#include "referee_UI.h" #include "string.h" #include "crc.h" #include "bsp_usart.h" #include "dma.h" #include "stdio.h" #include "referee.h" uint16_t Robot_ID = UI_Data_RobotID_BHero; uint16_t Cilent_ID = UI_Data_CilentID_BHero; unsigned char UI_Seq; //包序号 /****************************************串口驱动映射************************************/ void UI_SendByte(unsigned char ch) { HAL_UART_Transmit_DMA(&huart6,&ch,1); } /********************************************删除操作************************************* **参数：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(uint8_t Del_Operate,uint8_t Del_Layer) { unsigned char *framepoint; //读写指针 uint16_t frametail=0xFFFF; //CRC16校验值 UI_Packhead framehead; //帧头 UI_Data_Operate datahead; //数据交互帧 UI_Data_Delete del; //删除图层帧 framepoint=(unsigned char *)&framehead; framehead.SOF=UI_SOF; framehead.Data_Length=8; framehead.Seq=UI_Seq; framehead.CRC8=Get_CRC8_Check_Sum_UI(framepoint,4,0xFF); framehead.CMD_ID=UI_CMD_Robo_Exchange; //填充包头数据 datahead.Data_ID=UI_Data_ID_Del; datahead.Sender_ID=Robot_ID; datahead.Receiver_ID=Cilent_ID; //填充操作数据 del.Delete_Operate=Del_Operate; del.Layer=Del_Layer; //控制信息 frametail=Get_CRC16_Check_Sum_UI(framepoint,sizeof(framehead),frametail); framepoint=(unsigned char *)&datahead; frametail=Get_CRC16_Check_Sum_UI(framepoint,sizeof(datahead),frametail); framepoint=(unsigned char *)&del; frametail=Get_CRC16_Check_Sum_UI(framepoint,sizeof(del),frametail); //CRC16校验值计算 RefereeSend((uint8_t *)&framehead,sizeof(framehead)); RefereeSend((uint8_t *)&datahead,sizeof(datahead)); RefereeSend((uint8_t *)&del,sizeof(del)); //发送所有帧 RefereeSend((uint8_t *)&frametail,sizeof(frametail)); //发送CRC16校验值 UI_Seq++; //包序号+1 } /************************************************绘制直线************************************************* **参数：*image Graph_Data类型变量指针，用于存放图形数据 imagename[3] 图片名称，用于标识更改 Graph_Operate 图片操作，见头文件 Graph_Layer 图层0-9 Graph_Color 图形颜色 Graph_Width 图形线宽 Start_x、Start_y 开始坐标 End_x、End_y 结束坐标 **********************************************************************************************************/ void Line_Draw(Graph_Data *image,char imagename[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) { int i; for(i=0;i<3&&imagename[i]!='\0';i++) image->graphic_name[2-i]=imagename[i]; image->operate_tpye = Graph_Operate; image->layer = Graph_Layer; image->color = Graph_Color; image->width = Graph_Width; image->start_x = Start_x; image->start_y = Start_y; image->end_x = End_x; image->end_y = End_y; } /************************************************绘制矩形************************************************* **参数：*image Graph_Data类型变量指针，用于存放图形数据 imagename[3] 图片名称，用于标识更改 Graph_Operate 图片操作，见头文件 Graph_Layer 图层0-9 Graph_Color 图形颜色 Graph_Width 图形线宽 Start_x、Start_y 开始坐标 End_x、End_y 结束坐标（对顶角坐标） **********************************************************************************************************/ void Rectangle_Draw(Graph_Data *image,char imagename[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) { int i; for(i=0;i<3&&imagename[i]!='\0';i++) image->graphic_name[2-i]=imagename[i]; image->graphic_tpye = UI_Graph_Rectangle; image->operate_tpye = Graph_Operate; image->layer = Graph_Layer; image->color = Graph_Color; image->width = Graph_Width; image->start_x = Start_x; image->start_y = Start_y; image->end_x = End_x; image->end_y = End_y; } /************************************************绘制整圆************************************************* **参数：*image Graph_Data类型变量指针，用于存放图形数据 imagename[3] 图片名称，用于标识更改 Graph_Operate 图片操作，见头文件 Graph_Layer 图层0-9 Graph_Color 图形颜色 Graph_Width 图形线宽 Start_x、Start_y 圆心坐标 Graph_Radius 图形半径 **********************************************************************************************************/ void Circle_Draw(Graph_Data *image,char imagename[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) { int i; for(i=0;i<3&&imagename[i]!='\0';i++) image->graphic_name[2-i]=imagename[i]; image->graphic_tpye = UI_Graph_Circle; image->operate_tpye = Graph_Operate; image->layer = Graph_Layer; image->color = Graph_Color; image->width = Graph_Width; image->start_x = Start_x; image->start_y = Start_y; image->radius = Graph_Radius; } /************************************************绘制圆弧************************************************* **参数：*image Graph_Data类型变量指针，用于存放图形数据 imagename[3] 图片名称，用于标识更改 Graph_Operate 图片操作，见头文件 Graph_Layer 图层0-9 Graph_Color 图形颜色 Graph_StartAngle,Graph_EndAngle 开始，终止角度 Graph_Width 图形线宽 Start_y,Start_y 圆心坐标 x_Length,y_Length x,y方向上轴长，参考椭圆 **********************************************************************************************************/ void Arc_Draw(Graph_Data *image,char imagename[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 x_Length,uint32_t y_Length) { int i; for(i=0;i<3&&imagename[i]!='\0';i++) image->graphic_name[2-i]=imagename[i]; image->graphic_tpye = UI_Graph_Arc; image->operate_tpye = Graph_Operate; image->layer = Graph_Layer; image->color = Graph_Color; image->width = Graph_Width; image->start_x = Start_x; image->start_y = Start_y; image->start_angle = Graph_StartAngle; image->end_angle = Graph_EndAngle; image->end_x = x_Length; image->end_y = y_Length; } /************************************************绘制浮点型数据************************************************* **参数：*image Graph_Data类型变量指针，用于存放图形数据 imagename[3] 图片名称，用于标识更改 Graph_Operate 图片操作，见头文件 Graph_Layer 图层0-9 Graph_Color 图形颜色 Graph_Size 字号 Graph_Digit 小数位数 Graph_Width 图形线宽 Start_x、Start_y 开始坐标 Graph_Float 要显示的浮点数数值*1000 **********************************************************************************************************/ void Float_Draw(Float_Data *image,char imagename[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) { int i; for(i=0;i<3&&imagename[i]!='\0';i++) image->graphic_name[2-i]=imagename[i]; image->graphic_tpye = UI_Graph_Float; image->operate_tpye = Graph_Operate; image->layer = Graph_Layer; image->color = Graph_Color; image->width = Graph_Width; image->start_x = Start_x; image->start_y = Start_y; image->start_angle = Graph_Size; image->end_angle = Graph_Digit; image->graph_Float = Graph_Float; } /************************************************绘制字符型数据************************************************* **参数：*image Graph_Data类型变量指针，用于存放图形数据 imagename[3] 图片名称，用于标识更改 Graph_Operate 图片操作，见头文件 Graph_Layer 图层0-9 Graph_Color 图形颜色 Graph_Size 字号 Graph_Width 图形线宽 Start_x、Start_y 开始坐标 **********************************************************************************************************/ void Char_Draw(String_Data *image,char imagename[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) { int i; for(i=0;i<3&&imagename[i]!='\0';i++) image->Graph_Control.graphic_name[2-i]=imagename[i]; image->Graph_Control.graphic_tpye = UI_Graph_Char; image->Graph_Control.operate_tpye = Graph_Operate; image->Graph_Control.layer = Graph_Layer; image->Graph_Control.color = Graph_Color; image->Graph_Control.width = Graph_Width; image->Graph_Control.start_x = Start_x; image->Graph_Control.start_y = Start_y; image->Graph_Control.start_angle = Graph_Size; } void Char_Write(String_Data *image,char* fmt, ...) { uint16_t i = 0; va_list ap; va_start(ap, fmt); vsprintf((char*)image->show_Data, fmt, ap); va_end(ap); i = strlen((const char*)image->show_Data); image->Graph_Control.end_angle = i; } /************************************************UI推送函数（使更改生效）********************************* **参数： cnt 图形个数 ... 图形变量参数 Tips：：该函数只能推送1，2，5，7个图形，其他数目协议未涉及 **********************************************************************************************************/ int UI_ReFresh(int cnt,...) { int i,n; Graph_Data imageData; unsigned char *framepoint; //读写指针 uint16_t frametail=0xFFFF; //CRC16校验值 UI_Packhead framehead; UI_Data_Operate datahead; va_list ap; va_start(ap,cnt); framepoint=(unsigned char *)&framehead; framehead.SOF=UI_SOF; framehead.Data_Length=6+cnt*15; framehead.Seq=UI_Seq; framehead.CRC8=Get_CRC8_Check_Sum_UI(framepoint,4,0xFF); framehead.CMD_ID=UI_CMD_Robo_Exchange; //填充包头数据 switch(cnt) { case 1: datahead.Data_ID=UI_Data_ID_Draw1; break; case 2: datahead.Data_ID=UI_Data_ID_Draw2; break; case 5: datahead.Data_ID=UI_Data_ID_Draw5; break; case 7: datahead.Data_ID=UI_Data_ID_Draw7; break; default: return (-1); } datahead.Sender_ID=Robot_ID; datahead.Receiver_ID=Cilent_ID; //填充操作数据 framepoint=(unsigned char *)&framehead; frametail=Get_CRC16_Check_Sum_UI(framepoint,sizeof(framehead),frametail); framepoint=(unsigned char *)&datahead; frametail=Get_CRC16_Check_Sum_UI(framepoint,sizeof(datahead),frametail); //CRC16校验值计算（部分） framepoint=(unsigned char *)&framehead; for(i=0;i> 8) ^ wCRC_Table_UI[((uint16_t)(wCRC) ^ (uint16_t)(chData)) & 0x00ff]; } return wCRC; } // /** // * @brief 上传自定义数据 // * @param void // * @retval void // * @attention 数据打包,打包完成后通过串口发送到裁判系统 // */ // #define send_max_len 200 // unsigned char CliendTxBuffer[send_max_len]; // void JUDGE_Show_Data(void) // { // static uint8_t datalength,i; // uint8_t judge_led = 0xff;//初始化led为全绿 // static uint8_t auto_led_time = 0; // static uint8_t buff_led_time = 0; // determine_ID();//判断发送者ID和其对应的客户端ID // ShowData.txFrameHeader.SOF = 0xA5; // ShowData.txFrameHeader.DataLength = sizeof(ext_student_interactive_header_data_t) + sizeof(client_custom_data_t); // ShowData.txFrameHeader.Seq = 0; // memcpy(CliendTxBuffer, &ShowData.txFrameHeader, sizeof(xFrameHeader));//写入帧头数据 // Append_CRC8_Check_Sum(CliendTxBuffer, sizeof(xFrameHeader));//写入帧头CRC8校验码 // ShowData.CmdID = 0x0301; // ShowData.dataFrameHeader.data_cmd_id = 0xD180;//发给客户端的cmd,官方固定 // //ID已经是自动读取的了 // ShowData.dataFrameHeader.send_ID = Judge_Self_ID;//发送者的ID // ShowData.dataFrameHeader.receiver_ID = Judge_SelfClient_ID;//客户端的ID，只能为发送者机器人对应的客户端 // /*- 自定义内容 -*/ // ShowData.clientData.data1 = (float)Capvoltage_Percent();//电容剩余电量 // ShowData.clientData.data2 = (float)Base_Angle_Measure();//吊射角度测 // ShowData.clientData.data3 = GIMBAL_PITCH_Judge_Angle();//云台抬头角度 // ShowData.clientData.masks = judge_led;//0~5位0红灯,1绿灯 // //打包写入数据段 // memcpy( // CliendTxBuffer + 5, // (uint8_t*)&ShowData.CmdID, // (sizeof(ShowData.CmdID)+ sizeof(ShowData.dataFrameHeader)+ sizeof(ShowData.clientData)) // ); // Append_CRC16_Check_Sum(CliendTxBuffer,sizeof(ShowData));//写入数据段CRC16校验码 // datalength = sizeof(ShowData); // for(i = 0;i < datalength;i++) // { // USART_SendData(UART5,(uint16_t)CliendTxBuffer[i]); // while(USART_GetFlagStatus(UART5,USART_FLAG_TC)==RESET); // } // } // /** // * @brief 判断自己红蓝方 // * @param void // * @retval RED BLUE // * @attention 数据打包,打包完成后通过串口发送到裁判系统 // */ // bool Color; // bool is_red_or_blue(void) // { // Judge_Self_ID = GameRobotStat.robot_id;//读取当前机器人ID // if(GameRobotStat.robot_id > 10) // { // return BLUE; // } // else // { // return RED; // } // } // /** // * @brief 判断自身ID，选择客户端ID // * @param void // * @retval RED BLUE // * @attention 数据打包,打包完成后通过串口发送到裁判系统 // */ // void determine_ID(void) // { // Color = is_red_or_blue(); // if(Color == BLUE) // { // Judge_SelfClient_ID = 0x0110 + (Judge_Self_ID-10);//计算客户端ID // } // else if(Color == RED) // { // Judge_SelfClient_ID = 0x0100 + Judge_Self_ID;//计算客户端ID // } // }