sentry_gimbal_hzz/application/referee/referee.c

/**
 * @file referee.C
 * @author kidneygood (you@domain.com)
 * @brief
 * @version 0.1
 * @date 2022-11-18
 *
 * @copyright Copyright (c) 2022
 *
 */
#include "referee.h"
#include "robot_def.h"
#include "rm_referee.h"
#include "referee_UI.h"
#include "referee_communication.h"

static Referee_Interactive_info_t Interactive_data; // 非裁判系统数据
static referee_info_t *referee_data;              // 裁判系统相关数据
static robot_interactive_data_t *SendData;

static void determine_ID(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()
{
    referee_data = RefereeInit(&huart6); // 裁判系统初始化
    while (referee_data->GameRobotState.robot_id == 0)
        ;
    determine_ID(referee_data);
    My_UI_init(referee_data);
    //UI_test_init(referee_data);

    for (int i=0;i<Communicate_Data_LEN;i++)
    {
        SendData->data[i]=i+1;
    }
    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
    Communicate_SendData(&referee_data->referee_id,SendData);
}

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_data, &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)
{
    UI_Delete(&_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，静态
    Char_Draw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 150, 750);
    Char_Write(&UI_State_sta[0], "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);
    Char_Write(&UI_State_sta[1], "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);
    Char_Write(&UI_State_sta[2], "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);
    Char_Write(&UI_State_sta[3], "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);
    Char_Write(&UI_State_sta[4], "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);
    Char_Write(&UI_State_sta[5], "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);
    Char_Write(&UI_State_dyn[0], "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);
    Char_Write(&UI_State_dyn[1], "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);
    Char_Write(&UI_State_dyn[2], "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);
    Char_Write(&UI_State_dyn[3], "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);
    Char_Write(&UI_State_dyn[4], "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);
    Char_Write(&UI_State_dyn[5], "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);
            Char_Write(&UI_State_dyn[0], "zeroforce");
            break;
        }
        case CHASSIS_ROTATE:
        {
            Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750);
            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
            break;
        }
        case CHASSIS_NO_FOLLOW:
        {
            Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750);
            Char_Write(&UI_State_dyn[0], "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);
            Char_Write(&UI_State_dyn[0], "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);
            Char_Write(&UI_State_dyn[1], "zeroforce");
            break;
        }
        case GIMBAL_FREE_MODE:
        {
            Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700);
            Char_Write(&UI_State_dyn[1], "free     ");
            break;
        }
        case GIMBAL_GYRO_MODE:
        {
            Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700);
            Char_Write(&UI_State_dyn[1], "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);
            Char_Write(&UI_State_dyn[2], "off");
            break;
        }
        case SHOOT_ON:
        {
            Char_Draw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Orange, 15, 2, 270, 650);
            Char_Write(&UI_State_dyn[2], "on ");
            break;
        }
        }
        Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[2]);
        _Interactive_data->Referee_Interactive_Flag.shoot_flag = 0;
    }

    // friction
    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);
            Char_Write(&UI_State_dyn[3], "off");
            break;
        }
        case FRICTION_ON:
        {
            Char_Draw(&UI_State_dyn[3], "sd3", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 600);
            Char_Write(&UI_State_dyn[3], "on ");
            break;
        }
        }
        Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[3]);
        _Interactive_data->Referee_Interactive_Flag.friction_flag = 0;
    }
    // lid
    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);
            Char_Write(&UI_State_dyn[4], "close");
            break;
        }
        case LID_OPEN:
        {
            Char_Draw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 550);
            Char_Write(&UI_State_dyn[4], "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 determine_ID(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];
    UI_Delete(&_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);
	Char_Write(&sdata[0],"number:%d",123);
	Char_ReFresh(&_referee_info->referee_id,sdata[0]);
}