更新了Todo Lists,规范UI绘制任务的命名和底层接口
This commit is contained in:
NeoZng
parent
0eec5d762b
commit
c9564936ef
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@ -131,9 +131,5 @@ void StartDefaultTask(void const *argument)
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/* Private application code --------------------------------------------------*/
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/* USER CODE BEGIN Application */
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/**
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* @brief ??,???????,
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* ??????????applicatoin/robot_task.h???
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*
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*/
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/* USER CODE END Application */
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/* USER CODE END Application */
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83
TODO.md
83
TODO.md
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@ -24,21 +24,9 @@
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### 待添加
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#### bsp_spi
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- [x] 待测试（BMI088，预计1.20前完成）
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#### bsp_iic
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- [x] 待测试（OLED，IST8310，预计1.20前完成）
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#### bsp_gpio
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- [x] 增加GPIO引脚的控制（有待商榷是否需要单独添加，HAL实际上已经提供较好的封装）
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#### bsp_usb
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- [ ] 增加usb的支持，用于虚拟串口或和PC进行高速通信
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- [ ] 添加10位地址的支持
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#### bsp_blueteetch
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@ -48,24 +36,12 @@
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- [ ] 增加无线网络功能，方便调试和测试
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#### bsp_log
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- [ ] 在vscode中添加rtt viewer的查看窗口，提供一键启用的task.json
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---
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## Module
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### 待完成
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- [ ] 给所有模块增加Daemon 模块以提供离线和异常检测
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- [ ] 为键鼠/遥控器/ps手柄/视觉上位机等各种控制器提供一套统一的接口，把发来数据转化为标准的控制数据，包括底盘速度云台角度等等
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- [ ] 给每个模块增加调试的条件编译，并增加bsp log的输出。或直接在运行时添加log等级，输出不同的信息。
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@ -84,13 +60,7 @@
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#### imu
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- [x] 增加角速度的反馈，并且能够获取加速度值（目前看来修改反馈数据类型定义即可）
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#### refereeUI
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- [x] 提供UI绘制封装
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- [x] 绘制电容剩余容量/当前底盘状态/当前云台状态/底盘位置/射表
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- [ ] 绘制视觉识别UI/识别状态/击打状态
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- [ ] 完善bmi088模块和算法的交互，添加异步量测更新的SO3上的IEKF
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#### ==master_machine==
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@ -118,21 +88,17 @@
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#### BMI088
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需要重写部分数据结构，并在bsp_spi完成之后移植到新的bsp上。（等待bsp_spi的测试）
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- [x] 重构imu模块
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- [ ] 完善和SO3 IEKF的交互，增加异步任务的唤醒和数据传递（IMU中断唤起任务）
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#### remote_control
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- [x] 将键盘数据解析替换为位域操作（已完成，待测试）
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#### referee
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- [ ] 优化三个裁判系统模块的组织关系
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- [ ] 增加长按/短按检测
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#### message_center
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- [ ] 增加队列剩余信息和数据时间戳的支持
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- [ ] 增加数据为空的处理
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- [ ] 提供直接传递指针的接口？
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#### can_comm
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@ -140,7 +106,6 @@
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#### controller
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- [x] 增加前馈数据
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- [ ] 将PID的初始化改写为PIDRegister的形式,在controller统一分配内存.
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#### user_lib
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@ -151,7 +116,6 @@
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- [ ] 增加3508和2006的开环零位校准函数
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- [ ] 为实例增加低通滤波系数变量，使不同电机有不同的配置
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- [ ] 正反转标志位设置,需要修改反馈量和pid计算
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#### LKmotor
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@ -173,7 +137,7 @@
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#### referee_communication
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- [x] 增加裁判系统多机通信功能
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- [ ] 增加裁判系统多机通信功能
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#### controller
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@ -184,48 +148,25 @@
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- [ ] 通过bsp_pwm添加支持
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---
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## APP
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### 待完成
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#### all app
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- [ ] 增加调试的条件编译，使得在没有连接其他应用时也可以假装有那些应用而正常调试运行
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#### ==robot_cmd==
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- [ ] 键鼠控制
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- [x] 双板兼容（待测试）
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#### ==chassis==
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- [ ] 根据裁判系统的功率数据和超级电容，进行输出限幅
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- [x] 双板兼容（待测试）
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#### ==shoot==
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- [ ] 增加卡弹检测和反转
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- [ ] 弹仓盖控制（需待servo_motor完成）
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- [ ] 42mm发射机构兼容
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### 待优化
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#### robot_cmd
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- [x] 解耦各个应用的运行模式
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- [ ] 优化消息发布和接收性能
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- [ ] 优化消息发布和接收性能（若皆为异步并在robottask中执行，实际上可以只传递指针）
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#### gimbal
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@ -233,8 +174,6 @@
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#### chassis
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- [ ] 根据电机的实际速度计算底盘的真实运动
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- [ ] 根据电机的实际速度计算底盘的真实运动（轮式里程计）
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- [ ] 若为双板，根据IMU的数据对电机实际速度进行融合
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#### shoot
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@ -103,7 +103,7 @@ void ChassisInit()
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chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
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motor_rb = DJIMotorInit(&chassis_motor_config);
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referee_data = Referee_Interactive_init(&huart6,&ui_data); // 裁判系统初始化
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referee_data = UITaskInit(&huart6,&ui_data); // 裁判系统初始化,会同时初始化UI
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SuperCap_Init_Config_s cap_conf = {
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.can_config = {
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@ -1,3 +1,4 @@
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/* 注意该文件应只用于任务初始化,只能被robot.c包含*/
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#pragma once
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#include "FreeRTOS.h"
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@ -46,8 +47,7 @@ void OSTaskInit()
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osThreadDef(uitask, StartUITASK, osPriorityNormal, 0, 512);
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uiTaskHandle = osThreadCreate(osThread(uitask), NULL);
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// 若使用HT电机则取消本行注释,该接口会为注册了的电机设备创建线程
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// HTMotorControlInit();
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HTMotorControlInit(); // 没有注册HT电机则不会执行
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}
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void StartINSTASK(void const *argument)
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@ -102,10 +102,11 @@ void StartROBOTTASK(void const *argument)
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void StartUITASK(void const *argument)
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{
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My_UI_init();
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MyUIInit();
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while (1)
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{
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Referee_Interactive_task(); // 每次给裁判系统发送完一包数据后,挂起一次,防止卡在裁判系统发送中,详见Referee_Interactive_task函数的refereeSend();
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osDelay(1); // 即使没有任何UI需要刷新,也挂起一次,防止卡在UITask中无法切换
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// 每给裁判系统发送一包数据会挂起一次,详见UITask函数的refereeSend()
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UITask();
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osDelay(1); // 即使没有任何UI需要刷新,也挂起一次,防止卡在UITask中无法切换
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}
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}
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@ -4,12 +4,11 @@
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首先在chassis的初始化中调用裁判系统初始化函数，将要绘制的uidata的指针传递给接口，接口会返回裁判系统的反馈数据指针。然后，在refereeUItask里进行UI初始化，确定ui发送的目标并绘制初始化UI。完成后，uitask会以10hz的频率按顺序更新UI。
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## 如何绘制你的自定义UI？以绘制超级电容能量条为例
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## 如何绘制你的自定义UI？以绘制超级电容能量条为例：
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UI的绘制包含初始化和TASK两个部分，初始化部分在`MyUIInit`函数中，TASK部分在`MyUIRefresh`函数中。
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UI的绘制包含初始化和TASK两个部分，初始化部分在`My_UI_init`函数中，TASK部分在`My_UI_Refresh`函数中。
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### 初始化部分：
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### 初始化部分
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初始化部分的UI主要有两个目的：静态UI的绘制、为动态UI的绘制做准备。
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@ -22,7 +21,7 @@ Power：xxx Power为静态不变的，冒号后的xxx为变化的量。
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为动态UI的准备如下：
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绘制矩形方框内的初始能量条、绘制Power的初始值。
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### 绘制字符“Power:”：
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### 绘制字符“Power:”
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设置绘制用结构体，此处使用数组是因为需要绘制多个字符。本次绘制的字符为“Power:”，只是用到了第6个，即xxx[5]：
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@ -33,7 +32,7 @@ static String_Data_t UI_State_sta[6]; // 静态
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字符格式以及内容设置：
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```c
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Char_Draw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 7, UI_Color_Green, 18, 2, 620, 230, "Power:");
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UICharDraw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 7, UI_Color_Green, 18, 2, 620, 230, "Power:");
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//各参数意义如下，函数定义中有详细注释：
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string String_Data类型变量指针，用于存放字符串数据
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@ -47,12 +46,10 @@ Char_Draw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 7, UI_Color_Green, 18, 2, 620,
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*stringdata 字符串数据
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//设置完毕后，使用“Char_ReFresh”发送即可：
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Char_ReFresh(&referee_recv_info->referee_id, UI_State_sta[5]);
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UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[5]);
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```
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### 绘制能量框：
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### 绘制能量框
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定义一个图形类结构体，用于绘制能量框：
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@ -63,54 +60,55 @@ static Graph_Data_t UI_energy_line[3]; // 电容能量条
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能量框参数设置以及发送函数：
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```c
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Rectangle_Draw(&UI_energy_line[0],"ss6", UI_Graph_ADD, 7, UI_Color_Green,20, 720, 220, 820, 240)
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UI_ReFresh(&referee_recv_info->referee_id, 1,UI_energy_line[0]);
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UIRectangleDraw(&UI_energy_line[0],"ss6", UI_Graph_ADD, 7, UI_Color_Green,20, 720, 220, 820, 240)
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UIRefresh(&referee_recv_info->referee_id, 1,UI_energy_line[0]);
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```
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### 绘制power的初始值：
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### 绘制power的初始值
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```c
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Float_Draw(&UI_Energy[1], "sd5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 2, 750, 230, 24000);
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UIFloatDraw(&UI_Energy[1], "sd5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 2, 750, 230, 24000);
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```
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### 绘制能量条的初始值：
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### 绘制能量条的初始值
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```c
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Line_Draw(&UI_Energy[2], "sd6", UI_Graph_ADD, 8, UI_Color_Pink, 30, 720, 160, 1020, 160);
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UILineDraw(&UI_Energy[2], "sd6", UI_Graph_ADD, 8, UI_Color_Pink, 30, 720, 160, 1020, 160);
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```
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将两个图形打包发送
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```
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UI_ReFresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]);
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UIRefresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]);
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```
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## TASK部分
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task中UI处于动态变化，此时需要检测所画的UI是否发生变化，若发生变化，则刷新对应UI。
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### 添加变化检测:
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### 添加变化检测
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绘制功率部分UI，我们需要的是`Chassis_Power_Data_s`中的数据，我们定义`Chassis_Power_Data_s Chassis_Power_Data;`和`Chassis_Power_Data_s Chassis_last_Power_Data;`分别存储此次和上次的对应数据，本次和上次对应检测变化的需求。
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```c
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typedef struct
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{
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Referee_Interactive_Flag_t Referee_Interactive_Flag;
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// 为UI绘制以及交互数据所用
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chassis_mode_e chassis_mode; // 底盘模式
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gimbal_mode_e gimbal_mode; // 云台模式
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shoot_mode_e shoot_mode; // 发射模式设置
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friction_mode_e friction_mode; // 摩擦轮关闭
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lid_mode_e lid_mode; // 弹舱盖打开
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Chassis_Power_Data_s Chassis_Power_Data; // 功率控制
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Referee_Interactive_Flag_t Referee_Interactive_Flag;
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// 为UI绘制以及交互数据所用
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chassis_mode_e chassis_mode; // 底盘模式
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gimbal_mode_e gimbal_mode; // 云台模式
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shoot_mode_e shoot_mode; // 发射模式设置
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friction_mode_e friction_mode; // 摩擦轮关闭
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lid_mode_e lid_mode; // 弹舱盖打开
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Chassis_Power_Data_s Chassis_Power_Data; // 功率控制
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// 上一次的模式，用于flag判断
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chassis_mode_e chassis_last_mode;
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gimbal_mode_e gimbal_last_mode;
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shoot_mode_e shoot_last_mode;
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friction_mode_e friction_last_mode;
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lid_mode_e lid_last_mode;
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Chassis_Power_Data_s Chassis_last_Power_Data;
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// 上一次的模式，用于flag判断
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chassis_mode_e chassis_last_mode;
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gimbal_mode_e gimbal_last_mode;
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shoot_mode_e shoot_last_mode;
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friction_mode_e friction_last_mode;
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lid_mode_e lid_last_mode;
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Chassis_Power_Data_s Chassis_last_Power_Data;
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} Referee_Interactive_info_t;
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```
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@ -120,17 +118,19 @@ typedef struct
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```
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typedef struct
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{
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uint32_t chassis_flag : 1;
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uint32_t gimbal_flag : 1;
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uint32_t shoot_flag : 1;
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uint32_t lid_flag : 1;
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uint32_t friction_flag : 1;
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uint32_t Power_flag : 1;
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uint32_t chassis_flag : 1;
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uint32_t gimbal_flag : 1;
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uint32_t shoot_flag : 1;
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uint32_t lid_flag : 1;
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uint32_t friction_flag : 1;
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uint32_t Power_flag : 1;
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} Referee_Interactive_Flag_t;
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```
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在变化检测函数中增加对应判断,由于voltage和能量条的变化对应同一个参数`Chassis_last_Power_Data.chassis_power_mx`的变化，所以只需要一个参数即可：
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```
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static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data)
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static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data)
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{
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if (_Interactive_data->chassis_mode != _Interactive_data->chassis_last_mode)
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......
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|
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@ -148,52 +148,49 @@ static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data)
|
|||
}
|
||||
}
|
||||
```
|
||||
### 根据功率的变化绘制UI：
|
||||
|
||||
### 根据功率的变化绘制UI
|
||||
|
||||
在绘制变化的UI时，由于初始化时已经使用`UI_Graph_ADD`操作添加了UI，所以在绘制时，需要使用`UI_Graph_Change`操作，以便于刷新UI。
|
||||
|
||||
同时，完成UI刷新后，需要将对应的flag置0，以便于下次检测变化
|
||||
|
||||
```
|
||||
if (_Interactive_data->Referee_Interactive_Flag.Power_flag == 1)
|
||||
{
|
||||
Float_Draw(&UI_Energy[1], "sd5", UI_Graph_Change, 8, UI_Color_Green, 18, 2, 2, 750, 230, _Interactive_data->Chassis_Power_Data.chassis_power_mx * 1000);
|
||||
Line_Draw(&UI_Energy[2], "sd6", UI_Graph_Change, 8, UI_Color_Pink, 30, 720, 160, (uint32_t)750 + _Interactive_data->Chassis_Power_Data.chassis_power_mx * 30, 160);
|
||||
UI_ReFresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]);
|
||||
_Interactive_data->Referee_Interactive_Flag.Power_flag = 0;
|
||||
UIFloatDraw(&UI_Energy[1], "sd5", UI_Graph_Change, 8, UI_Color_Green, 18, 2, 2, 750, 230, _Interactive_data->Chassis_Power_Data.chassis_power_mx * 1000);
|
||||
UILineDraw(&UI_Energy[2], "sd6", UI_Graph_Change, 8, UI_Color_Pink, 30, 720, 160, (uint32_t)750 + _Interactive_data->Chassis_Power_Data.chassis_power_mx * 30, 160);
|
||||
UIRefresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]);
|
||||
_Interactive_data->Referee_Interactive_Flag.Power_flag = 0;
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#
|
||||
#
|
||||
#
|
||||
若需要进行多机交互，可增加此函数：
|
||||
|
||||
```c
|
||||
void CommBetweenRobotSend(referee_id_t *_id, robot_interactive_data_t *_data)
|
||||
{
|
||||
Communicate_SendData_t SendData;
|
||||
uint8_t temp_datalength = Interactive_Data_LEN_Head + Communicate_Data_LEN; // 计算交互数据长度 6+n,n为交互数据长度
|
||||
Communicate_SendData_t SendData;
|
||||
uint8_t temp_datalength = Interactive_Data_LEN_Head + Communicate_Data_LEN; // 计算交互数据长度 6+n,n为交互数据长度
|
||||
|
||||
SendData.FrameHeader.SOF = REFEREE_SOF;
|
||||
SendData.FrameHeader.DataLength = temp_datalength;
|
||||
SendData.FrameHeader.Seq = UI_Seq;
|
||||
SendData.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&SendData, LEN_CRC8, 0xFF);
|
||||
SendData.FrameHeader.SOF = REFEREE_SOF;
|
||||
SendData.FrameHeader.DataLength = temp_datalength;
|
||||
SendData.FrameHeader.Seq = UI_Seq;
|
||||
SendData.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&SendData, LEN_CRC8, 0xFF);
|
||||
|
||||
SendData.CmdID = ID_student_interactive;
|
||||
SendData.CmdID = ID_student_interactive;
|
||||
|
||||
SendData.datahead.data_cmd_id = Communicate_Data_ID;
|
||||
SendData.datahead.sender_ID = _id->Robot_ID;
|
||||
SendData.datahead.receiver_ID = _id->Receiver_Robot_ID;
|
||||
SendData.datahead.data_cmd_id = Communicate_Data_ID;
|
||||
SendData.datahead.sender_ID = _id->Robot_ID;
|
||||
SendData.datahead.receiver_ID = _id->Receiver_Robot_ID;
|
||||
|
||||
SendData.Data = *_data;
|
||||
SendData.Data = *_data;
|
||||
|
||||
SendData.frametail = Get_CRC16_Check_Sum((uint8_t *)&SendData, LEN_HEADER + LEN_CMDID + temp_datalength, 0xFFFF);
|
||||
SendData.frametail = Get_CRC16_Check_Sum((uint8_t *)&SendData, LEN_HEADER + LEN_CMDID + temp_datalength, 0xFFFF);
|
||||
|
||||
RefereeSend((uint8_t *)&SendData, LEN_HEADER + LEN_CMDID + temp_datalength + LEN_TAIL); // 发送
|
||||
UI_Seq++; // 包序号+1
|
||||
RefereeSend((uint8_t *)&SendData, LEN_HEADER + LEN_CMDID + temp_datalength + LEN_TAIL); // 发送
|
||||
UI_Seq++; // 包序号+1
|
||||
}
|
||||
```
|
||||
```
|
||||
|
|
|
|||
|
|
@ -57,8 +57,8 @@ void UIDelete(referee_id_t *_id, uint8_t Del_Operate, uint8_t Del_Layer)
|
|||
End_x、End_y 终点xy坐标
|
||||
**********************************************************************************************************/
|
||||
|
||||
void Line_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t End_x, uint32_t End_y)
|
||||
void UILineDraw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t End_x, uint32_t End_y)
|
||||
{
|
||||
int i;
|
||||
for (i = 0; i < 3 && graphname[i] != '\0'; i++) // 填充至‘0’为止
|
||||
|
|
@ -91,8 +91,8 @@ void Line_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, u
|
|||
Start_x、Start_y 起点xy坐标
|
||||
End_x、End_y 对角顶点xy坐标
|
||||
**********************************************************************************************************/
|
||||
void Rectangle_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t End_x, uint32_t End_y)
|
||||
void UIRectangleDraw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t End_x, uint32_t End_y)
|
||||
{
|
||||
int i;
|
||||
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
|
||||
|
|
@ -126,8 +126,8 @@ void Rectangle_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Opera
|
|||
Graph_Radius 圆形半径
|
||||
**********************************************************************************************************/
|
||||
|
||||
void Circle_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t Graph_Radius)
|
||||
void UICircleDraw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t Graph_Radius)
|
||||
{
|
||||
int i;
|
||||
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
|
||||
|
|
@ -159,8 +159,8 @@ void Circle_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate,
|
|||
Start_x、Start_y 圆心xy坐标
|
||||
End_x、End_y xy半轴长度
|
||||
**********************************************************************************************************/
|
||||
void Elliptical_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t end_x, uint32_t end_y)
|
||||
void UIOvalDraw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t end_x, uint32_t end_y)
|
||||
{
|
||||
int i;
|
||||
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
|
||||
|
|
@ -196,9 +196,9 @@ void Elliptical_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Oper
|
|||
x_Length,y_Length xy半轴长度
|
||||
**********************************************************************************************************/
|
||||
|
||||
void Arc_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_StartAngle, uint32_t Graph_EndAngle, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y,
|
||||
uint32_t end_x, uint32_t end_y)
|
||||
void UIArcDraw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_StartAngle, uint32_t Graph_EndAngle, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y,
|
||||
uint32_t end_x, uint32_t end_y)
|
||||
{
|
||||
int i;
|
||||
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
|
||||
|
|
@ -236,8 +236,8 @@ void Arc_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, ui
|
|||
end_y=(a>>21)&0x7FF;
|
||||
**********************************************************************************************************/
|
||||
|
||||
void Float_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_Size, uint32_t Graph_Digit, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, int32_t Graph_Float)
|
||||
void UIFloatDraw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_Size, uint32_t Graph_Digit, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, int32_t Graph_Float)
|
||||
{
|
||||
|
||||
int i;
|
||||
|
|
@ -274,8 +274,8 @@ void Float_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate,
|
|||
end_x=(a>>10)&0x7FF;
|
||||
end_y=(a>>21)&0x7FF;
|
||||
**********************************************************************************************************/
|
||||
void Integer_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_Size, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, int32_t Graph_Integer)
|
||||
void UIIntDraw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_Size, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, int32_t Graph_Integer)
|
||||
{
|
||||
int i;
|
||||
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
|
||||
|
|
@ -311,8 +311,8 @@ void Integer_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate
|
|||
fmt需要显示的字符串
|
||||
此函数的实现和具体使用类似于printf函数
|
||||
**********************************************************************************************************/
|
||||
void Char_Draw(String_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_Size, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, char *fmt, ...)
|
||||
void UICharDraw(String_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_Size, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, char *fmt, ...)
|
||||
{
|
||||
int i;
|
||||
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
|
||||
|
|
@ -345,7 +345,7 @@ void Char_Draw(String_Data_t *graph, char graphname[3], uint32_t Graph_Operate,
|
|||
... 图形变量参数
|
||||
Tips：：该函数只能推送1，2，5，7个图形，其他数目协议未涉及
|
||||
*/
|
||||
void UI_ReFresh(referee_id_t *_id, int cnt, ...)
|
||||
void UIGraphRefresh(referee_id_t *_id, int cnt, ...)
|
||||
{
|
||||
UI_GraphReFresh_t UI_GraphReFresh_data;
|
||||
Graph_Data_t graphData;
|
||||
|
|
@ -390,13 +390,13 @@ void UI_ReFresh(referee_id_t *_id, int cnt, ...)
|
|||
memcpy(buffer + (LEN_HEADER + LEN_CMDID + Interactive_Data_LEN_Head + UI_Operate_LEN_PerDraw * i), (uint8_t *)&graphData, UI_Operate_LEN_PerDraw);
|
||||
}
|
||||
Append_CRC16_Check_Sum(buffer, temp_datalength);
|
||||
RefereeSend(buffer, temp_datalength);
|
||||
RefereeSend(buffer, temp_datalength);
|
||||
|
||||
va_end(ap); // 结束可变参数的获取
|
||||
}
|
||||
|
||||
/************************************************UI推送字符（使更改生效）*********************************/
|
||||
void Char_ReFresh(referee_id_t *_id, String_Data_t string_Data)
|
||||
void UICharRefresh(referee_id_t *_id, String_Data_t string_Data)
|
||||
{
|
||||
static UI_CharReFresh_t UI_CharReFresh_data;
|
||||
|
||||
|
|
|
|||
|
|
@ -40,33 +40,33 @@ typedef struct
|
|||
|
||||
void UIDelete(referee_id_t *_id, uint8_t Del_Operate, uint8_t Del_Layer);
|
||||
|
||||
void Line_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t End_x, uint32_t End_y);
|
||||
void UILineDraw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t End_x, uint32_t End_y);
|
||||
|
||||
void Rectangle_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t End_x, uint32_t End_y);
|
||||
void UIRectangleDraw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t End_x, uint32_t End_y);
|
||||
|
||||
void Circle_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t Graph_Radius);
|
||||
void UICircleDraw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t Graph_Radius);
|
||||
|
||||
void Elliptical_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t end_x, uint32_t end_y);
|
||||
void UIOvalDraw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t end_x, uint32_t end_y);
|
||||
|
||||
void Arc_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_StartAngle, uint32_t Graph_EndAngle, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y,
|
||||
uint32_t end_x, uint32_t end_y);
|
||||
void UIArcDraw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_StartAngle, uint32_t Graph_EndAngle, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y,
|
||||
uint32_t end_x, uint32_t end_y);
|
||||
|
||||
void Float_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_Size, uint32_t Graph_Digit, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, int32_t Graph_Float);
|
||||
void UIFloatDraw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_Size, uint32_t Graph_Digit, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, int32_t Graph_Float);
|
||||
|
||||
void Integer_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_Size, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, int32_t Graph_Integer);
|
||||
void UIIntDraw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_Size, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, int32_t Graph_Integer);
|
||||
|
||||
void Char_Draw(String_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_Size, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, char *fmt, ...);
|
||||
void UICharDraw(String_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
|
||||
uint32_t Graph_Size, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, char *fmt, ...);
|
||||
|
||||
void UI_ReFresh(referee_id_t *_id, int cnt, ...);
|
||||
void UIGraphRefresh(referee_id_t *_id, int cnt, ...);
|
||||
|
||||
void Char_ReFresh(referee_id_t *_id, String_Data_t string_Data);
|
||||
void UICharRefresh(referee_id_t *_id, String_Data_t string_Data);
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -35,13 +35,11 @@ static void DeterminRobotID()
|
|||
referee_recv_info->referee_id.Receiver_Robot_ID = 0;
|
||||
}
|
||||
|
||||
static void My_UI_Refresh(referee_info_t *referee_recv_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 MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_info_t *_Interactive_data);
|
||||
static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data); // 模式切换检测
|
||||
static void RobotModeTest(Referee_Interactive_info_t *_Interactive_data); // 测试用函数，实现模式自动变化
|
||||
|
||||
// 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
|
||||
|
||||
referee_info_t *Referee_Interactive_init(UART_HandleTypeDef *referee_usart_handle, Referee_Interactive_info_t *UI_data)
|
||||
referee_info_t *UITaskInit(UART_HandleTypeDef *referee_usart_handle, Referee_Interactive_info_t *UI_data)
|
||||
{
|
||||
referee_recv_info = RefereeInit(referee_usart_handle); // 初始化裁判系统的串口,并返回裁判系统反馈数据指针
|
||||
Interactive_data = UI_data; // 获取UI绘制需要的机器人状态数据
|
||||
|
|
@ -49,10 +47,10 @@ referee_info_t *Referee_Interactive_init(UART_HandleTypeDef *referee_usart_handl
|
|||
return referee_recv_info;
|
||||
}
|
||||
|
||||
void Referee_Interactive_task()
|
||||
void UITask()
|
||||
{
|
||||
robot_mode_change(Interactive_data); // 测试用函数，实现模式自动变化
|
||||
My_UI_Refresh(referee_recv_info, Interactive_data);
|
||||
RobotModeTest(Interactive_data); // 测试用函数，实现模式自动变化,用于检查该任务和裁判系统是否连接正常
|
||||
MyUIRefresh(referee_recv_info, Interactive_data);
|
||||
}
|
||||
|
||||
static Graph_Data_t UI_shoot_line[10]; // 射击准线
|
||||
|
|
@ -61,66 +59,67 @@ static String_Data_t UI_State_sta[6]; // 机器人状态,静态只需画一次
|
|||
static String_Data_t UI_State_dyn[6]; // 机器人状态,动态先add才能change
|
||||
static uint32_t shoot_line_location[10] = {540, 960, 490, 515, 565};
|
||||
|
||||
void My_UI_init()
|
||||
void MyUIInit()
|
||||
{
|
||||
if (!referee_recv_info->init_flag)
|
||||
vTaskDelete(NULL); // 如果没有初始化裁判系统则直接删除ui任务
|
||||
while (referee_recv_info->GameRobotState.robot_id == 0)
|
||||
osDelay(100); // 若还未收到裁判系统数据,等待一段时间后再检查
|
||||
|
||||
DeterminRobotID(); // 确定ui要发送到的目标客户端
|
||||
|
||||
DeterminRobotID(); // 确定ui要发送到的目标客户端
|
||||
UIDelete(&referee_recv_info->referee_id, UI_Data_Del_ALL, 0); // 清空UI
|
||||
|
||||
// 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_recv_info->referee_id, 5, UI_shoot_line[0], UI_shoot_line[1], UI_shoot_line[2], UI_shoot_line[3], UI_shoot_line[4]);
|
||||
UILineDraw(&UI_shoot_line[0], "sl0", UI_Graph_ADD, 7, UI_Color_White, 3, 710, shoot_line_location[0], 1210, shoot_line_location[0]);
|
||||
UILineDraw(&UI_shoot_line[1], "sl1", UI_Graph_ADD, 7, UI_Color_White, 3, shoot_line_location[1], 340, shoot_line_location[1], 740);
|
||||
UILineDraw(&UI_shoot_line[2], "sl2", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[2], 1110, shoot_line_location[2]);
|
||||
UILineDraw(&UI_shoot_line[3], "sl3", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[3], 1110, shoot_line_location[3]);
|
||||
UILineDraw(&UI_shoot_line[4], "sl4", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[4], 1110, shoot_line_location[4]);
|
||||
UIGraphRefresh(&referee_recv_info->referee_id, 5, UI_shoot_line[0], UI_shoot_line[1], UI_shoot_line[2], UI_shoot_line[3], UI_shoot_line[4]);
|
||||
|
||||
// 绘制车辆状态标志指示
|
||||
Char_Draw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 150, 750, "chassis:");
|
||||
Char_ReFresh(&referee_recv_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, "gimbal:");
|
||||
Char_ReFresh(&referee_recv_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, "shoot:");
|
||||
Char_ReFresh(&referee_recv_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, "frict:");
|
||||
Char_ReFresh(&referee_recv_info->referee_id, UI_State_sta[3]);
|
||||
Char_Draw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 550, "lid:");
|
||||
Char_ReFresh(&referee_recv_info->referee_id, UI_State_sta[4]);
|
||||
UICharDraw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 150, 750, "chassis:");
|
||||
UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[0]);
|
||||
UICharDraw(&UI_State_sta[1], "ss1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 150, 700, "gimbal:");
|
||||
UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[1]);
|
||||
UICharDraw(&UI_State_sta[2], "ss2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 150, 650, "shoot:");
|
||||
UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[2]);
|
||||
UICharDraw(&UI_State_sta[3], "ss3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 600, "frict:");
|
||||
UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[3]);
|
||||
UICharDraw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 550, "lid:");
|
||||
UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[4]);
|
||||
|
||||
// 绘制车辆状态标志，动态
|
||||
// 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, "zeroforce");
|
||||
Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[0]);
|
||||
Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 270, 700, "zeroforce");
|
||||
Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[1]);
|
||||
Char_Draw(&UI_State_dyn[2], "sd2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 270, 650, "off");
|
||||
Char_ReFresh(&referee_recv_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, "off");
|
||||
Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[3]);
|
||||
Char_Draw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 550, "open ");
|
||||
Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
|
||||
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 270, 750, "zeroforce");
|
||||
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[0]);
|
||||
UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 270, 700, "zeroforce");
|
||||
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[1]);
|
||||
UICharDraw(&UI_State_dyn[2], "sd2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 270, 650, "off");
|
||||
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[2]);
|
||||
UICharDraw(&UI_State_dyn[3], "sd3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 600, "off");
|
||||
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[3]);
|
||||
UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 550, "open ");
|
||||
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
|
||||
|
||||
// 底盘功率显示，静态
|
||||
Char_Draw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 7, UI_Color_Green, 18, 2, 620, 230, "Power:");
|
||||
Char_ReFresh(&referee_recv_info->referee_id, UI_State_sta[5]);
|
||||
UICharDraw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 7, UI_Color_Green, 18, 2, 620, 230, "Power:");
|
||||
UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[5]);
|
||||
// 能量条框
|
||||
Rectangle_Draw(&UI_Energy[0], "ss6", UI_Graph_ADD, 7, UI_Color_Green, 2, 720, 140, 1220, 180);
|
||||
UI_ReFresh(&referee_recv_info->referee_id, 1, UI_Energy[0]);
|
||||
UIRectangleDraw(&UI_Energy[0], "ss6", UI_Graph_ADD, 7, UI_Color_Green, 2, 720, 140, 1220, 180);
|
||||
UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[0]);
|
||||
|
||||
// 底盘功率显示,动态
|
||||
Float_Draw(&UI_Energy[1], "sd5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 2, 750, 230, 24000);
|
||||
UIFloatDraw(&UI_Energy[1], "sd5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 2, 750, 230, 24000);
|
||||
// 能量条初始状态
|
||||
Line_Draw(&UI_Energy[2], "sd6", UI_Graph_ADD, 8, UI_Color_Pink, 30, 720, 160, 1020, 160);
|
||||
UI_ReFresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]);
|
||||
UILineDraw(&UI_Energy[2], "sd6", UI_Graph_ADD, 8, UI_Color_Pink, 30, 720, 160, 1020, 160);
|
||||
UIGraphRefresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]);
|
||||
}
|
||||
|
||||
// 测试用函数，实现模式自动变化,用于检查该任务和裁判系统是否连接正常
|
||||
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
|
||||
static void RobotModeTest(Referee_Interactive_info_t *_Interactive_data) // 测试用函数，实现模式自动变化
|
||||
{
|
||||
count++;
|
||||
if (count >= 50)
|
||||
|
|
@ -174,29 +173,29 @@ static void robot_mode_change(Referee_Interactive_info_t *_Interactive_data) //
|
|||
}
|
||||
}
|
||||
|
||||
static void My_UI_Refresh(referee_info_t *referee_recv_info, Referee_Interactive_info_t *_Interactive_data)
|
||||
static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_info_t *_Interactive_data)
|
||||
{
|
||||
Mode_Change_Check(_Interactive_data);
|
||||
UIChangeCheck(_Interactive_data);
|
||||
// chassis
|
||||
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, "zeroforce");
|
||||
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "zeroforce");
|
||||
break;
|
||||
case CHASSIS_ROTATE:
|
||||
Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "rotate ");
|
||||
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "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, "nofollow ");
|
||||
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "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, "follow ");
|
||||
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "follow ");
|
||||
break;
|
||||
}
|
||||
Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[0]);
|
||||
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[0]);
|
||||
_Interactive_data->Referee_Interactive_Flag.chassis_flag = 0;
|
||||
}
|
||||
// gimbal
|
||||
|
|
@ -206,50 +205,50 @@ static void My_UI_Refresh(referee_info_t *referee_recv_info, Referee_Interactive
|
|||
{
|
||||
case GIMBAL_ZERO_FORCE:
|
||||
{
|
||||
Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "zeroforce");
|
||||
UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "zeroforce");
|
||||
break;
|
||||
}
|
||||
case GIMBAL_FREE_MODE:
|
||||
{
|
||||
Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "free ");
|
||||
UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "free ");
|
||||
break;
|
||||
}
|
||||
case GIMBAL_GYRO_MODE:
|
||||
{
|
||||
Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "gyro ");
|
||||
UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "gyro ");
|
||||
break;
|
||||
}
|
||||
}
|
||||
Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[1]);
|
||||
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[1]);
|
||||
_Interactive_data->Referee_Interactive_Flag.gimbal_flag = 0;
|
||||
}
|
||||
// shoot
|
||||
if (_Interactive_data->Referee_Interactive_Flag.shoot_flag == 1)
|
||||
{
|
||||
Char_Draw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 650, _Interactive_data->shoot_mode == SHOOT_ON ? "on " : "off");
|
||||
Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[2]);
|
||||
UICharDraw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 650, _Interactive_data->shoot_mode == SHOOT_ON ? "on " : "off");
|
||||
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[2]);
|
||||
_Interactive_data->Referee_Interactive_Flag.shoot_flag = 0;
|
||||
}
|
||||
// friction
|
||||
if (_Interactive_data->Referee_Interactive_Flag.friction_flag == 1)
|
||||
{
|
||||
Char_Draw(&UI_State_dyn[3], "sd3", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 600, _Interactive_data->friction_mode == FRICTION_ON ? "on " : "off");
|
||||
Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[3]);
|
||||
UICharDraw(&UI_State_dyn[3], "sd3", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 600, _Interactive_data->friction_mode == FRICTION_ON ? "on " : "off");
|
||||
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[3]);
|
||||
_Interactive_data->Referee_Interactive_Flag.friction_flag = 0;
|
||||
}
|
||||
// lid
|
||||
if (_Interactive_data->Referee_Interactive_Flag.lid_flag == 1)
|
||||
{
|
||||
Char_Draw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 550, _Interactive_data->lid_mode == LID_OPEN ? "open " : "close");
|
||||
Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
|
||||
UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 550, _Interactive_data->lid_mode == LID_OPEN ? "open " : "close");
|
||||
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
|
||||
_Interactive_data->Referee_Interactive_Flag.lid_flag = 0;
|
||||
}
|
||||
// power
|
||||
if (_Interactive_data->Referee_Interactive_Flag.Power_flag == 1)
|
||||
{
|
||||
Float_Draw(&UI_Energy[1], "sd5", UI_Graph_Change, 8, UI_Color_Green, 18, 2, 2, 750, 230, _Interactive_data->Chassis_Power_Data.chassis_power_mx * 1000);
|
||||
Line_Draw(&UI_Energy[2], "sd6", UI_Graph_Change, 8, UI_Color_Pink, 30, 720, 160, (uint32_t)750 + _Interactive_data->Chassis_Power_Data.chassis_power_mx * 30, 160);
|
||||
UI_ReFresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]);
|
||||
UIFloatDraw(&UI_Energy[1], "sd5", UI_Graph_Change, 8, UI_Color_Green, 18, 2, 2, 750, 230, _Interactive_data->Chassis_Power_Data.chassis_power_mx * 1000);
|
||||
UILineDraw(&UI_Energy[2], "sd6", UI_Graph_Change, 8, UI_Color_Pink, 30, 720, 160, (uint32_t)750 + _Interactive_data->Chassis_Power_Data.chassis_power_mx * 30, 160);
|
||||
UIGraphRefresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]);
|
||||
_Interactive_data->Referee_Interactive_Flag.Power_flag = 0;
|
||||
}
|
||||
}
|
||||
|
|
@ -260,7 +259,7 @@ static void My_UI_Refresh(referee_info_t *referee_recv_info, Referee_Interactive
|
|||
* @retval none
|
||||
* @attention
|
||||
*/
|
||||
static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data)
|
||||
static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data)
|
||||
{
|
||||
if (_Interactive_data->chassis_mode != _Interactive_data->chassis_last_mode)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -8,18 +8,18 @@
|
|||
* @brief 初始化裁判系统交互任务(UI和多机通信)
|
||||
*
|
||||
*/
|
||||
referee_info_t *Referee_Interactive_init(UART_HandleTypeDef *referee_usart_handle, Referee_Interactive_info_t *UI_data);
|
||||
referee_info_t *UITaskInit(UART_HandleTypeDef *referee_usart_handle, Referee_Interactive_info_t *UI_data);
|
||||
|
||||
/**
|
||||
* @brief 在referee task之前调用,添加在freertos.c中
|
||||
*
|
||||
*/
|
||||
void My_UI_init();
|
||||
void MyUIInit();
|
||||
|
||||
/**
|
||||
* @brief 裁判系统交互任务(UI和多机通信)
|
||||
*
|
||||
*/
|
||||
void Referee_Interactive_task();
|
||||
void UITask();
|
||||
|
||||
#endif // REFEREE_H
|
||||
|
|
|
|||
Loading…
Reference in New Issue