From a9e1eb62473969b240cda9a2ca775e306b4e4e8e Mon Sep 17 00:00:00 2001
From: kidneygood <2979564623@qq.com>
Date: Sat, 14 Jan 2023 22:39:26 +0800
Subject: [PATCH] =?UTF-8?q?=E6=93=8D=E4=BD=9C=E9=83=A8=E5=88=86=E5=AE=8F?=
 =?UTF-8?q?=E5=AE=9A=E4=B9=89=E6=8D=A2=E6=9E=9A=E4=B8=BE?=
MIME-Version: 1.0
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---
 modules/referee/referee_UI.c            |  59 +-------------
 modules/referee/referee_UI.h            |  27 ------
 modules/referee/referee_communication.c |  51 ++++++++++++
 modules/referee/referee_communication.h |  15 +---
 modules/referee/referee_def.h           | 104 +++++++++++++++++-------
 5 files changed, 129 insertions(+), 127 deletions(-)

diff --git a/modules/referee/referee_UI.c b/modules/referee/referee_UI.c
index e474e30..ec436cd 100644
--- a/modules/referee/referee_UI.c
+++ b/modules/referee/referee_UI.c
@@ -345,7 +345,6 @@ int UI_ReFresh(int cnt,...)
    int i;
    UI_GraphReFresh_t UI_GraphReFresh_data;
    Graph_Data_t graphData;
-   // uint8_t temp_datalength = UI_Data_LEN_Head + UI_Operate_LEN_Del;  //计算交互数据长度
 
    va_list ap;//创建一个 va_list 类型变量
    va_start(ap,cnt);//初始化 va_list 变量为一个参数列表
@@ -381,16 +380,13 @@ int UI_ReFresh(int cnt,...)
    //先发送帧头、命令码、交互数据帧头三部分，并计算CRC16校验值
    UI_GraphReFresh_data.frametail=Get_CRC16_Check_Sum((uint8_t *)&UI_GraphReFresh_data,LEN_HEADER+LEN_CMDID+UI_Data_LEN_Head,0xFFFF);
    RefereeSend((uint8_t *)&UI_GraphReFresh_data,LEN_HEADER+LEN_CMDID+UI_Data_LEN_Head);
-
-   unsigned char *framepoint;    //读写指针       syhtodo是否可以去掉              
-
+          
    for(i=0;i<cnt;i++) //发送交互数据的数据帧，并计算CRC16校验值
    {
       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
-      //发送
+      //发送并计算CRC16
       RefereeSend((uint8_t *)&graphData,UI_Operate_LEN_PerDraw);
-      framepoint=(uint8_t *)&graphData;
-      UI_GraphReFresh_data.frametail=Get_CRC16_Check_Sum(framepoint,UI_Operate_LEN_PerDraw,UI_GraphReFresh_data.frametail);                                          
+      UI_GraphReFresh_data.frametail=Get_CRC16_Check_Sum((uint8_t *)&graphData,UI_Operate_LEN_PerDraw,UI_GraphReFresh_data.frametail);                                          
    }
 
    RefereeSend((uint8_t *)&UI_GraphReFresh_data.frametail,LEN_TAIL); //发送CRC16校验值
@@ -432,53 +428,6 @@ int Char_ReFresh(String_Data_t string_Data)
 
 
 
-// #define send_max_len     200
-// unsigned char CliendTxBuffer[send_max_len];
-// void JUDGE_Show_Data(void)
-// {
-// 	static uint8_t datalength,i;
-// 	uint8_t judge_led = 0xff;//初始化led为全绿
-// 	static uint8_t auto_led_time = 0;
-// 	static uint8_t buff_led_time = 0;
-	
-// 	determine_ID();//判断发送者ID和其对应的客户端ID
-	
-// 	ShowData.txFrameHeader.SOF = 0xA5;
-// 	ShowData.txFrameHeader.DataLength = sizeof(ext_student_interactive_header_data_t) + sizeof(client_custom_data_t);
-// 	ShowData.txFrameHeader.Seq = 0;
-// 	memcpy(CliendTxBuffer, &ShowData.txFrameHeader, sizeof(xFrameHeader));//写入帧头数据
-//    Append_CRC8_Check_Sum(CliendTxBuffer, sizeof(xFrameHeader));//写入帧头CRC8校验码
-	
-// 	ShowData.CmdID = 0x0301;
-	
-// 	ShowData.dataFrameHeader.data_cmd_id = 0xD180;//发给客户端的cmd,官方固定
-// 	//ID已经是自动读取的了
-// 	ShowData.dataFrameHeader.send_ID 	 = Judge_Self_ID;//发送者的ID
-// 	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
-	
-// 	/*- 自定义内容 -*/
-// 	ShowData.clientData.data1 = (float)Capvoltage_Percent();//电容剩余电量
-// 	ShowData.clientData.data2 = (float)Base_Angle_Measure();//吊射角度测
-// 	ShowData.clientData.data3 = GIMBAL_PITCH_Judge_Angle();//云台抬头角度
-// 	ShowData.clientData.masks = judge_led;//0~5位0红灯,1绿灯
-	
-// 	//打包写入数据段
-// 	memcpy(	
-// 			CliendTxBuffer + 5, 
-// 			(uint8_t*)&ShowData.CmdID, 
-// 			(sizeof(ShowData.CmdID)+ sizeof(ShowData.dataFrameHeader)+ sizeof(ShowData.clientData))
-// 		  );			
-			
-// 	Append_CRC16_Check_Sum(CliendTxBuffer,sizeof(ShowData));//写入数据段CRC16校验码	
-
-// 	datalength = sizeof(ShowData); 
-// 	for(i = 0;i < datalength;i++)
-// 	{
-// 		USART_SendData(UART5,(uint16_t)CliendTxBuffer[i]);
-// 		while(USART_GetFlagStatus(UART5,USART_FLAG_TC)==RESET);
-// 	}	 
-// }
-
 
 
 
@@ -488,7 +437,7 @@ int Char_ReFresh(String_Data_t string_Data)
 //   * @retval RED   BLUE
 //   * @attention  数据打包,打包完成后通过串口发送到裁判系统
 //   */
-// bool Color;
+
 // bool is_red_or_blue(void)
 // {
 // 	Judge_Self_ID = GameRobotStat.robot_id;//读取当前机器人ID
diff --git a/modules/referee/referee_UI.h b/modules/referee/referee_UI.h
index 9795469..eff18ce 100644
--- a/modules/referee/referee_UI.h
+++ b/modules/referee/referee_UI.h
@@ -42,33 +42,6 @@
 #define UI_Data_CilentID_BStandard2 0x0168
 #define UI_Data_CilentID_BStandard3 0x0169
 #define UI_Data_CilentID_BAerial 0x016A
-/***************************删除操作***************************/
-#define UI_Data_Del_NoOperate 0
-#define UI_Data_Del_Layer 1
-#define UI_Data_Del_ALL 2   //删除全部图层，后面的参数已经不重要了。
-/***************************图形配置参数__图形操作********************/
-#define UI_Graph_ADD 1
-#define UI_Graph_Change 2
-#define UI_Graph_Del 3
-/***************************图形配置参数__图形类型********************/
-#define UI_Graph_Line 0         //直线
-#define UI_Graph_Rectangle 1    //矩形
-#define UI_Graph_Circle 2       //整圆
-#define UI_Graph_Ellipse 3      //椭圆
-#define UI_Graph_Arc 4          //圆弧
-#define UI_Graph_Float 5        //浮点型
-#define UI_Graph_Int 6          //整形
-#define UI_Graph_Char 7         //字符型
-/***************************图形配置参数__图形颜色********************/
-#define UI_Color_Main 0         //红蓝主色
-#define UI_Color_Yellow 1
-#define UI_Color_Green 2
-#define UI_Color_Orange 3
-#define UI_Color_Purplish_red 4 //紫红色
-#define UI_Color_Pink 5
-#define UI_Color_Cyan 6         //青色
-#define UI_Color_Black 7
-#define UI_Color_White 8
 
 typedef struct
 {
diff --git a/modules/referee/referee_communication.c b/modules/referee/referee_communication.c
index e69de29..dbdbf74 100644
--- a/modules/referee/referee_communication.c
+++ b/modules/referee/referee_communication.c
@@ -0,0 +1,51 @@
+
+
+
+
+// #define send_max_len     200
+// unsigned char CliendTxBuffer[send_max_len];
+// void JUDGE_Show_Data(void)
+// {
+// 	static uint8_t datalength,i;
+// 	uint8_t judge_led = 0xff;//初始化led为全绿
+// 	static uint8_t auto_led_time = 0;
+// 	static uint8_t buff_led_time = 0;
+	
+// 	determine_ID();//判断发送者ID和其对应的客户端ID
+	
+// 	ShowData.txFrameHeader.SOF = 0xA5;
+// 	ShowData.txFrameHeader.DataLength = sizeof(ext_student_interactive_header_data_t) + sizeof(client_custom_data_t);
+// 	ShowData.txFrameHeader.Seq = 0;
+// 	memcpy(CliendTxBuffer, &ShowData.txFrameHeader, sizeof(xFrameHeader));//写入帧头数据
+//    Append_CRC8_Check_Sum(CliendTxBuffer, sizeof(xFrameHeader));//写入帧头CRC8校验码
+	
+// 	ShowData.CmdID = 0x0301;
+	
+// 	ShowData.dataFrameHeader.data_cmd_id = 0xD180;//发给客户端的cmd,官方固定
+// 	//ID已经是自动读取的了
+// 	ShowData.dataFrameHeader.send_ID 	 = Judge_Self_ID;//发送者的ID
+// 	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
+	
+// 	/*- 自定义内容 -*/
+// 	ShowData.clientData.data1 = (float)Capvoltage_Percent();//电容剩余电量
+// 	ShowData.clientData.data2 = (float)Base_Angle_Measure();//吊射角度测
+// 	ShowData.clientData.data3 = GIMBAL_PITCH_Judge_Angle();//云台抬头角度
+// 	ShowData.clientData.masks = judge_led;//0~5位0红灯,1绿灯
+	
+// 	//打包写入数据段
+// 	memcpy(	
+// 			CliendTxBuffer + 5, 
+// 			(uint8_t*)&ShowData.CmdID, 
+// 			(sizeof(ShowData.CmdID)+ sizeof(ShowData.dataFrameHeader)+ sizeof(ShowData.clientData))
+// 		  );			
+			
+// 	Append_CRC16_Check_Sum(CliendTxBuffer,sizeof(ShowData));//写入数据段CRC16校验码	
+
+// 	datalength = sizeof(ShowData); 
+// 	for(i = 0;i < datalength;i++)
+// 	{
+// 		USART_SendData(UART5,(uint16_t)CliendTxBuffer[i]);
+// 		while(USART_GetFlagStatus(UART5,USART_FLAG_TC)==RESET);
+// 	}	 
+// }
+
diff --git a/modules/referee/referee_communication.h b/modules/referee/referee_communication.h
index b3b4f5a..4acc879 100644
--- a/modules/referee/referee_communication.h
+++ b/modules/referee/referee_communication.h
@@ -16,20 +16,7 @@
 #pragma pack(1)
 
 
-//暂时放在这里
-/***************交互数据********************/
-/*
-	0x0301 机器人间交互数据，发送方触发发送，上限 10Hz
-	己方机器人间通信与UI绘制共用同一个cmd_id
-	根据数据段内容ID的不同区分
-*/
-/* 交互数据接收信息：0x0301  */
-typedef struct
-{
-	uint16_t data_cmd_id;
-	uint16_t send_ID;
-	uint16_t receiver_ID;
-} ext_student_interactive_header_data_t;
+
 
 /*
 	客户端 客户端自定义数据：cmd_id:0x0301。内容 ID:0xD180
diff --git a/modules/referee/referee_def.h b/modules/referee/referee_def.h
index 703aeb5..24a7b07 100644
--- a/modules/referee/referee_def.h
+++ b/modules/referee/referee_def.h
@@ -33,13 +33,12 @@ typedef enum
 	LEN_CMDID = 2,	// 命令码长度
 	LEN_TAIL = 2,	// 帧尾CRC16
 
-	LEN_CRC8 = 4, //帧头CRC8校验长度=帧头+数据长+包序号
+	LEN_CRC8 = 4, // 帧头CRC8校验长度=帧头+数据长+包序号
 } JudgeFrameLength;
 
 /****************************帧头****************************/
 /****************************帧头****************************/
 
-
 #define REFEREE_SOF 0xA5 // 起始字节,协议固定为0xA5
 /* 帧头偏移 */
 typedef enum
@@ -234,12 +233,8 @@ typedef struct
 	uint16_t receiver_ID;
 } ext_student_interactive_header_data_t;
 
-
-
-
-/* 内容ID数据 */
-//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
-typedef enum 
+/* 交互数据ID */
+typedef enum
 {
 	UI_Data_ID_Del = 0x100,
 	UI_Data_ID_Draw1 = 0x101,
@@ -247,41 +242,88 @@ typedef enum
 	UI_Data_ID_Draw5 = 0x103,
 	UI_Data_ID_Draw7 = 0x104,
 	UI_Data_ID_DrawChar = 0x110,
-} UI_Data_ID;
-
+} Interactive_Data_ID;
+/* 交互数据长度 */
 typedef enum
 {
 	UI_Data_LEN_Head = 6,
-	UI_Operate_LEN_Del =2,
+	UI_Operate_LEN_Del = 2,
 	UI_Operate_LEN_PerDraw = 15,
-	UI_Operate_LEN_DrawChar = 15+30,
+	UI_Operate_LEN_DrawChar = 15 + 30,
 } UI_Data_Length;
 
 
+/****************************UI交互数据****************************/
+/****************************UI交互数据****************************/
+
 /* 图形数据 */
 typedef struct
-{ 
-   uint8_t graphic_name[3]; 
-   uint32_t operate_tpye:3; 
-   uint32_t graphic_tpye:3; 
-   uint32_t layer:4; 
-   uint32_t color:4; 
-   uint32_t start_angle:9;
-   uint32_t end_angle:9;
-   uint32_t width:10; 
-   uint32_t start_x:11; 
-   uint32_t start_y:11;
-   uint32_t radius:10; 
-   uint32_t end_x:11; 
-   uint32_t end_y:11;              
-} Graph_Data_t;//syhtodo 定义要有-t
-     
+{
+	uint8_t graphic_name[3];
+	uint32_t operate_tpye : 3;
+	uint32_t graphic_tpye : 3;
+	uint32_t layer : 4;
+	uint32_t color : 4;
+	uint32_t start_angle : 9;
+	uint32_t end_angle : 9;
+	uint32_t width : 10;
+	uint32_t start_x : 11;
+	uint32_t start_y : 11;
+	uint32_t radius : 10;
+	uint32_t end_x : 11;
+	uint32_t end_y : 11;
+} Graph_Data_t; // syhtodo 定义要有-t
+
 typedef struct
 {
-   Graph_Data_t Graph_Control;
-   uint8_t show_Data[30];
-} String_Data_t;                  //打印字符串数据
+	Graph_Data_t Graph_Control;
+	uint8_t show_Data[30];
+} String_Data_t; // 打印字符串数据
 
+/* 删除操作 */
+typedef enum
+{
+	UI_Data_Del_NoOperate = 0,
+	UI_Data_Del_Layer = 1,
+	UI_Data_Del_ALL = 2, // 删除全部图层，后面的参数已经不重要了。
+} UI_Delete_Operate;
+
+/* 图形配置参数__图形操作 */
+typedef enum
+{
+	UI_Graph_ADD = 1,
+	UI_Graph_Change = 2,
+	UI_Graph_Del = 3,
+} UI_Graph_Operate;
+
+/* 图形配置参数__图形类型 */
+typedef enum
+{
+	UI_Graph_Line = 0,		// 直线
+	UI_Graph_Rectangle = 1, // 矩形
+	UI_Graph_Circle = 2,	// 整圆
+	UI_Graph_Ellipse = 3,	// 椭圆
+	UI_Graph_Arc = 4,		// 圆弧
+	UI_Graph_Float = 5,		// 浮点型
+	UI_Graph_Int = 6,		// 整形
+	UI_Graph_Char = 7,		// 字符型
+
+} UI_Graph_Type;
+
+/* 图形配置参数__图形颜色 */
+typedef enum
+{
+	UI_Color_Main = 0, // 红蓝主色
+	UI_Color_Yellow = 1,
+	UI_Color_Green = 2,
+	UI_Color_Orange = 3,
+	UI_Color_Purplish_red = 4, // 紫红色
+	UI_Color_Pink = 5,
+	UI_Color_Cyan = 6, // 青色
+	UI_Color_Black = 7,
+	UI_Color_White = 8,
+
+} UI_Graph_Color;
 
 
 #pragma pack()