/** * @file referee.C * @author kidneygood (you@domain.com) * @brief * @version 0.1 * @date 2022-11-18 * * @copyright Copyright (c) 2022 * */ #include "referee_task.h" #include "robot_def.h" #include "rm_referee.h" #include "referee_UI.h" 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 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 // syhtod 正式上车后需删除 static void robot_mode_change(Referee_Interactive_info_t *_Interactive_data); // 测试用函数，实现模式自动变化 static void UI_test_init(referee_info_t *_referee_info); // UI测试函数 void Referee_Interactive_init() { 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_recv_info, Interactive_data); } static Graph_Data_t UI_shoot_line[10]; // 射击准线 static String_Data_t UI_State_sta[6]; // 机器人状态,静态只需画一次 static String_Data_t UI_State_dyn[6]; // 机器人状态,动态先add才能change static uint32_t shoot_line_location[10] = {540, 960, 490, 515, 565}; static void My_UI_init(referee_info_t *_referee_info) { UIDelete(&_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, "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, "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, "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, "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, "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, "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, "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, "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, "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, "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, "0000"); Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[5]); } 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) { Mode_Change_Check(_Interactive_data); // chassis if (_Interactive_data->Referee_Interactive_Flag.chassis_flag == 1) { switch (_Interactive_data->chassis_mode) { case CHASSIS_ZERO_FORCE: Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "zeroforce"); break; case CHASSIS_ROTATE: Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "rotate "); // 此处注意字数对齐问题，字数相同才能覆盖掉 break; case CHASSIS_NO_FOLLOW: Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "nofollow "); break; case CHASSIS_FOLLOW_GIMBAL_YAW: Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "follow "); break; } Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[0]); _Interactive_data->Referee_Interactive_Flag.chassis_flag = 0; } // gimbal if (_Interactive_data->Referee_Interactive_Flag.gimbal_flag == 1) { switch (_Interactive_data->gimbal_mode) { case GIMBAL_ZERO_FORCE: { Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "zeroforce"); break; } case GIMBAL_FREE_MODE: { Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "free "); break; } case GIMBAL_GYRO_MODE: { Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "gyro "); break; } } Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[1]); _Interactive_data->Referee_Interactive_Flag.gimbal_flag = 0; } // shoot if (_Interactive_data->Referee_Interactive_Flag.shoot_flag == 1) { switch (_Interactive_data->shoot_mode) { case SHOOT_OFF: { Char_Draw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Orange, 15, 2, 270, 650, "off"); break; } case SHOOT_ON: { Char_Draw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Orange, 15, 2, 270, 650, "on "); break; } } Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[2]); _Interactive_data->Referee_Interactive_Flag.shoot_flag = 0; } 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, "off"); break; } case FRICTION_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; } 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, "close"); break; } case LID_OPEN: { Char_Draw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 550, "open "); break; } } Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[4]); _Interactive_data->Referee_Interactive_Flag.lid_flag = 0; } } /** * @brief 模式切换检测,模式发生切换时，对flag置位 * @param Referee_Interactive_info_t *_Interactive_data * @retval none * @attention */ static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data) { if (_Interactive_data->chassis_mode != _Interactive_data->chassis_last_mode) { _Interactive_data->Referee_Interactive_Flag.chassis_flag = 1; _Interactive_data->chassis_last_mode = _Interactive_data->chassis_mode; } if (_Interactive_data->gimbal_mode != _Interactive_data->gimbal_last_mode) { _Interactive_data->Referee_Interactive_Flag.gimbal_flag = 1; _Interactive_data->gimbal_last_mode = _Interactive_data->gimbal_mode; } if (_Interactive_data->shoot_mode != _Interactive_data->shoot_last_mode) { _Interactive_data->Referee_Interactive_Flag.shoot_flag = 1; _Interactive_data->shoot_last_mode = _Interactive_data->shoot_mode; } if (_Interactive_data->friction_mode != _Interactive_data->friction_last_mode) { _Interactive_data->Referee_Interactive_Flag.friction_flag = 1; _Interactive_data->friction_last_mode = _Interactive_data->friction_mode; } if (_Interactive_data->lid_mode != _Interactive_data->lid_last_mode) { _Interactive_data->Referee_Interactive_Flag.lid_flag = 1; _Interactive_data->lid_last_mode = _Interactive_data->lid_mode; } } /** * @brief 判断各种ID，选择客户端ID * @param referee_info_t *_referee_info * @retval none * @attention */ static void 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; _referee_info->referee_id.Robot_ID = _referee_info->GameRobotState.robot_id; _referee_info->referee_id.Cilent_ID = 0x0100 + _referee_info->referee_id.Robot_ID; // 计算客户端ID _referee_info->referee_id.Receiver_Robot_ID = 0; } /* 测试用函数 */ static void UI_test_init(referee_info_t *_referee_info) { Graph_Data_t graph[5]; Graph_Data_t num[2]; String_Data_t sdata[1]; 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); Circle_Draw(&graph[2], "s2", UI_Graph_ADD, 0, UI_Color_Green, 5, 960, 540, 100); Elliptical_Draw(&graph[3], "s3", UI_Graph_ADD, 0, UI_Color_Orange, 3, 960, 540, 100, 20); Arc_Draw(&graph[4], "s4", UI_Graph_ADD, 0, UI_Color_Purplish_red, 30, 160, 3, 1200, 550, 50, 100); Float_Draw(&num[0], "s5", UI_Graph_ADD, 0, UI_Color_Pink, 50, 3, 5, 1050, 660, 1245545); Integer_Draw(&num[1], "s6", UI_Graph_ADD, 0, UI_Color_Cyan, 50, 5, 1050, 460, 12345); UI_ReFresh(&_referee_info->referee_id, 7, graph[0], graph[1], graph[2], graph[3], graph[4], num[0], num[1]); Char_Draw(&sdata[0], "s7", UI_Graph_ADD, 0, UI_Color_Green, 20, 2, 620, 710, "number:%d", 123); Char_ReFresh(&_referee_info->referee_id, sdata[0]); }