46 lines
1.5 KiB
C
46 lines
1.5 KiB
C
/**
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* @file referee_communication.h
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* @author kidneygood (you@domain.com)
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* @version 0.1
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* @date 2022-12-02
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*
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* @copyright Copyright (c) HNU YueLu EC 2022 all rights reserved
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*
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*/
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#include "referee_communication.h"
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#include "crc_ref.h"
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#include "stdio.h"
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#include "rm_referee.h"
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/**
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* @brief 发送机器人间的交互数据
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* @param referee_id_t *_id sender为本机器人，receiver为接收方机器人，发送前设置Receiver_Robot_ID再调用该函数
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* robot_interactive_data_t *data 数据段
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* @retval none
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* @attention
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*/
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void Communicate_SendData(referee_id_t *_id,robot_interactive_data_t *_data)
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{
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Communicate_SendData_t SendData;
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uint8_t temp_datalength = Interactive_Data_LEN_Head + Communicate_Data_LEN; // 计算交互数据长度 6+n,n为交互数据长度
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SendData.FrameHeader.SOF = REFEREE_SOF;
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SendData.FrameHeader.DataLength = temp_datalength;
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SendData.FrameHeader.Seq = UI_Seq;
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SendData.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&SendData, LEN_CRC8, 0xFF);
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SendData.CmdID = ID_student_interactive;
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SendData.datahead.data_cmd_id = Communicate_Data_ID;
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SendData.datahead.sender_ID = _id->Robot_ID;
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SendData.datahead.receiver_ID = _id->Receiver_Robot_ID;
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SendData.Data = *_data;
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SendData.frametail = Get_CRC16_Check_Sum((uint8_t *)&SendData,LEN_HEADER+LEN_CMDID+temp_datalength,0xFFFF);
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RefereeSend((uint8_t *)&SendData,LEN_HEADER+LEN_CMDID+temp_datalength+LEN_TAIL); //发送
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UI_Seq++; // 包序号+1
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}
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