合并“referee”分支
This commit is contained in:
NeoZng
commit
f3d47258cd
4
Makefile
4
Makefile
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@ -145,7 +145,7 @@ modules/oled/oled.c \
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modules/referee/crc_ref.c \
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modules/referee/rm_referee.c \
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modules/referee/referee_UI.c \
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modules/referee/referee_communication.c \
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modules/referee/referee_task.c \
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modules/remote/remote_control.c \
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modules/super_cap/super_cap.c \
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modules/can_comm/can_comm.c \
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@ -155,7 +155,6 @@ modules/vofa/vofa.c \
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application/gimbal/gimbal.c \
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application/chassis/chassis.c \
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application/shoot/shoot.c \
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application/referee/referee.c \
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application/cmd/robot_cmd.c \
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application/balance_chassis/balance.c \
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application/robot.c
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@ -237,7 +236,6 @@ C_INCLUDES = \
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-Iapplication/gimbal \
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-Iapplication/cmd \
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-Iapplication/balance_chassis \
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-Iapplication/referee \
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-Iapplication \
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-Ibsp/dwt \
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-Ibsp/can \
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@ -28,6 +28,7 @@
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#include "ins_task.h"
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#include "motor_task.h"
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#include "led_task.h"
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#include "referee_task.h"
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#include "daemon.h"
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#include "robot.h"
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/* USER CODE END Includes */
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@ -61,28 +62,32 @@ osThreadId uiTaskHandle;
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/* Private function prototypes -----------------------------------------------*/
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/* USER CODE BEGIN FunctionPrototypes */
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void StartINSTASK(void const * argument);
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void StartINSTASK(void const *argument);
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void StartMOTORTASK(void const * argument);
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void StartMOTORTASK(void const *argument);
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void StartDAEMONTASK(void const* argument);
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void StartDAEMONTASK(void const *argument);
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void StartROBOTTASK(void const* argument);
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void StartROBOTTASK(void const *argument);
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void StartROBOTTASK(void const *argument);
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void StartUITASK(void const *argument);
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/* USER CODE END FunctionPrototypes */
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void StartDefaultTask(void const * argument);
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void StartDefaultTask(void const *argument);
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extern void MX_USB_DEVICE_Init(void);
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void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
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/* GetIdleTaskMemory prototype (linked to static allocation support) */
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void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );
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void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize);
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/* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
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static StaticTask_t xIdleTaskTCBBuffer;
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static StackType_t xIdleStack[configMINIMAL_STACK_SIZE];
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void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
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void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize)
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{
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*ppxIdleTaskTCBBuffer = &xIdleTaskTCBBuffer;
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*ppxIdleTaskStackBuffer = &xIdleStack[0];
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@ -96,7 +101,8 @@ void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackTy
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* @param None
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* @retval None
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*/
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void MX_FREERTOS_Init(void) {
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void MX_FREERTOS_Init(void)
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{
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/* USER CODE BEGIN Init */
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/* USER CODE END Init */
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@ -134,9 +140,12 @@ void MX_FREERTOS_Init(void) {
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daemonTaskHandle = osThreadCreate(osThread(daemontask), NULL);
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osThreadDef(robottask, StartROBOTTASK, osPriorityNormal, 0, 1024);
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robotTaskHandle = osThreadCreate(osThread(robottask), NULL);
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/* USER CODE END RTOS_THREADS */
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defaultTaskHandle = osThreadCreate(osThread(robottask), NULL);
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osThreadDef(uitask, StartUITASK, osPriorityNormal, 0, 512);
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defaultTaskHandle = osThreadCreate(osThread(uitask), NULL);
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/* USER CODE END RTOS_THREADS */
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}
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/* USER CODE BEGIN Header_StartDefaultTask */
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@ -146,13 +155,13 @@ void MX_FREERTOS_Init(void) {
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* @retval None
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*/
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/* USER CODE END Header_StartDefaultTask */
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void StartDefaultTask(void const * argument)
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void StartDefaultTask(void const *argument)
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{
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/* init code for USB_DEVICE */
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MX_USB_DEVICE_Init();
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/* USER CODE BEGIN StartDefaultTask */
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/* Infinite loop */
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for(;;)
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for (;;)
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{
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osDelay(1);
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}
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@ -161,43 +170,52 @@ void StartDefaultTask(void const * argument)
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/* Private application code --------------------------------------------------*/
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/* USER CODE BEGIN Application */
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void StartINSTASK(void const * argument)
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void StartINSTASK(void const *argument)
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{
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while (1)
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{
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//1kHz
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INS_Task();
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// 1kHz
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// INS_Task();
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osDelay(1);
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}
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}
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void StartMOTORTASK(void const * argument)
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void StartMOTORTASK(void const *argument)
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{
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while (1)
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{
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//500Hz
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// 500Hz
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MotorControlTask();
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osDelay(2);
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}
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}
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void StartDAEMONTASK(void const * argument)
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void StartDAEMONTASK(void const *argument)
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{
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while (1)
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{
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//100Hz
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// 100Hz
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DaemonTask();
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osDelay(10);
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}
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}
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void StartROBOTTASK(void const * argument)
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void StartROBOTTASK(void const *argument)
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{
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while (1)
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{
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// 200Hz
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RobotTask();
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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
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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
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}
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}
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void StartUITASK(void const *argument)
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{
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My_UI_init();
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while (1)
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{
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Referee_Interactive_task();
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}
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}
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/* USER CODE END Application */
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@ -7,11 +7,11 @@
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#include "HT04.h"
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#include "LK9025.h"
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#include "bmi088.h"
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#include "referee.h"
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#include "super_cap.h"
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#include "controller.h"
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#include "can_comm.h"
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#include "user_lib.h"
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#include "rm_referee.h"
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// standard
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#include "stdint.h"
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#include "arm_math.h" // 需要用到较多三角函数
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@ -16,12 +16,7 @@
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#include "dji_motor.h"
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#include "super_cap.h"
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#include "message_center.h"
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// referee需要移动到module层
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/////////////////////////
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#include "rm_referee.h"
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/////////////////////////
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#include "referee_task.h"
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#include "general_def.h"
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#include "bsp_dwt.h"
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@ -47,6 +42,9 @@ static Subscriber_t *chassis_sub; // 用于订阅底盘的控
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static Chassis_Ctrl_Cmd_s chassis_cmd_recv; // 底盘接收到的控制命令
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static Chassis_Upload_Data_s chassis_feedback_data; // 底盘回传的反馈数据
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static referee_info_t* referee_data; // 用于获取裁判系统的数据
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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
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static SuperCapInstance *cap; // 超级电容
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static DJIMotorInstance *motor_lf, *motor_rf, *motor_lb, *motor_rb; // left right forward back
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@ -105,10 +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 = RefereeInit(&huart6); // 裁判系统初始化
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// while (referee_data->GameRobotState.robot_id ==0);
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// Referee_Interactive_init(referee_data);
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referee_data = Referee_Interactive_init(&huart6,&ui_data); // 裁判系统初始化
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SuperCap_Init_Config_s cap_conf = {
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.can_config = {
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@ -1,385 +0,0 @@
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/**
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* @file referee.C
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* @author kidneygood (you@domain.com)
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* @brief
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* @version 0.1
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* @date 2022-11-18
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*
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* @copyright Copyright (c) 2022
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*
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*/
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#include "referee.h"
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#include "robot_def.h"
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#include "rm_referee.h"
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#include "referee_UI.h"
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#include "referee_communication.h"
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static Referee_Interactive_info_t Interactive_data; // 非裁判系统数据
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static referee_info_t *referee_data; // 裁判系统相关数据
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static robot_interactive_data_t *SendData;
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static void determine_ID(referee_info_t *_referee_info);
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static void My_UI_init(referee_info_t *_referee_info);
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static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_info_t *_Interactive_data);
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static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data); // 模式切换检测
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//syhtod 正式上车后需删除
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static void robot_mode_change(Referee_Interactive_info_t *_Interactive_data); // 测试用函数，实现模式自动变化
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static void UI_test_init(referee_info_t *_referee_info);//UI测试函数
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void Referee_Interactive_init()
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{
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referee_data = RefereeInit(&huart6); // 裁判系统初始化
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while (referee_data->GameRobotState.robot_id == 0)
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;
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determine_ID(referee_data);
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My_UI_init(referee_data);
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//UI_test_init(referee_data);
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for (int i=0;i<Communicate_Data_LEN;i++)
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{
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SendData->data[i]=i+1;
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}
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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
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Communicate_SendData(&referee_data->referee_id,SendData);
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}
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void Referee_Interactive_task()
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{
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robot_mode_change(&Interactive_data); // 测试用函数，实现模式自动变化
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My_UI_Refresh(referee_data, &Interactive_data);
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}
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static Graph_Data_t UI_shoot_line[10]; // 射击准线
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static String_Data_t UI_State_sta[6]; // 机器人状态,静态只需画一次
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static String_Data_t UI_State_dyn[6]; // 机器人状态,动态先add才能change
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static uint32_t shoot_line_location[10] = {540, 960, 490, 515, 565};
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static void My_UI_init(referee_info_t *_referee_info)
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{
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UI_Delete(&_referee_info->referee_id, UI_Data_Del_ALL, 0);
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// 绘制发射基准线
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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]);
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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);
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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]);
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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]);
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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]);
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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]);
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// 绘制车辆状态标志，静态
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Char_Draw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 150, 750);
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Char_Write(&UI_State_sta[0], "chassis:");
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Char_ReFresh(&_referee_info->referee_id, UI_State_sta[0]);
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Char_Draw(&UI_State_sta[1], "ss1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 150, 700);
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Char_Write(&UI_State_sta[1], "gimbal:");
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Char_ReFresh(&_referee_info->referee_id, UI_State_sta[1]);
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Char_Draw(&UI_State_sta[2], "ss2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 150, 650);
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Char_Write(&UI_State_sta[2], "shoot:");
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Char_ReFresh(&_referee_info->referee_id, UI_State_sta[2]);
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Char_Draw(&UI_State_sta[3], "ss3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 600);
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Char_Write(&UI_State_sta[3], "frict:");
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Char_ReFresh(&_referee_info->referee_id, UI_State_sta[3]);
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Char_Draw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 550);
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Char_Write(&UI_State_sta[4], "lid:");
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Char_ReFresh(&_referee_info->referee_id, UI_State_sta[4]);
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// 底盘功率显示，静态
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Char_Draw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 720, 210);
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Char_Write(&UI_State_sta[5], "Power:");
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Char_ReFresh(&_referee_info->referee_id, UI_State_sta[5]);
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// 绘制车辆状态标志，动态
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// 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
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Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 270, 750);
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Char_Write(&UI_State_dyn[0], "zeroforce");
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Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[0]);
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Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 270, 700);
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Char_Write(&UI_State_dyn[1], "zeroforce");
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Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[1]);
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Char_Draw(&UI_State_dyn[2], "sd2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 270, 650);
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Char_Write(&UI_State_dyn[2], "off");
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Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[2]);
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Char_Draw(&UI_State_dyn[3], "sd3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 600);
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Char_Write(&UI_State_dyn[3], "off");
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Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[3]);
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Char_Draw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 550);
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Char_Write(&UI_State_dyn[4], "open ");
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Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[4]);
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// 底盘功率显示，动态
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Char_Draw(&UI_State_dyn[5], "sd5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 840, 210);
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Char_Write(&UI_State_dyn[5], "0000");
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Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[5]);
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}
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static uint8_t count = 0;
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static uint16_t count1 = 0;
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static void robot_mode_change(Referee_Interactive_info_t *_Interactive_data) // 测试用函数，实现模式自动变化
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{
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count++;
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if (count >= 50)
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{
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count = 0;
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count1++;
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}
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switch (count1 % 4)
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{
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case 0:
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{
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_Interactive_data->chassis_mode = CHASSIS_ZERO_FORCE;
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_Interactive_data->gimbal_mode = GIMBAL_ZERO_FORCE;
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_Interactive_data->shoot_mode = SHOOT_ON;
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_Interactive_data->friction_mode = FRICTION_ON;
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_Interactive_data->lid_mode = LID_OPEN;
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break;
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}
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case 1:
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{
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;
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_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]);
|
||||
}
|
||||
|
|
@ -1,50 +0,0 @@
|
|||
#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
|
||||
|
||||
|
||||
|
||||
|
|
@ -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
|
||||
|
|
@ -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>
|
||||
|
||||
|
|
|
|||
|
|
@ -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
|
||||
}
|
||||
```
|
||||
|
|
@ -10,7 +10,7 @@
|
|||
*/
|
||||
#include "referee_UI.h"
|
||||
#include "string.h"
|
||||
#include "crc.h"
|
||||
#include "crc_ref.h"
|
||||
#include "stdio.h"
|
||||
#include "rm_referee.h"
|
||||
|
||||
|
|
@ -20,7 +20,7 @@
|
|||
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
|
||||
|
|
@ -306,9 +306,13 @@ void Integer_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate
|
|||
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++)
|
||||
|
|
@ -328,22 +332,12 @@ void Char_Draw(String_Data_t *graph, char graphname[3], uint32_t Graph_Operate,
|
|||
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;
|
||||
graph->Graph_Control.end_angle = strlen((const char *)graph->show_Data);
|
||||
}
|
||||
|
||||
/* UI推送函数（使更改生效）
|
||||
|
|
@ -353,10 +347,13 @@ void Char_Write(String_Data_t *graph, char *fmt, ...)
|
|||
*/
|
||||
void UI_ReFresh(referee_id_t *_id, int cnt, ...)
|
||||
{
|
||||
int i;
|
||||
UI_GraphReFresh_t UI_GraphReFresh_data;
|
||||
Graph_Data_t graphData;
|
||||
|
||||
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
|
||||
|
||||
uint8_t buffer[temp_datalength]; // 交互数据缓存
|
||||
|
||||
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
|
||||
|
||||
|
|
@ -385,23 +382,17 @@ void UI_ReFresh(referee_id_t *_id, int cnt, ...)
|
|||
|
||||
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
|
||||
|
||||
// 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);
|
||||
|
||||
for (i = 0; i < cnt; i++) // 发送交互数据的数据帧，并计算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
|
||||
// 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);
|
||||
memcpy(buffer + (LEN_HEADER + LEN_CMDID + Interactive_Data_LEN_Head + UI_Operate_LEN_PerDraw * i), (uint8_t *)&graphData, UI_Operate_LEN_PerDraw);
|
||||
}
|
||||
|
||||
RefereeSend((uint8_t *)&UI_GraphReFresh_data.frametail, LEN_TAIL); // 发送CRC16校验值
|
||||
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
|
||||
}
|
||||
|
||||
/************************************************UI推送字符（使更改生效）*********************************/
|
||||
|
|
|
|||
|
|
@ -3,10 +3,10 @@
|
|||
|
||||
#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
|
||||
|
|
@ -14,7 +14,7 @@ typedef struct
|
|||
xFrameHeader FrameHeader;
|
||||
uint16_t CmdID;
|
||||
ext_student_interactive_header_data_t datahead;
|
||||
uint8_t Delete_Operate; //删除操作
|
||||
uint8_t Delete_Operate; // 删除操作
|
||||
uint8_t Layer;
|
||||
uint16_t frametail;
|
||||
} UI_delete_t;
|
||||
|
|
@ -34,44 +34,39 @@ typedef struct
|
|||
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
|
||||
} 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 UI_ReFresh(referee_id_t *_id, int cnt, ...);
|
||||
|
||||
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 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_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);
|
||||
void Char_ReFresh(referee_id_t *_id, String_Data_t string_Data);
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -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
|
||||
}
|
||||
|
|
@ -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
|
||||
|
|
@ -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)
|
||||
|
||||
/****************************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 */
|
||||
|
|
@ -102,7 +100,7 @@ typedef enum
|
|||
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_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;
|
||||
|
|
@ -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 */
|
||||
|
|
@ -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;
|
||||
}
|
||||
}
|
||||
|
|
@ -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
|
||||
|
|
@ -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
|
||||
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);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -2,17 +2,20 @@
|
|||
#define RM_REFEREE_H
|
||||
|
||||
#include "usart.h"
|
||||
#include "referee_def.h"
|
||||
#include "referee_protocol.h"
|
||||
#include "robot_def.h"
|
||||
#include "bsp_usart.h"
|
||||
#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
|
||||
|
|
@ -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);
|
||||
|
||||
|
|
|
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Reference in New Issue