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referee.h文件中的枚举整合至_def.h

This commit is contained in:
kidneygood 2023-01-12 16:11:40 +08:00
parent 85a97abb9d
commit 9b16407b57
5 changed files with 167 additions and 153 deletions
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8
HAL_N_Middlewares/Src/main.c
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@ -33,7 +33,7 @@
/* Private includes ----------------------------------------------------------*/ /* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */ /* USER CODE BEGIN Includes */
#include "robot.h" #include "robot.h"
////////////////////////////////////////////////// //////////////////////////////////////////////////syhtodo
#include "referee_UI.h" #include "referee_UI.h"
#include "referee.h" #include "referee.h"
////////////////////////////////////////////////// //////////////////////////////////////////////////
@ -118,11 +118,11 @@ int main(void)
RobotInit(); RobotInit();
////////////////////////////////////////////////// //////////////////////////////////////////////////syhtodo
Graph_Data graph[5]; Graph_Data graph[5];
Graph_Data num[2]; Graph_Data num[2];
String_Data sdata[1]; 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); UI_Delete(UI_Data_Del_ALL,0);
Line_Draw(&graph[0],"s0",UI_Graph_ADD,0,UI_Color_White,3,710,540,1210,540); 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]); 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_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]); Char_ReFresh(sdata[0]);
////////////////////////////////////////////////// //////////////////////////////////////////////////

4
application/chassis/chassis.c
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@ -238,9 +238,9 @@ void ChassisTask()
// 获取裁判系统数据 // 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 // 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 // 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; chassis_feedback_data.rest_heat = referee_data->PowerHeatData.shooter_heat0;
// 推送反馈消息 // 推送反馈消息

27
modules/referee/referee.c
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@ -11,9 +11,6 @@ static referee_info_t referee_info;
static void JudgeReadData(uint8_t *ReadFromUsart); static void JudgeReadData(uint8_t *ReadFromUsart);
static void RefereeRxCallback(); 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 */ /* 裁判系统通信初始化 */
referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle) referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle)
{ {
@ -77,50 +74,50 @@ static void JudgeReadData(uint8_t *ReadFromUsart)
switch (referee_info.CmdID) switch (referee_info.CmdID)
{ {
case ID_game_state: // 0x0001 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; break;
case ID_game_result: // 0x0002 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; break;
case ID_game_robot_survivors: // 0x0003 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; break;
case ID_event_data: // 0x0101 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; break;
case ID_supply_projectile_action: // 0x0102 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; break;
case ID_game_robot_state: // 0x0201 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; break;
case ID_power_heat_data: // 0x0202 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; break;
case ID_game_robot_pos: // 0x0203 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; break;
case ID_buff_musk: // 0x0204 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; break;
case ID_aerial_robot_energy: // 0x0205 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; break;
case ID_robot_hurt: // 0x0206 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; break;
case ID_shoot_data: // 0x0207 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 // JUDGE_ShootNumCount();//发弹量统计
break; break;
} }

129
modules/referee/referee.h
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@ -23,135 +23,8 @@
#define JUDGE_DATA_ERROR 0 #define JUDGE_DATA_ERROR 0
#define JUDGE_DATA_CORRECT 1 #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) #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 // 裁判系统接收数据整合进一个结构体
typedef struct typedef struct
{ {
@ -162,7 +35,7 @@ typedef struct
ext_game_robot_HP_t GameRobotHP; // 0x0003 ext_game_robot_HP_t GameRobotHP; // 0x0003
ext_event_data_t EventData; // 0x0101 ext_event_data_t EventData; // 0x0101
ext_supply_projectile_action_t SupplyProjectileAction; // 0x0102 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_power_heat_data_t PowerHeatData; // 0x0202
ext_game_robot_pos_t GameRobotPos; // 0x0203 ext_game_robot_pos_t GameRobotPos; // 0x0203
ext_buff_musk_t BuffMusk; // 0x0204 ext_buff_musk_t BuffMusk; // 0x0204

152
modules/referee/referee_def.h
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@ -15,14 +15,30 @@
#pragma pack(1) #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 */ /* 通信协议格式偏移，枚举类型,代替#define声明 */
typedef enum typedef enum
{ {
FRAME_HEADER = 0, FRAME_HEADER_Offset = 0,
CMD_ID = 5, CMD_ID_Offset = 5,
DATA = 7, DATA_Offset = 7,
} JudgeFrameOffset; } 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 */ /* 帧头偏移 */
typedef enum typedef enum
{ {
@ -41,6 +57,10 @@ typedef struct
uint8_t CRC8; uint8_t CRC8;
} xFrameHeader; } 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 */ /* 命令码ID,用来判断接收的是什么数据 */
typedef enum 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_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_robot_hurt = 0x0206, // 伤害状态数据
ID_shoot_data = 0x0207, // 实时射击数据 ID_shoot_data = 0x0207, // 实时射击数据
ID_student_interactive = 0x0301, // 机器人间交互数据
} CmdID; } CmdID;
/* 命令码数据段长,根据官方协议来定义长度 */ /* 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 LEN_shoot_data = 7, // 0x0207
} JudgeDataLength; } 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() #pragma pack()
#endif #endif