493 lines
18 KiB
C
493 lines
18 KiB
C
#include "referee_UI.h"
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#include "string.h"
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#include "crc.h"
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#include "bsp_usart.h"
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#include "dma.h"
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#include "stdio.h"
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#include "referee.h"
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uint16_t Robot_ID = UI_Data_RobotID_BHero;
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uint16_t Cilent_ID = UI_Data_CilentID_BHero;
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unsigned char UI_Seq; //包序号
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/********************************************删除操作*************************************
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**参数：Del_Operate 对应头文件删除操作
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Del_Layer 要删除的层 取值0-9
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*****************************************************************************************/
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void UI_Delete(uint8_t Del_Operate,uint8_t Del_Layer)
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{
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/* syhtodo可化简，去掉读写指针 */
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unsigned char *framepoint; //读写指针
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uint16_t frametail=0xFFFF; //CRC16校验值
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UI_Packhead framehead; //帧头
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UI_Data_Operate datahead; //数据交互帧
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UI_Data_Delete del; //删除图层帧
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framepoint=(unsigned char *)&framehead;
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framehead.SOF=UI_SOF;
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framehead.Data_Length=8;
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framehead.Seq=UI_Seq;
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framehead.CRC8=Get_CRC8_Check_Sum(framepoint,4,0xFF);
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framehead.CMD_ID=UI_CMD_Robo_Exchange; //填充包头数据
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datahead.Data_ID=UI_Data_ID_Del;
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datahead.Sender_ID=Robot_ID;
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datahead.Receiver_ID=Cilent_ID; //填充操作数据
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del.Delete_Operate=Del_Operate;
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del.Layer=Del_Layer; //控制信息
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frametail=Get_CRC16_Check_Sum(framepoint,sizeof(framehead),frametail);
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framepoint=(unsigned char *)&datahead;
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frametail=Get_CRC16_Check_Sum(framepoint,sizeof(datahead),frametail);
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framepoint=(unsigned char *)&del;
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frametail=Get_CRC16_Check_Sum(framepoint,sizeof(del),frametail); //CRC16校验值计算
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RefereeSend((uint8_t *)&framehead,sizeof(framehead));
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RefereeSend((uint8_t *)&datahead,sizeof(datahead));
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RefereeSend((uint8_t *)&del,sizeof(del)); //发送所有帧
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RefereeSend((uint8_t *)&frametail,sizeof(frametail)); //发送CRC16校验值
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UI_Seq++; //包序号+1
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}
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/************************************************绘制直线*************************************************
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**参数：*graph Graph_Data类型变量指针，用于存放图形数据
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graphname[3] 图片名称，用于标识更改
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Graph_Operate 图片操作，见头文件
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Graph_Layer 图层0-9
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Graph_Color 图形颜色
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Graph_Width 图形线宽
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Start_x、Start_y 起点xy坐标
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End_x、End_y 终点xy坐标
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**********************************************************************************************************/
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void Line_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
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uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t End_x,uint32_t End_y)
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{
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int i;
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//??????
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for(i=0;i<3&&graphname[i]!='\0';i++)
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{
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graph->graphic_name[2-i]=graphname[i];
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}
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graph->operate_tpye = Graph_Operate;
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graph->graphic_tpye = UI_Graph_Line;
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graph->layer = Graph_Layer;
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graph->color = Graph_Color;
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graph->width = Graph_Width;
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graph->start_x = Start_x;
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graph->start_y = Start_y;
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graph->end_x = End_x;
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graph->end_y = End_y;
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}
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/************************************************绘制矩形*************************************************
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**参数：*graph Graph_Data类型变量指针，用于存放图形数据
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graphname[3] 图片名称，用于标识更改
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Graph_Operate 图片操作，见头文件
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Graph_Layer 图层0-9
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Graph_Color 图形颜色
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Graph_Width 图形线宽
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Start_x、Start_y 起点xy坐标
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End_x、End_y 对角顶点xy坐标
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**********************************************************************************************************/
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void Rectangle_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
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uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t End_x,uint32_t End_y)
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{
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int i;
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for(i=0;i<3&&graphname[i]!='\0';i++)
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{
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graph->graphic_name[2-i]=graphname[i];
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}
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graph->graphic_tpye = UI_Graph_Rectangle;
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graph->operate_tpye = Graph_Operate;
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graph->layer = Graph_Layer;
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graph->color = Graph_Color;
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graph->width = Graph_Width;
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graph->start_x = Start_x;
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graph->start_y = Start_y;
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graph->end_x = End_x;
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graph->end_y = End_y;
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}
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/************************************************绘制整圆*************************************************
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**参数：*graph Graph_Data类型变量指针，用于存放图形数据
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graphname[3] 图片名称，用于标识更改
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Graph_Operate 图片操作，见头文件
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Graph_Layer 图层0-9
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Graph_Color 图形颜色
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Graph_Width 图形线宽
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Start_x、Start_y 圆心xy坐标
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Graph_Radius 圆形半径
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**********************************************************************************************************/
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void Circle_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
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uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t Graph_Radius)
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{
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int i;
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for(i=0;i<3&&graphname[i]!='\0';i++)
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{
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graph->graphic_name[2-i]=graphname[i];
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}
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graph->graphic_tpye = UI_Graph_Circle;
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graph->operate_tpye = Graph_Operate;
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graph->layer = Graph_Layer;
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graph->color = Graph_Color;
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graph->width = Graph_Width;
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graph->start_x = Start_x;
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graph->start_y = Start_y;
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graph->radius = Graph_Radius;
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}
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/************************************************绘制椭圆*************************************************
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**参数：*graph Graph_Data类型变量指针，用于存放图形数据
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graphname[3] 图片名称，用于标识更改
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Graph_Operate 图片操作，见头文件
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Graph_Layer 图层0-9
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Graph_Color 图形颜色
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Graph_Width 图形线宽
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Start_x、Start_y 圆心xy坐标
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End_x、End_y xy半轴长度
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**********************************************************************************************************/
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void Elliptical_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
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uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t end_x,uint32_t end_y)
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{
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int i;
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for(i=0;i<3&&graphname[i]!='\0';i++)
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{
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graph->graphic_name[2-i]=graphname[i];
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}
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graph->graphic_tpye = UI_Graph_Ellipse;
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graph->operate_tpye = Graph_Operate;
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graph->layer = Graph_Layer;
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graph->color = Graph_Color;
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graph->width = Graph_Width;
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graph->start_x = Start_x;
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graph->start_y = Start_y;
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graph->end_x = end_x;
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graph->end_y = end_y;
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}
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/************************************************绘制圆弧*************************************************
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**参数：*graph Graph_Data类型变量指针，用于存放图形数据
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graphname[3] 图片名称，用于标识更改
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Graph_Operate 图片操作，见头文件
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Graph_Layer 图层0-9
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Graph_Color 图形颜色
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Graph_StartAngle,Graph_EndAngle 起始终止角度
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Graph_Width 图形线宽
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Start_y,Start_y 圆心xy坐标
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x_Length,y_Length xy半轴长度
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**********************************************************************************************************/
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void Arc_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
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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)
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{
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int i;
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for(i=0;i<3&&graphname[i]!='\0';i++)
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{
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graph->graphic_name[2-i]=graphname[i];
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}
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graph->graphic_tpye = UI_Graph_Arc;
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graph->operate_tpye = Graph_Operate;
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graph->layer = Graph_Layer;
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graph->color = Graph_Color;
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graph->start_angle = Graph_StartAngle;
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graph->end_angle = Graph_EndAngle;
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graph->width = Graph_Width;
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graph->start_x = Start_x;
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graph->start_y = Start_y;
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graph->end_x = end_x;
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graph->end_y = end_y;
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}
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/************************************************绘制浮点型数据*************************************************
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**参数：*graph Graph_Data类型变量指针，用于存放图形数据
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graphname[3] 图片名称，用于标识更改
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Graph_Operate 图片操作，见头文件
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Graph_Layer 图层0-9
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Graph_Color 图形颜色
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Graph_Size 字号
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Graph_Digit 小数位数
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Graph_Width 图形线宽
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Start_x、Start_y 开始坐标
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Graph_Float 要显示的浮点数数值*1000
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**********************************************************************************************************/
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/* syhtodo浮点，整形，字符待编写或检查 */
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/* syhtodo需要解决位分配问腿，更换结构体 */
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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)
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{
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int i;
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for(i=0;i<3&&graphname[i]!='\0';i++)
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graph->graphic_name[2-i]=graphname[i];
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graph->graphic_tpye = UI_Graph_Float;
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graph->operate_tpye = Graph_Operate;
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graph->layer = Graph_Layer;
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graph->color = Graph_Color;
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graph->width = Graph_Width;
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graph->start_x = Start_x;
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graph->start_y = Start_y;
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graph->start_angle = Graph_Size;
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graph->end_angle = Graph_Digit;
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graph->graph_Float = Graph_Float;
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}
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/************************************************绘制字符型数据*************************************************
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**参数：*graph Graph_Data类型变量指针，用于存放图形数据
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graphname[3] 图片名称，用于标识更改
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Graph_Operate 图片操作，见头文件
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Graph_Layer 图层0-9
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Graph_Color 图形颜色
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Graph_Size 字号
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Graph_Width 图形线宽
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Start_x、Start_y 开始坐标
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**********************************************************************************************************/
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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)
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{
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int i;
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for(i=0;i<3&&graphname[i]!='\0';i++)
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graph->Graph_Control.graphic_name[2-i]=graphname[i];
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graph->Graph_Control.graphic_tpye = UI_Graph_Char;
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graph->Graph_Control.operate_tpye = Graph_Operate;
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graph->Graph_Control.layer = Graph_Layer;
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graph->Graph_Control.color = Graph_Color;
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graph->Graph_Control.width = Graph_Width;
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graph->Graph_Control.start_x = Start_x;
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graph->Graph_Control.start_y = Start_y;
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graph->Graph_Control.start_angle = Graph_Size;
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}
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void Char_Write(String_Data *graph,char* fmt, ...)
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{
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uint16_t i = 0;
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va_list ap;
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va_start(ap, fmt);
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vsprintf((char*)graph->show_Data, fmt, ap);
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va_end(ap);
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i = strlen((const char*)graph->show_Data);
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graph->Graph_Control.end_angle = i;
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}
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/************************************************UI推送函数（使更改生效）*********************************
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**参数： cnt 图形个数
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... 图形变量参数
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Tips：：该函数只能推送1，2，5，7个图形，其他数目协议未涉及
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**********************************************************************************************************/
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int UI_ReFresh(int cnt,...)
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{
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int i;
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UI_Packhead framehead;
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UI_Data_Operate datahead;
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Graph_Data graphData;
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unsigned char *framepoint; //读写指针
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uint16_t frametail=0xFFFF; //CRC16校验值
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va_list ap;//创建一个 va_list 类型变量
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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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framepoint=(unsigned char *)&framehead;
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framehead.SOF=UI_SOF;
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framehead.Data_Length=6+cnt*15;
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framehead.Seq=UI_Seq;
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framehead.CRC8=Get_CRC8_Check_Sum(framepoint,4,0xFF);
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framehead.CMD_ID=UI_CMD_Robo_Exchange; //填充包头数据
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switch(cnt) //syhtodo可以直接计算式解决
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{
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case 1:
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datahead.Data_ID=UI_Data_ID_Draw1;
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break;
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case 2:
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datahead.Data_ID=UI_Data_ID_Draw2;
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break;
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case 5:
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datahead.Data_ID=UI_Data_ID_Draw5;
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break;
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case 7:
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datahead.Data_ID=UI_Data_ID_Draw7;
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break;
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default:
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return (-1);
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}
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datahead.Sender_ID=Robot_ID;
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datahead.Receiver_ID=Cilent_ID; //填充操作数据
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framepoint=(unsigned char *)&framehead;
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frametail=Get_CRC16_Check_Sum(framepoint,sizeof(framehead),frametail);
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framepoint=(unsigned char *)&datahead;
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frametail=Get_CRC16_Check_Sum(framepoint,sizeof(datahead),frametail); //CRC16校验值计算（部分）
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RefereeSend((uint8_t *)&framehead,sizeof(framehead));
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RefereeSend((uint8_t *)&datahead,sizeof(datahead));
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for(i=0;i<cnt;i++) //发送图片帧
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{
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graphData=va_arg(ap,Graph_Data);//访问参数列表中的每个项
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RefereeSend((uint8_t *)&graphData,sizeof(graphData));
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framepoint=(unsigned char *)&graphData;
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frametail=Get_CRC16_Check_Sum(framepoint,sizeof(graphData),frametail);
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}
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RefereeSend((uint8_t *)&frametail,sizeof(frametail)); //发送CRC16校验值
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va_end(ap);//结束可变参数的获取
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UI_Seq++; //包序号+1
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return 0;
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}
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/************************************************UI推送字符（使更改生效）*********************************/
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int Char_ReFresh(String_Data string_Data)
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{
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String_Data graphData;
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unsigned char *framepoint; //读写指针
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uint16_t frametail=0xFFFF; //CRC16校验值
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UI_Packhead framehead;
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UI_Data_Operate datahead;
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graphData=string_Data;
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framepoint=(unsigned char *)&framehead;
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framehead.SOF=UI_SOF;
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framehead.Data_Length=6+45;
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framehead.Seq=UI_Seq;
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framehead.CRC8=Get_CRC8_Check_Sum(framepoint,4,0xFF);
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framehead.CMD_ID=UI_CMD_Robo_Exchange; //填充包头数据
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datahead.Data_ID=UI_Data_ID_DrawChar;
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datahead.Sender_ID=Robot_ID;
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datahead.Receiver_ID=Cilent_ID; //填充操作数据
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framepoint=(unsigned char *)&framehead;
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frametail=Get_CRC16_Check_Sum(framepoint,sizeof(framehead),frametail);
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framepoint=(unsigned char *)&datahead;
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frametail=Get_CRC16_Check_Sum(framepoint,sizeof(datahead),frametail);
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framepoint=(unsigned char *)&graphData;
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frametail=Get_CRC16_Check_Sum(framepoint,sizeof(graphData),frametail); //CRC16校验 //CRC16校验值计算（部分）
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RefereeSend((uint8_t *)&framehead,sizeof(framehead));
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RefereeSend((uint8_t *)&datahead,sizeof(datahead));
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RefereeSend((uint8_t *)&graphData,sizeof(graphData)); //发送操作数据
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RefereeSend((uint8_t *)&frametail,sizeof(frametail)); //发送CRC16校验值
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UI_Seq++; //包序号+1
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return 0;
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}
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// /**
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// * @brief 上传自定义数据
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// * @param void
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// * @retval void
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// * @attention 数据打包,打包完成后通过串口发送到裁判系统
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// */
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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
|
||
|
||
// ShowData.CmdID = 0x0301;
|
||
|
||
// ShowData.dataFrameHeader.data_cmd_id = 0xD180;//发给客户端的cmd,官方固定
|
||
// //ID已经是自动读取的了
|
||
// ShowData.dataFrameHeader.send_ID = Judge_Self_ID;//发送者的ID
|
||
// 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
|
||
|
||
// /*- 自定义内容 -*/
|
||
// ShowData.clientData.data1 = (float)Capvoltage_Percent();//电容剩余电量
|
||
// ShowData.clientData.data2 = (float)Base_Angle_Measure();//吊射角度测
|
||
// ShowData.clientData.data3 = GIMBAL_PITCH_Judge_Angle();//云台抬头角度
|
||
// ShowData.clientData.masks = judge_led;//0~5位0红灯,1绿灯
|
||
|
||
// //打包写入数据段
|
||
// memcpy(
|
||
// CliendTxBuffer + 5,
|
||
// (uint8_t*)&ShowData.CmdID,
|
||
// (sizeof(ShowData.CmdID)+ sizeof(ShowData.dataFrameHeader)+ sizeof(ShowData.clientData))
|
||
// );
|
||
|
||
// Append_CRC16_Check_Sum(CliendTxBuffer,sizeof(ShowData));//写入数据段CRC16校验码
|
||
|
||
// datalength = sizeof(ShowData);
|
||
// for(i = 0;i < datalength;i++)
|
||
// {
|
||
// USART_SendData(UART5,(uint16_t)CliendTxBuffer[i]);
|
||
// while(USART_GetFlagStatus(UART5,USART_FLAG_TC)==RESET);
|
||
// }
|
||
// }
|
||
|
||
|
||
|
||
|
||
// /**
|
||
// * @brief 判断自己红蓝方
|
||
// * @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
|
||
// */
|
||
// bool Color;
|
||
// bool is_red_or_blue(void)
|
||
// {
|
||
// Judge_Self_ID = GameRobotStat.robot_id;//读取当前机器人ID
|
||
|
||
// if(GameRobotStat.robot_id > 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
|
||
// }
|
||
// }
|