236 lines
7.9 KiB
C
236 lines
7.9 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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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 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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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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determine_ID(referee_data);
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My_UI_init(referee_data);
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}
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void Referee_Interactive_task()
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{
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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[5];//机器人状态,静态只需画一次
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static String_Data_t UI_State_dyn[5];//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],"cover:");
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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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//底盘功率显示，静态
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Char_Draw(&UI_State_sta[4],"ss4",UI_Graph_ADD,8,UI_Color_Green,18,2,720,210);
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Char_Write(&UI_State_sta[4],"Power:");
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Char_ReFresh(&_referee_info->referee_id,UI_State_sta[4]);
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//绘制车辆状态标志，动态
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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],"0000");
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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],"0000");
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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],"0000");
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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],"0000");
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Char_ReFresh(&_referee_info->referee_id,UI_State_dyn[3]);
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//底盘功率显示，动态
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Char_Draw(&UI_State_dyn[4],"sd4",UI_Graph_ADD,8,UI_Color_Green,18,2,840,210);
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Char_Write(&UI_State_dyn[4],"0000");
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Char_ReFresh(&_referee_info->referee_id,UI_State_dyn[4]);
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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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// syhtodo 按键刷新
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// syhtodo与上次不一样才要进入刷新，避免重复发送
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// switch(dbus_infomation.chassis_mode)
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// {
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// case rotate_mode:
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// {
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// Char_Draw(&UI_State[0],"s1",UI_Graph_Change,8,UI_Color_Main,15,2,150,750);
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// Char_Write(&UI_State[0],"chassis:rotate");
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// break;
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// }
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// case back_middle_mode:
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// {
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// if (dbus_infomation.back_middle_mode_XL == X)
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// {
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// Char_Draw(&UI_State[0],"s1",UI_Graph_Change,8,UI_Color_Main,15,2,150,750);
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// Char_Write(&UI_State[0],"chassis:follow_x");
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// }
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// else if (dbus_infomation.back_middle_mode_XL == L)
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// {
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// Char_Draw(&UI_State[0],"s1",UI_Graph_Change,8,UI_Color_Main,15,2,150,750);
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// Char_Write(&UI_State[0],"chassis:follow_l");
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// }
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// break;
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// }
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// case free_mode:
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// {
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// Char_Draw(&UI_State[0],"s1",UI_Graph_Change,8,UI_Color_Main,15,2,150,750);
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// Char_Write(&UI_State[0],"chassis:free ");
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// break;
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// }
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// }
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// Char_ReFresh(UI_State[0]);
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// switch(dbus_infomation.gimbal_mode)
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// {
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// case mechanical_mode:
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// {
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// Char_Draw(&UI_State[1],"s2",UI_Graph_Change,8,UI_Color_Yellow,15,2,150,700);
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// Char_Write(&UI_State[1],"gimbal:mech ");
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// break;
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// }
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// case visual_mode:
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// {
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// Char_Draw(&UI_State[1],"s2",UI_Graph_Change,8,UI_Color_Yellow,15,2,150,700);
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// Char_Write(&UI_State[1],"gimbal:visual");
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// break;
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// }
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// case gyro_mode:
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// {
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// Char_Draw(&UI_State[1],"s2",UI_Graph_Change,8,UI_Color_Yellow,15,2,150,700);
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// Char_Write(&UI_State[1],"gimbal:gyro ");
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// break;
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// }
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// }
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// Char_ReFresh(UI_State[1]);
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// switch(dbus_infomation.cover_state)
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// {
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// case cover_close_sign:
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// {
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// Char_Draw(&UI_State[2],"s3",UI_Graph_Change,8,UI_Color_Orange,15,2,150,650);
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// Char_Write(&UI_State[2],"cover:OFF");
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// break;
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// }
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// case cover_open_sign:
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// {
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// Char_Draw(&UI_State[2],"s3",UI_Graph_Change,8,UI_Color_Orange,15,2,150,650);
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// Char_Write(&UI_State[2],"cover:ON ");
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// break;
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// }
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// }
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// Char_ReFresh(UI_State[2]);
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// switch(dbus_infomation.friction_state)
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// {
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// case friction_stop_sign:
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// {
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// Char_Draw(&UI_State[3],"s4",UI_Graph_Change,8,UI_Color_Pink,15,2,150,600);
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// Char_Write(&UI_State[3],"friction:OFF");
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// break;
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// }
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// case friction_start_sign:
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// {
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// Char_Draw(&UI_State[3],"s4",UI_Graph_Change,8,UI_Color_Pink,15,2,150,600);
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// Char_Write(&UI_State[3],"friction:ON ");
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// break;
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// }
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// }
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// Char_ReFresh(UI_State[3]);
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// }
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// else if(timer_count == PEFEREE_PERIOD_TX_C/2)
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// {
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// //功率值变化
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// Char_Draw(&UI_State[4],"s5",UI_Graph_Change,8,UI_Color_Green,18,2,720,240);
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// Char_Write(&UI_State[4],"Voltage:%dV",super_cap_info.cap_voltage_cap);
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// Char_ReFresh(UI_State[4]);
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// }
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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 void
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* @retval referee_info
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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 = 0x00; //机器人车间通信时接收者的ID暂时为0
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}
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