重新组织了裁判系统相关模块的结构
This commit is contained in:
NeoZng
parent
5c9c7962c8
commit
f6c686598d
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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@ -55,28 +56,32 @@ osThreadId defaultTaskHandle;
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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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@ -90,7 +95,8 @@ 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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@ -129,8 +135,11 @@ void MX_FREERTOS_Init(void) {
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osThreadDef(robottask, StartROBOTTASK, osPriorityNormal, 0, 1024);
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defaultTaskHandle = osThreadCreate(osThread(robottask), NULL);
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/* USER CODE END RTOS_THREADS */
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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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@ -140,13 +149,13 @@ 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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@ -155,43 +164,52 @@ 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(10);//syhæ¤å¤„暂时将时间改ä¸?10msï¼ŒåŽŸå› åœ¨äºŽæœªä½¿ç”¨ç¼“å†²åŒºå<C2BA>‘é€<C3A9>，å<C592>‘é?<3F>时延时5ms
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osDelay(10); // 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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Referee_Interactive_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 "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
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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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@ -105,7 +103,7 @@ void ChassisInit()
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chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
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motor_rb = DJIMotorInit(&chassis_motor_config);
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// referee_data = RefereeInit(&huart6); // 裁判系统初始化
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referee_data = RefereeInit(&huart6,&ui_data); // 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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@ -1,50 +0,0 @@
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#ifndef REFEREE_H
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#define REFEREE_H
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#include "rm_referee.h"
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#include "robot_def.h"
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#pragma pack(1)
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//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
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typedef struct
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{
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uint32_t chassis_flag : 1;
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uint32_t gimbal_flag : 1;
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uint32_t shoot_flag : 1;
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uint32_t lid_flag : 1;
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uint32_t friction_flag : 1;
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uint32_t Power_flag : 1;
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} Referee_Interactive_Flag_t;
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// 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
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typedef struct
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{
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Referee_Interactive_Flag_t Referee_Interactive_Flag;
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//为UI绘制以及交互数据所用
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Robot_Status_e Robot_Status;// 机器人状态
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App_Status_e App_Status;// 应用状态
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chassis_mode_e chassis_mode;//底盘模式
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gimbal_mode_e gimbal_mode;//云台模式
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shoot_mode_e shoot_mode;//发射模式设置
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friction_mode_e friction_mode;//摩擦轮关闭
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lid_mode_e lid_mode;//弹舱盖打开
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loader_mode_e loader_mode;//单发...连发
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Chassis_Power_Data_s Chassis_Power_Data;// 功率控制
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chassis_mode_e chassis_last_mode;//底盘模式
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gimbal_mode_e gimbal_last_mode;//云台模式
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shoot_mode_e shoot_last_mode;//发射模式设置
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friction_mode_e friction_last_mode;//摩擦轮关闭
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lid_mode_e lid_last_mode;//弹舱盖打开
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} Referee_Interactive_info_t;
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#pragma pack()
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void Referee_Interactive_init(void);
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void Referee_Interactive_task(void);
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#endif // REFEREE_H
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@ -1,3 +0,0 @@
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# referee
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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
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@ -22,7 +22,6 @@
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#include "balance.h"
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#endif // BALANCE_BOARD
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void RobotInit()
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{
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// 关闭中断,防止在初始化过程中发生中断
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@ -39,7 +38,7 @@ void RobotInit()
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#endif
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#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
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// ChassisInit();
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ChassisInit();
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#endif
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#ifdef BALANCE_BAORD
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@ -48,7 +47,6 @@ void RobotInit()
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// 初始化完成,开启中断
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__enable_irq();
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Referee_Interactive_init();
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}
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void RobotTask()
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@ -1,7 +1,7 @@
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#ifndef __CRC_H_
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#define __CRC_H_
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//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
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// 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
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#include <stdint.h>
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@ -1,3 +1 @@
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# referee
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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。
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@ -10,7 +10,7 @@
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*/
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#include "referee_UI.h"
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#include "string.h"
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#include "crc.h"
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#include "crc_ref.h"
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#include "stdio.h"
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#include "rm_referee.h"
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@ -20,7 +20,7 @@
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Del_Operate 对应头文件删除操作
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Del_Layer 要删除的层 取值0-9
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*****************************************************************************************/
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void UI_Delete(referee_id_t *_id, uint8_t Del_Operate, uint8_t Del_Layer)
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void UIDelete(referee_id_t *_id, uint8_t Del_Operate, uint8_t Del_Layer)
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{
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UI_delete_t UI_delete_data;
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uint8_t temp_datalength = Interactive_Data_LEN_Head + UI_Operate_LEN_Del; // 计算交互数据长度
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@ -42,7 +42,7 @@ void UI_Delete(referee_id_t *_id, uint8_t Del_Operate, uint8_t Del_Layer)
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UI_delete_data.frametail = Get_CRC16_Check_Sum((uint8_t *)&UI_delete_data, LEN_HEADER + LEN_CMDID + temp_datalength, 0xFFFF);
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/* 填入0xFFFF,关于crc校验 */
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RefereeLoadToBuffer((uint8_t *)&UI_delete_data, LEN_HEADER + LEN_CMDID + temp_datalength + LEN_TAIL); // 发送
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RefereeSend((uint8_t *)&UI_delete_data, LEN_HEADER + LEN_CMDID + temp_datalength + LEN_TAIL); // 发送
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UI_Seq++; // 包序号+1
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}
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@ -306,9 +306,13 @@ void Integer_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate
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Graph_Size 字号
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Graph_Width 图形线宽
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Start_x、Start_y 开始坐标
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**参数：*graph Graph_Data类型变量指针，用于存放图形数据
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fmt需要显示的字符串
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此函数的实现和具体使用类似于printf函数
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**********************************************************************************************************/
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void Char_Draw(String_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
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uint32_t Graph_Size, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y)
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uint32_t Graph_Size, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, char *fmt, ...)
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{
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int i;
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for (i = 0; i < 3 && graphname[i] != '\0'; i++)
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@ -328,22 +332,12 @@ void Char_Draw(String_Data_t *graph, char graphname[3], uint32_t Graph_Operate,
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graph->Graph_Control.radius = 0;
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graph->Graph_Control.end_x = 0;
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graph->Graph_Control.end_y = 0;
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}
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/************************************************绘制字符型数据*************************************************
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**参数：*graph Graph_Data类型变量指针，用于存放图形数据
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fmt需要显示的字符串
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此函数的实现和具体使用类似于printf函数
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**********************************************************************************************************/
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void Char_Write(String_Data_t *graph, char *fmt, ...)
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{
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uint16_t i = 0;
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va_list ap;
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va_start(ap, fmt);
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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
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va_end(ap);
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i = strlen((const char *)graph->show_Data);
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graph->Graph_Control.end_angle = i;
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graph->Graph_Control.end_angle = strlen((const char *)graph->show_Data);
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}
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/* UI推送函数（使更改生效）
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@ -353,10 +347,13 @@ void Char_Write(String_Data_t *graph, char *fmt, ...)
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*/
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void UI_ReFresh(referee_id_t *_id, int cnt, ...)
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{
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int i;
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UI_GraphReFresh_t UI_GraphReFresh_data;
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Graph_Data_t graphData;
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uint8_t temp_datalength = LEN_HEADER + LEN_CMDID + Interactive_Data_LEN_Head + UI_Operate_LEN_PerDraw * cnt + LEN_TAIL; // 计算交互数据长度
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uint8_t buffer[temp_datalength]; // 交互数据缓存
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va_list ap; // 创建一个 va_list 类型变量
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va_start(ap, cnt); // 初始化 va_list 变量为一个参数列表
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@ -385,23 +382,17 @@ void UI_ReFresh(referee_id_t *_id, int cnt, ...)
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|
||||
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);
|
||||
RefereeLoadToBuffer((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
|
||||
RefereeLoadToBuffer((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);
|
||||
}
|
||||
|
||||
RefereeLoadToBuffer((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); // 发送CRC16校验值
|
||||
|
||||
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）*********************************/
|
||||
|
|
@ -427,7 +418,7 @@ void Char_ReFresh(referee_id_t *_id, String_Data_t string_Data)
|
|||
|
||||
UI_CharReFresh_data.frametail = Get_CRC16_Check_Sum((uint8_t *)&UI_CharReFresh_data, LEN_HEADER + LEN_CMDID + temp_datalength, 0xFFFF);
|
||||
|
||||
RefereeLoadToBuffer((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
|
||||
}
|
||||
|
|
|
|||
|
|
@ -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);
|
||||
|
||||
RefereeLoadToBuffer((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 */
|
||||
|
|
@ -8,17 +8,15 @@
|
|||
* @copyright Copyright (c) 2022
|
||||
*
|
||||
*/
|
||||
#include "referee.h"
|
||||
#include "referee_task.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 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
|
||||
|
||||
static void determine_ID(referee_info_t *_referee_info);
|
||||
static void DeterminRobotID(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
|
||||
|
|
@ -29,23 +27,16 @@ static void UI_test_init(referee_info_t *_referee_info); //
|
|||
|
||||
void Referee_Interactive_init()
|
||||
{
|
||||
referee_data = RefereeInit(&huart6); // 裁判系统初始化
|
||||
// while (referee_data->GameRobotState.robot_id == 0);
|
||||
referee_data->GameRobotState.robot_id = 103; // syhtodo RobotInit中关闭了中断进行初始化，无法读取到裁判系统的ID，暂时在此处写死
|
||||
determine_ID(referee_data);
|
||||
My_UI_init(referee_data);
|
||||
// UI_test_init(referee_data); // 测试函数
|
||||
RefereeSend();
|
||||
//如果此处还要加入车间通信初始化，注意将referee和车间通信的数据合并后再使用
|
||||
//refereesend函数永远是最后一步
|
||||
|
||||
//串口接收需要设置喂狗
|
||||
RefereeGetUIData(&referee_recv_info, &Interactive_data);
|
||||
while (referee_recv_info->GameRobotState.robot_id == 0);
|
||||
DeterminRobotID(referee_recv_info);
|
||||
My_UI_init(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_data, &Interactive_data);
|
||||
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
|
||||
|
|
@ -55,9 +46,9 @@ 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);
|
||||
UIDelete(&_referee_info->referee_id, UI_Data_Del_ALL, 0);
|
||||
|
||||
// 绘制发射基准线
|
||||
// // 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]);
|
||||
|
|
@ -66,57 +57,37 @@ static void My_UI_init(referee_info_t *_referee_info)
|
|||
|
||||
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:");
|
||||
// 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_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_Draw(&UI_State_sta[1], "ss1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 150, 700, "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_Draw(&UI_State_sta[2], "ss2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 150, 650, "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_Draw(&UI_State_sta[3], "ss3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 600, "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_Draw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 550, "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_Draw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 720, 210, "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_Draw(&UI_State_dyn[0], "sd0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 270, 750, "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_Draw(&UI_State_dyn[1], "sd1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 270, 700, "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_Draw(&UI_State_dyn[2], "sd2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 270, 650, "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_Draw(&UI_State_dyn[3], "sd3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 600, "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_Draw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 550, "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");
|
||||
// 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, "0000");
|
||||
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[5]);
|
||||
}
|
||||
|
||||
|
|
@ -143,7 +114,6 @@ static void robot_mode_change(Referee_Interactive_info_t *_Interactive_data) //
|
|||
}
|
||||
case 1:
|
||||
{
|
||||
;
|
||||
_Interactive_data->chassis_mode = CHASSIS_ROTATE;
|
||||
_Interactive_data->gimbal_mode = GIMBAL_FREE_MODE;
|
||||
_Interactive_data->shoot_mode = SHOOT_OFF;
|
||||
|
|
@ -183,30 +153,19 @@ static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_inf
|
|||
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");
|
||||
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);
|
||||
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
|
||||
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);
|
||||
Char_Write(&UI_State_dyn[0], "nofollow ");
|
||||
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);
|
||||
Char_Write(&UI_State_dyn[0], "follow ");
|
||||
Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "follow ");
|
||||
break;
|
||||
}
|
||||
}
|
||||
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[0]);
|
||||
_Interactive_data->Referee_Interactive_Flag.chassis_flag = 0;
|
||||
}
|
||||
|
|
@ -217,20 +176,17 @@ static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_inf
|
|||
{
|
||||
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");
|
||||
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);
|
||||
Char_Write(&UI_State_dyn[1], "free ");
|
||||
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);
|
||||
Char_Write(&UI_State_dyn[1], "gyro ");
|
||||
Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "gyro ");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
|
@ -244,14 +200,12 @@ static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_inf
|
|||
{
|
||||
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");
|
||||
Char_Draw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Orange, 15, 2, 270, 650, "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 ");
|
||||
Char_Draw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Orange, 15, 2, 270, 650, "on ");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
|
@ -259,42 +213,37 @@ static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_inf
|
|||
_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");
|
||||
Char_Draw(&UI_State_dyn[3], "sd3", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 600, "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 ");
|
||||
Char_Draw(&UI_State_dyn[3], "sd3", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 600, "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");
|
||||
Char_Draw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 550, "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 ");
|
||||
Char_Draw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 550, "open ");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
|
@ -348,7 +297,7 @@ static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data)
|
|||
* @retval none
|
||||
* @attention
|
||||
*/
|
||||
static void determine_ID(referee_info_t *_referee_info)
|
||||
static void DeterminRobotID(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;
|
||||
|
|
@ -363,7 +312,7 @@ 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);
|
||||
UIDelete(&_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);
|
||||
|
|
@ -375,7 +324,6 @@ static void UI_test_init(referee_info_t *_referee_info)
|
|||
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_Draw(&sdata[0], "s7", UI_Graph_ADD, 0, UI_Color_Green, 20, 2, 620, 710, "number:%d", 123);
|
||||
Char_ReFresh(&_referee_info->referee_id, sdata[0]);
|
||||
}
|
||||
|
|
@ -0,0 +1,19 @@
|
|||
#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)
|
||||
*
|
||||
*/
|
||||
void Referee_Interactive_init();
|
||||
|
||||
/**
|
||||
* @brief 裁判系统交互任务(UI和多机通信)
|
||||
*
|
||||
*/
|
||||
void Referee_Interactive_task();
|
||||
|
||||
#endif // REFEREE_H
|
||||
|
|
@ -13,51 +13,72 @@
|
|||
#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;
|
||||
static referee_tx_buffer_t referee_tx_buffer={{0},0};
|
||||
static referee_info_t referee_info;
|
||||
static void JudgeReadData(uint8_t *ReadFromUsart);
|
||||
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_Interactive_info_t *UI_tmp; // UI绘制需要的机器人状态数据
|
||||
|
||||
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
|
||||
|
||||
/* 裁判系统通信初始化 */
|
||||
referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle)
|
||||
referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle, Referee_Interactive_info_t *UI_data)
|
||||
{
|
||||
USART_Init_Config_s conf;
|
||||
conf.module_callback = RefereeRxCallback;
|
||||
conf.usart_handle = referee_usart_handle;
|
||||
conf.recv_buff_size = RE_RX_BUFFER_SIZE;
|
||||
referee_usart_instance = USARTRegister(&conf);
|
||||
UI_tmp = UI_data;
|
||||
return &referee_info;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 载入缓存区函数
|
||||
* @param send 待载入的数据
|
||||
*/
|
||||
void RefereeLoadToBuffer(uint8_t *send, uint16_t tx_len)
|
||||
void RefereeGetUIData(referee_info_t **recv_info_pp, Referee_Interactive_info_t **UI_data_pp)
|
||||
{
|
||||
memcpy((uint8_t *)(&referee_tx_buffer.buffer)+referee_tx_buffer.pos,send,tx_len);
|
||||
referee_tx_buffer.pos+=tx_len;
|
||||
*recv_info_pp = &referee_info;
|
||||
*UI_data_pp = UI_tmp;
|
||||
}
|
||||
|
||||
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
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 发送函数
|
||||
* @brief 裁判系统数据发送函数,由于使用
|
||||
* @param
|
||||
*/
|
||||
void RefereeSend()
|
||||
void RefereeSend(uint8_t *send, uint16_t tx_len)
|
||||
{
|
||||
USARTSend(referee_usart_instance, (uint8_t *)(&referee_tx_buffer.buffer), referee_tx_buffer.pos,USART_TRANSFER_DMA);
|
||||
referee_tx_buffer.pos=0;
|
||||
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 */
|
||||
static void RefereeRxCallback()
|
||||
{
|
||||
|
|
@ -66,83 +87,82 @@ 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);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -2,25 +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)
|
||||
#define RE_TX_BUFFER_SIZE 512
|
||||
//发送缓冲区结构体定义
|
||||
typedef struct
|
||||
{
|
||||
uint8_t buffer[RE_TX_BUFFER_SIZE];
|
||||
uint16_t pos;
|
||||
} referee_tx_buffer_t;
|
||||
|
||||
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
|
||||
|
|
@ -43,33 +38,79 @@ 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
|
||||
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
|
||||
|
||||
//上一次的模式，用于flag判断
|
||||
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()
|
||||
|
||||
/**
|
||||
* @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,同时将UI绘制的数据指针传入
|
||||
*
|
||||
* @param referee_usart_handle
|
||||
* @return referee_info_t*
|
||||
* @param referee_usart_handle 串口handle,C板一般用串口6
|
||||
* @param UI_data UI绘制数据指针,即保存着UI绘制的各种状态数据
|
||||
* @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);
|
||||
|
||||
referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle, Referee_Interactive_info_t *UI_data);
|
||||
|
||||
/**
|
||||
* @brief 载入缓存区函数
|
||||
* @param send 待载入的数据
|
||||
* @brief 由UI绘制的任务初始化调用,用于获取裁判系统反馈的数据指针和UI绘制的数据指针,以便UI绘制任务使用
|
||||
*
|
||||
* @param recv_info_pp 指向裁判系统反馈的数据指针
|
||||
* @param UI_data_pp
|
||||
*/
|
||||
void RefereeLoadToBuffer(uint8_t *send, uint16_t tx_len);
|
||||
void RefereeGetUIData(referee_info_t **recv_info_pp, Referee_Interactive_info_t **UI_data_pp);
|
||||
|
||||
/**
|
||||
* @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 CommBetweenRobotSend(referee_id_t *_id, robot_interactive_data_t *_data);
|
||||
|
||||
/**
|
||||
* @brief 发送函数
|
||||
* @todo
|
||||
* @param
|
||||
*/
|
||||
void RefereeSend(void);
|
||||
void RefereeSend(uint8_t *send, uint16_t tx_len);
|
||||
|
||||
#endif // !REFEREE_H
|
||||
|
|
|
|||
Loading…
Reference in New Issue