From 9b16407b5733f92df0bf1ea2f7d3591be359830f Mon Sep 17 00:00:00 2001 From: kidneygood <2979564623@qq.com> Date: Thu, 12 Jan 2023 16:11:40 +0800 Subject: [PATCH] =?UTF-8?q?referee.h=E6=96=87=E4=BB=B6=E4=B8=AD=E7=9A=84?= =?UTF-8?q?=E6=9E=9A=E4=B8=BE=E6=95=B4=E5=90=88=E8=87=B3=5Fdef.h?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- HAL_N_Middlewares/Src/main.c | 8 +- application/chassis/chassis.c | 4 +- modules/referee/referee.c | 27 +++--- modules/referee/referee.h | 129 +---------------------------- modules/referee/referee_def.h | 152 +++++++++++++++++++++++++++++++++- 5 files changed, 167 insertions(+), 153 deletions(-) diff --git a/HAL_N_Middlewares/Src/main.c b/HAL_N_Middlewares/Src/main.c index 662fda8..1f0cc0c 100644 --- a/HAL_N_Middlewares/Src/main.c +++ b/HAL_N_Middlewares/Src/main.c @@ -33,7 +33,7 @@ /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ #include "robot.h" -////////////////////////////////////////////////// +//////////////////////////////////////////////////syhtodo #include "referee_UI.h" #include "referee.h" ////////////////////////////////////////////////// @@ -118,11 +118,11 @@ int main(void) RobotInit(); -////////////////////////////////////////////////// +//////////////////////////////////////////////////syhtodo Graph_Data graph[5]; Graph_Data num[2]; String_Data sdata[1]; - memset(sdata[0].show_Data, 0, 30); //使用memset方法 + memset(sdata[0].show_Data, 0, 30); //使用memset方法 syhtodo 数据存在初始化未默认为0的情况 UI_Delete(UI_Data_Del_ALL,0); Line_Draw(&graph[0],"s0",UI_Graph_ADD,0,UI_Color_White,3,710,540,1210,540); @@ -136,7 +136,7 @@ int main(void) UI_ReFresh(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",1234); + Char_Write(&sdata[0],"number:%d",12345); Char_ReFresh(sdata[0]); ////////////////////////////////////////////////// diff --git a/application/chassis/chassis.c b/application/chassis/chassis.c index 55625a1..75ede1f 100644 --- a/application/chassis/chassis.c +++ b/application/chassis/chassis.c @@ -238,9 +238,9 @@ void ChassisTask() // 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; + 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->GameRobotStat.shooter_id1_17mm_speed_limit; + 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 diff --git a/modules/referee/referee.c b/modules/referee/referee.c index c486ddc..0caeaaa 100644 --- a/modules/referee/referee.c +++ b/modules/referee/referee.c @@ -11,9 +11,6 @@ static referee_info_t referee_info; static void JudgeReadData(uint8_t *ReadFromUsart); static void RefereeRxCallback(); -// 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 - /* 裁判系统通信初始化 */ referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle) { @@ -77,50 +74,50 @@ 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); + memcpy(&referee_info.ShootData, (ReadFromUsart + DATA_Offset), LEN_shoot_data); // JUDGE_ShootNumCount();//发弹量统计 break; } diff --git a/modules/referee/referee.h b/modules/referee/referee.h index 3ed201f..377129b 100644 --- a/modules/referee/referee.h +++ b/modules/referee/referee.h @@ -23,135 +23,8 @@ #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) -/* 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; - // 裁判系统接收数据整合进一个结构体 typedef struct { @@ -162,7 +35,7 @@ typedef struct 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_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 diff --git a/modules/referee/referee_def.h b/modules/referee/referee_def.h index b632260..096cbb9 100644 --- a/modules/referee/referee_def.h +++ b/modules/referee/referee_def.h @@ -15,14 +15,30 @@ #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 = 0, - CMD_ID = 5, - DATA = 7, + FRAME_HEADER_Offset = 0, + CMD_ID_Offset = 5, + DATA_Offset = 7, } JudgeFrameOffset; +/* 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 +} JudgeFrameLength; + +/****************************帧头****************************/ +/****************************帧头****************************/ + +#define JUDGE_FRAME_HEADER (0xA5) // 起始字节,协议固定为0xA5 + /* 帧头偏移 */ typedef enum { @@ -41,6 +57,10 @@ typedef struct 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 { @@ -57,7 +77,7 @@ typedef enum 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; /* 命令码数据段长,根据官方协议来定义长度 */ @@ -77,6 +97,130 @@ typedef enum LEN_shoot_data = 7, // 0x0207 } JudgeDataLength; +/****************************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; + + #pragma pack() #endif