/** * @file referee.C * @author kidneygood (you@domain.com) * @brief * @version 0.1 * @date 2022-11-18 * * @copyright Copyright (c) 2022 * */ #include "referee.h" #include "robot_def.h" #include "rm_referee.h" #include "referee_UI.h" 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 void determine_ID(referee_info_t *_referee_info); static void My_UI_init(referee_info_t *_referee_info); static void My_UI_Refresh(referee_info_t *_referee_info,Referee_Interactive_info_t *_Interactive_data); void Referee_Interactive_init() { referee_data = RefereeInit(&huart6); // 裁判系统初始化 while (referee_data->GameRobotState.robot_id ==0); determine_ID(referee_data); My_UI_init(referee_data); } void Referee_Interactive_task() { My_UI_Refresh(referee_data,Interactive_data); } static Graph_Data_t UI_shoot_line[10];//射击准线 static String_Data_t UI_State_sta[5];//机器人状态,静态只需画一次 static String_Data_t UI_State_dyn[5];//机器人状态,动态先add才能change static uint32_t shoot_line_location[10]={540,960,490,515,565}; static void My_UI_init(referee_info_t *_referee_info) { UI_Delete(&_referee_info->referee_id,UI_Data_Del_ALL,0); //绘制发射基准线 Line_Draw(&UI_shoot_line[0],"sl0",UI_Graph_ADD,7,UI_Color_White,3,710,shoot_line_location[0],1210,shoot_line_location[0]); Line_Draw(&UI_shoot_line[1],"sl1",UI_Graph_ADD,7,UI_Color_White,3,shoot_line_location[1],340,shoot_line_location[1],740); Line_Draw(&UI_shoot_line[2],"sl2",UI_Graph_ADD,7,UI_Color_Yellow,2,810,shoot_line_location[2],1110,shoot_line_location[2]); Line_Draw(&UI_shoot_line[3],"sl3",UI_Graph_ADD,7,UI_Color_Yellow,2,810,shoot_line_location[3],1110,shoot_line_location[3]); Line_Draw(&UI_shoot_line[4],"sl4",UI_Graph_ADD,7,UI_Color_Yellow,2,810,shoot_line_location[4],1110,shoot_line_location[4]); UI_ReFresh(&_referee_info->referee_id,5,UI_shoot_line[0],UI_shoot_line[1],UI_shoot_line[2],UI_shoot_line[3],UI_shoot_line[4]); //绘制车辆状态标志，静态 Char_Draw(&UI_State_sta[0],"ss0",UI_Graph_ADD,8,UI_Color_Main,15,2,150,750); Char_Write(&UI_State_sta[0],"chassis:"); Char_ReFresh(&_referee_info->referee_id,UI_State_sta[0]); Char_Draw(&UI_State_sta[1],"ss1",UI_Graph_ADD,8,UI_Color_Yellow,15,2,150,700); Char_Write(&UI_State_sta[1],"gimbal:"); Char_ReFresh(&_referee_info->referee_id,UI_State_sta[1]); Char_Draw(&UI_State_sta[2],"ss2",UI_Graph_ADD,8,UI_Color_Orange,15,2,150,650); Char_Write(&UI_State_sta[2],"cover:"); Char_ReFresh(&_referee_info->referee_id,UI_State_sta[2]); Char_Draw(&UI_State_sta[3],"ss3",UI_Graph_ADD,8,UI_Color_Pink,15,2,150,600); Char_Write(&UI_State_sta[3],"frict:"); Char_ReFresh(&_referee_info->referee_id,UI_State_sta[3]); //底盘功率显示，静态 Char_Draw(&UI_State_sta[4],"ss4",UI_Graph_ADD,8,UI_Color_Green,18,2,720,210); Char_Write(&UI_State_sta[4],"Power:"); Char_ReFresh(&_referee_info->referee_id,UI_State_sta[4]); //绘制车辆状态标志，动态 Char_Draw(&UI_State_dyn[0],"sd0",UI_Graph_ADD,8,UI_Color_Main,15,2,270,750); Char_Write(&UI_State_dyn[0],"0000"); 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],"0000"); 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],"0000"); 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],"0000"); Char_ReFresh(&_referee_info->referee_id,UI_State_dyn[3]); //底盘功率显示，动态 Char_Draw(&UI_State_dyn[4],"sd4",UI_Graph_ADD,8,UI_Color_Green,18,2,840,210); Char_Write(&UI_State_dyn[4],"0000"); Char_ReFresh(&_referee_info->referee_id,UI_State_dyn[4]); } static void My_UI_Refresh(referee_info_t *_referee_info,Referee_Interactive_info_t *_Interactive_data) { // syhtodo 按键刷新 // syhtodo与上次不一样才要进入刷新，避免重复发送 // switch(dbus_infomation.chassis_mode) // { // case rotate_mode: // { // Char_Draw(&UI_State[0],"s1",UI_Graph_Change,8,UI_Color_Main,15,2,150,750); // Char_Write(&UI_State[0],"chassis:rotate"); // break; // } // case back_middle_mode: // { // if (dbus_infomation.back_middle_mode_XL == X) // { // Char_Draw(&UI_State[0],"s1",UI_Graph_Change,8,UI_Color_Main,15,2,150,750); // Char_Write(&UI_State[0],"chassis:follow_x"); // } // else if (dbus_infomation.back_middle_mode_XL == L) // { // Char_Draw(&UI_State[0],"s1",UI_Graph_Change,8,UI_Color_Main,15,2,150,750); // Char_Write(&UI_State[0],"chassis:follow_l"); // } // break; // } // case free_mode: // { // Char_Draw(&UI_State[0],"s1",UI_Graph_Change,8,UI_Color_Main,15,2,150,750); // Char_Write(&UI_State[0],"chassis:free "); // break; // } // } // Char_ReFresh(UI_State[0]); // switch(dbus_infomation.gimbal_mode) // { // case mechanical_mode: // { // Char_Draw(&UI_State[1],"s2",UI_Graph_Change,8,UI_Color_Yellow,15,2,150,700); // Char_Write(&UI_State[1],"gimbal:mech "); // break; // } // case visual_mode: // { // Char_Draw(&UI_State[1],"s2",UI_Graph_Change,8,UI_Color_Yellow,15,2,150,700); // Char_Write(&UI_State[1],"gimbal:visual"); // break; // } // case gyro_mode: // { // Char_Draw(&UI_State[1],"s2",UI_Graph_Change,8,UI_Color_Yellow,15,2,150,700); // Char_Write(&UI_State[1],"gimbal:gyro "); // break; // } // } // Char_ReFresh(UI_State[1]); // switch(dbus_infomation.cover_state) // { // case cover_close_sign: // { // Char_Draw(&UI_State[2],"s3",UI_Graph_Change,8,UI_Color_Orange,15,2,150,650); // Char_Write(&UI_State[2],"cover:OFF"); // break; // } // case cover_open_sign: // { // Char_Draw(&UI_State[2],"s3",UI_Graph_Change,8,UI_Color_Orange,15,2,150,650); // Char_Write(&UI_State[2],"cover:ON "); // break; // } // } // Char_ReFresh(UI_State[2]); // switch(dbus_infomation.friction_state) // { // case friction_stop_sign: // { // Char_Draw(&UI_State[3],"s4",UI_Graph_Change,8,UI_Color_Pink,15,2,150,600); // Char_Write(&UI_State[3],"friction:OFF"); // break; // } // case friction_start_sign: // { // Char_Draw(&UI_State[3],"s4",UI_Graph_Change,8,UI_Color_Pink,15,2,150,600); // Char_Write(&UI_State[3],"friction:ON "); // break; // } // } // Char_ReFresh(UI_State[3]); // } // else if(timer_count == PEFEREE_PERIOD_TX_C/2) // { // //功率值变化 // Char_Draw(&UI_State[4],"s5",UI_Graph_Change,8,UI_Color_Green,18,2,720,240); // Char_Write(&UI_State[4],"Voltage:%dV",super_cap_info.cap_voltage_cap); // Char_ReFresh(UI_State[4]); // } // } } /** * @brief 判断各种ID，选择客户端ID * @param void * @retval referee_info * @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 = 0x00; //机器人车间通信时接收者的ID暂时为0 }