386 lines
15 KiB
C
386 lines
15 KiB
C
/**
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* @file referee.C
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* @author kidneygood (you@domain.com)
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* @brief
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* @version 0.1
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* @date 2022-11-18
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*
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* @copyright Copyright (c) 2022
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*
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*/
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#include "referee.h"
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#include "robot_def.h"
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#include "rm_referee.h"
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#include "referee_UI.h"
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#include "referee_communication.h"
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static Referee_Interactive_info_t Interactive_data; // 非裁判系统数据
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static referee_info_t *referee_data; // 裁判系统相关数据
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static robot_interactive_data_t *SendData;
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static void determine_ID(referee_info_t *_referee_info);
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static void My_UI_init(referee_info_t *_referee_info);
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static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_info_t *_Interactive_data);
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static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data); // 模式切换检测
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//syhtod 正式上车后需删除
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static void robot_mode_change(Referee_Interactive_info_t *_Interactive_data); // 测试用函数，实现模式自动变化
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static void UI_test_init(referee_info_t *_referee_info);//UI测试函数
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void Referee_Interactive_init()
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{
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referee_data = RefereeInit(&huart6); // 裁判系统初始化
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while (referee_data->GameRobotState.robot_id == 0)
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;
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determine_ID(referee_data);
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My_UI_init(referee_data);
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//UI_test_init(referee_data);
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for (int i=0;i<Communicate_Data_LEN;i++)
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{
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SendData->data[i]=i+1;
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}
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referee_data->referee_id.Receiver_Robot_ID = RobotID_BEngineer; // 机器人车间通信时接收者的ID暂时发给蓝色2
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Communicate_SendData(&referee_data->referee_id,SendData);
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}
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void Referee_Interactive_task()
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{
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robot_mode_change(&Interactive_data); // 测试用函数，实现模式自动变化
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My_UI_Refresh(referee_data, &Interactive_data);
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}
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static Graph_Data_t UI_shoot_line[10]; // 射击准线
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static String_Data_t UI_State_sta[6]; // 机器人状态,静态只需画一次
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static String_Data_t UI_State_dyn[6]; // 机器人状态,动态先add才能change
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static uint32_t shoot_line_location[10] = {540, 960, 490, 515, 565};
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static void My_UI_init(referee_info_t *_referee_info)
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{
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UI_Delete(&_referee_info->referee_id, UI_Data_Del_ALL, 0);
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// 绘制发射基准线
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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]);
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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);
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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]);
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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]);
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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]);
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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]);
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// 绘制车辆状态标志，静态
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Char_Draw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 150, 750);
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Char_Write(&UI_State_sta[0], "chassis:");
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Char_ReFresh(&_referee_info->referee_id, UI_State_sta[0]);
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Char_Draw(&UI_State_sta[1], "ss1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 150, 700);
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Char_Write(&UI_State_sta[1], "gimbal:");
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Char_ReFresh(&_referee_info->referee_id, UI_State_sta[1]);
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Char_Draw(&UI_State_sta[2], "ss2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 150, 650);
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Char_Write(&UI_State_sta[2], "shoot:");
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Char_ReFresh(&_referee_info->referee_id, UI_State_sta[2]);
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Char_Draw(&UI_State_sta[3], "ss3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 600);
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Char_Write(&UI_State_sta[3], "frict:");
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Char_ReFresh(&_referee_info->referee_id, UI_State_sta[3]);
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Char_Draw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 550);
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Char_Write(&UI_State_sta[4], "lid:");
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Char_ReFresh(&_referee_info->referee_id, UI_State_sta[4]);
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// 底盘功率显示，静态
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Char_Draw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 720, 210);
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Char_Write(&UI_State_sta[5], "Power:");
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Char_ReFresh(&_referee_info->referee_id, UI_State_sta[5]);
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// 绘制车辆状态标志，动态
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// 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
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Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 270, 750);
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Char_Write(&UI_State_dyn[0], "zeroforce");
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Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[0]);
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Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 270, 700);
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Char_Write(&UI_State_dyn[1], "zeroforce");
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Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[1]);
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Char_Draw(&UI_State_dyn[2], "sd2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 270, 650);
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Char_Write(&UI_State_dyn[2], "off");
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Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[2]);
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Char_Draw(&UI_State_dyn[3], "sd3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 600);
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Char_Write(&UI_State_dyn[3], "off");
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Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[3]);
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Char_Draw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 550);
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Char_Write(&UI_State_dyn[4], "open ");
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Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[4]);
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// 底盘功率显示，动态
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Char_Draw(&UI_State_dyn[5], "sd5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 840, 210);
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Char_Write(&UI_State_dyn[5], "0000");
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Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[5]);
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}
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static uint8_t count = 0;
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static uint16_t count1 = 0;
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static void robot_mode_change(Referee_Interactive_info_t *_Interactive_data) // 测试用函数，实现模式自动变化
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{
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count++;
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if (count >= 50)
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{
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count = 0;
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count1++;
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}
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switch (count1 % 4)
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{
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case 0:
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{
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_Interactive_data->chassis_mode = CHASSIS_ZERO_FORCE;
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_Interactive_data->gimbal_mode = GIMBAL_ZERO_FORCE;
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_Interactive_data->shoot_mode = SHOOT_ON;
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_Interactive_data->friction_mode = FRICTION_ON;
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_Interactive_data->lid_mode = LID_OPEN;
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break;
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}
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case 1:
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{
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;
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_Interactive_data->chassis_mode = CHASSIS_ROTATE;
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_Interactive_data->gimbal_mode = GIMBAL_FREE_MODE;
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_Interactive_data->shoot_mode = SHOOT_OFF;
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_Interactive_data->friction_mode = FRICTION_OFF;
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_Interactive_data->lid_mode = LID_CLOSE;
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break;
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}
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case 2:
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{
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_Interactive_data->chassis_mode = CHASSIS_NO_FOLLOW;
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_Interactive_data->gimbal_mode = GIMBAL_GYRO_MODE;
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_Interactive_data->shoot_mode = SHOOT_ON;
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_Interactive_data->friction_mode = FRICTION_ON;
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_Interactive_data->lid_mode = LID_OPEN;
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break;
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}
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case 3:
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{
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_Interactive_data->chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
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_Interactive_data->gimbal_mode = GIMBAL_ZERO_FORCE;
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_Interactive_data->shoot_mode = SHOOT_OFF;
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_Interactive_data->friction_mode = FRICTION_OFF;
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_Interactive_data->lid_mode = LID_CLOSE;
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break;
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}
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default:
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break;
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}
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}
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static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_info_t *_Interactive_data)
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{
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Mode_Change_Check(_Interactive_data);
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// chassis
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if (_Interactive_data->Referee_Interactive_Flag.chassis_flag == 1)
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{
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switch (_Interactive_data->chassis_mode)
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{
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case CHASSIS_ZERO_FORCE:
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{
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Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750);
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Char_Write(&UI_State_dyn[0], "zeroforce");
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break;
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}
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case CHASSIS_ROTATE:
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{
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Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750);
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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
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break;
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}
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case CHASSIS_NO_FOLLOW:
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{
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Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750);
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Char_Write(&UI_State_dyn[0], "nofollow ");
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break;
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}
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case CHASSIS_FOLLOW_GIMBAL_YAW:
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{
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Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750);
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Char_Write(&UI_State_dyn[0], "follow ");
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break;
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}
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}
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Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[0]);
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_Interactive_data->Referee_Interactive_Flag.chassis_flag = 0;
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}
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// gimbal
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if (_Interactive_data->Referee_Interactive_Flag.gimbal_flag == 1)
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{
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switch (_Interactive_data->gimbal_mode)
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{
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case GIMBAL_ZERO_FORCE:
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{
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Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700);
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Char_Write(&UI_State_dyn[1], "zeroforce");
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break;
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}
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case GIMBAL_FREE_MODE:
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{
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Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700);
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Char_Write(&UI_State_dyn[1], "free ");
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break;
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}
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case GIMBAL_GYRO_MODE:
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{
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Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700);
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Char_Write(&UI_State_dyn[1], "gyro ");
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break;
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}
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}
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Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[1]);
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_Interactive_data->Referee_Interactive_Flag.gimbal_flag = 0;
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}
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// shoot
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if (_Interactive_data->Referee_Interactive_Flag.shoot_flag == 1)
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{
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switch (_Interactive_data->shoot_mode)
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{
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case SHOOT_OFF:
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{
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Char_Draw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Orange, 15, 2, 270, 650);
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Char_Write(&UI_State_dyn[2], "off");
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break;
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}
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case SHOOT_ON:
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{
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Char_Draw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Orange, 15, 2, 270, 650);
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Char_Write(&UI_State_dyn[2], "on ");
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break;
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}
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}
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Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[2]);
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_Interactive_data->Referee_Interactive_Flag.shoot_flag = 0;
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}
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// friction
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if (_Interactive_data->Referee_Interactive_Flag.friction_flag == 1)
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{
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switch (_Interactive_data->friction_mode)
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{
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case FRICTION_OFF:
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{
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Char_Draw(&UI_State_dyn[3], "sd3", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 600);
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Char_Write(&UI_State_dyn[3], "off");
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break;
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}
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case FRICTION_ON:
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{
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Char_Draw(&UI_State_dyn[3], "sd3", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 600);
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Char_Write(&UI_State_dyn[3], "on ");
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break;
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}
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}
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Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[3]);
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_Interactive_data->Referee_Interactive_Flag.friction_flag = 0;
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}
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// lid
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if (_Interactive_data->Referee_Interactive_Flag.lid_flag == 1)
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{
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switch (_Interactive_data->lid_mode)
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{
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case LID_CLOSE:
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{
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Char_Draw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 550);
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Char_Write(&UI_State_dyn[4], "close");
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break;
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}
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case LID_OPEN:
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{
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Char_Draw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 550);
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Char_Write(&UI_State_dyn[4], "open ");
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break;
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}
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}
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Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[4]);
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_Interactive_data->Referee_Interactive_Flag.lid_flag = 0;
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}
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}
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/**
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* @brief 模式切换检测,模式发生切换时，对flag置位
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* @param Referee_Interactive_info_t *_Interactive_data
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* @retval none
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* @attention
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*/
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static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data)
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{
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if (_Interactive_data->chassis_mode != _Interactive_data->chassis_last_mode)
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{
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_Interactive_data->Referee_Interactive_Flag.chassis_flag = 1;
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_Interactive_data->chassis_last_mode = _Interactive_data->chassis_mode;
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}
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if (_Interactive_data->gimbal_mode != _Interactive_data->gimbal_last_mode)
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{
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_Interactive_data->Referee_Interactive_Flag.gimbal_flag = 1;
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_Interactive_data->gimbal_last_mode = _Interactive_data->gimbal_mode;
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}
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if (_Interactive_data->shoot_mode != _Interactive_data->shoot_last_mode)
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{
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_Interactive_data->Referee_Interactive_Flag.shoot_flag = 1;
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_Interactive_data->shoot_last_mode = _Interactive_data->shoot_mode;
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}
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if (_Interactive_data->friction_mode != _Interactive_data->friction_last_mode)
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{
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_Interactive_data->Referee_Interactive_Flag.friction_flag = 1;
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_Interactive_data->friction_last_mode = _Interactive_data->friction_mode;
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}
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if (_Interactive_data->lid_mode != _Interactive_data->lid_last_mode)
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{
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_Interactive_data->Referee_Interactive_Flag.lid_flag = 1;
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_Interactive_data->lid_last_mode = _Interactive_data->lid_mode;
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}
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}
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/**
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* @brief 判断各种ID，选择客户端ID
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* @param referee_info_t *_referee_info
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* @retval none
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* @attention
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*/
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static void determine_ID(referee_info_t *_referee_info)
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{
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// 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
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_referee_info->referee_id.Robot_Color = _referee_info->GameRobotState.robot_id > 7 ? Robot_Blue : Robot_Red;
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_referee_info->referee_id.Robot_ID = _referee_info->GameRobotState.robot_id;
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_referee_info->referee_id.Cilent_ID = 0x0100 + _referee_info->referee_id.Robot_ID; // 计算客户端ID
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_referee_info->referee_id.Receiver_Robot_ID = 0;
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}
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/* 测试用函数 */
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static void UI_test_init(referee_info_t *_referee_info)
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{
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Graph_Data_t graph[5];
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Graph_Data_t num[2];
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String_Data_t sdata[1];
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UI_Delete(&_referee_info->referee_id, UI_Data_Del_ALL, 0);
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Line_Draw(&graph[0],"s0",UI_Graph_ADD,0,UI_Color_White,3,710,540,1210,540);
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Rectangle_Draw(&graph[1],"s1",UI_Graph_ADD,0,UI_Color_Yellow,4,600,200,800,500);
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Circle_Draw(&graph[2],"s2",UI_Graph_ADD,0,UI_Color_Green,5,960,540,100);
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Elliptical_Draw(&graph[3],"s3",UI_Graph_ADD,0,UI_Color_Orange,3,960,540,100,20);
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Arc_Draw(&graph[4],"s4",UI_Graph_ADD,0,UI_Color_Purplish_red,30,160,3,1200,550,50,100);
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Float_Draw(&num[0],"s5",UI_Graph_ADD,0,UI_Color_Pink,50,3,5,1050,660,1245545);
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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_ReFresh(&_referee_info->referee_id,sdata[0]);
|
||
}
|