#include "referee_UI.h" #include "string.h" #include "crc.h" #include "bsp_usart.h" #include "dma.h" #include "stdio.h" #include "referee.h" uint16_t Robot_ID = UI_Data_RobotID_BHero; uint16_t Cilent_ID = UI_Data_CilentID_BHero; unsigned char UI_Seq; //包序号 /********************************************删除操作************************************* **参数：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(uint8_t Del_Operate,uint8_t Del_Layer) { /* syhtodo可化简，去掉读写指针 */ unsigned char *framepoint; //读写指针 uint16_t frametail=0xFFFF; //CRC16校验值 UI_Packhead framehead; //帧头 UI_Data_Operate datahead; //数据交互帧 UI_Data_Delete del; //删除图层帧 framepoint=(unsigned char *)&framehead; framehead.SOF=UI_SOF; framehead.Data_Length=8; framehead.Seq=UI_Seq; framehead.CRC8=Get_CRC8_Check_Sum(framepoint,4,0xFF); framehead.CMD_ID=UI_CMD_Robo_Exchange; //填充包头数据 datahead.Data_ID=UI_Data_ID_Del; datahead.Sender_ID=Robot_ID; datahead.Receiver_ID=Cilent_ID; //填充操作数据 del.Delete_Operate=Del_Operate; del.Layer=Del_Layer; //控制信息 frametail=Get_CRC16_Check_Sum(framepoint,sizeof(framehead),frametail); framepoint=(unsigned char *)&datahead; frametail=Get_CRC16_Check_Sum(framepoint,sizeof(datahead),frametail); framepoint=(unsigned char *)&del; frametail=Get_CRC16_Check_Sum(framepoint,sizeof(del),frametail); //CRC16校验值计算 RefereeSend((uint8_t *)&framehead,sizeof(framehead)); RefereeSend((uint8_t *)&datahead,sizeof(datahead)); RefereeSend((uint8_t *)&del,sizeof(del)); //发送所有帧 RefereeSend((uint8_t *)&frametail,sizeof(frametail)); //发送CRC16校验值 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 graphname[3] 图片名称，用于标识更改 Graph_Operate 图片操作，见头文件 Graph_Layer 图层0-9 Graph_Color 图形颜色 Graph_Width 图形线宽 Start_x、Start_y 起点xy坐标 End_x、End_y 终点xy坐标 **********************************************************************************************************/ void Line_Draw(Graph_Data *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) { int i; //?????? for(i=0;i<3&&graphname[i]!='\0';i++) { graph->graphic_name[2-i]=graphname[i]; } graph->operate_tpye = Graph_Operate; graph->graphic_tpye = UI_Graph_Line; graph->layer = Graph_Layer; graph->color = Graph_Color; graph->width = Graph_Width; graph->start_x = Start_x; graph->start_y = Start_y; graph->end_x = End_x; graph->end_y = End_y; } /************************************************绘制矩形************************************************* **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 Graph_Operate 图片操作，见头文件 Graph_Layer 图层0-9 Graph_Color 图形颜色 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 *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) { int i; for(i=0;i<3&&graphname[i]!='\0';i++) { graph->graphic_name[2-i]=graphname[i]; } graph->graphic_tpye = UI_Graph_Rectangle; graph->operate_tpye = Graph_Operate; graph->layer = Graph_Layer; graph->color = Graph_Color; graph->width = Graph_Width; graph->start_x = Start_x; graph->start_y = Start_y; graph->end_x = End_x; graph->end_y = End_y; } /************************************************绘制整圆************************************************* **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 Graph_Operate 图片操作，见头文件 Graph_Layer 图层0-9 Graph_Color 图形颜色 Graph_Width 图形线宽 Start_x、Start_y 圆心xy坐标 Graph_Radius 圆形半径 **********************************************************************************************************/ void Circle_Draw(Graph_Data *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) { int i; for(i=0;i<3&&graphname[i]!='\0';i++) { graph->graphic_name[2-i]=graphname[i]; } graph->graphic_tpye = UI_Graph_Circle; graph->operate_tpye = Graph_Operate; graph->layer = Graph_Layer; graph->color = Graph_Color; graph->width = Graph_Width; graph->start_x = Start_x; graph->start_y = Start_y; graph->radius = Graph_Radius; } /************************************************绘制椭圆************************************************* **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 Graph_Operate 图片操作，见头文件 Graph_Layer 图层0-9 Graph_Color 图形颜色 Graph_Width 图形线宽 Start_x、Start_y 圆心xy坐标 End_x、End_y xy半轴长度 **********************************************************************************************************/ void Elliptical_Draw(Graph_Data *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) { int i; for(i=0;i<3&&graphname[i]!='\0';i++) { graph->graphic_name[2-i]=graphname[i]; } graph->graphic_tpye = UI_Graph_Ellipse; graph->operate_tpye = Graph_Operate; graph->layer = Graph_Layer; graph->color = Graph_Color; graph->width = Graph_Width; graph->start_x = Start_x; graph->start_y = Start_y; 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 Graph_Operate 图片操作，见头文件 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 Start_y,Start_y 圆心xy坐标 x_Length,y_Length xy半轴长度 **********************************************************************************************************/ void Arc_Draw(Graph_Data *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) { int i; for(i=0;i<3&&graphname[i]!='\0';i++) { graph->graphic_name[2-i]=graphname[i]; } graph->graphic_tpye = UI_Graph_Arc; graph->operate_tpye = Graph_Operate; graph->layer = Graph_Layer; graph->color = Graph_Color; graph->start_angle = Graph_StartAngle; graph->end_angle = Graph_EndAngle; graph->width = Graph_Width; graph->start_x = Start_x; graph->start_y = Start_y; graph->end_x = end_x; graph->end_y = end_y; } /************************************************绘制浮点型数据************************************************* **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 Graph_Operate 图片操作，见头文件 Graph_Layer 图层0-9 Graph_Color 图形颜色 Graph_Size 字号 Graph_Digit 小数位数 Graph_Width 图形线宽 Start_x、Start_y 开始坐标 Graph_Float 要显示的浮点数数值*1000 **********************************************************************************************************/ /* syhtodo浮点，整形，字符待编写或检查 */ /* syhtodo需要解决位分配问腿，更换结构体 */ void Float_Draw(Float_Data *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) { int i; for(i=0;i<3&&graphname[i]!='\0';i++) graph->graphic_name[2-i]=graphname[i]; graph->graphic_tpye = UI_Graph_Float; graph->operate_tpye = Graph_Operate; graph->layer = Graph_Layer; graph->color = Graph_Color; graph->width = Graph_Width; graph->start_x = Start_x; graph->start_y = Start_y; graph->start_angle = Graph_Size; graph->end_angle = Graph_Digit; graph->graph_Float = Graph_Float; } /************************************************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 Graph_Operate 图片操作，见头文件 Graph_Layer 图层0-9 Graph_Color 图形颜色 Graph_Size 字号 Graph_Width 图形线宽 Start_x、Start_y 开始坐标 **********************************************************************************************************/ void Char_Draw(String_Data *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++) 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; graph->Graph_Control.color = Graph_Color; graph->Graph_Control.width = Graph_Width; graph->Graph_Control.start_x = Start_x; graph->Graph_Control.start_y = Start_y; graph->Graph_Control.start_angle = Graph_Size; } void Char_Write(String_Data *graph,char* fmt, ...) { uint16_t i = 0; va_list ap; va_start(ap, fmt); vsprintf((char*)graph->show_Data, fmt, ap); 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 **********************************************************************************************************/ int UI_ReFresh(int cnt,...) { int i; UI_Packhead framehead; UI_Data_Operate datahead; Graph_Data graphData; unsigned char *framepoint; //读写指针 uint16_t frametail=0xFFFF; //CRC16校验值 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 framepoint=(unsigned char *)&framehead; framehead.SOF=UI_SOF; framehead.Data_Length=6+cnt*15; framehead.Seq=UI_Seq; framehead.CRC8=Get_CRC8_Check_Sum(framepoint,4,0xFF); framehead.CMD_ID=UI_CMD_Robo_Exchange; //填充包头数据 switch(cnt) //syhtodo可以直接计算式解决 { case 1: datahead.Data_ID=UI_Data_ID_Draw1; break; case 2: datahead.Data_ID=UI_Data_ID_Draw2; break; case 5: datahead.Data_ID=UI_Data_ID_Draw5; break; case 7: datahead.Data_ID=UI_Data_ID_Draw7; break; default: return (-1); } datahead.Sender_ID=Robot_ID; datahead.Receiver_ID=Cilent_ID; //填充操作数据 framepoint=(unsigned char *)&framehead; frametail=Get_CRC16_Check_Sum(framepoint,sizeof(framehead),frametail); framepoint=(unsigned char *)&datahead; frametail=Get_CRC16_Check_Sum(framepoint,sizeof(datahead),frametail); //CRC16校验值计算（部分） RefereeSend((uint8_t *)&framehead,sizeof(framehead)); RefereeSend((uint8_t *)&datahead,sizeof(datahead)); for(i=0;i 10) // { // return BLUE; // } // else // { // return RED; // } // } // /** // * @brief 判断自身ID，选择客户端ID // * @param void // * @retval RED BLUE // * @attention 数据打包,打包完成后通过串口发送到裁判系统 // */ // void determine_ID(void) // { // Color = is_red_or_blue(); // if(Color == BLUE) // { // Judge_SelfClient_ID = 0x0110 + (Judge_Self_ID-10);//计算客户端ID // } // else if(Color == RED) // { // Judge_SelfClient_ID = 0x0100 + Judge_Self_ID;//计算客户端ID // } // }