自定义交互数据、机器人车间通信的发送和接收，仅测试发送
This commit is contained in:
kidneygood
parent
67940a4e38
commit
dc68657c16
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@ -12,15 +12,21 @@
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#include "robot_def.h"
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#include "rm_referee.h"
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#include "referee_UI.h"
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#include "referee_communication.h"
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static Referee_Interactive_info_t Interactive_data; // 非裁判系统数据
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static referee_info_t *referee_data; // 裁判系统相关数据
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static referee_info_t *referee_data; // 裁判系统相关数据
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static robot_interactive_data_t *SendData={1,2,3,4,5};
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static void determine_ID(referee_info_t *_referee_info);
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static void My_UI_init(referee_info_t *_referee_info);
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static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_info_t *_Interactive_data);
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static void robot_mode_change(Referee_Interactive_info_t *_Interactive_data); // 测试用函数，实现模式自动变化
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static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data); // 模式切换检测
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//syhtod 正式上车后需删除
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static void robot_mode_change(Referee_Interactive_info_t *_Interactive_data); // 测试用函数，实现模式自动变化
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void Referee_Interactive_init()
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{
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referee_data = RefereeInit(&huart6); // 裁判系统初始化
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@ -28,6 +34,8 @@ void Referee_Interactive_init()
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;
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determine_ID(referee_data);
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My_UI_init(referee_data);
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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
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Communicate_SendData(&referee_data->referee_id,SendData);
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}
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void Referee_Interactive_task()
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@ -345,5 +353,5 @@ static void determine_ID(referee_info_t *_referee_info)
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_referee_info->referee_id.Robot_Color = _referee_info->GameRobotState.robot_id > 7 ? Robot_Blue : Robot_Red;
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_referee_info->referee_id.Robot_ID = _referee_info->GameRobotState.robot_id;
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_referee_info->referee_id.Cilent_ID = 0x0100 + _referee_info->referee_id.Robot_ID; // 计算客户端ID
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_referee_info->referee_id.Receiver_Robot_ID = 0x00; // 机器人车间通信时接收者的ID暂时为0
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_referee_info->referee_id.Receiver_Robot_ID = 0;
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}
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@ -1,10 +1,20 @@
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/**
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* @file referee_UI.C
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* @author kidneygood (you@domain.com)
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* @brief
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* @version 0.1
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* @date 2023-1-18
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*
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* @copyright Copyright (c) 2022
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*
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*/
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#include "referee_UI.h"
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#include "string.h"
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#include "crc.h"
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#include "stdio.h"
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#include "rm_referee.h"
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static uint8_t UI_Seq; //包序号
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//包序号
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/********************************************删除操作*************************************
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**参数：_id 对应的id结构体
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Del_Operate 对应头文件删除操作
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@ -13,7 +23,7 @@ static uint8_t UI_Seq; //包序号
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void UI_Delete(referee_id_t *_id,uint8_t Del_Operate,uint8_t Del_Layer)
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{
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UI_delete_t UI_delete_data;
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uint8_t temp_datalength = UI_Data_LEN_Head + UI_Operate_LEN_Del; //计算交互数据长度
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uint8_t temp_datalength = Interactive_Data_LEN_Head + UI_Operate_LEN_Del; //计算交互数据长度
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UI_delete_data.FrameHeader.SOF = REFEREE_SOF;
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UI_delete_data.FrameHeader.DataLength = temp_datalength;
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@ -349,7 +359,7 @@ void UI_ReFresh(referee_id_t *_id,int cnt,...)
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va_start(ap,cnt);//初始化 va_list 变量为一个参数列表
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UI_GraphReFresh_data.FrameHeader.SOF = REFEREE_SOF;
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UI_GraphReFresh_data.FrameHeader.DataLength = UI_Data_LEN_Head+cnt*UI_Operate_LEN_PerDraw;
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UI_GraphReFresh_data.FrameHeader.DataLength = Interactive_Data_LEN_Head+cnt*UI_Operate_LEN_PerDraw;
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UI_GraphReFresh_data.FrameHeader.Seq = UI_Seq;
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UI_GraphReFresh_data.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&UI_GraphReFresh_data,LEN_CRC8,0xFF);
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@ -375,8 +385,8 @@ void UI_ReFresh(referee_id_t *_id,int cnt,...)
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UI_GraphReFresh_data.datahead.sender_ID = _id->Robot_ID;
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//先发送帧头、命令码、交互数据帧头三部分，并计算CRC16校验值
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UI_GraphReFresh_data.frametail=Get_CRC16_Check_Sum((uint8_t *)&UI_GraphReFresh_data,LEN_HEADER+LEN_CMDID+UI_Data_LEN_Head,0xFFFF);
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RefereeSend((uint8_t *)&UI_GraphReFresh_data,LEN_HEADER+LEN_CMDID+UI_Data_LEN_Head);
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UI_GraphReFresh_data.frametail=Get_CRC16_Check_Sum((uint8_t *)&UI_GraphReFresh_data,LEN_HEADER+LEN_CMDID+Interactive_Data_LEN_Head,0xFFFF);
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RefereeSend((uint8_t *)&UI_GraphReFresh_data,LEN_HEADER+LEN_CMDID+Interactive_Data_LEN_Head);
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for(i=0;i<cnt;i++) //发送交互数据的数据帧，并计算CRC16校验值
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{
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@ -397,7 +407,7 @@ void Char_ReFresh(referee_id_t *_id,String_Data_t string_Data)
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{
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UI_CharReFresh_t UI_CharReFresh_data;
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uint8_t temp_datalength = UI_Data_LEN_Head + UI_Operate_LEN_DrawChar; //计算交互数据长度
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uint8_t temp_datalength = Interactive_Data_LEN_Head + UI_Operate_LEN_DrawChar; //计算交互数据长度
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UI_CharReFresh_data.FrameHeader.SOF = REFEREE_SOF;
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UI_CharReFresh_data.FrameHeader.DataLength = temp_datalength;
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@ -1,51 +1,45 @@
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/**
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* @file referee_communication.h
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* @author kidneygood (you@domain.com)
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* @version 0.1
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* @date 2022-12-02
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*
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* @copyright Copyright (c) HNU YueLu EC 2022 all rights reserved
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*
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*/
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#include "referee_communication.h"
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#include "crc.h"
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#include "stdio.h"
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#include "rm_referee.h"
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/**
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* @brief 发送机器人间的交互数据
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* @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
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* robot_interactive_data_t *data 数据段
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* @retval none
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* @attention
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*/
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void Communicate_SendData(referee_id_t *_id,robot_interactive_data_t *_data)
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{
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Communicate_SendData_t SendData;
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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
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SendData.FrameHeader.SOF = REFEREE_SOF;
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SendData.FrameHeader.DataLength = temp_datalength;
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SendData.FrameHeader.Seq = UI_Seq;
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SendData.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&SendData, LEN_CRC8, 0xFF);
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// #define send_max_len 200
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// unsigned char CliendTxBuffer[send_max_len];
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// void JUDGE_Show_Data(void)
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// {
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// static uint8_t datalength,i;
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// uint8_t judge_led = 0xff;//初始化led为全绿
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// static uint8_t auto_led_time = 0;
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// static uint8_t buff_led_time = 0;
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// determine_ID();//判断发送者ID和其对应的客户端ID
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// ShowData.txFrameHeader.SOF = 0xA5;
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// ShowData.txFrameHeader.DataLength = sizeof(ext_student_interactive_header_data_t) + sizeof(client_custom_data_t);
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// ShowData.txFrameHeader.Seq = 0;
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// memcpy(CliendTxBuffer, &ShowData.txFrameHeader, sizeof(xFrameHeader));//写入帧头数据
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// Append_CRC8_Check_Sum(CliendTxBuffer, sizeof(xFrameHeader));//写入帧头CRC8校验码
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// ShowData.CmdID = 0x0301;
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// ShowData.dataFrameHeader.data_cmd_id = 0xD180;//发给客户端的cmd,官方固定
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// //ID已经是自动读取的了
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// ShowData.dataFrameHeader.send_ID = Judge_Self_ID;//发送者的ID
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// ShowData.dataFrameHeader.receiver_ID = Judge_SelfClient_ID;//客户端的ID，只能为发送者机器人对应的客户端
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// /*- 自定义内容 -*/
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// ShowData.clientData.data1 = (float)Capvoltage_Percent();//电容剩余电量
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// ShowData.clientData.data2 = (float)Base_Angle_Measure();//吊射角度测
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// ShowData.clientData.data3 = GIMBAL_PITCH_Judge_Angle();//云台抬头角度
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// ShowData.clientData.masks = judge_led;//0~5位0红灯,1绿灯
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// //打包写入数据段
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// memcpy(
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// CliendTxBuffer + 5,
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// (uint8_t*)&ShowData.CmdID,
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// (sizeof(ShowData.CmdID)+ sizeof(ShowData.dataFrameHeader)+ sizeof(ShowData.clientData))
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// );
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// Append_CRC16_Check_Sum(CliendTxBuffer,sizeof(ShowData));//写入数据段CRC16校验码
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SendData.CmdID = ID_student_interactive;
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// datalength = sizeof(ShowData);
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// for(i = 0;i < datalength;i++)
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// {
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// USART_SendData(UART5,(uint16_t)CliendTxBuffer[i]);
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// while(USART_GetFlagStatus(UART5,USART_FLAG_TC)==RESET);
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// }
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// }
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SendData.datahead.data_cmd_id = Communicate_Data_ID;
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SendData.datahead.sender_ID = _id->Robot_ID;
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SendData.datahead.receiver_ID = _id->Receiver_Robot_ID;
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SendData.Data = *_data;
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SendData.frametail = Get_CRC16_Check_Sum((uint8_t *)&SendData,LEN_HEADER+LEN_CMDID+temp_datalength,0xFFFF);
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RefereeSend((uint8_t *)&SendData,LEN_HEADER+LEN_CMDID+temp_datalength+LEN_TAIL); //发送
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UI_Seq++; // 包序号+1
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}
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@ -1,79 +1,10 @@
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/**
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* @file referee_communication.h
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* @author kidneygood (you@domain.com)
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* @version 0.1
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* @date 2022-12-02
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*
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* @copyright Copyright (c) HNU YueLu EC 2022 all rights reserved
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*
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*/
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#ifndef REFEREE_COMMUNICATION_H
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#define REFEREE_COMMUNICATION_H
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#include "stdint.h"
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#include "referee_def.h"
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#pragma pack(1)
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#include "rm_referee.h"
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void Communicate_SendData(referee_id_t *_id,robot_interactive_data_t *_data);
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/*
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客户端 客户端自定义数据：cmd_id:0x0301。内容 ID:0xD180
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发送频率：上限 10Hz
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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
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字节偏移量 大小 说明 备注
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0 2 数据的内容 ID 0xD180
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2 2 送者的 ID 需要校验发送者机器人的 ID 正确性
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4 2 客户端的 ID 只能为发送者机器人对应的客户端
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6 4 自定义浮点数据 1
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10 4 自定义浮点数据 2
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14 4 自定义浮点数据 3
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18 1 自定义 8 位数据 4
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*/
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typedef struct
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{
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float data1;
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float data2;
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float data3;
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uint8_t masks;
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} client_custom_data_t;
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/*
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学生机器人间通信 cmd_id 0x0301，内容 ID:0x0200~0x02FF
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交互数据 机器人间通信：0x0301。
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发送频率：上限 10Hz
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*/
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typedef struct
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{
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uint8_t data[10]; // 数据段,n需要小于113
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} robot_interactive_data_t;
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// 发送给客户端的信息
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//交互数据包括一个统一的数据段头结构。数据段包含了内容 ID，发送者以及接收者的 ID 和内容数据段，
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// 整个交互数据的包总共长最大为 128 个字节，减去 frame_header,cmd_id 和 frame_tail 共 9 个字节以及
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// 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。
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// 帧头 命令码 数据段头结构 数据段 帧尾
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typedef struct
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{
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xFrameHeader txFrameHeader; // 帧头
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uint16_t CmdID; // 命令码
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ext_student_interactive_header_data_t dataFrameHeader; // 数据段头结构
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client_custom_data_t clientData; // 数据段
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uint16_t FrameTail; // 帧尾
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} ext_SendClientData_t;
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// 机器人交互信息
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typedef struct
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{
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xFrameHeader txFrameHeader; // 帧头
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uint16_t CmdID; // 命令码
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ext_student_interactive_header_data_t dataFrameHeader; // 数据段头结构
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robot_interactive_data_t interactData; // 数据段
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uint16_t FrameTail; // 帧尾
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} ext_CommunatianData_t;
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#pragma pack()
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#endif
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#endif
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@ -19,8 +19,9 @@
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#define REFEREE_SOF 0xA5 // 起始字节,协议固定为0xA5
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#define Robot_Red 0
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#define Robot_Blue 1
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#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
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#pragma pack(1)
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#pragma pack(1)
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/****************************通信协议格式****************************/
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/****************************通信协议格式****************************/
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@ -86,7 +87,7 @@ typedef enum
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ID_student_interactive = 0x0301, // 机器人间交互数据
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} CmdID_e;
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/* 命令码数据段长,根据官方协议来定义长度 */
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/* 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 */
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typedef enum
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{
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LEN_game_state = 3, // 0x0001
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@ -101,6 +102,8 @@ typedef enum
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LEN_aerial_robot_energy = 1, // 0x0205
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LEN_robot_hurt = 1, // 0x0206
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LEN_shoot_data = 7, // 0x0207
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LEN_receive_data = 6+Communicate_Data_LEN, //0x0301
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} JudgeDataLength_e;
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/****************************接收数据的详细说明****************************/
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@ -226,17 +229,40 @@ typedef struct
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float bullet_speed;
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} ext_shoot_data_t;
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/****************************机器人间交互数据****************************/
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/****************************机器人间交互数据****************************/
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/* 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，也不会超下*/
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/****************************机器人交互数据****************************/
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/****************************机器人交互数据****************************/
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/* 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*/
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/* 交互数据头结构 */
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typedef struct
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{
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uint16_t data_cmd_id;
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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。syhtodo 注意交互部分的上行频率
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uint16_t sender_ID;
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uint16_t receiver_ID;
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} ext_student_interactive_header_data_t;
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/* 机器人id */
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typedef enum
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{
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// 红方机器人ID
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RobotID_RHero = 1,
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RobotID_REngineer = 2,
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RobotID_RStandard1 = 3,
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RobotID_RStandard2 = 4,
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RobotID_RStandard3 = 5,
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RobotID_RAerial = 6,
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RobotID_RSentry = 7,
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RobotID_RRadar = 9,
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// 蓝方机器人ID
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RobotID_BHero = 101,
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RobotID_BEngineer = 102,
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RobotID_BStandard1 = 103,
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RobotID_BStandard2 = 104,
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RobotID_BStandard3 = 105,
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RobotID_BAerial = 106,
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RobotID_BSentry = 107,
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RobotID_BRadar = 109,
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} Robot_ID_e;
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/* 交互数据ID */
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typedef enum
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{
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@ -246,15 +272,52 @@ typedef enum
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UI_Data_ID_Draw5 = 0x103,
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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
|
||||
{
|
||||
UI_Data_LEN_Head = 6,
|
||||
Interactive_Data_LEN_Head = 6,
|
||||
UI_Operate_LEN_Del = 2,
|
||||
UI_Operate_LEN_PerDraw = 15,
|
||||
UI_Operate_LEN_DrawChar = 15 + 30,
|
||||
} UI_Data_Length_e;
|
||||
|
||||
/* 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****************************/
|
||||
|
|
|
|||
|
|
@ -16,12 +16,14 @@
|
|||
|
||||
#define RE_RX_BUFFER_SIZE 200
|
||||
|
||||
USARTInstance *referee_usart_instance; //暂时改为非静态变量
|
||||
static USARTInstance *referee_usart_instance; // 暂时改为非静态变量
|
||||
|
||||
static referee_info_t referee_info;
|
||||
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)
|
||||
{
|
||||
|
|
@ -37,9 +39,9 @@ referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle)
|
|||
* @brief 发送函数
|
||||
* @param send 待发送数据
|
||||
*/
|
||||
void RefereeSend(uint8_t *send,uint16_t tx_len)
|
||||
void RefereeSend(uint8_t *send, uint16_t tx_len)
|
||||
{
|
||||
USARTSend(referee_usart_instance,send,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);
|
||||
}
|
||||
|
|
@ -58,7 +60,7 @@ static void RefereeRxCallback()
|
|||
*/
|
||||
static void JudgeReadData(uint8_t *ReadFromUsart)
|
||||
{
|
||||
uint16_t judge_length; // 统计一帧数据长度
|
||||
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;
|
||||
|
||||
|
|
@ -118,6 +120,9 @@ static void JudgeReadData(uint8_t *ReadFromUsart)
|
|||
case ID_shoot_data: // 0x0207
|
||||
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;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -4,23 +4,22 @@
|
|||
#include "usart.h"
|
||||
#include "referee_def.h"
|
||||
#include "bsp_usart.h"
|
||||
#include "robot_def.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
|
||||
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
|
||||
|
|
@ -36,7 +35,8 @@ typedef struct
|
|||
ext_robot_hurt_t RobotHurt; // 0x0206
|
||||
ext_shoot_data_t ShootData; // 0x0207
|
||||
|
||||
// syhtodo 机器人间通信如何获取数据
|
||||
//自定义交互数据的接收
|
||||
Communicate_ReceiveData_t ReceiveData;
|
||||
|
||||
} referee_info_t;
|
||||
|
||||
|
|
@ -57,6 +57,4 @@ referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle);
|
|||
*/
|
||||
void RefereeSend(uint8_t *send, uint16_t tx_len);
|
||||
|
||||
extern USARTInstance *referee_usart_instance;
|
||||
|
||||
#endif // !REFEREE_H
|
||||
|
|
|
|||
Loading…
Reference in New Issue