diff --git a/application/referee/referee.c b/application/referee/referee.c index c21122d..67cfaed 100644 --- a/application/referee/referee.c +++ b/application/referee/referee.c @@ -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;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); } @@ -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]); +} diff --git a/modules/referee/referee_UI.c b/modules/referee/referee_UI.c index 3e20cc1..ed1c235 100644 --- a/modules/referee/referee_UI.c +++ b/modules/referee/referee_UI.c @@ -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