6, // 青色
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UI_Color_Black = 7,
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UI_Color_White = 8,
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} UI_Graph_Color;
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#pragma pack()
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