#include "referee_UI.h" #include "string.h" #include "crc.h" #include "bsp_usart.h" #include "dma.h" #include "stdio.h" #include "referee.h" /* syhtodo 根据自身id判断客户端id 涉及到的数字是否可以枚举定义？？？ */ uint16_t Robot_ID = UI_Data_RobotID_BHero; uint16_t Cilent_ID = UI_Data_CilentID_BHero; uint8_t 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) { UI_delete_t UI_delete_data; uint8_t temp_datalength = UI_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.CmdID = ID_student_interactive; UI_delete_data.datahead.data_cmd_id = UI_Data_ID_Del; UI_delete_data.datahead.receiver_ID = Cilent_ID; UI_delete_data.datahead.sender_ID = Robot_ID; 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); /* syhtodo为什么填入0xFFFF */ 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 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_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) { int i; //??????syhtodo 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_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) { 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_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) { 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_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) { 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_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) { 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 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) { 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->radius=Graph_Float&0x3FF; graph->end_x=(Graph_Float>>10)&0x7FF; graph->end_y=(Graph_Float>>21)&0x7FF; } /************************************************绘制整型数据************************************************* **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 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) { int i; for(i=0;i<3&&graphname[i]!='\0';i++) { graph->graphic_name[2-i]=graphname[i]; } graph->graphic_tpye = UI_Graph_Int; graph->operate_tpye = Graph_Operate; graph->layer = Graph_Layer; graph->color = Graph_Color; graph->start_angle = Graph_Size; 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; } /************************************************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_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 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; //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; } /************************************************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 fmt需要显示的字符串 syhtodo 尚未理解该函数的写法 **********************************************************************************************************/ 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);//使用参数列表发送格式化输出到字符串 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 */ int UI_ReFresh(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 UI_GraphReFresh_data.FrameHeader.SOF = REFEREE_SOF; UI_GraphReFresh_data.FrameHeader.DataLength = UI_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.CmdID = ID_student_interactive; 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; default: return (-1); } UI_GraphReFresh_data.datahead.receiver_ID = Cilent_ID; UI_GraphReFresh_data.datahead.sender_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+UI_Data_LEN_Head,0xFFFF); RefereeSend((uint8_t *)&UI_GraphReFresh_data,LEN_HEADER+LEN_CMDID+UI_Data_LEN_Head); 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 // } // }