HFUT_Firmament_EC
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sentry_chassis_hzz
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合并“referee”分支

This commit is contained in:
NeoZng 2023-04-20 10:50:46 +08:00
parent 0f55fed9d6 345dcfa588
commit f3d47258cd
18 changed files with 1017 additions and 965 deletions
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4
Makefile
View File

@ -145,7 +145,7 @@ modules/oled/oled.c \
modules/referee/crc_ref.c \
modules/referee/rm_referee.c \
modules/referee/referee_UI.c \
modules/referee/referee_communication.c \
modules/referee/referee_task.c \
modules/remote/remote_control.c \
modules/super_cap/super_cap.c \
modules/can_comm/can_comm.c \
@ -155,7 +155,6 @@ modules/vofa/vofa.c \
application/gimbal/gimbal.c \
application/chassis/chassis.c \
application/shoot/shoot.c \
application/referee/referee.c \
application/cmd/robot_cmd.c \
application/balance_chassis/balance.c \
application/robot.c
@ -237,7 +236,6 @@ C_INCLUDES = \
-Iapplication/gimbal \
-Iapplication/cmd \
-Iapplication/balance_chassis \
-Iapplication/referee \
-Iapplication \
-Ibsp/dwt \
-Ibsp/can \

106
Src/freertos.c
View File

@ -1,20 +1,20 @@
/* USER CODE BEGIN Header */
/**
******************************************************************************
* File Name : freertos.c
* Description : Code for freertos applications
******************************************************************************
* @attention
*
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
******************************************************************************
* File Name : freertos.c
* Description : Code for freertos applications
******************************************************************************
* @attention
*
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
@ -28,6 +28,7 @@
#include "ins_task.h"
#include "motor_task.h"
#include "led_task.h"
#include "referee_task.h"
#include "daemon.h"
#include "robot.h"
/* USER CODE END Includes */
@ -61,28 +62,32 @@ osThreadId uiTaskHandle;
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
void StartINSTASK(void const * argument);
void StartINSTASK(void const *argument);
void StartMOTORTASK(void const * argument);
void StartMOTORTASK(void const *argument);
void StartDAEMONTASK(void const* argument);
void StartDAEMONTASK(void const *argument);
void StartROBOTTASK(void const* argument);
void StartROBOTTASK(void const *argument);
void StartROBOTTASK(void const *argument);
void StartUITASK(void const *argument);
/* USER CODE END FunctionPrototypes */
void StartDefaultTask(void const * argument);
void StartDefaultTask(void const *argument);
extern void MX_USB_DEVICE_Init(void);
void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
/* GetIdleTaskMemory prototype (linked to static allocation support) */
void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );
void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize);
/* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
static StaticTask_t xIdleTaskTCBBuffer;
static StackType_t xIdleStack[configMINIMAL_STACK_SIZE];
void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize)
{
*ppxIdleTaskTCBBuffer = &xIdleTaskTCBBuffer;
*ppxIdleTaskStackBuffer = &xIdleStack[0];
@ -92,11 +97,12 @@ void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackTy
/* USER CODE END GET_IDLE_TASK_MEMORY */
/**
* @brief FreeRTOS initialization
* @param None
* @retval None
*/
void MX_FREERTOS_Init(void) {
* @brief FreeRTOS initialization
* @param None
* @retval None
*/
void MX_FREERTOS_Init(void)
{
/* USER CODE BEGIN Init */
/* USER CODE END Init */
@ -134,25 +140,28 @@ void MX_FREERTOS_Init(void) {
daemonTaskHandle = osThreadCreate(osThread(daemontask), NULL);
osThreadDef(robottask, StartROBOTTASK, osPriorityNormal, 0, 1024);
robotTaskHandle = osThreadCreate(osThread(robottask), NULL);
/* USER CODE END RTOS_THREADS */
defaultTaskHandle = osThreadCreate(osThread(robottask), NULL);
osThreadDef(uitask, StartUITASK, osPriorityNormal, 0, 512);
defaultTaskHandle = osThreadCreate(osThread(uitask), NULL);
/* USER CODE END RTOS_THREADS */
}
/* USER CODE BEGIN Header_StartDefaultTask */
/**
* @brief Function implementing the defaultTask thread.
* @param argument: Not used
* @retval None
*/
* @brief Function implementing the defaultTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void const * argument)
void StartDefaultTask(void const *argument)
{
/* init code for USB_DEVICE */
MX_USB_DEVICE_Init();
/* USER CODE BEGIN StartDefaultTask */
/* Infinite loop */
for(;;)
for (;;)
{
osDelay(1);
}
@ -161,43 +170,52 @@ void StartDefaultTask(void const * argument)
/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
void StartINSTASK(void const * argument)
void StartINSTASK(void const *argument)
{
while (1)
{
//1kHz
INS_Task();
// 1kHz
// INS_Task();
osDelay(1);
}
}
void StartMOTORTASK(void const * argument)
void StartMOTORTASK(void const *argument)
{
while (1)
{
//500Hz
// 500Hz
MotorControlTask();
osDelay(2);
}
}
void StartDAEMONTASK(void const * argument)
void StartDAEMONTASK(void const *argument)
{
while (1)
{
//100Hz
// 100Hz
DaemonTask();
osDelay(10);
}
}
void StartROBOTTASK(void const * argument)
void StartROBOTTASK(void const *argument)
{
while (1)
{
// 200Hz
RobotTask();
osDelay(5);//syh此处暂时将时间改<E997B4>?10ms，原因在于未使用缓冲区发送，发<EFBC8C>?<3F>时延时5ms
osDelay(5); // syh此处暂时将时间改<E997B4>?10ms，原因在于未使用缓冲区发送，发<EFBC8C>?<3F>时延时5ms
}
}
void StartUITASK(void const *argument)
{
My_UI_init();
while (1)
{
Referee_Interactive_task();
}
}
/* USER CODE END Application */

2
application/balance_chassis/balance.c
View File

@ -7,11 +7,11 @@
#include "HT04.h"
#include "LK9025.h"
#include "bmi088.h"
#include "referee.h"
#include "super_cap.h"
#include "controller.h"
#include "can_comm.h"
#include "user_lib.h"
#include "rm_referee.h"
// standard
#include "stdint.h"
#include "arm_math.h" // 需要用到较多三角函数

15
application/chassis/chassis.c
View File

@ -16,12 +16,7 @@
#include "dji_motor.h"
#include "super_cap.h"
#include "message_center.h"
// referee需要移动到module层
/////////////////////////
#include "rm_referee.h"
/////////////////////////
#include "referee_task.h"
#include "general_def.h"
#include "bsp_dwt.h"
@ -47,6 +42,9 @@ static Subscriber_t *chassis_sub; // 用于订阅底盘的控
static Chassis_Ctrl_Cmd_s chassis_cmd_recv; // 底盘接收到的控制命令
static Chassis_Upload_Data_s chassis_feedback_data; // 底盘回传的反馈数据
static referee_info_t* referee_data; // 用于获取裁判系统的数据
static Referee_Interactive_info_t ui_data; // UI数据，将底盘中的数据传入此结构体的对应变量中，UI会自动检测是否变化，对应显示UI
static SuperCapInstance *cap; // 超级电容
static DJIMotorInstance *motor_lf, *motor_rf, *motor_lb, *motor_rb; // left right forward back
@ -105,10 +103,7 @@ void ChassisInit()
chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
motor_rb = DJIMotorInit(&chassis_motor_config);
// referee_data = RefereeInit(&huart6); // 裁判系统初始化
// while (referee_data->GameRobotState.robot_id ==0);
// Referee_Interactive_init(referee_data);
referee_data = Referee_Interactive_init(&huart6,&ui_data); // 裁判系统初始化
SuperCap_Init_Config_s cap_conf = {
.can_config = {

385
application/referee/referee.c
View File

@ -1,385 +0,0 @@
/**
* @file referee.C
* @author kidneygood (you@domain.com)
* @brief
* @version 0.1
* @date 2022-11-18
*
* @copyright Copyright (c) 2022
*
*/
#include "referee.h"
#include "robot_def.h"
#include "rm_referee.h"
#include "referee_UI.h"
#include "referee_communication.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 robot_interactive_data_t *SendData;
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 Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data); // 模式切换检测
//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
static void UI_test_init(referee_info_t *_referee_info);//UI测试函数
void Referee_Interactive_init()
{
referee_data = RefereeInit(&huart6); // 裁判系统初始化
while (referee_data->GameRobotState.robot_id == 0)
;
determine_ID(referee_data);
My_UI_init(referee_data);
//UI_test_init(referee_data);
for (int i=0;i<Communicate_Data_LEN;i++)
{
SendData->data[i]=i+1;
}
referee_data->referee_id.Receiver_Robot_ID = RobotID_BEngineer; // 机器人车间通信时接收者的ID暂时发给蓝色2
Communicate_SendData(&referee_data->referee_id,SendData);
}
void Referee_Interactive_task()
{
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[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};
static void My_UI_init(referee_info_t *_referee_info)
{
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]);
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]);
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], "shoot:");
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[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 550);
Char_Write(&UI_State_sta[4], "lid:");
Char_ReFresh(&_referee_info->referee_id, UI_State_sta[4]);
// 底盘功率显示，静态
Char_Draw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 720, 210);
Char_Write(&UI_State_sta[5], "Power:");
Char_ReFresh(&_referee_info->referee_id, UI_State_sta[5]);
// 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);
Char_Write(&UI_State_dyn[0], "zeroforce");
Char_ReFresh(&_referee_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);
Char_Write(&UI_State_dyn[1], "zeroforce");
Char_ReFresh(&_referee_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);
Char_Write(&UI_State_dyn[2], "off");
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], "off");
Char_ReFresh(&_referee_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);
Char_Write(&UI_State_dyn[4], "open ");
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[4]);
// 底盘功率显示，动态
Char_Draw(&UI_State_dyn[5], "sd5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 840, 210);
Char_Write(&UI_State_dyn[5], "0000");
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[5]);
}
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)
{
Mode_Change_Check(_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);
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;
}
// gimbal
if (_Interactive_data->Referee_Interactive_Flag.gimbal_flag == 1)
{
switch (_Interactive_data->gimbal_mode)
{
case GIMBAL_ZERO_FORCE:
{
Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700);
Char_Write(&UI_State_dyn[1], "zeroforce");
break;
}
case GIMBAL_FREE_MODE:
{
Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700);
Char_Write(&UI_State_dyn[1], "free ");
break;
}
case GIMBAL_GYRO_MODE:
{
Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700);
Char_Write(&UI_State_dyn[1], "gyro ");
break;
}
}
Char_ReFresh(&_referee_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)
{
switch (_Interactive_data->shoot_mode)
{
case SHOOT_OFF:
{
Char_Draw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Orange, 15, 2, 270, 650);
Char_Write(&UI_State_dyn[2], "off");
break;
}
case SHOOT_ON:
{
Char_Draw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Orange, 15, 2, 270, 650);
Char_Write(&UI_State_dyn[2], "on ");
break;
}
}
Char_ReFresh(&_referee_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)
{
switch (_Interactive_data->friction_mode)
{
case FRICTION_OFF:
{
Char_Draw(&UI_State_dyn[3], "sd3", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 600);
Char_Write(&UI_State_dyn[3], "off");
break;
}
case FRICTION_ON:
{
Char_Draw(&UI_State_dyn[3], "sd3", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 600);
Char_Write(&UI_State_dyn[3], "on ");
break;
}
}
Char_ReFresh(&_referee_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)
{
switch (_Interactive_data->lid_mode)
{
case LID_CLOSE:
{
Char_Draw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 550);
Char_Write(&UI_State_dyn[4], "close");
break;
}
case LID_OPEN:
{
Char_Draw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 550);
Char_Write(&UI_State_dyn[4], "open ");
break;
}
}
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[4]);
_Interactive_data->Referee_Interactive_Flag.lid_flag = 0;
}
}
/**
* @brief 模式切换检测,模式发生切换时，对flag置位
* @param Referee_Interactive_info_t *_Interactive_data
* @retval none
* @attention
*/
static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data)
{
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->gimbal_mode != _Interactive_data->gimbal_last_mode)
{
_Interactive_data->Referee_Interactive_Flag.gimbal_flag = 1;
_Interactive_data->gimbal_last_mode = _Interactive_data->gimbal_mode;
}
if (_Interactive_data->shoot_mode != _Interactive_data->shoot_last_mode)
{
_Interactive_data->Referee_Interactive_Flag.shoot_flag = 1;
_Interactive_data->shoot_last_mode = _Interactive_data->shoot_mode;
}
if (_Interactive_data->friction_mode != _Interactive_data->friction_last_mode)
{
_Interactive_data->Referee_Interactive_Flag.friction_flag = 1;
_Interactive_data->friction_last_mode = _Interactive_data->friction_mode;
}
if (_Interactive_data->lid_mode != _Interactive_data->lid_last_mode)
{
_Interactive_data->Referee_Interactive_Flag.lid_flag = 1;
_Interactive_data->lid_last_mode = _Interactive_data->lid_mode;
}
}
/**
* @brief 判断各种ID，选择客户端ID
* @param referee_info_t *_referee_info
* @retval none
* @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 = 0;
}
/* 测试用函数 */
static void UI_test_init(referee_info_t *_referee_info)
{
Graph_Data_t graph[5];
Graph_Data_t num[2];
String_Data_t sdata[1];
UI_Delete(&_referee_info->referee_id, UI_Data_Del_ALL, 0);
Line_Draw(&graph[0],"s0",UI_Graph_ADD,0,UI_Color_White,3,710,540,1210,540);
Rectangle_Draw(&graph[1],"s1",UI_Graph_ADD,0,UI_Color_Yellow,4,600,200,800,500);
Circle_Draw(&graph[2],"s2",UI_Graph_ADD,0,UI_Color_Green,5,960,540,100);
Elliptical_Draw(&graph[3],"s3",UI_Graph_ADD,0,UI_Color_Orange,3,960,540,100,20);
Arc_Draw(&graph[4],"s4",UI_Graph_ADD,0,UI_Color_Purplish_red,30,160,3,1200,550,50,100);
Float_Draw(&num[0],"s5",UI_Graph_ADD,0,UI_Color_Pink,50,3,5,1050,660,1245545);
Integer_Draw(&num[1],"s6",UI_Graph_ADD,0,UI_Color_Cyan,50,5,1050,460,12345);
UI_ReFresh(&_referee_info->referee_id,7,graph[0],graph[1],graph[2],graph[3],graph[4],num[0],num[1]);
Char_Draw(&sdata[0],"s7",UI_Graph_ADD,0,UI_Color_Green,20,2,620,710);
Char_Write(&sdata[0],"number:%d",123);
Char_ReFresh(&_referee_info->referee_id,sdata[0]);
}

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#ifndef REFEREE_H
#define REFEREE_H
#include "rm_referee.h"
#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;
uint32_t gimbal_flag : 1;
uint32_t shoot_flag : 1;
uint32_t lid_flag : 1;
uint32_t friction_flag : 1;
uint32_t Power_flag : 1;
} Referee_Interactive_Flag_t;
// 此结构体包含UI绘制与机器人车间通信的需要的其他非裁判系统数据
typedef struct
{
Referee_Interactive_Flag_t Referee_Interactive_Flag;
//为UI绘制以及交互数据所用
Robot_Status_e Robot_Status;// 机器人状态
App_Status_e App_Status;// 应用状态
chassis_mode_e chassis_mode;//底盘模式
gimbal_mode_e gimbal_mode;//云台模式
shoot_mode_e shoot_mode;//发射模式设置
friction_mode_e friction_mode;//摩擦轮关闭
lid_mode_e lid_mode;//弹舱盖打开
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

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application/referee/referee.md
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@ -1,3 +0,0 @@
# referee
需要将此模块移动到module层，并新建一个rtos任务，以一定频率运行，用于ui刷新和多机通信

2
modules/referee/crc_ref.h
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@ -1,7 +1,7 @@
#ifndef __CRC_H_
#define __CRC_H_
//裁判系统官方CRC校验,LUT和module/algorithms中的不同,后续需要统一实现crc,提供8/16/32的支持
// 裁判系统官方CRC校验,LUT和module/algorithms中的不同,后续需要统一实现crc,提供8/16/32的支持
#include <stdint.h>

198
modules/referee/referee.md
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@ -1,3 +1,199 @@
# referee
当前模块组织较为混乱，后续统一为多机通信+裁判系统信息接收+UI绘制。UI绘制和多机通信的发送部分在referee任务中以一定的频率运行，信息的接收通过中断完成。
## referee运行流程
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。
## 如何绘制你的自定义UI？以绘制超级电容能量条为例：
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。
### 初始化部分：
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。
分析超级电容能量条功能可知，此UI包含如下：
Power：xxx Power为静态不变的，冒号后的xxx为变化的量。
方框以及方框内的能量条：方框为静态不变的，能量条为变化的量。（参考游戏血条）
因而，静态UI的绘制包含如下：
绘制字符“Power:”、绘制矩形方框。
为动态UI的准备如下：
绘制矩形方框内的初始能量条、绘制Power的初始值。
### 绘制字符“Power:”：
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]：
```c
static String_Data_t UI_State_sta[6]; // 静态
```
字符格式以及内容设置：
```c
Char_Draw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 7, UI_Color_Green, 18, 2, 620, 230, "Power:");
//各参数意义如下，函数定义中有详细注释：
string String_Data类型变量指针，用于存放字符串数据
stringname[3] 字符串名称，用于标识更改
String_Operate 字符串操作，初始化时一般使用"UI_Graph_ADD"
String_Layer 图层0-9
String_Color 字符串颜色
String_Size 字号
String_Width 字符串线宽
Start_x、Start_y 开始坐标
*stringdata 字符串数据
//设置完毕后，使用“Char_ReFresh”发送即可：
Char_ReFresh(&referee_recv_info->referee_id, UI_State_sta[5]);
```
### 绘制能量框：
定义一个图形类结构体，用于绘制能量框：
```c
static Graph_Data_t UI_energy_line[3]; // 电容能量条
```
能量框参数设置以及发送函数：
```c
Rectangle_Draw(&UI_energy_line[0],"ss6", UI_Graph_ADD, 7, UI_Color_Green,20, 720, 220, 820, 240)
UI_ReFresh(&referee_recv_info->referee_id, 1,UI_energy_line[0]);
```
### 绘制power的初始值：
```c
Float_Draw(&UI_Energy[1], "sd5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 2, 750, 230, 24000);
```
### 绘制能量条的初始值：
```c
Line_Draw(&UI_Energy[2], "sd6", UI_Graph_ADD, 8, UI_Color_Pink, 30, 720, 160, 1020, 160);
```
将两个图形打包发送
```
UI_ReFresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]);
```
## TASK部分
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。
### 添加变化检测:
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。
```c
typedef struct
{
Referee_Interactive_Flag_t Referee_Interactive_Flag;
// 为UI绘制以及交互数据所用
chassis_mode_e chassis_mode; // 底盘模式
gimbal_mode_e gimbal_mode; // 云台模式
shoot_mode_e shoot_mode; // 发射模式设置
friction_mode_e friction_mode; // 摩擦轮关闭
lid_mode_e lid_mode; // 弹舱盖打开
Chassis_Power_Data_s Chassis_Power_Data; // 功率控制
// 上一次的模式，用于flag判断
chassis_mode_e chassis_last_mode;
gimbal_mode_e gimbal_last_mode;
shoot_mode_e shoot_last_mode;
friction_mode_e friction_last_mode;
lid_mode_e lid_last_mode;
Chassis_Power_Data_s Chassis_last_Power_Data;
} Referee_Interactive_info_t;
```
添加功率变化标志位，`uint32_t Power_flag : 1;`，1为检测到变化，0为未检测到变换
```
typedef struct
{
uint32_t chassis_flag : 1;
uint32_t gimbal_flag : 1;
uint32_t shoot_flag : 1;
uint32_t lid_flag : 1;
uint32_t friction_flag : 1;
uint32_t Power_flag : 1;
} Referee_Interactive_Flag_t;
```
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：
```
static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data)
{
if (_Interactive_data->chassis_mode != _Interactive_data->chassis_last_mode)
......
......
if (_Interactive_data->lid_mode != _Interactive_data->lid_last_mode)
{
_Interactive_data->Referee_Interactive_Flag.lid_flag = 1;
_Interactive_data->lid_last_mode = _Interactive_data->lid_mode;
}
if (_Interactive_data->Chassis_Power_Data.chassis_power_mx != _Interactive_data->Chassis_last_Power_Data.chassis_power_mx)
{
_Interactive_data->Referee_Interactive_Flag.Power_flag = 1;
_Interactive_data->Chassis_last_Power_Data.chassis_power_mx = _Interactive_data->Chassis_Power_Data.chassis_power_mx;
}
}
```
### 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;
}
```
#
#
#
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
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.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.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
}
```

589
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@ -10,424 +10,415 @@
*/
#include "referee_UI.h"
#include "string.h"
#include "crc.h"
#include "crc_ref.h"
#include "stdio.h"
#include "rm_referee.h"
// 包序号
/********************************************删除操作*************************************
**参数：_id 对应的id结构体
Del_Operate 对应头文件删除操作
Del_Layer 要删除的层 取值0-9
Del_Operate 对应头文件删除操作
Del_Layer 要删除的层 取值0-9
*****************************************************************************************/
void UI_Delete(referee_id_t *_id, uint8_t Del_Operate, uint8_t Del_Layer)
void UIDelete(referee_id_t *_id, uint8_t Del_Operate, uint8_t Del_Layer)
{
UI_delete_t UI_delete_data;
uint8_t temp_datalength = Interactive_Data_LEN_Head + UI_Operate_LEN_Del; // 计算交互数据长度
UI_delete_t UI_delete_data;
uint8_t temp_datalength = Interactive_Data_LEN_Head + UI_Operate_LEN_Del; // 计算交互数据长度
UI_delete_data.FrameHeader.SOF = REFEREE_SOF;
UI_delete_data.FrameHeader.DataLength = temp_datalength;
UI_delete_data.FrameHeader.Seq = UI_Seq;
UI_delete_data.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&UI_delete_data, LEN_CRC8, 0xFF);
UI_delete_data.FrameHeader.SOF = REFEREE_SOF;
UI_delete_data.FrameHeader.DataLength = temp_datalength;
UI_delete_data.FrameHeader.Seq = UI_Seq;
UI_delete_data.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&UI_delete_data, LEN_CRC8, 0xFF);
UI_delete_data.CmdID = ID_student_interactive;
UI_delete_data.CmdID = ID_student_interactive;
UI_delete_data.datahead.data_cmd_id = UI_Data_ID_Del;
UI_delete_data.datahead.receiver_ID = _id->Cilent_ID;
UI_delete_data.datahead.sender_ID = _id->Robot_ID;
UI_delete_data.datahead.data_cmd_id = UI_Data_ID_Del;
UI_delete_data.datahead.receiver_ID = _id->Cilent_ID;
UI_delete_data.datahead.sender_ID = _id->Robot_ID;
UI_delete_data.Delete_Operate = Del_Operate; // 删除操作
UI_delete_data.Layer = Del_Layer;
UI_delete_data.Delete_Operate = Del_Operate; // 删除操作
UI_delete_data.Layer = Del_Layer;
UI_delete_data.frametail = Get_CRC16_Check_Sum((uint8_t *)&UI_delete_data, LEN_HEADER + LEN_CMDID + temp_datalength, 0xFFFF);
/* 填入0xFFFF,关于crc校验 */
UI_delete_data.frametail = Get_CRC16_Check_Sum((uint8_t *)&UI_delete_data, LEN_HEADER + LEN_CMDID + temp_datalength, 0xFFFF);
/* 填入0xFFFF,关于crc校验 */
RefereeSend((uint8_t *)&UI_delete_data, LEN_HEADER + LEN_CMDID + temp_datalength + LEN_TAIL); // 发送
RefereeSend((uint8_t *)&UI_delete_data, LEN_HEADER + LEN_CMDID + temp_datalength + LEN_TAIL); // 发送
UI_Seq++; // 包序号+1
UI_Seq++; // 包序号+1
}
/************************************************绘制直线*************************************************
**参数：*graph Graph_Data类型变量指针，用于存放图形数据
graphname[3] 图片名称，用于标识更改
Graph_Operate 图片操作，见头文件
Graph_Layer 图层0-9
Graph_Color 图形颜色
Graph_Width 图形线宽
Start_x、Start_y 起点xy坐标
End_x、End_y 终点xy坐标
graphname[3] 图片名称，用于标识更改
Graph_Operate 图片操作，见头文件
Graph_Layer 图层0-9
Graph_Color 图形颜色
Graph_Width 图形线宽
Start_x、Start_y 起点xy坐标
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)
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
{
graph->graphic_name[2 - i] = graphname[i]; // 按内存地址增大方向填充，所以会有i与2-i
}
int i;
for (i = 0; i < 3 && graphname[i] != '\0'; i++) // 填充至‘0’为止
{
graph->graphic_name[2 - i] = graphname[i]; // 按内存地址增大方向填充，所以会有i与2-i
}
graph->operate_tpye = Graph_Operate;
graph->graphic_tpye = UI_Graph_Line;
graph->layer = Graph_Layer;
graph->color = Graph_Color;
graph->operate_tpye = Graph_Operate;
graph->graphic_tpye = UI_Graph_Line;
graph->layer = Graph_Layer;
graph->color = Graph_Color;
graph->start_angle = 0;
graph->end_angle = 0;
graph->width = Graph_Width;
graph->start_x = Start_x;
graph->start_y = Start_y;
graph->radius = 0;
graph->end_x = End_x;
graph->end_y = End_y;
graph->start_angle = 0;
graph->end_angle = 0;
graph->width = Graph_Width;
graph->start_x = Start_x;
graph->start_y = Start_y;
graph->radius = 0;
graph->end_x = End_x;
graph->end_y = End_y;
}
/************************************************绘制矩形*************************************************
**参数：*graph Graph_Data类型变量指针，用于存放图形数据
graphname[3] 图片名称，用于标识更改
Graph_Operate 图片操作，见头文件
Graph_Layer 图层0-9
Graph_Color 图形颜色
Graph_Width 图形线宽
Start_x、Start_y 起点xy坐标
End_x、End_y 对角顶点xy坐标
graphname[3] 图片名称，用于标识更改
Graph_Operate 图片操作，见头文件
Graph_Layer 图层0-9
Graph_Color 图形颜色
Graph_Width 图形线宽
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)
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++)
{
graph->graphic_name[2 - i] = graphname[i];
}
int i;
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
{
graph->graphic_name[2 - i] = graphname[i];
}
graph->graphic_tpye = UI_Graph_Rectangle;
graph->operate_tpye = Graph_Operate;
graph->layer = Graph_Layer;
graph->color = Graph_Color;
graph->graphic_tpye = UI_Graph_Rectangle;
graph->operate_tpye = Graph_Operate;
graph->layer = Graph_Layer;
graph->color = Graph_Color;
graph->start_angle = 0;
graph->end_angle = 0;
graph->width = Graph_Width;
graph->start_x = Start_x;
graph->start_y = Start_y;
graph->radius = 0;
graph->end_x = End_x;
graph->end_y = End_y;
graph->start_angle = 0;
graph->end_angle = 0;
graph->width = Graph_Width;
graph->start_x = Start_x;
graph->start_y = Start_y;
graph->radius = 0;
graph->end_x = End_x;
graph->end_y = End_y;
}
/************************************************绘制整圆*************************************************
**参数：*graph Graph_Data类型变量指针，用于存放图形数据
graphname[3] 图片名称，用于标识更改
Graph_Operate 图片操作，见头文件
Graph_Layer 图层0-9
Graph_Color 图形颜色
Graph_Width 图形线宽
Start_x、Start_y 圆心xy坐标
Graph_Radius 圆形半径
graphname[3] 图片名称，用于标识更改
Graph_Operate 图片操作，见头文件
Graph_Layer 图层0-9
Graph_Color 图形颜色
Graph_Width 图形线宽
Start_x、Start_y 圆心xy坐标
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)
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++)
{
graph->graphic_name[2 - i] = graphname[i];
}
int i;
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
{
graph->graphic_name[2 - i] = graphname[i];
}
graph->graphic_tpye = UI_Graph_Circle;
graph->operate_tpye = Graph_Operate;
graph->layer = Graph_Layer;
graph->color = Graph_Color;
graph->graphic_tpye = UI_Graph_Circle;
graph->operate_tpye = Graph_Operate;
graph->layer = Graph_Layer;
graph->color = Graph_Color;
graph->start_angle = 0;
graph->end_angle = 0;
graph->width = Graph_Width;
graph->start_x = Start_x;
graph->start_y = Start_y;
graph->radius = Graph_Radius;
graph->end_x = 0;
graph->end_y = 0;
graph->start_angle = 0;
graph->end_angle = 0;
graph->width = Graph_Width;
graph->start_x = Start_x;
graph->start_y = Start_y;
graph->radius = Graph_Radius;
graph->end_x = 0;
graph->end_y = 0;
}
/************************************************绘制椭圆*************************************************
**参数：*graph Graph_Data类型变量指针，用于存放图形数据
graphname[3] 图片名称，用于标识更改
Graph_Operate 图片操作，见头文件
Graph_Layer 图层0-9
Graph_Color 图形颜色
Graph_Width 图形线宽
Start_x、Start_y 圆心xy坐标
End_x、End_y xy半轴长度
graphname[3] 图片名称，用于标识更改
Graph_Operate 图片操作，见头文件
Graph_Layer 图层0-9
Graph_Color 图形颜色
Graph_Width 图形线宽
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)
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++)
{
graph->graphic_name[2 - i] = graphname[i];
}
int i;
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
{
graph->graphic_name[2 - i] = graphname[i];
}
graph->graphic_tpye = UI_Graph_Ellipse;
graph->operate_tpye = Graph_Operate;
graph->layer = Graph_Layer;
graph->color = Graph_Color;
graph->width = Graph_Width;
graph->graphic_tpye = UI_Graph_Ellipse;
graph->operate_tpye = Graph_Operate;
graph->layer = Graph_Layer;
graph->color = Graph_Color;
graph->width = Graph_Width;
graph->start_angle = 0;
graph->end_angle = 0;
graph->width = Graph_Width;
graph->start_x = Start_x;
graph->start_y = Start_y;
graph->radius = 0;
graph->end_x = end_x;
graph->end_y = end_y;
graph->start_angle = 0;
graph->end_angle = 0;
graph->width = Graph_Width;
graph->start_x = Start_x;
graph->start_y = Start_y;
graph->radius = 0;
graph->end_x = end_x;
graph->end_y = end_y;
}
/************************************************绘制圆弧*************************************************
**参数：*graph Graph_Data类型变量指针，用于存放图形数据
graphname[3] 图片名称，用于标识更改
Graph_Operate 图片操作，见头文件
Graph_Layer 图层0-9
Graph_Color 图形颜色
Graph_StartAngle,Graph_EndAngle 起始终止角度
Graph_Width 图形线宽
Start_y,Start_y 圆心xy坐标
x_Length,y_Length xy半轴长度
graphname[3] 图片名称，用于标识更改
Graph_Operate 图片操作，见头文件
Graph_Layer 图层0-9
Graph_Color 图形颜色
Graph_StartAngle,Graph_EndAngle 起始终止角度
Graph_Width 图形线宽
Start_y,Start_y 圆心xy坐标
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)
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++)
{
graph->graphic_name[2 - i] = graphname[i];
}
int i;
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
{
graph->graphic_name[2 - i] = graphname[i];
}
graph->graphic_tpye = UI_Graph_Arc;
graph->operate_tpye = Graph_Operate;
graph->layer = Graph_Layer;
graph->color = Graph_Color;
graph->graphic_tpye = UI_Graph_Arc;
graph->operate_tpye = Graph_Operate;
graph->layer = Graph_Layer;
graph->color = Graph_Color;
graph->start_angle = Graph_StartAngle;
graph->end_angle = Graph_EndAngle;
graph->width = Graph_Width;
graph->start_x = Start_x;
graph->start_y = Start_y;
graph->radius = 0;
graph->end_x = end_x;
graph->end_y = end_y;
graph->start_angle = Graph_StartAngle;
graph->end_angle = Graph_EndAngle;
graph->width = Graph_Width;
graph->start_x = Start_x;
graph->start_y = Start_y;
graph->radius = 0;
graph->end_x = end_x;
graph->end_y = end_y;
}
/************************************************绘制浮点型数据*************************************************
**参数：*graph Graph_Data类型变量指针，用于存放图形数据
graphname[3] 图片名称，用于标识更改
Graph_Operate 图片操作，见头文件
Graph_Layer 图层0-9
Graph_Color 图形颜色
Graph_Size 字号
Graph_Digit 小数位数
Graph_Width 图形线宽
Start_x、Start_y 开始坐标
radius=a&0x3FF; a为浮点数乘以1000后的32位整型数
end_x=(a>>10)&0x7FF;
end_y=(a>>21)&0x7FF;
graphname[3] 图片名称，用于标识更改
Graph_Operate 图片操作，见头文件
Graph_Layer 图层0-9
Graph_Color 图形颜色
Graph_Size 字号
Graph_Digit 小数位数
Graph_Width 图形线宽
Start_x、Start_y 开始坐标
radius=a&0x3FF; a为浮点数乘以1000后的32位整型数
end_x=(a>>10)&0x7FF;
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)
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;
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
{
graph->graphic_name[2 - i] = graphname[i];
}
graph->graphic_tpye = UI_Graph_Float;
graph->operate_tpye = Graph_Operate;
graph->layer = Graph_Layer;
graph->color = Graph_Color;
int i;
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
{
graph->graphic_name[2 - i] = graphname[i];
}
graph->graphic_tpye = UI_Graph_Float;
graph->operate_tpye = Graph_Operate;
graph->layer = Graph_Layer;
graph->color = Graph_Color;
graph->width = Graph_Width;
graph->start_x = Start_x;
graph->start_y = Start_y;
graph->start_angle = Graph_Size;
graph->end_angle = Graph_Digit;
graph->width = Graph_Width;
graph->start_x = Start_x;
graph->start_y = Start_y;
graph->start_angle = Graph_Size;
graph->end_angle = Graph_Digit;
graph->radius = Graph_Float & 0x3FF;
graph->end_x = (Graph_Float >> 10) & 0x7FF;
graph->end_y = (Graph_Float >> 21) & 0x7FF;
graph->radius = Graph_Float & 0x3FF;
graph->end_x = (Graph_Float >> 10) & 0x7FF;
graph->end_y = (Graph_Float >> 21) & 0x7FF;
}
/************************************************绘制整型数据*************************************************
**参数：*graph Graph_Data类型变量指针，用于存放图形数据
graphname[3] 图片名称，用于标识更改
Graph_Operate 图片操作，见头文件
Graph_Layer 图层0-9
Graph_Color 图形颜色
Graph_Size 字号
Graph_Width 图形线宽
Start_x、Start_y 开始坐标
radius=a&0x3FF; a为32位整型数
end_x=(a>>10)&0x7FF;
end_y=(a>>21)&0x7FF;
graphname[3] 图片名称，用于标识更改
Graph_Operate 图片操作，见头文件
Graph_Layer 图层0-9
Graph_Color 图形颜色
Graph_Size 字号
Graph_Width 图形线宽
Start_x、Start_y 开始坐标
radius=a&0x3FF; a为32位整型数
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)
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++)
{
graph->graphic_name[2 - i] = graphname[i];
}
graph->graphic_tpye = UI_Graph_Int;
graph->operate_tpye = Graph_Operate;
graph->layer = Graph_Layer;
graph->color = Graph_Color;
int i;
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
{
graph->graphic_name[2 - i] = graphname[i];
}
graph->graphic_tpye = UI_Graph_Int;
graph->operate_tpye = Graph_Operate;
graph->layer = Graph_Layer;
graph->color = Graph_Color;
graph->start_angle = Graph_Size;
graph->end_angle = 0;
graph->width = Graph_Width;
graph->start_x = Start_x;
graph->start_y = Start_y;
graph->radius = Graph_Integer & 0x3FF;
graph->end_x = (Graph_Integer >> 10) & 0x7FF;
graph->end_y = (Graph_Integer >> 21) & 0x7FF;
graph->start_angle = Graph_Size;
graph->end_angle = 0;
graph->width = Graph_Width;
graph->start_x = Start_x;
graph->start_y = Start_y;
graph->radius = Graph_Integer & 0x3FF;
graph->end_x = (Graph_Integer >> 10) & 0x7FF;
graph->end_y = (Graph_Integer >> 21) & 0x7FF;
}
/************************************************绘制字符型数据*************************************************
**参数：*graph Graph_Data类型变量指针，用于存放图形数据
graphname[3] 图片名称，用于标识更改
Graph_Operate 图片操作，见头文件
Graph_Layer 图层0-9
Graph_Color 图形颜色
Graph_Size 字号
Graph_Width 图形线宽
Start_x、Start_y 开始坐标
graphname[3] 图片名称，用于标识更改
Graph_Operate 图片操作，见头文件
Graph_Layer 图层0-9
Graph_Color 图形颜色
Graph_Size 字号
Graph_Width 图形线宽
Start_x、Start_y 开始坐标
**参数：*graph Graph_Data类型变量指针，用于存放图形数据
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)
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++)
{
graph->Graph_Control.graphic_name[2 - i] = graphname[i];
}
int i;
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
{
graph->Graph_Control.graphic_name[2 - i] = graphname[i];
}
graph->Graph_Control.graphic_tpye = UI_Graph_Char;
graph->Graph_Control.operate_tpye = Graph_Operate;
graph->Graph_Control.layer = Graph_Layer;
graph->Graph_Control.color = Graph_Color;
graph->Graph_Control.graphic_tpye = UI_Graph_Char;
graph->Graph_Control.operate_tpye = Graph_Operate;
graph->Graph_Control.layer = Graph_Layer;
graph->Graph_Control.color = Graph_Color;
graph->Graph_Control.width = Graph_Width;
graph->Graph_Control.start_x = Start_x;
graph->Graph_Control.start_y = Start_y;
graph->Graph_Control.start_angle = Graph_Size;
graph->Graph_Control.radius = 0;
graph->Graph_Control.end_x = 0;
graph->Graph_Control.end_y = 0;
}
graph->Graph_Control.width = Graph_Width;
graph->Graph_Control.start_x = Start_x;
graph->Graph_Control.start_y = Start_y;
graph->Graph_Control.start_angle = Graph_Size;
graph->Graph_Control.radius = 0;
graph->Graph_Control.end_x = 0;
graph->Graph_Control.end_y = 0;
/************************************************绘制字符型数据*************************************************
**参数：*graph Graph_Data类型变量指针，用于存放图形数据
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_Write(String_Data_t *graph, char *fmt, ...)
{
uint16_t i = 0;
va_list ap;
va_start(ap, fmt);
vsprintf((char *)graph->show_Data, fmt, ap); // 使用参数列表进行格式化并输出到字符串
va_end(ap);
i = strlen((const char *)graph->show_Data);
graph->Graph_Control.end_angle = i;
va_list ap;
va_start(ap, fmt);
vsprintf((char *)graph->show_Data, fmt, ap); // 使用参数列表进行格式化并输出到字符串
va_end(ap);
graph->Graph_Control.end_angle = strlen((const char *)graph->show_Data);
}
/* UI推送函数（使更改生效）
参数： cnt 图形个数
... 图形变量参数
... 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, ...)
{
int i;
UI_GraphReFresh_t UI_GraphReFresh_data;
Graph_Data_t graphData;
UI_GraphReFresh_t UI_GraphReFresh_data;
Graph_Data_t graphData;
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
uint8_t temp_datalength = LEN_HEADER + LEN_CMDID + Interactive_Data_LEN_Head + UI_Operate_LEN_PerDraw * cnt + LEN_TAIL; // 计算交互数据长度
UI_GraphReFresh_data.FrameHeader.SOF = REFEREE_SOF;
UI_GraphReFresh_data.FrameHeader.DataLength = Interactive_Data_LEN_Head + cnt * UI_Operate_LEN_PerDraw;
UI_GraphReFresh_data.FrameHeader.Seq = UI_Seq;
UI_GraphReFresh_data.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&UI_GraphReFresh_data, LEN_CRC8, 0xFF);
uint8_t buffer[temp_datalength]; // 交互数据缓存
UI_GraphReFresh_data.CmdID = ID_student_interactive;
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
switch (cnt)
{
case 1:
UI_GraphReFresh_data.datahead.data_cmd_id = UI_Data_ID_Draw1;
break;
case 2:
UI_GraphReFresh_data.datahead.data_cmd_id = UI_Data_ID_Draw2;
break;
case 5:
UI_GraphReFresh_data.datahead.data_cmd_id = UI_Data_ID_Draw5;
break;
case 7:
UI_GraphReFresh_data.datahead.data_cmd_id = UI_Data_ID_Draw7;
break;
}
UI_GraphReFresh_data.FrameHeader.SOF = REFEREE_SOF;
UI_GraphReFresh_data.FrameHeader.DataLength = Interactive_Data_LEN_Head + cnt * UI_Operate_LEN_PerDraw;
UI_GraphReFresh_data.FrameHeader.Seq = UI_Seq;
UI_GraphReFresh_data.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&UI_GraphReFresh_data, LEN_CRC8, 0xFF);
UI_GraphReFresh_data.datahead.receiver_ID = _id->Cilent_ID;
UI_GraphReFresh_data.datahead.sender_ID = _id->Robot_ID;
UI_GraphReFresh_data.CmdID = ID_student_interactive;
// 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 + Interactive_Data_LEN_Head, 0xFFFF);
RefereeSend((uint8_t *)&UI_GraphReFresh_data, LEN_HEADER + LEN_CMDID + Interactive_Data_LEN_Head);
switch (cnt)
{
case 1:
UI_GraphReFresh_data.datahead.data_cmd_id = UI_Data_ID_Draw1;
break;
case 2:
UI_GraphReFresh_data.datahead.data_cmd_id = UI_Data_ID_Draw2;
break;
case 5:
UI_GraphReFresh_data.datahead.data_cmd_id = UI_Data_ID_Draw5;
break;
case 7:
UI_GraphReFresh_data.datahead.data_cmd_id = UI_Data_ID_Draw7;
break;
}
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
// 发送并计算CRC16
RefereeSend((uint8_t *)&graphData, UI_Operate_LEN_PerDraw);
UI_GraphReFresh_data.frametail = Get_CRC16_Check_Sum((uint8_t *)&graphData, UI_Operate_LEN_PerDraw, UI_GraphReFresh_data.frametail);
}
UI_GraphReFresh_data.datahead.receiver_ID = _id->Cilent_ID;
UI_GraphReFresh_data.datahead.sender_ID = _id->Robot_ID;
memcpy(buffer, (uint8_t *)&UI_GraphReFresh_data, LEN_HEADER + LEN_CMDID + Interactive_Data_LEN_Head); // 将帧头、命令码、交互数据帧头三部分复制到缓存中
RefereeSend((uint8_t *)&UI_GraphReFresh_data.frametail, LEN_TAIL); // 发送CRC16校验值
for (uint8_t 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
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);
va_end(ap); // 结束可变参数的获取
UI_Seq++; // 包序号+1
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)
{
UI_CharReFresh_t UI_CharReFresh_data;
UI_CharReFresh_t UI_CharReFresh_data;
uint8_t temp_datalength = Interactive_Data_LEN_Head + UI_Operate_LEN_DrawChar; // 计算交互数据长度
uint8_t temp_datalength = Interactive_Data_LEN_Head + UI_Operate_LEN_DrawChar; // 计算交互数据长度
UI_CharReFresh_data.FrameHeader.SOF = REFEREE_SOF;
UI_CharReFresh_data.FrameHeader.DataLength = temp_datalength;
UI_CharReFresh_data.FrameHeader.Seq = UI_Seq;
UI_CharReFresh_data.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&UI_CharReFresh_data, LEN_CRC8, 0xFF);
UI_CharReFresh_data.FrameHeader.SOF = REFEREE_SOF;
UI_CharReFresh_data.FrameHeader.DataLength = temp_datalength;
UI_CharReFresh_data.FrameHeader.Seq = UI_Seq;
UI_CharReFresh_data.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&UI_CharReFresh_data, LEN_CRC8, 0xFF);
UI_CharReFresh_data.CmdID = ID_student_interactive;
UI_CharReFresh_data.CmdID = ID_student_interactive;
UI_CharReFresh_data.datahead.data_cmd_id = UI_Data_ID_DrawChar;
UI_CharReFresh_data.datahead.data_cmd_id = UI_Data_ID_DrawChar;
UI_CharReFresh_data.datahead.receiver_ID = _id->Cilent_ID;
UI_CharReFresh_data.datahead.sender_ID = _id->Robot_ID;
UI_CharReFresh_data.datahead.receiver_ID = _id->Cilent_ID;
UI_CharReFresh_data.datahead.sender_ID = _id->Robot_ID;
UI_CharReFresh_data.String_Data = string_Data;
UI_CharReFresh_data.String_Data = string_Data;
UI_CharReFresh_data.frametail = Get_CRC16_Check_Sum((uint8_t *)&UI_CharReFresh_data, LEN_HEADER + LEN_CMDID + temp_datalength, 0xFFFF);
UI_CharReFresh_data.frametail = Get_CRC16_Check_Sum((uint8_t *)&UI_CharReFresh_data, LEN_HEADER + LEN_CMDID + temp_datalength, 0xFFFF);
RefereeSend((uint8_t *)&UI_CharReFresh_data, LEN_HEADER + LEN_CMDID + temp_datalength + LEN_TAIL); // 发送
RefereeSend((uint8_t *)&UI_CharReFresh_data, LEN_HEADER + LEN_CMDID + temp_datalength + LEN_TAIL); // 发送
UI_Seq++; // 包序号+1
UI_Seq++; // 包序号+1
}

69
modules/referee/referee_UI.h
View File

@ -3,75 +3,70 @@
#include "stdarg.h"
#include "stdint.h"
#include "referee_def.h"
#include "referee_protocol.h"
#include "rm_referee.h"
#pragma pack(1) //按1字节对齐
#pragma pack(1) // 按1字节对齐
/* 此处的定义只与UI绘制有关 */
typedef struct
{
xFrameHeader FrameHeader;
uint16_t CmdID;
xFrameHeader FrameHeader;
uint16_t CmdID;
ext_student_interactive_header_data_t datahead;
uint8_t Delete_Operate; //删除操作
uint8_t Layer;
uint8_t Delete_Operate; // 删除操作
uint8_t Layer;
uint16_t frametail;
} UI_delete_t;
typedef struct
{
xFrameHeader FrameHeader;
uint16_t CmdID;
xFrameHeader FrameHeader;
uint16_t CmdID;
ext_student_interactive_header_data_t datahead;
uint16_t frametail;
} UI_GraphReFresh_t;
typedef struct
{
xFrameHeader FrameHeader;
uint16_t CmdID;
xFrameHeader FrameHeader;
uint16_t CmdID;
ext_student_interactive_header_data_t datahead;
String_Data_t String_Data;
uint16_t frametail;
} UI_CharReFresh_t; //打印字符串数据
uint16_t frametail;
} UI_CharReFresh_t; // 打印字符串数据
#pragma pack()
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 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 UI_Delete(referee_id_t *_id,uint8_t Del_Operate,uint8_t Del_Layer);
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 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 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 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 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 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 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 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 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 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 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 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 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 UI_ReFresh(referee_id_t *_id, int cnt, ...);
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);
void Char_ReFresh(referee_id_t *_id, String_Data_t string_Data);
void Char_Write(String_Data_t *graph,char* fmt, ...);
void UI_ReFresh(referee_id_t *_id,int cnt,...);
void Char_ReFresh(referee_id_t *_id,String_Data_t string_Data);
#endif

45
modules/referee/referee_communication.c
View File

@ -1,45 +0,0 @@
/**
* @file referee_communication.h
* @author kidneygood (you@domain.com)
* @version 0.1
* @date 2022-12-02
*
* @copyright Copyright (c) HNU YueLu EC 2022 all rights reserved
*
*/
#include "referee_communication.h"
#include "crc_ref.h"
#include "stdio.h"
#include "rm_referee.h"
/**
* @brief 发送机器人间的交互数据
* @param referee_id_t *_id sender为本机器人，receiver为接收方机器人，发送前设置Receiver_Robot_ID再调用该函数
* robot_interactive_data_t *data 数据段
* @retval none
* @attention
*/
void Communicate_SendData(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
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.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.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
}

10
modules/referee/referee_communication.h
View File

@ -1,10 +0,0 @@
#ifndef REFEREE_COMMUNICATION_H
#define REFEREE_COMMUNICATION_H
#include "stdint.h"
#include "referee_def.h"
#include "rm_referee.h"
void Communicate_SendData(referee_id_t *_id,robot_interactive_data_t *_data);
#endif

49
modules/referee/referee_def.h → modules/referee/referee_protocol.h
View File

@ -1,5 +1,5 @@
/**
* @file referee_def.h
* @file referee_protocol.h
* @author kidneygood (you@domain.com)
* @version 0.1
* @date 2022-12-02
@ -8,22 +8,20 @@
*
*/
#ifndef REFEREE_DEF_H
#define REFEREE_DEF_H
#ifndef referee_protocol_H
#define referee_protocol_H
#include "stdint.h"
/****************************宏定义部分****************************/
/****************************宏定义部分****************************/
#define REFEREE_SOF 0xA5 // 起始字节,协议固定为0xA5
#define Robot_Red 0
#define Robot_Blue 1
#define Communicate_Data_LEN 5 //自定义交互数据长度，该长度决定了我方发送和他方接收，自定义交互数据协议更改时只需要更改此宏定义即可
#define Communicate_Data_LEN 5 // 自定义交互数据长度，该长度决定了我方发送和他方接收，自定义交互数据协议更改时只需要更改此宏定义即可
#pragma pack(1)
#pragma pack(1)
/****************************通信协议格式****************************/
/****************************通信协议格式****************************/
/* 通信协议格式偏移，枚举类型,代替#define声明 */
@ -90,19 +88,19 @@ typedef enum
/* 命令码数据段长,根据官方协议来定义长度，还有自定义数据长度 */
typedef enum
{
LEN_game_state = 3, // 0x0001
LEN_game_result = 1, // 0x0002
LEN_game_robot_HP = 2, // 0x0003
LEN_event_data = 4, // 0x0101
LEN_supply_projectile_action = 4, // 0x0102
LEN_game_robot_state = 27, // 0x0201
LEN_power_heat_data = 14, // 0x0202
LEN_game_robot_pos = 16, // 0x0203
LEN_buff_musk = 1, // 0x0204
LEN_aerial_robot_energy = 1, // 0x0205
LEN_robot_hurt = 1, // 0x0206
LEN_shoot_data = 7, // 0x0207
LEN_receive_data = 6+Communicate_Data_LEN, //0x0301
LEN_game_state = 3, // 0x0001
LEN_game_result = 1, // 0x0002
LEN_game_robot_HP = 2, // 0x0003
LEN_event_data = 4, // 0x0101
LEN_supply_projectile_action = 4, // 0x0102
LEN_game_robot_state = 27, // 0x0201
LEN_power_heat_data = 14, // 0x0202
LEN_game_robot_pos = 16, // 0x0203
LEN_buff_musk = 1, // 0x0204
LEN_aerial_robot_energy = 1, // 0x0205
LEN_robot_hurt = 1, // 0x0206
LEN_shoot_data = 7, // 0x0207
LEN_receive_data = 6 + Communicate_Data_LEN, // 0x0301
} JudgeDataLength_e;
@ -235,7 +233,7 @@ typedef struct
/* 交互数据头结构 */
typedef struct
{
uint16_t data_cmd_id; //由于存在多个内容 ID，但整个cmd_id 上行频率最大为 10Hz，请合理安排带宽。注意交互部分的上行频率
uint16_t data_cmd_id; // 由于存在多个内容 ID，但整个cmd_id 上行频率最大为 10Hz，请合理安排带宽。注意交互部分的上行频率
uint16_t sender_ID;
uint16_t receiver_ID;
} ext_student_interactive_header_data_t;
@ -244,7 +242,7 @@ typedef struct
typedef enum
{
// 红方机器人ID
RobotID_RHero = 1,
RobotID_RHero = 1,
RobotID_REngineer = 2,
RobotID_RStandard1 = 3,
RobotID_RStandard2 = 4,
@ -290,14 +288,13 @@ typedef enum
} Interactive_Data_Length_e;
/****************************自定义交互数据****************************/
/****************************自定义交互数据****************************/
/*
学生机器人间通信 cmd_id 0x0301，内容 ID:0x0200~0x02FF
自定义交互数据 机器人间通信：0x0301。
发送频率：上限 10Hz
*/
//自定义交互数据协议，可更改，更改后需要修改最上方宏定义数据长度的值
// 自定义交互数据协议，可更改，更改后需要修改最上方宏定义数据长度的值
typedef struct
{
uint8_t data[Communicate_Data_LEN]; // 数据段,n需要小于113
@ -319,8 +316,6 @@ typedef struct
robot_interactive_data_t Data; // 数据段
} Communicate_ReceiveData_t;
/****************************UI交互数据****************************/
/****************************UI交互数据****************************/
/* 图形数据 */
@ -339,7 +334,7 @@ typedef struct
uint32_t radius : 10;
uint32_t end_x : 11;
uint32_t end_y : 11;
} Graph_Data_t;
} Graph_Data_t;
typedef struct
{

292
modules/referee/referee_task.c Normal file
View File

@ -0,0 +1,292 @@
/**
* @file referee.C
* @author kidneygood (you@domain.com)
* @brief
* @version 0.1
* @date 2022-11-18
*
* @copyright Copyright (c) 2022
*
*/
#include "referee_task.h"
#include "robot_def.h"
#include "rm_referee.h"
#include "referee_UI.h"
#include "string.h"
static Referee_Interactive_info_t *Interactive_data; // UI绘制需要的机器人状态数据
static referee_info_t *referee_recv_info; // 接收到的裁判系统数据
/**
* @brief 判断各种ID，选择客户端ID
* @param referee_info_t *referee_recv_info
* @retval none
* @attention
*/
static void DeterminRobotID()
{
// 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_recv_info->referee_id.Robot_Color = referee_recv_info->GameRobotState.robot_id > 7 ? Robot_Blue : Robot_Red;
referee_recv_info->referee_id.Robot_ID = referee_recv_info->GameRobotState.robot_id;
referee_recv_info->referee_id.Cilent_ID = 0x0100 + referee_recv_info->referee_id.Robot_ID; // 计算客户端ID
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
// 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_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
return referee_recv_info;
}
void Referee_Interactive_task()
{
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);
}
static Graph_Data_t UI_shoot_line[10]; // 射击准线
static Graph_Data_t UI_Energy[3]; // 电容能量条
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()
{
while (referee_recv_info->GameRobotState.robot_id == 0)
;
DeterminRobotID();
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]);
// 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]);
// 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]);
// 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]);
// 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]);
// 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);
// 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]);
}
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;
_Interactive_data->Chassis_Power_Data.chassis_power_mx += 3.5;
if (_Interactive_data->Chassis_Power_Data.chassis_power_mx >= 18)
_Interactive_data->Chassis_Power_Data.chassis_power_mx = 0;
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_recv_info, Referee_Interactive_info_t *_Interactive_data)
{
Mode_Change_Check(_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");
break;
case CHASSIS_ROTATE:
Char_Draw(&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 ");
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 ");
break;
}
Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[0]);
_Interactive_data->Referee_Interactive_Flag.chassis_flag = 0;
}
// gimbal
if (_Interactive_data->Referee_Interactive_Flag.gimbal_flag == 1)
{
switch (_Interactive_data->gimbal_mode)
{
case GIMBAL_ZERO_FORCE:
{
Char_Draw(&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 ");
break;
}
case GIMBAL_GYRO_MODE:
{
Char_Draw(&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]);
_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]);
_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]);
_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]);
_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]);
_Interactive_data->Referee_Interactive_Flag.Power_flag = 0;
}
}
/**
* @brief 模式切换检测,模式发生切换时，对flag置位
* @param Referee_Interactive_info_t *_Interactive_data
* @retval none
* @attention
*/
static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data)
{
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->gimbal_mode != _Interactive_data->gimbal_last_mode)
{
_Interactive_data->Referee_Interactive_Flag.gimbal_flag = 1;
_Interactive_data->gimbal_last_mode = _Interactive_data->gimbal_mode;
}
if (_Interactive_data->shoot_mode != _Interactive_data->shoot_last_mode)
{
_Interactive_data->Referee_Interactive_Flag.shoot_flag = 1;
_Interactive_data->shoot_last_mode = _Interactive_data->shoot_mode;
}
if (_Interactive_data->friction_mode != _Interactive_data->friction_last_mode)
{
_Interactive_data->Referee_Interactive_Flag.friction_flag = 1;
_Interactive_data->friction_last_mode = _Interactive_data->friction_mode;
}
if (_Interactive_data->lid_mode != _Interactive_data->lid_last_mode)
{
_Interactive_data->Referee_Interactive_Flag.lid_flag= 1;
_Interactive_data->lid_last_mode = _Interactive_data->lid_mode;
}
if (_Interactive_data->Chassis_Power_Data.chassis_power_mx != _Interactive_data->Chassis_last_Power_Data.chassis_power_mx)
{
_Interactive_data->Referee_Interactive_Flag.Power_flag = 1;
_Interactive_data->Chassis_last_Power_Data.chassis_power_mx = _Interactive_data->Chassis_Power_Data.chassis_power_mx;
}
}

25
modules/referee/referee_task.h Normal file
View File

@ -0,0 +1,25 @@
#ifndef REFEREE_H
#define REFEREE_H
#include "rm_referee.h"
#include "robot_def.h"
/**
* @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);
/**
* @brief 在referee task之前调用,添加在freertos.c中
*
*/
void My_UI_init();
/**
* @brief 裁判系统交互任务(UI和多机通信)
*
*/
void Referee_Interactive_task();
#endif // REFEREE_H

72
modules/referee/rm_referee.c
View File

@ -13,14 +13,15 @@
#include "string.h"
#include "crc_ref.h"
#include "bsp_usart.h"
#include "task.h"
#define RE_RX_BUFFER_SIZE 200
static USARTInstance *referee_usart_instance; // 暂时改为非静态变量
static USARTInstance *referee_usart_instance; // 裁判系统串口实例
static referee_info_t referee_info; // 裁判系统数据
static referee_info_t referee_info;
static void JudgeReadData(uint8_t *ReadFromUsart);
static void RefereeRxCallback();
static void JudgeReadData(uint8_t *buff);
uint8_t UI_Seq = 0; // 包序号，供整个referee文件使用
@ -35,15 +36,17 @@ referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle)
return &referee_info;
}
/**
* @brief 发送函数
* @param send 待发送数据
* @brief 裁判系统数据发送函数,由于使用
* @param
*/
void RefereeSend(uint8_t *send, uint16_t tx_len)
{
USARTSend(referee_usart_instance, send, tx_len,USART_TRANSFER_IT);
/* syhtodo DMA请求过快会导致数据发送丢失，考虑数据尽可能打成一个整包以及队列发送，并且发送函数添加缓冲区 */
HAL_Delay(5);
static TickType_t xLastWakeTime;
USARTSend(referee_usart_instance, send, tx_len, USART_TRANSFER_DMA);
vTaskDelayUntil(&xLastWakeTime, 120);
}
/*裁判系统串口接收回调函数,解析数据 */
@ -54,83 +57,82 @@ static void RefereeRxCallback()
/**
* @brief 读取裁判数据,中断中读取保证速度
* @param ReadFromUsart: 读取到的裁判系统原始数据
* @param buff: 读取到的裁判系统原始数据
* @retval 是否对正误判断做处理
* @attention 在此判断帧头和CRC校验,无误再写入数据，不重复判断帧头
*/
static void JudgeReadData(uint8_t *ReadFromUsart)
static void JudgeReadData(uint8_t *buff)
{
uint16_t judge_length; // 统计一帧数据长度
if (ReadFromUsart == NULL) // 空数据包，则不作任何处理
uint16_t judge_length; // 统计一帧数据长度
if (buff == NULL) // 空数据包，则不作任何处理
return;
// 写入帧头数据(5-byte),用于判断是否开始存储裁判数据
memcpy(&referee_info.FrameHeader, ReadFromUsart, LEN_HEADER);
memcpy(&referee_info.FrameHeader, buff, LEN_HEADER);
// 判断帧头数据(0)是否为0xA5
if (ReadFromUsart[SOF] == REFEREE_SOF)
if (buff[SOF] == REFEREE_SOF)
{
// 帧头CRC8校验
if (Verify_CRC8_Check_Sum(ReadFromUsart, LEN_HEADER) == TRUE)
if (Verify_CRC8_Check_Sum(buff, LEN_HEADER) == TRUE)
{
// 统计一帧数据长度(byte),用于CR16校验
judge_length = ReadFromUsart[DATA_LENGTH] + LEN_HEADER + LEN_CMDID + LEN_TAIL;
judge_length = buff[DATA_LENGTH] + LEN_HEADER + LEN_CMDID + LEN_TAIL;
// 帧尾CRC16校验
if (Verify_CRC16_Check_Sum(ReadFromUsart, judge_length) == TRUE)
if (Verify_CRC16_Check_Sum(buff, judge_length) == TRUE)
{
// 2个8位拼成16位int
referee_info.CmdID = (ReadFromUsart[6] << 8 | ReadFromUsart[5]);
referee_info.CmdID = (buff[6] << 8 | buff[5]);
// 解析数据命令码,将数据拷贝到相应结构体中(注意拷贝数据的长度)
// 第8个字节开始才是数据 data=7
switch (referee_info.CmdID)
{
case ID_game_state: // 0x0001
memcpy(&referee_info.GameState, (ReadFromUsart + DATA_Offset), LEN_game_state);
memcpy(&referee_info.GameState, (buff + DATA_Offset), LEN_game_state);
break;
case ID_game_result: // 0x0002
memcpy(&referee_info.GameResult, (ReadFromUsart + DATA_Offset), LEN_game_result);
memcpy(&referee_info.GameResult, (buff + DATA_Offset), LEN_game_result);
break;
case ID_game_robot_survivors: // 0x0003
memcpy(&referee_info.GameRobotHP, (ReadFromUsart + DATA_Offset), LEN_game_robot_HP);
memcpy(&referee_info.GameRobotHP, (buff + DATA_Offset), LEN_game_robot_HP);
break;
case ID_event_data: // 0x0101
memcpy(&referee_info.EventData, (ReadFromUsart + DATA_Offset), LEN_event_data);
memcpy(&referee_info.EventData, (buff + DATA_Offset), LEN_event_data);
break;
case ID_supply_projectile_action: // 0x0102
memcpy(&referee_info.SupplyProjectileAction, (ReadFromUsart + DATA_Offset), LEN_supply_projectile_action);
memcpy(&referee_info.SupplyProjectileAction, (buff + DATA_Offset), LEN_supply_projectile_action);
break;
case ID_game_robot_state: // 0x0201
memcpy(&referee_info.GameRobotState, (ReadFromUsart + DATA_Offset), LEN_game_robot_state);
memcpy(&referee_info.GameRobotState, (buff + DATA_Offset), LEN_game_robot_state);
break;
case ID_power_heat_data: // 0x0202
memcpy(&referee_info.PowerHeatData, (ReadFromUsart + DATA_Offset), LEN_power_heat_data);
memcpy(&referee_info.PowerHeatData, (buff + DATA_Offset), LEN_power_heat_data);
break;
case ID_game_robot_pos: // 0x0203
memcpy(&referee_info.GameRobotPos, (ReadFromUsart + DATA_Offset), LEN_game_robot_pos);
memcpy(&referee_info.GameRobotPos, (buff + DATA_Offset), LEN_game_robot_pos);
break;
case ID_buff_musk: // 0x0204
memcpy(&referee_info.BuffMusk, (ReadFromUsart + DATA_Offset), LEN_buff_musk);
memcpy(&referee_info.BuffMusk, (buff + DATA_Offset), LEN_buff_musk);
break;
case ID_aerial_robot_energy: // 0x0205
memcpy(&referee_info.AerialRobotEnergy, (ReadFromUsart + DATA_Offset), LEN_aerial_robot_energy);
memcpy(&referee_info.AerialRobotEnergy, (buff + DATA_Offset), LEN_aerial_robot_energy);
break;
case ID_robot_hurt: // 0x0206
memcpy(&referee_info.RobotHurt, (ReadFromUsart + DATA_Offset), LEN_robot_hurt);
memcpy(&referee_info.RobotHurt, (buff + DATA_Offset), LEN_robot_hurt);
break;
case ID_shoot_data: // 0x0207
memcpy(&referee_info.ShootData, (ReadFromUsart + DATA_Offset), LEN_shoot_data);
memcpy(&referee_info.ShootData, (buff + DATA_Offset), LEN_shoot_data);
break;
case ID_student_interactive: // 0x0301 syhtodo接收代码未测试
memcpy(&referee_info.ReceiveData, (ReadFromUsart + DATA_Offset), LEN_receive_data);
memcpy(&referee_info.ReceiveData, (buff + DATA_Offset), LEN_receive_data);
break;
}
}
}
// 首地址加帧长度,指向CRC16下一字节,用来判断是否为0xA5,从而判断一个数据包是否有多帧数据
if (*(ReadFromUsart + sizeof(xFrameHeader) + LEN_CMDID + referee_info.FrameHeader.DataLength + LEN_TAIL) == 0xA5)
{
// 如果一个数据包出现了多帧数据,则再次调用解析函数,直到所有数据包解析完毕
JudgeReadData(ReadFromUsart + sizeof(xFrameHeader) + LEN_CMDID + referee_info.FrameHeader.DataLength + LEN_TAIL);
if (*(buff + sizeof(xFrameHeader) + LEN_CMDID + referee_info.FrameHeader.DataLength + LEN_TAIL) == 0xA5)
{ // 如果一个数据包出现了多帧数据,则再次调用解析函数,直到所有数据包解析完毕
JudgeReadData(buff + sizeof(xFrameHeader) + LEN_CMDID + referee_info.FrameHeader.DataLength + LEN_TAIL);
}
}
}

66
modules/referee/rm_referee.h
View File

@ -2,22 +2,25 @@
#define RM_REFEREE_H
#include "usart.h"
#include "referee_def.h"
#include "referee_protocol.h"
#include "robot_def.h"
#include "bsp_usart.h"
extern uint8_t UI_Seq;
#include "FreeRTOS.h"
extern uint8_t UI_Seq;
#pragma pack(1)
typedef struct
{
uint8_t Robot_Color; //机器人颜色
uint16_t Robot_ID; //本机器人ID
uint16_t Cilent_ID; //本机器人对应的客户端ID
uint16_t Receiver_Robot_ID; //机器人车间通信时接收者的ID，必须和本机器人同颜色
uint8_t Robot_Color; // 机器人颜色
uint16_t Robot_ID; // 本机器人ID
uint16_t Cilent_ID; // 本机器人对应的客户端ID
uint16_t Receiver_Robot_ID; // 机器人车间通信时接收者的ID，必须和本机器人同颜色
} referee_id_t;
// 此结构体包含裁判系统接收数据以及UI绘制与机器人车间通信的相关信息
typedef struct
{
{
referee_id_t referee_id;
xFrameHeader FrameHeader; // 接收到的帧头信息
@ -35,25 +38,60 @@ typedef struct
ext_robot_hurt_t RobotHurt; // 0x0206
ext_shoot_data_t ShootData; // 0x0207
//自定义交互数据的接收
// 自定义交互数据的接收
Communicate_ReceiveData_t ReceiveData;
} referee_info_t;
// 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;
uint32_t gimbal_flag : 1;
uint32_t shoot_flag : 1;
uint32_t lid_flag : 1;
uint32_t friction_flag : 1;
uint32_t Power_flag : 1;
} Referee_Interactive_Flag_t;
// 此结构体包含UI绘制与机器人车间通信的需要的其他非裁判系统数据
typedef struct
{
Referee_Interactive_Flag_t Referee_Interactive_Flag;
// 为UI绘制以及交互数据所用
chassis_mode_e chassis_mode; // 底盘模式
gimbal_mode_e gimbal_mode; // 云台模式
shoot_mode_e shoot_mode; // 发射模式设置
friction_mode_e friction_mode; // 摩擦轮关闭
lid_mode_e lid_mode; // 弹舱盖打开
Chassis_Power_Data_s Chassis_Power_Data; // 功率控制
// 上一次的模式，用于flag判断
chassis_mode_e chassis_last_mode;
gimbal_mode_e gimbal_last_mode;
shoot_mode_e shoot_last_mode;
friction_mode_e friction_last_mode;
lid_mode_e lid_last_mode;
Chassis_Power_Data_s Chassis_last_Power_Data;
} Referee_Interactive_info_t;
#pragma pack()
/**
* @brief 初始化裁判系统,返回接收数据指针
* @brief 裁判系统通信初始化,该函数会初始化裁判系统串口,开启中断
*
* @param referee_usart_handle
* @return referee_info_t*
* @param referee_usart_handle 串口handle,C板一般用串口6
* @return referee_info_t* 返回裁判系统反馈的数据,包括热量/血量/状态等
*/
referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle);
/**
* @brief 发送函数
* @todo
* @param send 待发送数据
* @brief UI绘制和交互数的发送接口,由UI绘制任务和多机通信函数调用
* @note 内部包含了一个实时系统的延时函数,这是因为裁判系统接收CMD数据至高位10Hz
*
* @param send 发送数据首地址
* @param tx_len 发送长度
*/
void RefereeSend(uint8_t *send, uint16_t tx_len);