diff --git a/.vscode/extensions.json b/.vscode/extensions.json new file mode 100644 index 0000000..7e257db --- /dev/null +++ b/.vscode/extensions.json @@ -0,0 +1,3 @@ +{ + "recommendations": [] +} \ No newline at end of file diff --git a/.vscode/tasks.json b/.vscode/tasks.json index 7ef9fdf..18c4c65 100644 --- a/.vscode/tasks.json +++ b/.vscode/tasks.json @@ -3,10 +3,10 @@ "version": "2.0.0", "tasks": [ { - "label": "build task", // 任务标签 - "type": "shell", // 任务类型,因为要调用mingw32-make,是在终端(CMD)里运行的,所以是shell任务 - "command": "mingw32-make -j24",// 任务命令,线程数可以根据自己的电脑修改,建议为核数的4~8倍 - "problemMatcher": [], + "label": "build task", + "type": "shell", + "command": "mingw32-make -j24", + "problemMatcher": [], "group": { "kind": "build", "isDefault": true @@ -14,21 +14,21 @@ }, { "label": "download dap", - "type": "shell", // 如果希望在下载前编译,可以把command换成下面的命令 - "command":"mingw32-make download_dap", // "mingw32-make -j24 && mingw32-make download_dap", - "group": { // 如果没有修改代码,编译任务不会消耗时间,因此推荐使用上面的替换. + "type": "shell", + "command": "mingw32-make download_dap", + "group": { "kind": "build", - "isDefault": false, - }, + "isDefault": false + } }, { "label": "download jlink", "type": "shell", - "command":"mingw32-make download_jlink", // "mingw32-make -j24 && mingw32-make download_dap" + "command": "mingw32-make download_jlink", "group": { "kind": "build", - "isDefault": false, + "isDefault": false } - }, + } ] } \ No newline at end of file diff --git a/application/referee/referee.c b/application/referee/referee.c index 57ab4c6..04a86fe 100644 --- a/application/referee/referee.c +++ b/application/referee/referee.c @@ -15,7 +15,7 @@ #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 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); @@ -23,25 +23,26 @@ 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 +// 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 +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) - ; + // while (referee_data->GameRobotState.robot_id == 0); + referee_data->GameRobotState.robot_id = 101; // syhtodo RobotInit中关闭了中断进行初始化，无法读取到裁判系统的ID，暂时在此处写死 determine_ID(referee_data); - My_UI_init(referee_data); - //UI_test_init(referee_data); + // My_UI_init(referee_data); + UI_test_init(referee_data); // syhtodo此处先使用测试函数 - for (int i=0;idata[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); + // syhtodo此处先关闭机器人车间通信 + // for (int i=0;idata[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() @@ -305,7 +306,6 @@ static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_inf } } - /** * @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 @@ -357,29 +357,28 @@ static void determine_ID(referee_info_t *_referee_info) _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; + _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]; + 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); + 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]); + 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]); + 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]); } diff --git a/application/robot.c b/application/robot.c index 5e79041..f9a6c63 100644 --- a/application/robot.c +++ b/application/robot.c @@ -52,6 +52,6 @@ void RobotTask() #if defined(ONE_BOARD) || defined(CHASSIS_BOARD) ChassisTask(); - Referee_Interactive_task(); + // Referee_Interactive_task(); #endif } diff --git a/modules/referee/rm_referee.c b/modules/referee/rm_referee.c index e40297e..8650fa0 100644 --- a/modules/referee/rm_referee.c +++ b/modules/referee/rm_referee.c @@ -43,7 +43,6 @@ void RefereeSend(uint8_t *send, uint16_t tx_len) { USARTSend(referee_usart_instance, send, tx_len); /* syhtodo DMA请求过快会导致数据发送丢失，考虑数据尽可能打成一个整包以及队列发送，并且发送函数添加缓冲区 */ - HAL_Delay(5); } /*裁判系统串口接收回调函数,解析数据 */