/** * @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); static void robot_mode_change(Referee_Interactive_info_t *_Interactive_data); // 测试用函数，实现模式自动变化 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() { robot_mode_change(&Interactive_data); // 测试用函数，实现模式自动变化 My_UI_Refresh(referee_data, &Interactive_data); } static Graph_Data_t UI_shoot_line[10]; // 射击准线 static String_Data_t UI_State_sta[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 //syhtodo 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], "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 uint8_t count = 0; static uint16_t count1 = 0; static void robot_mode_change(Referee_Interactive_info_t *_Interactive_data) // 测试用函数，实现模式自动变化 { count++; if (count >= 50) { count = 0; count1++; } switch (count1%4) { case 0: { _Interactive_data->chassis_mode =CHASSIS_ZERO_FORCE; _Interactive_data->gimbal_mode =GIMBAL_ZERO_FORCE; _Interactive_data->shoot_mode = SHOOT_ON; _Interactive_data->friction_mode = FRICTION_ON; _Interactive_data->lid_mode = LID_OPEN; break; } case 1: {; _Interactive_data->chassis_mode =CHASSIS_ROTATE; _Interactive_data->gimbal_mode =GIMBAL_FREE_MODE; _Interactive_data->shoot_mode = SHOOT_OFF; _Interactive_data->friction_mode = FRICTION_OFF; _Interactive_data->lid_mode = LID_CLOSE; break; } case 2: { _Interactive_data->chassis_mode =CHASSIS_NO_FOLLOW; _Interactive_data->gimbal_mode =GIMBAL_GYRO_MODE; _Interactive_data->shoot_mode = SHOOT_ON; _Interactive_data->friction_mode = FRICTION_ON; _Interactive_data->lid_mode = LID_OPEN; break; } case 3: { _Interactive_data->chassis_mode =CHASSIS_FOLLOW_GIMBAL_YAW; _Interactive_data->gimbal_mode =GIMBAL_ZERO_FORCE; _Interactive_data->shoot_mode = SHOOT_OFF; _Interactive_data->friction_mode = FRICTION_OFF; _Interactive_data->lid_mode = LID_CLOSE; break; } default : break; } } static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_info_t *_Interactive_data) { // syhtodo 按键刷新 // syhtodo与上次不一样才要进入刷新，避免重复发送，使用新结构体flag 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->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; } // 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 }