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添加测试代码

This commit is contained in:
kidneygood 2023-01-26 20:41:52 +08:00
parent dc68657c16
commit 9968393672
3 changed files with 159 additions and 128 deletions
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34
application/referee/referee.c
View File

@ -16,7 +16,7 @@
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={1,2,3,4,5};
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);
@ -25,7 +25,7 @@ static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data); //
//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()
{
@ -34,6 +34,12 @@ void Referee_Interactive_init()
;
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);
}
@ -355,3 +361,27 @@ static void determine_ID(referee_info_t *_referee_info)
_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]);
}

251
modules/referee/referee_UI.c
View File

@ -14,21 +14,21 @@
#include "stdio.h"
#include "rm_referee.h"
//包序号
// 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)
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
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.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&UI_delete_data, LEN_CRC8, 0xFF);
UI_delete_data.CmdID = ID_student_interactive;
@ -36,15 +36,15 @@ void UI_Delete(referee_id_t *_id,uint8_t Del_Operate,uint8_t Del_Layer)
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.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);
UI_delete_data.frametail = Get_CRC16_Check_Sum((uint8_t *)&UI_delete_data, LEN_HEADER + LEN_CMDID + temp_datalength, 0xFFFF);
/* syhtodo为什么填入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
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
@ -56,25 +56,27 @@ void UI_Delete(referee_id_t *_id,uint8_t Del_Operate,uint8_t Del_Layer)
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)
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)
{
// memset(graph,0,UI_Operate_LEN_PerDraw); //如果定义的是非静态变量，数据存在初始化未默认为0的情况，使用memset方法，以下类似 syhtodo
int i;
for(i=0;i<3&&graphname[i]!='\0';i++) //填充至‘0’为止
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->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;
}
@ -88,15 +90,14 @@ void Line_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint
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)
**********************************************************************************************************/
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)
{
// memset(&graph,0,UI_Operate_LEN_PerDraw);
int i;
for(i=0;i<3&&graphname[i]!='\0';i++)
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
{
graph->graphic_name[2-i]=graphname[i];
graph->graphic_name[2 - i] = graphname[i];
}
graph->graphic_tpye = UI_Graph_Rectangle;
@ -104,9 +105,12 @@ void Rectangle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t 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;
}
@ -121,15 +125,14 @@ void Rectangle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate
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)
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)
{
// memset(&graph,0,UI_Operate_LEN_PerDraw);
int i;
for(i=0;i<3&&graphname[i]!='\0';i++)
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
{
graph->graphic_name[2-i]=graphname[i];
graph->graphic_name[2 - i] = graphname[i];
}
graph->graphic_tpye = UI_Graph_Circle;
@ -137,10 +140,14 @@ void Circle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,ui
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
@ -152,14 +159,13 @@ void Circle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,ui
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)
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)
{
// memset(&graph,0,UI_Operate_LEN_PerDraw);
int i;
for(i=0;i<3&&graphname[i]!='\0';i++)
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
{
graph->graphic_name[2-i]=graphname[i];
graph->graphic_name[2 - i] = graphname[i];
}
graph->graphic_tpye = UI_Graph_Ellipse;
@ -168,13 +174,16 @@ void Elliptical_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operat
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
@ -182,20 +191,19 @@ void Elliptical_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operat
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
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)
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)
{
//memset(&graph,0,UI_Operate_LEN_PerDraw);
int i;
for(i=0;i<3&&graphname[i]!='\0';i++)
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
{
graph->graphic_name[2-i]=graphname[i];
graph->graphic_name[2 - i] = graphname[i];
}
graph->graphic_tpye = UI_Graph_Arc;
@ -208,6 +216,7 @@ void Arc_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint3
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;
}
@ -220,21 +229,21 @@ void Arc_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint3
Graph_Color 图形颜色
Graph_Size 字号
Graph_Digit 小数位数
Graph_Width 图形线宽
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)
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)
{
//memset(&graph,0,UI_Operate_LEN_PerDraw);
int i;
for(i=0;i<3&&graphname[i]!='\0';i++)
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
{
graph->graphic_name[2-i]=graphname[i];
graph->graphic_name[2 - i] = graphname[i];
}
graph->graphic_tpye = UI_Graph_Float;
graph->operate_tpye = Graph_Operate;
@ -247,9 +256,9 @@ void Float_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uin
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;
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*************************************************
@ -259,20 +268,19 @@ void Float_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uin
Graph_Layer 图层0-9
Graph_Color 图形颜色
Graph_Size 字号
Graph_Width 图形线宽
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)
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)
{
//memset(&graph,0,UI_Operate_LEN_PerDraw);
int i;
for(i=0;i<3&&graphname[i]!='\0';i++)
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
{
graph->graphic_name[2-i]=graphname[i];
graph->graphic_name[2 - i] = graphname[i];
}
graph->graphic_tpye = UI_Graph_Int;
graph->operate_tpye = Graph_Operate;
@ -280,16 +288,15 @@ void Integer_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,u
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;
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
@ -299,18 +306,16 @@ void Integer_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,u
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)
{
// //memset(graph->Graph_Control.graphic_name, 0, 3);//syhtodo 是否需要手动清零
//memset(&graph,0,UI_Operate_LEN_DrawChar);
**********************************************************************************************************/
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++)
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
{
graph->Graph_Control.graphic_name[2-i]=graphname[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;
@ -320,11 +325,9 @@ void Char_Draw(String_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uin
graph->Graph_Control.start_x = Start_x;
graph->Graph_Control.start_y = Start_y;
graph->Graph_Control.start_angle = Graph_Size;
//syhtodo无关的赋值为0
graph->Graph_Control.radius=0;
graph->Graph_Control.end_x=0;
graph->Graph_Control.end_y=0;
graph->Graph_Control.radius = 0;
graph->Graph_Control.end_x = 0;
graph->Graph_Control.end_y = 0;
}
/************************************************绘制字符型数据*************************************************
@ -332,87 +335,86 @@ void Char_Draw(String_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uin
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, ...)
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;
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,...)
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
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.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.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&UI_GraphReFresh_data, LEN_CRC8, 0xFF);
UI_GraphReFresh_data.CmdID = ID_student_interactive;
switch(cnt)
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;
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
// 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);
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
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
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)
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
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.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&UI_CharReFresh_data, LEN_CRC8, 0xFF);
UI_CharReFresh_data.CmdID = ID_student_interactive;
@ -423,10 +425,9 @@ void Char_ReFresh(referee_id_t *_id,String_Data_t string_Data)
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);
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
RefereeSend((uint8_t *)&UI_CharReFresh_data, LEN_HEADER + LEN_CMDID + temp_datalength + LEN_TAIL); // 发送
UI_Seq++; //包序号+1
UI_Seq++; // 包序号+1
}

2
modules/referee/referee_def.h
View File

@ -339,7 +339,7 @@ typedef struct
uint32_t radius : 10;
uint32_t end_x : 11;
uint32_t end_y : 11;
} Graph_Data_t; // syhtodo 定义要有-t
} Graph_Data_t;
typedef struct
{