HFUT_Firmament_EC
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sentry_gimbal_hzz
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Merge branch 'master' of https://gitee.com/hnuyuelurm/basic_framework

This commit is contained in:
NeoZng 2023-03-06 18:52:27 +08:00
parent bd2b992e9c 11b401c2bc
commit 928fbf084c
16 changed files with 1557 additions and 437 deletions
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2
HAL_N_Middlewares/Src/freertos.c
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@ -197,7 +197,7 @@ void StartROBOTTASK(void const * argument)
{
// 200Hz
RobotTask();
osDelay(5);
osDelay(10);//syh此处暂时将时间改为10ms，原因在于未使用缓冲区发送，发送时延时5ms
}
}

4
Makefile
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@ -132,7 +132,7 @@ modules/motor/servo_motor/servo_motor.c \
modules/motor/motor_task.c \
modules/oled/oled.c \
modules/referee/crc_ref.c \
modules/referee/referee.c \
modules/referee/rm_referee.c \
modules/referee/referee_UI.c \
modules/referee/referee_communication.c \
modules/remote/remote_control.c \
@ -144,6 +144,7 @@ modules/vofa/vofa.c \
application/gimbal/gimbal.c \
application/chassis/chassis.c \
application/shoot/shoot.c \
application/referee/referee.c \
application/cmd/robot_cmd.c \
application/balance_chassis/balance.c \
application/robot.c
@ -227,6 +228,7 @@ C_INCLUDES = \
-Iapplication/gimbal \
-Iapplication/cmd \
-Iapplication/balance_chassis \
-Iapplication/referee \
-Iapplication \
-Ibsp/dwt \
-Ibsp/can \

27
application/chassis/chassis.c
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@ -16,10 +16,15 @@
#include "dji_motor.h"
#include "super_cap.h"
#include "message_center.h"
/////////////////////////
#include "referee.h"
#include "rm_referee.h"
/////////////////////////
#include "general_def.h"
#include "bsp_dwt.h"
#include "referee_UI.h"
#include "arm_math.h"
/* 根据robot_def.h中的macro自动计算的参数 */
@ -41,7 +46,7 @@ static Subscriber_t *chassis_sub; // 用于订阅底盘的控
static Chassis_Ctrl_Cmd_s chassis_cmd_recv; // 底盘接收到的控制命令
static Chassis_Upload_Data_s chassis_feedback_data; // 底盘回传的反馈数据
static referee_info_t *referee_data; // 裁判系统的数据
// static referee_info_t *referee_data; // 裁判系统相关数据
static SuperCapInstance *cap; // 超级电容
static DJIMotorInstance *motor_lf; // left right forward back
static DJIMotorInstance *motor_rf;
@ -99,7 +104,11 @@ void ChassisInit()
chassis_motor_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_NORMAL;
motor_rb = DJIMotorInit(&chassis_motor_config);
referee_data = RefereeInit(&huart6); // 裁判系统初始化
// referee_data = RefereeInit(&huart6); // 裁判系统初始化
// while (referee_data->GameRobotState.robot_id ==0);
// Referee_Interactive_init(referee_data);
SuperCap_Init_Config_s cap_conf = {
.can_config = {
@ -236,12 +245,12 @@ void ChassisTask()
// 根据电机的反馈速度和IMU(如果有)计算真实速度
EstimateSpeed();
// 获取裁判系统数据
// 我方颜色id小于7是红色,大于7是蓝色,注意这里发送的是对方的颜色, 0:blue , 1:red
chassis_feedback_data.enemy_color = referee_data->GameRobotStat.robot_id > 7 ? 1 : 0;
// 当前只做了17mm热量的数据获取,后续根据robot_def中的宏切换双枪管和英雄42mm的情况
chassis_feedback_data.bullet_speed = referee_data->GameRobotStat.shooter_id1_17mm_speed_limit;
chassis_feedback_data.rest_heat = referee_data->PowerHeatData.shooter_heat0;
// // 获取裁判系统数据 建议将裁判系统与底盘分离，所以此处数据应使用消息中心发送
// // 我方颜色id小于7是红色,大于7是蓝色,注意这里发送的是对方的颜色, 0:blue , 1:red
// chassis_feedback_data.enemy_color = referee_data->GameRobotState.robot_id > 7 ? 1 : 0;
// // 当前只做了17mm热量的数据获取,后续根据robot_def中的宏切换双枪管和英雄42mm的情况
// chassis_feedback_data.bullet_speed = referee_data->GameRobotState.shooter_id1_17mm_speed_limit;
// chassis_feedback_data.rest_heat = referee_data->PowerHeatData.shooter_heat0;
// 推送反馈消息
#ifdef ONE_BOARD

385
application/referee/referee.c Normal file
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@ -0,0 +1,385 @@
/**
* @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]);
}

50
application/referee/referee.h Normal file
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@ -0,0 +1,50 @@
#ifndef REFEREE_H
#define REFEREE_H
#include "rm_referee.h"
#include "robot_def.h"
#pragma pack(1)
//模式是否切换标志位，0为未切换，1为切换，static定义默认为0
typedef struct
{
uint32_t chassis_flag : 1;
uint32_t gimbal_flag : 1;
uint32_t shoot_flag : 1;
uint32_t lid_flag : 1;
uint32_t friction_flag : 1;
uint32_t Power_flag : 1;
} Referee_Interactive_Flag_t;
// 此结构体包含UI绘制与机器人车间通信的需要的其他非裁判系统数据
typedef struct
{
Referee_Interactive_Flag_t Referee_Interactive_Flag;
//为UI绘制以及交互数据所用
Robot_Status_e Robot_Status;// 机器人状态
App_Status_e App_Status;// 应用状态
chassis_mode_e chassis_mode;//底盘模式
gimbal_mode_e gimbal_mode;//云台模式
shoot_mode_e shoot_mode;//发射模式设置
friction_mode_e friction_mode;//摩擦轮关闭
lid_mode_e lid_mode;//弹舱盖打开
loader_mode_e loader_mode;//单发...连发
Chassis_Power_Data_s Chassis_Power_Data;// 功率控制
chassis_mode_e chassis_last_mode;//底盘模式
gimbal_mode_e gimbal_last_mode;//云台模式
shoot_mode_e shoot_last_mode;//发射模式设置
friction_mode_e friction_last_mode;//摩擦轮关闭
lid_mode_e lid_last_mode;//弹舱盖打开
} Referee_Interactive_info_t;
#pragma pack()
void Referee_Interactive_init(void);
void Referee_Interactive_task(void);
#endif // REFEREE_H

3
application/robot.c
View File

@ -10,6 +10,7 @@
#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
#include "chassis.h"
#include "referee.h"
#endif
#if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
@ -34,6 +35,7 @@ void RobotInit()
#endif
#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
Referee_Interactive_init();
ChassisInit();
#endif
// 初始化完成,开启中断
@ -50,5 +52,6 @@ void RobotTask()
#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
ChassisTask();
Referee_Interactive_task();
#endif
}

1
application/robot_def.h
View File

@ -128,7 +128,6 @@ typedef enum
// 功率限制,从裁判系统获取
typedef struct
{ // 功率控制
} Chassis_Power_Data_s;
/* ----------------CMD应用发布的控制数据,应当由gimbal/chassis/shoot订阅---------------- */

24
modules/referee/crc_ref.c
View File

@ -137,19 +137,17 @@ void Append_CRC8_Check_Sum( uint8_t *pchMessage, uint16_t dwLength)
uint16_t Get_CRC16_Check_Sum(uint8_t *pchMessage,uint32_t dwLength,uint16_t wCRC)
{
uint8_t chData;
if (pchMessage == NULL)
{
return 0xFFFF;
}
while(dwLength--)
{
chData = *pchMessage++;
(wCRC) = ((uint16_t)(wCRC) >> 8) ^
wCRC_Table[((uint16_t)(wCRC) ^ (uint16_t)(chData)) & 0x00ff];
}
return wCRC;
if (pchMessage == NULL)
{
return 0xFFFF;
}
while(dwLength--)
{
chData = *pchMessage++;
(wCRC) = ((uint16_t)(wCRC) >> 8) ^
wCRC_Table[((uint16_t)(wCRC) ^ (uint16_t)(chData)) & 0x00ff];
}
return wCRC;
}

357
modules/referee/referee.h
View File

@ -1,357 +0,0 @@
/**
* @file referee.h
* @author kidneygood (you@domain.com)
* @brief
* @version 0.1
* @date 2022-11-18
*
* @copyright Copyright (c) 2022
*
*/
#ifndef REFEREE_H
#define REFEREE_H
#include "bsp_usart.h"
#include "usart.h"
#define FALSE 0
#define TRUE 1
#define JUDGE_DATA_ERROR 0
#define JUDGE_DATA_CORRECT 1
#define LEN_HEADER 5 // 帧头长
#define LEN_CMDID 2 // 命令码长度
#define LEN_TAIL 2 // 帧尾CRC16
// 起始字节,协议固定为0xA5
#define JUDGE_FRAME_HEADER (0xA5)
#pragma pack(1)
/***************裁判系统数据接收********************/
typedef enum
{
FRAME_HEADER = 0,
CMD_ID = 5,
DATA = 7,
} JudgeFrameOffset;
// 5字节帧头,偏移位置
typedef enum
{
SOF = 0, // 起始位
DATA_LENGTH = 1, // 帧内数据长度,根据这个来获取数据长度
SEQ = 3, // 包序号
CRC8 = 4 // CRC8
} FrameHeaderOffset;
// 命令码ID,用来判断接收的是什么数据
typedef enum
{
ID_game_state = 0x0001, // 比赛状态数据
ID_game_result = 0x0002, // 比赛结果数据
ID_game_robot_survivors = 0x0003, // 比赛机器人血量数据
ID_event_data = 0x0101, // 场地事件数据
ID_supply_projectile_action = 0x0102, // 场地补给站动作标识数据
ID_supply_projectile_booking = 0x0103, // 场地补给站预约子弹数据
ID_game_robot_state = 0x0201, // 机器人状态数据
ID_power_heat_data = 0x0202, // 实时功率热量数据
ID_game_robot_pos = 0x0203, // 机器人位置数据
ID_buff_musk = 0x0204, // 机器人增益数据
ID_aerial_robot_energy = 0x0205, // 空中机器人能量状态数据
ID_robot_hurt = 0x0206, // 伤害状态数据
ID_shoot_data = 0x0207, // 实时射击数据
} CmdID;
// 命令码数据段长,根据官方协议来定义长度
typedef enum
{
LEN_game_state = 3, // 0x0001
LEN_game_result = 1, // 0x0002
LEN_game_robot_HP = 2, // 0x0003
LEN_event_data = 4, // 0x0101
LEN_supply_projectile_action = 4, // 0x0102
// LEN_game_robot_state = 15, // 0x0201
LEN_game_robot_state = 27, // 0x0201
LEN_power_heat_data = 14, // 0x0202
LEN_game_robot_pos = 16, // 0x0203
LEN_buff_musk = 1, // 0x0204
LEN_aerial_robot_energy = 1, // 0x0205
LEN_robot_hurt = 1, // 0x0206
LEN_shoot_data = 7, // 0x0207
} JudgeDataLength;
/* 自定义帧头 */
typedef struct
{
uint8_t SOF;
uint16_t DataLength;
uint8_t Seq;
uint8_t CRC8;
} xFrameHeader;
/* ID: 0x0001 Byte: 3 比赛状态数据 */
typedef struct
{
uint8_t game_type : 4;
uint8_t game_progress : 4;
uint16_t stage_remain_time;
} ext_game_state_t;
/* ID: 0x0002 Byte: 1 比赛结果数据 */
typedef struct
{
uint8_t winner;
} ext_game_result_t;
/* ID: 0x0003 Byte: 32 比赛机器人血量数据 */
typedef struct
{
uint16_t red_1_robot_HP;
uint16_t red_2_robot_HP;
uint16_t red_3_robot_HP;
uint16_t red_4_robot_HP;
uint16_t red_5_robot_HP;
uint16_t red_7_robot_HP;
uint16_t red_outpost_HP;
uint16_t red_base_HP;
uint16_t blue_1_robot_HP;
uint16_t blue_2_robot_HP;
uint16_t blue_3_robot_HP;
uint16_t blue_4_robot_HP;
uint16_t blue_5_robot_HP;
uint16_t blue_7_robot_HP;
uint16_t blue_outpost_HP;
uint16_t blue_base_HP;
} ext_game_robot_HP_t;
/* ID: 0x0101 Byte: 4 场地事件数据 */
typedef struct
{
uint32_t event_type;
} ext_event_data_t;
/* ID: 0x0102 Byte: 3 场地补给站动作标识数据 */
typedef struct
{
uint8_t supply_projectile_id;
uint8_t supply_robot_id;
uint8_t supply_projectile_step;
uint8_t supply_projectile_num;
} ext_supply_projectile_action_t;
/* ID: 0X0201 Byte: 27 机器人状态数据 */
typedef struct
{
uint8_t robot_id;
uint8_t robot_level;
uint16_t remain_HP;
uint16_t max_HP;
uint16_t shooter_id1_17mm_cooling_rate;
uint16_t shooter_id1_17mm_cooling_limit;
uint16_t shooter_id1_17mm_speed_limit;
uint16_t shooter_id2_17mm_cooling_rate;
uint16_t shooter_id2_17mm_cooling_limit;
uint16_t shooter_id2_17mm_speed_limit;
uint16_t shooter_id1_42mm_cooling_rate;
uint16_t shooter_id1_42mm_cooling_limit;
uint16_t shooter_id1_42mm_speed_limit;
uint16_t chassis_power_limit;
uint8_t mains_power_gimbal_output : 1;
uint8_t mains_power_chassis_output : 1;
uint8_t mains_power_shooter_output : 1;
} ext_game_robot_state_t;
/* ID: 0X0202 Byte: 14 实时功率热量数据 */
typedef struct
{
uint16_t chassis_volt;
uint16_t chassis_current;
float chassis_power; // 瞬时功率
uint16_t chassis_power_buffer; // 60焦耳缓冲能量
uint16_t shooter_heat0; // 17mm
uint16_t shooter_heat1;
} ext_power_heat_data_t;
/* ID: 0x0203 Byte: 16 机器人位置数据 */
typedef struct
{
float x;
float y;
float z;
float yaw;
} ext_game_robot_pos_t;
/* ID: 0x0204 Byte: 1 机器人增益数据 */
typedef struct
{
uint8_t power_rune_buff;
} ext_buff_musk_t;
/* ID: 0x0205 Byte: 1 空中机器人能量状态数据 */
typedef struct
{
uint8_t attack_time;
} aerial_robot_energy_t;
/* ID: 0x0206 Byte: 1 伤害状态数据 */
typedef struct
{
uint8_t armor_id : 4;
uint8_t hurt_type : 4;
} ext_robot_hurt_t;
/* ID: 0x0207 Byte: 7 实时射击数据 */
typedef struct
{
uint8_t bullet_type;
uint8_t shooter_id;
uint8_t bullet_freq;
float bullet_speed;
} ext_shoot_data_t;
/***************裁判系统数据********************/
/*
交互数据，包括一个统一的数据段头结构，
包含了内容 ID，发送者以及接受者的 ID 和内容数据段，
整个交互数据的包总共长最大为 128 个字节，
减去 frame_header,cmd_id,frame_tail 以及数据段头结构的 6 个字节，
故而发送的内容数据段最大为 113。
整个交互数据 0x0301 的包上行频率为 10Hz。
机器人 ID：
1，英雄(红)；
2，工程(红)；
3/4/5，步兵(红)；
6，空中(红)；
7，哨兵(红)；
11，英雄(蓝)；
12，工程(蓝)；
13/14/15，步兵(蓝)；
16，空中(蓝)；
17，哨兵(蓝)。
客户端 ID：
0x0101 为英雄操作手客户端( 红) ；
0x0102 ，工程操作手客户端 ((红 )；
0x0103/0x0104/0x0105，步兵操作手客户端(红)；
0x0106，空中操作手客户端((红)；
0x0111，英雄操作手客户端(蓝)；
0x0112，工程操作手客户端(蓝)；
0x0113/0x0114/0x0115，操作手客户端步兵(蓝)；
0x0116，空中操作手客户端(蓝)。
*/
/* 交互数据接收信息：0x0301 */
typedef struct
{
uint16_t data_cmd_id;
uint16_t send_ID;
uint16_t receiver_ID;
} ext_student_interactive_header_data_t;
/*
客户端 客户端自定义数据：cmd_id:0x0301。内容 ID:0xD180
发送频率：上限 10Hz
1. 客户端 客户端自定义数据：cmd_id:0x0301。内容 ID:0xD180。发送频率：上限 10Hz
字节偏移量 大小 说明 备注
0 2 数据的内容 ID 0xD180
2 2 送者的 ID 需要校验发送者机器人的 ID 正确性
4 2 客户端的 ID 只能为发送者机器人对应的客户端
6 4 自定义浮点数据 1
10 4 自定义浮点数据 2
14 4 自定义浮点数据 3
18 1 自定义 8 位数据 4
*/
typedef struct
{
float data1;
float data2;
float data3;
uint8_t masks;
} client_custom_data_t;
/*
学生机器人间通信 cmd_id 0x0301，内容 ID:0x0200~0x02FF
交互数据 机器人间通信：0x0301。
发送频率：上限 10Hz
字节偏移量 大小 说明 备注
0 2 数据的内容 ID 0x0200~0x02FF
可以在以上 ID 段选取，具体 ID 含义由参赛队自定义
2 2 发送者的 ID 需要校验发送者的 ID 正确性，
4 2 接收者的 ID 需要校验接收者的 ID 正确性，
例如不能发送到敌对机器人的ID
6 n 数据段 n 需要小于 113
*/
typedef struct
{
uint8_t data[10]; // 数据段,n需要小于113
} robot_interactive_data_t;
// 发送给客户端的信息
// 帧头 命令码 数据段头结构 数据段 帧尾
typedef struct
{
xFrameHeader txFrameHeader; // 帧头
uint16_t CmdID; // 命令码
ext_student_interactive_header_data_t dataFrameHeader; // 数据段头结构
client_custom_data_t clientData; // 数据段
uint16_t FrameTail; // 帧尾
} ext_SendClientData_t;
// 机器人交互信息
typedef struct
{
xFrameHeader txFrameHeader; // 帧头
uint16_t CmdID; // 命令码
ext_student_interactive_header_data_t dataFrameHeader; // 数据段头结构
robot_interactive_data_t interactData; // 数据段
uint16_t FrameTail; // 帧尾
} ext_CommunatianData_t;
// 裁判系统接收数据整合进一个结构体
typedef struct
{
xFrameHeader FrameHeader; // 接收到的帧头信息
uint16_t CmdID;
ext_game_state_t GameState; // 0x0001
ext_game_result_t GameResult; // 0x0002
ext_game_robot_HP_t GameRobotHP; // 0x0003
ext_event_data_t EventData; // 0x0101
ext_supply_projectile_action_t SupplyProjectileAction; // 0x0102
ext_game_robot_state_t GameRobotStat; // 0x0201
ext_power_heat_data_t PowerHeatData; // 0x0202
ext_game_robot_pos_t GameRobotPos; // 0x0203
ext_buff_musk_t BuffMusk; // 0x0204
aerial_robot_energy_t AerialRobotEnergy; // 0x0205
ext_robot_hurt_t RobotHurt; // 0x0206
ext_shoot_data_t ShootData; // 0x0207
ext_SendClientData_t ShowData; // 客户端信息
ext_CommunatianData_t CommuData; // 队友通信信息
} referee_info_t;
#pragma pack()
/**
* @brief 初始化裁判系统,返回接收数据指针
*
* @param referee_usart_handle
* @return referee_info_t*
*/
referee_info_t* RefereeInit(UART_HandleTypeDef *referee_usart_handle);
#endif // !REFEREE_H

433
modules/referee/referee_UI.c
View File

@ -0,0 +1,433 @@
/**
* @file referee_UI.C
* @author kidneygood (you@domain.com)
* @brief
* @version 0.1
* @date 2023-1-18
*
* @copyright Copyright (c) 2022
*
*/
#include "referee_UI.h"
#include "string.h"
#include "crc.h"
#include "stdio.h"
#include "rm_referee.h"
// 包序号
/********************************************删除操作*************************************
**参数：_id 对应的id结构体
Del_Operate 对应头文件删除操作
Del_Layer 要删除的层 取值0-9
*****************************************************************************************/
void UI_Delete(referee_id_t *_id, uint8_t Del_Operate, uint8_t Del_Layer)
{
UI_delete_t UI_delete_data;
uint8_t temp_datalength = Interactive_Data_LEN_Head + UI_Operate_LEN_Del; // 计算交互数据长度
UI_delete_data.FrameHeader.SOF = REFEREE_SOF;
UI_delete_data.FrameHeader.DataLength = temp_datalength;
UI_delete_data.FrameHeader.Seq = UI_Seq;
UI_delete_data.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&UI_delete_data, LEN_CRC8, 0xFF);
UI_delete_data.CmdID = ID_student_interactive;
UI_delete_data.datahead.data_cmd_id = UI_Data_ID_Del;
UI_delete_data.datahead.receiver_ID = _id->Cilent_ID;
UI_delete_data.datahead.sender_ID = _id->Robot_ID;
UI_delete_data.Delete_Operate = Del_Operate; // 删除操作
UI_delete_data.Layer = Del_Layer;
UI_delete_data.frametail = Get_CRC16_Check_Sum((uint8_t *)&UI_delete_data, LEN_HEADER + LEN_CMDID + temp_datalength, 0xFFFF);
/* 填入0xFFFF,关于crc校验 */
RefereeSend((uint8_t *)&UI_delete_data, LEN_HEADER + LEN_CMDID + temp_datalength + LEN_TAIL); // 发送
UI_Seq++; // 包序号+1
}
/************************************************绘制直线*************************************************
**参数：*graph Graph_Data类型变量指针，用于存放图形数据
graphname[3] 图片名称，用于标识更改
Graph_Operate 图片操作，见头文件
Graph_Layer 图层0-9
Graph_Color 图形颜色
Graph_Width 图形线宽
Start_x、Start_y 起点xy坐标
End_x、End_y 终点xy坐标
**********************************************************************************************************/
void Line_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t End_x, uint32_t End_y)
{
int i;
for (i = 0; i < 3 && graphname[i] != '\0'; i++) // 填充至‘0’为止
{
graph->graphic_name[2 - i] = graphname[i]; // 按内存地址增大方向填充，所以会有i与2-i
}
graph->operate_tpye = Graph_Operate;
graph->graphic_tpye = UI_Graph_Line;
graph->layer = Graph_Layer;
graph->color = Graph_Color;
graph->start_angle = 0;
graph->end_angle = 0;
graph->width = Graph_Width;
graph->start_x = Start_x;
graph->start_y = Start_y;
graph->radius = 0;
graph->end_x = End_x;
graph->end_y = End_y;
}
/************************************************绘制矩形*************************************************
**参数：*graph Graph_Data类型变量指针，用于存放图形数据
graphname[3] 图片名称，用于标识更改
Graph_Operate 图片操作，见头文件
Graph_Layer 图层0-9
Graph_Color 图形颜色
Graph_Width 图形线宽
Start_x、Start_y 起点xy坐标
End_x、End_y 对角顶点xy坐标
**********************************************************************************************************/
void Rectangle_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t End_x, uint32_t End_y)
{
int i;
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
{
graph->graphic_name[2 - i] = graphname[i];
}
graph->graphic_tpye = UI_Graph_Rectangle;
graph->operate_tpye = Graph_Operate;
graph->layer = Graph_Layer;
graph->color = Graph_Color;
graph->start_angle = 0;
graph->end_angle = 0;
graph->width = Graph_Width;
graph->start_x = Start_x;
graph->start_y = Start_y;
graph->radius = 0;
graph->end_x = End_x;
graph->end_y = End_y;
}
/************************************************绘制整圆*************************************************
**参数：*graph Graph_Data类型变量指针，用于存放图形数据
graphname[3] 图片名称，用于标识更改
Graph_Operate 图片操作，见头文件
Graph_Layer 图层0-9
Graph_Color 图形颜色
Graph_Width 图形线宽
Start_x、Start_y 圆心xy坐标
Graph_Radius 圆形半径
**********************************************************************************************************/
void Circle_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t Graph_Radius)
{
int i;
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
{
graph->graphic_name[2 - i] = graphname[i];
}
graph->graphic_tpye = UI_Graph_Circle;
graph->operate_tpye = Graph_Operate;
graph->layer = Graph_Layer;
graph->color = Graph_Color;
graph->start_angle = 0;
graph->end_angle = 0;
graph->width = Graph_Width;
graph->start_x = Start_x;
graph->start_y = Start_y;
graph->radius = Graph_Radius;
graph->end_x = 0;
graph->end_y = 0;
}
/************************************************绘制椭圆*************************************************
**参数：*graph Graph_Data类型变量指针，用于存放图形数据
graphname[3] 图片名称，用于标识更改
Graph_Operate 图片操作，见头文件
Graph_Layer 图层0-9
Graph_Color 图形颜色
Graph_Width 图形线宽
Start_x、Start_y 圆心xy坐标
End_x、End_y xy半轴长度
**********************************************************************************************************/
void Elliptical_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t end_x, uint32_t end_y)
{
int i;
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
{
graph->graphic_name[2 - i] = graphname[i];
}
graph->graphic_tpye = UI_Graph_Ellipse;
graph->operate_tpye = Graph_Operate;
graph->layer = Graph_Layer;
graph->color = Graph_Color;
graph->width = Graph_Width;
graph->start_angle = 0;
graph->end_angle = 0;
graph->width = Graph_Width;
graph->start_x = Start_x;
graph->start_y = Start_y;
graph->radius = 0;
graph->end_x = end_x;
graph->end_y = end_y;
}
/************************************************绘制圆弧*************************************************
**参数：*graph Graph_Data类型变量指针，用于存放图形数据
graphname[3] 图片名称，用于标识更改
Graph_Operate 图片操作，见头文件
Graph_Layer 图层0-9
Graph_Color 图形颜色
Graph_StartAngle,Graph_EndAngle 起始终止角度
Graph_Width 图形线宽
Start_y,Start_y 圆心xy坐标
x_Length,y_Length xy半轴长度
**********************************************************************************************************/
void Arc_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
uint32_t Graph_StartAngle, uint32_t Graph_EndAngle, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y,
uint32_t end_x, uint32_t end_y)
{
int i;
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
{
graph->graphic_name[2 - i] = graphname[i];
}
graph->graphic_tpye = UI_Graph_Arc;
graph->operate_tpye = Graph_Operate;
graph->layer = Graph_Layer;
graph->color = Graph_Color;
graph->start_angle = Graph_StartAngle;
graph->end_angle = Graph_EndAngle;
graph->width = Graph_Width;
graph->start_x = Start_x;
graph->start_y = Start_y;
graph->radius = 0;
graph->end_x = end_x;
graph->end_y = end_y;
}
/************************************************绘制浮点型数据*************************************************
**参数：*graph Graph_Data类型变量指针，用于存放图形数据
graphname[3] 图片名称，用于标识更改
Graph_Operate 图片操作，见头文件
Graph_Layer 图层0-9
Graph_Color 图形颜色
Graph_Size 字号
Graph_Digit 小数位数
Graph_Width 图形线宽
Start_x、Start_y 开始坐标
radius=a&0x3FF; a为浮点数乘以1000后的32位整型数
end_x=(a>>10)&0x7FF;
end_y=(a>>21)&0x7FF;
**********************************************************************************************************/
void Float_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
uint32_t Graph_Size, uint32_t Graph_Digit, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, int32_t Graph_Float)
{
int i;
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
{
graph->graphic_name[2 - i] = graphname[i];
}
graph->graphic_tpye = UI_Graph_Float;
graph->operate_tpye = Graph_Operate;
graph->layer = Graph_Layer;
graph->color = Graph_Color;
graph->width = Graph_Width;
graph->start_x = Start_x;
graph->start_y = Start_y;
graph->start_angle = Graph_Size;
graph->end_angle = Graph_Digit;
graph->radius = Graph_Float & 0x3FF;
graph->end_x = (Graph_Float >> 10) & 0x7FF;
graph->end_y = (Graph_Float >> 21) & 0x7FF;
}
/************************************************绘制整型数据*************************************************
**参数：*graph Graph_Data类型变量指针，用于存放图形数据
graphname[3] 图片名称，用于标识更改
Graph_Operate 图片操作，见头文件
Graph_Layer 图层0-9
Graph_Color 图形颜色
Graph_Size 字号
Graph_Width 图形线宽
Start_x、Start_y 开始坐标
radius=a&0x3FF; a为32位整型数
end_x=(a>>10)&0x7FF;
end_y=(a>>21)&0x7FF;
**********************************************************************************************************/
void Integer_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
uint32_t Graph_Size, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, int32_t Graph_Integer)
{
int i;
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
{
graph->graphic_name[2 - i] = graphname[i];
}
graph->graphic_tpye = UI_Graph_Int;
graph->operate_tpye = Graph_Operate;
graph->layer = Graph_Layer;
graph->color = Graph_Color;
graph->start_angle = Graph_Size;
graph->end_angle = 0;
graph->width = Graph_Width;
graph->start_x = Start_x;
graph->start_y = Start_y;
graph->radius = Graph_Integer & 0x3FF;
graph->end_x = (Graph_Integer >> 10) & 0x7FF;
graph->end_y = (Graph_Integer >> 21) & 0x7FF;
}
/************************************************绘制字符型数据*************************************************
**参数：*graph Graph_Data类型变量指针，用于存放图形数据
graphname[3] 图片名称，用于标识更改
Graph_Operate 图片操作，见头文件
Graph_Layer 图层0-9
Graph_Color 图形颜色
Graph_Size 字号
Graph_Width 图形线宽
Start_x、Start_y 开始坐标
**********************************************************************************************************/
void Char_Draw(String_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
uint32_t Graph_Size, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y)
{
int i;
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
{
graph->Graph_Control.graphic_name[2 - i] = graphname[i];
}
graph->Graph_Control.graphic_tpye = UI_Graph_Char;
graph->Graph_Control.operate_tpye = Graph_Operate;
graph->Graph_Control.layer = Graph_Layer;
graph->Graph_Control.color = Graph_Color;
graph->Graph_Control.width = Graph_Width;
graph->Graph_Control.start_x = Start_x;
graph->Graph_Control.start_y = Start_y;
graph->Graph_Control.start_angle = Graph_Size;
graph->Graph_Control.radius = 0;
graph->Graph_Control.end_x = 0;
graph->Graph_Control.end_y = 0;
}
/************************************************绘制字符型数据*************************************************
**参数：*graph Graph_Data类型变量指针，用于存放图形数据
fmt需要显示的字符串
此函数的实现和具体使用类似于printf函数
**********************************************************************************************************/
void Char_Write(String_Data_t *graph, char *fmt, ...)
{
uint16_t i = 0;
va_list ap;
va_start(ap, fmt);
vsprintf((char *)graph->show_Data, fmt, ap); // 使用参数列表进行格式化并输出到字符串
va_end(ap);
i = strlen((const char *)graph->show_Data);
graph->Graph_Control.end_angle = i;
}
/* UI推送函数（使更改生效）
参数： cnt 图形个数
... 图形变量参数
Tips：：该函数只能推送1，2，5，7个图形，其他数目协议未涉及
*/
void UI_ReFresh(referee_id_t *_id, int cnt, ...)
{
int i;
UI_GraphReFresh_t UI_GraphReFresh_data;
Graph_Data_t graphData;
va_list ap; // 创建一个 va_list 类型变量
va_start(ap, cnt); // 初始化 va_list 变量为一个参数列表
UI_GraphReFresh_data.FrameHeader.SOF = REFEREE_SOF;
UI_GraphReFresh_data.FrameHeader.DataLength = Interactive_Data_LEN_Head + cnt * UI_Operate_LEN_PerDraw;
UI_GraphReFresh_data.FrameHeader.Seq = UI_Seq;
UI_GraphReFresh_data.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&UI_GraphReFresh_data, LEN_CRC8, 0xFF);
UI_GraphReFresh_data.CmdID = ID_student_interactive;
switch (cnt)
{
case 1:
UI_GraphReFresh_data.datahead.data_cmd_id = UI_Data_ID_Draw1;
break;
case 2:
UI_GraphReFresh_data.datahead.data_cmd_id = UI_Data_ID_Draw2;
break;
case 5:
UI_GraphReFresh_data.datahead.data_cmd_id = UI_Data_ID_Draw5;
break;
case 7:
UI_GraphReFresh_data.datahead.data_cmd_id = UI_Data_ID_Draw7;
break;
}
UI_GraphReFresh_data.datahead.receiver_ID = _id->Cilent_ID;
UI_GraphReFresh_data.datahead.sender_ID = _id->Robot_ID;
// 先发送帧头、命令码、交互数据帧头三部分，并计算CRC16校验值
UI_GraphReFresh_data.frametail = Get_CRC16_Check_Sum((uint8_t *)&UI_GraphReFresh_data, LEN_HEADER + LEN_CMDID + Interactive_Data_LEN_Head, 0xFFFF);
RefereeSend((uint8_t *)&UI_GraphReFresh_data, LEN_HEADER + LEN_CMDID + Interactive_Data_LEN_Head);
for (i = 0; i < cnt; i++) // 发送交互数据的数据帧，并计算CRC16校验值
{
graphData = va_arg(ap, Graph_Data_t); // 访问参数列表中的每个项,第二个参数是你要返回的参数的类型,在取值时需要将其强制转化为指定类型的变量
// 发送并计算CRC16
RefereeSend((uint8_t *)&graphData, UI_Operate_LEN_PerDraw);
UI_GraphReFresh_data.frametail = Get_CRC16_Check_Sum((uint8_t *)&graphData, UI_Operate_LEN_PerDraw, UI_GraphReFresh_data.frametail);
}
RefereeSend((uint8_t *)&UI_GraphReFresh_data.frametail, LEN_TAIL); // 发送CRC16校验值
va_end(ap); // 结束可变参数的获取
UI_Seq++; // 包序号+1
}
/************************************************UI推送字符（使更改生效）*********************************/
void Char_ReFresh(referee_id_t *_id, String_Data_t string_Data)
{
UI_CharReFresh_t UI_CharReFresh_data;
uint8_t temp_datalength = Interactive_Data_LEN_Head + UI_Operate_LEN_DrawChar; // 计算交互数据长度
UI_CharReFresh_data.FrameHeader.SOF = REFEREE_SOF;
UI_CharReFresh_data.FrameHeader.DataLength = temp_datalength;
UI_CharReFresh_data.FrameHeader.Seq = UI_Seq;
UI_CharReFresh_data.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&UI_CharReFresh_data, LEN_CRC8, 0xFF);
UI_CharReFresh_data.CmdID = ID_student_interactive;
UI_CharReFresh_data.datahead.data_cmd_id = UI_Data_ID_DrawChar;
UI_CharReFresh_data.datahead.receiver_ID = _id->Cilent_ID;
UI_CharReFresh_data.datahead.sender_ID = _id->Robot_ID;
UI_CharReFresh_data.String_Data = string_Data;
UI_CharReFresh_data.frametail = Get_CRC16_Check_Sum((uint8_t *)&UI_CharReFresh_data, LEN_HEADER + LEN_CMDID + temp_datalength, 0xFFFF);
RefereeSend((uint8_t *)&UI_CharReFresh_data, LEN_HEADER + LEN_CMDID + temp_datalength + LEN_TAIL); // 发送
UI_Seq++; // 包序号+1
}

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#ifndef REFEREE_UI_H
#define REFEREE_UI_H
#include "stdarg.h"
#include "stdint.h"
#include "referee_def.h"
#include "rm_referee.h"
#pragma pack(1) //按1字节对齐
/* 此处的定义只与UI绘制有关 */
typedef struct
{
xFrameHeader FrameHeader;
uint16_t CmdID;
ext_student_interactive_header_data_t datahead;
uint8_t Delete_Operate; //删除操作
uint8_t Layer;
uint16_t frametail;
} UI_delete_t;
typedef struct
{
xFrameHeader FrameHeader;
uint16_t CmdID;
ext_student_interactive_header_data_t datahead;
uint16_t frametail;
} UI_GraphReFresh_t;
typedef struct
{
xFrameHeader FrameHeader;
uint16_t CmdID;
ext_student_interactive_header_data_t datahead;
String_Data_t String_Data;
uint16_t frametail;
} UI_CharReFresh_t; //打印字符串数据
#pragma pack()
void UI_Delete(referee_id_t *_id,uint8_t Del_Operate,uint8_t Del_Layer);
void Line_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t End_x,uint32_t End_y);
void Rectangle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t End_x,uint32_t End_y);
void Circle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t Graph_Radius);
void Elliptical_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t end_x,uint32_t end_y);
void Arc_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_StartAngle,uint32_t Graph_EndAngle,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,
uint32_t end_x,uint32_t end_y);
void Float_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_Size,uint32_t Graph_Digit,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,int32_t Graph_Float);
void Integer_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_Size,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,int32_t Graph_Integer);
void Char_Draw(String_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_Size,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y);
void Char_Write(String_Data_t *graph,char* fmt, ...);
void UI_ReFresh(referee_id_t *_id,int cnt,...);
void Char_ReFresh(referee_id_t *_id,String_Data_t string_Data);
#endif

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/**
* @file referee_communication.h
* @author kidneygood (you@domain.com)
* @version 0.1
* @date 2022-12-02
*
* @copyright Copyright (c) HNU YueLu EC 2022 all rights reserved
*
*/
#include "referee_communication.h"
#include "crc.h"
#include "stdio.h"
#include "rm_referee.h"
/**
* @brief 发送机器人间的交互数据
* @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
* robot_interactive_data_t *data 数据段
* @retval none
* @attention
*/
void Communicate_SendData(referee_id_t *_id,robot_interactive_data_t *_data)
{
Communicate_SendData_t SendData;
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
SendData.FrameHeader.SOF = REFEREE_SOF;
SendData.FrameHeader.DataLength = temp_datalength;
SendData.FrameHeader.Seq = UI_Seq;
SendData.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&SendData, LEN_CRC8, 0xFF);
SendData.CmdID = ID_student_interactive;
SendData.datahead.data_cmd_id = Communicate_Data_ID;
SendData.datahead.sender_ID = _id->Robot_ID;
SendData.datahead.receiver_ID = _id->Receiver_Robot_ID;
SendData.Data = *_data;
SendData.frametail = Get_CRC16_Check_Sum((uint8_t *)&SendData,LEN_HEADER+LEN_CMDID+temp_datalength,0xFFFF);
RefereeSend((uint8_t *)&SendData,LEN_HEADER+LEN_CMDID+temp_datalength+LEN_TAIL); //发送
UI_Seq++; // 包序号+1
}

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#ifndef REFEREE_COMMUNICATION_H
#define REFEREE_COMMUNICATION_H
#include "stdint.h"
#include "referee_def.h"
#include "rm_referee.h"
void Communicate_SendData(referee_id_t *_id,robot_interactive_data_t *_data);
#endif

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/**
* @file referee_def.h
* @author kidneygood (you@domain.com)
* @version 0.1
* @date 2022-12-02
*
* @copyright Copyright (c) HNU YueLu EC 2022 all rights reserved
*
*/
#ifndef REFEREE_DEF_H
#define REFEREE_DEF_H
#include "stdint.h"
/****************************宏定义部分****************************/
/****************************宏定义部分****************************/
#define REFEREE_SOF 0xA5 // 起始字节,协议固定为0xA5
#define Robot_Red 0
#define Robot_Blue 1
#define Communicate_Data_LEN 5 //自定义交互数据长度，该长度决定了我方发送和他方接收，自定义交互数据协议更改时只需要更改此宏定义即可
#pragma pack(1)
/****************************通信协议格式****************************/
/****************************通信协议格式****************************/
/* 通信协议格式偏移，枚举类型,代替#define声明 */
typedef enum
{
FRAME_HEADER_Offset = 0,
CMD_ID_Offset = 5,
DATA_Offset = 7,
} JudgeFrameOffset_e;
/* 通信协议长度 */
typedef enum
{
LEN_HEADER = 5, // 帧头长
LEN_CMDID = 2, // 命令码长度
LEN_TAIL = 2, // 帧尾CRC16
LEN_CRC8 = 4, // 帧头CRC8校验长度=帧头+数据长+包序号
} JudgeFrameLength_e;
/****************************帧头****************************/
/****************************帧头****************************/
/* 帧头偏移 */
typedef enum
{
SOF = 0, // 起始位
DATA_LENGTH = 1, // 帧内数据长度,根据这个来获取数据长度
SEQ = 3, // 包序号
CRC8 = 4 // CRC8
} FrameHeaderOffset_e;
/* 帧头定义 */
typedef struct
{
uint8_t SOF;
uint16_t DataLength;
uint8_t Seq;
uint8_t CRC8;
} xFrameHeader;
/****************************cmd_id命令码说明****************************/
/****************************cmd_id命令码说明****************************/
/* 命令码ID,用来判断接收的是什么数据 */
typedef enum
{
ID_game_state = 0x0001, // 比赛状态数据
ID_game_result = 0x0002, // 比赛结果数据
ID_game_robot_survivors = 0x0003, // 比赛机器人血量数据
ID_event_data = 0x0101, // 场地事件数据
ID_supply_projectile_action = 0x0102, // 场地补给站动作标识数据
ID_supply_projectile_booking = 0x0103, // 场地补给站预约子弹数据
ID_game_robot_state = 0x0201, // 机器人状态数据
ID_power_heat_data = 0x0202, // 实时功率热量数据
ID_game_robot_pos = 0x0203, // 机器人位置数据
ID_buff_musk = 0x0204, // 机器人增益数据
ID_aerial_robot_energy = 0x0205, // 空中机器人能量状态数据
ID_robot_hurt = 0x0206, // 伤害状态数据
ID_shoot_data = 0x0207, // 实时射击数据
ID_student_interactive = 0x0301, // 机器人间交互数据
} CmdID_e;
/* 命令码数据段长,根据官方协议来定义长度，还有自定义数据长度 */
typedef enum
{
LEN_game_state = 3, // 0x0001
LEN_game_result = 1, // 0x0002
LEN_game_robot_HP = 2, // 0x0003
LEN_event_data = 4, // 0x0101
LEN_supply_projectile_action = 4, // 0x0102
LEN_game_robot_state = 27, // 0x0201
LEN_power_heat_data = 14, // 0x0202
LEN_game_robot_pos = 16, // 0x0203
LEN_buff_musk = 1, // 0x0204
LEN_aerial_robot_energy = 1, // 0x0205
LEN_robot_hurt = 1, // 0x0206
LEN_shoot_data = 7, // 0x0207
LEN_receive_data = 6+Communicate_Data_LEN, //0x0301
} JudgeDataLength_e;
/****************************接收数据的详细说明****************************/
/****************************接收数据的详细说明****************************/
/* ID: 0x0001 Byte: 3 比赛状态数据 */
typedef struct
{
uint8_t game_type : 4;
uint8_t game_progress : 4;
uint16_t stage_remain_time;
} ext_game_state_t;
/* ID: 0x0002 Byte: 1 比赛结果数据 */
typedef struct
{
uint8_t winner;
} ext_game_result_t;
/* ID: 0x0003 Byte: 32 比赛机器人血量数据 */
typedef struct
{
uint16_t red_1_robot_HP;
uint16_t red_2_robot_HP;
uint16_t red_3_robot_HP;
uint16_t red_4_robot_HP;
uint16_t red_5_robot_HP;
uint16_t red_7_robot_HP;
uint16_t red_outpost_HP;
uint16_t red_base_HP;
uint16_t blue_1_robot_HP;
uint16_t blue_2_robot_HP;
uint16_t blue_3_robot_HP;
uint16_t blue_4_robot_HP;
uint16_t blue_5_robot_HP;
uint16_t blue_7_robot_HP;
uint16_t blue_outpost_HP;
uint16_t blue_base_HP;
} ext_game_robot_HP_t;
/* ID: 0x0101 Byte: 4 场地事件数据 */
typedef struct
{
uint32_t event_type;
} ext_event_data_t;
/* ID: 0x0102 Byte: 3 场地补给站动作标识数据 */
typedef struct
{
uint8_t supply_projectile_id;
uint8_t supply_robot_id;
uint8_t supply_projectile_step;
uint8_t supply_projectile_num;
} ext_supply_projectile_action_t;
/* ID: 0X0201 Byte: 27 机器人状态数据 */
typedef struct
{
uint8_t robot_id;
uint8_t robot_level;
uint16_t remain_HP;
uint16_t max_HP;
uint16_t shooter_id1_17mm_cooling_rate;
uint16_t shooter_id1_17mm_cooling_limit;
uint16_t shooter_id1_17mm_speed_limit;
uint16_t shooter_id2_17mm_cooling_rate;
uint16_t shooter_id2_17mm_cooling_limit;
uint16_t shooter_id2_17mm_speed_limit;
uint16_t shooter_id1_42mm_cooling_rate;
uint16_t shooter_id1_42mm_cooling_limit;
uint16_t shooter_id1_42mm_speed_limit;
uint16_t chassis_power_limit;
uint8_t mains_power_gimbal_output : 1;
uint8_t mains_power_chassis_output : 1;
uint8_t mains_power_shooter_output : 1;
} ext_game_robot_state_t;
/* ID: 0X0202 Byte: 14 实时功率热量数据 */
typedef struct
{
uint16_t chassis_volt;
uint16_t chassis_current;
float chassis_power; // 瞬时功率
uint16_t chassis_power_buffer; // 60焦耳缓冲能量
uint16_t shooter_heat0; // 17mm
uint16_t shooter_heat1;
} ext_power_heat_data_t;
/* ID: 0x0203 Byte: 16 机器人位置数据 */
typedef struct
{
float x;
float y;
float z;
float yaw;
} ext_game_robot_pos_t;
/* ID: 0x0204 Byte: 1 机器人增益数据 */
typedef struct
{
uint8_t power_rune_buff;
} ext_buff_musk_t;
/* ID: 0x0205 Byte: 1 空中机器人能量状态数据 */
typedef struct
{
uint8_t attack_time;
} aerial_robot_energy_t;
/* ID: 0x0206 Byte: 1 伤害状态数据 */
typedef struct
{
uint8_t armor_id : 4;
uint8_t hurt_type : 4;
} ext_robot_hurt_t;
/* ID: 0x0207 Byte: 7 实时射击数据 */
typedef struct
{
uint8_t bullet_type;
uint8_t shooter_id;
uint8_t bullet_freq;
float bullet_speed;
} ext_shoot_data_t;
/****************************机器人交互数据****************************/
/****************************机器人交互数据****************************/
/* 发送的内容数据段最大为 113 检测是否超出大小限制?实际上图形段不会超，数据段最多30个，也不会超*/
/* 交互数据头结构 */
typedef struct
{
uint16_t data_cmd_id; //由于存在多个内容 ID，但整个cmd_id 上行频率最大为 10Hz，请合理安排带宽。注意交互部分的上行频率
uint16_t sender_ID;
uint16_t receiver_ID;
} ext_student_interactive_header_data_t;
/* 机器人id */
typedef enum
{
// 红方机器人ID
RobotID_RHero = 1,
RobotID_REngineer = 2,
RobotID_RStandard1 = 3,
RobotID_RStandard2 = 4,
RobotID_RStandard3 = 5,
RobotID_RAerial = 6,
RobotID_RSentry = 7,
RobotID_RRadar = 9,
// 蓝方机器人ID
RobotID_BHero = 101,
RobotID_BEngineer = 102,
RobotID_BStandard1 = 103,
RobotID_BStandard2 = 104,
RobotID_BStandard3 = 105,
RobotID_BAerial = 106,
RobotID_BSentry = 107,
RobotID_BRadar = 109,
} Robot_ID_e;
/* 交互数据ID */
typedef enum
{
UI_Data_ID_Del = 0x100,
UI_Data_ID_Draw1 = 0x101,
UI_Data_ID_Draw2 = 0x102,
UI_Data_ID_Draw5 = 0x103,
UI_Data_ID_Draw7 = 0x104,
UI_Data_ID_DrawChar = 0x110,
/* 自定义交互数据部分 */
Communicate_Data_ID = 0x0200,
} Interactive_Data_ID_e;
/* 交互数据长度 */
typedef enum
{
Interactive_Data_LEN_Head = 6,
UI_Operate_LEN_Del = 2,
UI_Operate_LEN_PerDraw = 15,
UI_Operate_LEN_DrawChar = 15 + 30,
/* 自定义交互数据部分 */
// Communicate_Data_LEN = 5,
} Interactive_Data_Length_e;
/****************************自定义交互数据****************************/
/****************************自定义交互数据****************************/
/*
学生机器人间通信 cmd_id 0x0301，内容 ID:0x0200~0x02FF
自定义交互数据 机器人间通信：0x0301。
发送频率：上限 10Hz
*/
//自定义交互数据协议，可更改，更改后需要修改最上方宏定义数据长度的值
typedef struct
{
uint8_t data[Communicate_Data_LEN]; // 数据段,n需要小于113
} robot_interactive_data_t;
// 机器人交互信息_发送
typedef struct
{
xFrameHeader FrameHeader;
uint16_t CmdID;
ext_student_interactive_header_data_t datahead;
robot_interactive_data_t Data; // 数据段
uint16_t frametail;
} Communicate_SendData_t;
// 机器人交互信息_接收
typedef struct
{
ext_student_interactive_header_data_t datahead;
robot_interactive_data_t Data; // 数据段
} Communicate_ReceiveData_t;
/****************************UI交互数据****************************/
/****************************UI交互数据****************************/
/* 图形数据 */
typedef struct
{
uint8_t graphic_name[3];
uint32_t operate_tpye : 3;
uint32_t graphic_tpye : 3;
uint32_t layer : 4;
uint32_t color : 4;
uint32_t start_angle : 9;
uint32_t end_angle : 9;
uint32_t width : 10;
uint32_t start_x : 11;
uint32_t start_y : 11;
uint32_t radius : 10;
uint32_t end_x : 11;
uint32_t end_y : 11;
} Graph_Data_t;
typedef struct
{
Graph_Data_t Graph_Control;
uint8_t show_Data[30];
} String_Data_t; // 打印字符串数据
/* 删除操作 */
typedef enum
{
UI_Data_Del_NoOperate = 0,
UI_Data_Del_Layer = 1,
UI_Data_Del_ALL = 2, // 删除全部图层，后面的参数已经不重要了。
} UI_Delete_Operate_e;
/* 图形配置参数__图形操作 */
typedef enum
{
UI_Graph_ADD = 1,
UI_Graph_Change = 2,
UI_Graph_Del = 3,
} UI_Graph_Operate_e;
/* 图形配置参数__图形类型 */
typedef enum
{
UI_Graph_Line = 0, // 直线
UI_Graph_Rectangle = 1, // 矩形
UI_Graph_Circle = 2, // 整圆
UI_Graph_Ellipse = 3, // 椭圆
UI_Graph_Arc = 4, // 圆弧
UI_Graph_Float = 5, // 浮点型
UI_Graph_Int = 6, // 整形
UI_Graph_Char = 7, // 字符型
} UI_Graph_Type_e;
/* 图形配置参数__图形颜色 */
typedef enum
{
UI_Color_Main = 0, // 红蓝主色
UI_Color_Yellow = 1,
UI_Color_Green = 2,
UI_Color_Orange = 3,
UI_Color_Purplish_red = 4, // 紫红色
UI_Color_Pink = 5,
UI_Color_Cyan = 6, // 青色
UI_Color_Black = 7,
UI_Color_White = 8,
} UI_Graph_Color_e;
#pragma pack()
#endif

117
modules/referee/referee.c → modules/referee/rm_referee.c
View File

@ -1,18 +1,56 @@
#include "referee.h"
/**
* @file rm_referee.C
* @author kidneygood (you@domain.com)
* @brief
* @version 0.1
* @date 2022-11-18
*
* @copyright Copyright (c) 2022
*
*/
#include "rm_referee.h"
#include "string.h"
#include "crc_ref.h"
#include "bsp_usart.h"
#include "dma.h"
// 参考深圳大学 Infantry_X-master
#define RE_RX_BUFFER_SIZE 200
static USARTInstance *referee_usart_instance;
static USARTInstance *referee_usart_instance; // 暂时改为非静态变量
/**************裁判系统数据******************/
static referee_info_t referee_info;
static uint8_t Judge_Self_ID; // 当前机器人的ID
static uint16_t Judge_SelfClient_ID; // 发送者机器人对应的客户端ID
static void JudgeReadData(uint8_t *ReadFromUsart);
static void RefereeRxCallback();
uint8_t UI_Seq = 0; // 包序号，供整个referee文件使用
/* 裁判系统通信初始化 */
referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle)
{
USART_Init_Config_s conf;
conf.module_callback = RefereeRxCallback;
conf.usart_handle = referee_usart_handle;
conf.recv_buff_size = RE_RX_BUFFER_SIZE;
referee_usart_instance = USARTRegister(&conf);
return &referee_info;
}
/**
* @brief 发送函数
* @param send 待发送数据
*/
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 */
static void RefereeRxCallback()
{
JudgeReadData(referee_usart_instance->recv_buff);
}
/**
* @brief 读取裁判数据,中断中读取保证速度
@ -22,17 +60,15 @@ static uint16_t Judge_SelfClient_ID; // 发送者机器人对应的客户端ID
*/
static void JudgeReadData(uint8_t *ReadFromUsart)
{
uint16_t judge_length; // 统计一帧数据长度
// referee_info.CmdID = 0; //数据命令码解析
// 空数据包，则不作任何处理
if (ReadFromUsart == NULL)
uint16_t judge_length; // 统计一帧数据长度
if (ReadFromUsart == NULL) // 空数据包，则不作任何处理
return;
// 写入帧头数据(5-byte),用于判断是否开始存储裁判数据
memcpy(&referee_info.FrameHeader, ReadFromUsart, LEN_HEADER);
// 判断帧头数据(0)是否为0xA5
if (ReadFromUsart[SOF] == JUDGE_FRAME_HEADER)
if (ReadFromUsart[SOF] == REFEREE_SOF)
{
// 帧头CRC8校验
if (Verify_CRC8_Check_Sum(ReadFromUsart, LEN_HEADER) == TRUE)
@ -49,51 +85,43 @@ static void JudgeReadData(uint8_t *ReadFromUsart)
switch (referee_info.CmdID)
{
case ID_game_state: // 0x0001
memcpy(&referee_info.GameState, (ReadFromUsart + DATA), LEN_game_state);
memcpy(&referee_info.GameState, (ReadFromUsart + DATA_Offset), LEN_game_state);
break;
case ID_game_result: // 0x0002
memcpy(&referee_info.GameResult, (ReadFromUsart + DATA), LEN_game_result);
memcpy(&referee_info.GameResult, (ReadFromUsart + DATA_Offset), LEN_game_result);
break;
case ID_game_robot_survivors: // 0x0003
memcpy(&referee_info.GameRobotHP, (ReadFromUsart + DATA), LEN_game_robot_HP);
memcpy(&referee_info.GameRobotHP, (ReadFromUsart + DATA_Offset), LEN_game_robot_HP);
break;
case ID_event_data: // 0x0101
memcpy(&referee_info.EventData, (ReadFromUsart + DATA), LEN_event_data);
memcpy(&referee_info.EventData, (ReadFromUsart + DATA_Offset), LEN_event_data);
break;
case ID_supply_projectile_action: // 0x0102
memcpy(&referee_info.SupplyProjectileAction, (ReadFromUsart + DATA), LEN_supply_projectile_action);
memcpy(&referee_info.SupplyProjectileAction, (ReadFromUsart + DATA_Offset), LEN_supply_projectile_action);
break;
case ID_game_robot_state: // 0x0201
memcpy(&referee_info.GameRobotStat, (ReadFromUsart + DATA), LEN_game_robot_state);
memcpy(&referee_info.GameRobotState, (ReadFromUsart + DATA_Offset), LEN_game_robot_state);
break;
case ID_power_heat_data: // 0x0202
memcpy(&referee_info.PowerHeatData, (ReadFromUsart + DATA), LEN_power_heat_data);
memcpy(&referee_info.PowerHeatData, (ReadFromUsart + DATA_Offset), LEN_power_heat_data);
break;
case ID_game_robot_pos: // 0x0203
memcpy(&referee_info.GameRobotPos, (ReadFromUsart + DATA), LEN_game_robot_pos);
memcpy(&referee_info.GameRobotPos, (ReadFromUsart + DATA_Offset), LEN_game_robot_pos);
break;
case ID_buff_musk: // 0x0204
memcpy(&referee_info.BuffMusk, (ReadFromUsart + DATA), LEN_buff_musk);
memcpy(&referee_info.BuffMusk, (ReadFromUsart + DATA_Offset), LEN_buff_musk);
break;
case ID_aerial_robot_energy: // 0x0205
memcpy(&referee_info.AerialRobotEnergy, (ReadFromUsart + DATA), LEN_aerial_robot_energy);
memcpy(&referee_info.AerialRobotEnergy, (ReadFromUsart + DATA_Offset), LEN_aerial_robot_energy);
break;
case ID_robot_hurt: // 0x0206
memcpy(&referee_info.RobotHurt, (ReadFromUsart + DATA), LEN_robot_hurt);
memcpy(&referee_info.RobotHurt, (ReadFromUsart + DATA_Offset), LEN_robot_hurt);
break;
case ID_shoot_data: // 0x0207
memcpy(&referee_info.ShootData, (ReadFromUsart + DATA), LEN_shoot_data);
// JUDGE_ShootNumCount();//发弹量统计
memcpy(&referee_info.ShootData, (ReadFromUsart + DATA_Offset), LEN_shoot_data);
break;
case ID_student_interactive: // 0x0301 syhtodo接收代码未测试
memcpy(&referee_info.ReceiveData, (ReadFromUsart + DATA_Offset), LEN_receive_data);
break;
}
}
@ -106,22 +134,3 @@ static void JudgeReadData(uint8_t *ReadFromUsart)
}
}
}
/**
* @brief 裁判系统串口接收回调函数,解析数据
*
*/
static void RefereeRxCallback()
{
JudgeReadData(referee_usart_instance->recv_buff);
}
referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle)
{
USART_Init_Config_s conf;
conf.module_callback = RefereeRxCallback;
conf.usart_handle = referee_usart_handle;
conf.recv_buff_size = RE_RX_BUFFER_SIZE;
referee_usart_instance = USARTRegister(&conf);
return &referee_info;
}

60
modules/referee/rm_referee.h Normal file
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@ -0,0 +1,60 @@
#ifndef RM_REFEREE_H
#define RM_REFEREE_H
#include "usart.h"
#include "referee_def.h"
#include "bsp_usart.h"
extern uint8_t UI_Seq;
#pragma pack(1)
typedef struct
{
uint8_t Robot_Color; //机器人颜色
uint16_t Robot_ID; //本机器人ID
uint16_t Cilent_ID; //本机器人对应的客户端ID
uint16_t Receiver_Robot_ID; //机器人车间通信时接收者的ID，必须和本机器人同颜色
} referee_id_t;
// 此结构体包含裁判系统接收数据以及UI绘制与机器人车间通信的相关信息
typedef struct
{
referee_id_t referee_id;
xFrameHeader FrameHeader; // 接收到的帧头信息
uint16_t CmdID;
ext_game_state_t GameState; // 0x0001
ext_game_result_t GameResult; // 0x0002
ext_game_robot_HP_t GameRobotHP; // 0x0003
ext_event_data_t EventData; // 0x0101
ext_supply_projectile_action_t SupplyProjectileAction; // 0x0102
ext_game_robot_state_t GameRobotState; // 0x0201
ext_power_heat_data_t PowerHeatData; // 0x0202
ext_game_robot_pos_t GameRobotPos; // 0x0203
ext_buff_musk_t BuffMusk; // 0x0204
aerial_robot_energy_t AerialRobotEnergy; // 0x0205
ext_robot_hurt_t RobotHurt; // 0x0206
ext_shoot_data_t ShootData; // 0x0207
//自定义交互数据的接收
Communicate_ReceiveData_t ReceiveData;
} referee_info_t;
#pragma pack()
/**
* @brief 初始化裁判系统,返回接收数据指针
*
* @param referee_usart_handle
* @return referee_info_t*
*/
referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle);
/**
* @brief 发送函数
* @todo
* @param send 待发送数据
*/
void RefereeSend(uint8_t *send, uint16_t tx_len);
#endif // !REFEREE_H