473 lines
17 KiB
C
473 lines
17 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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/* syhtodo 根据自身id判断客户端id
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涉及到的数字是否可以枚举定义？？？
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*/
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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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uint8_t 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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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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UI_delete_data.FrameHeader.SOF = REFEREE_SOF;
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UI_delete_data.FrameHeader.DataLength = temp_datalength;
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UI_delete_data.FrameHeader.Seq = UI_Seq;
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UI_delete_data.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&UI_delete_data,LEN_CRC8,0xFF);
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UI_delete_data.CmdID = ID_student_interactive;
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UI_delete_data.datahead.data_cmd_id = UI_Data_ID_Del;
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UI_delete_data.datahead.receiver_ID = Cilent_ID;
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UI_delete_data.datahead.sender_ID = Robot_ID;
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UI_delete_data.Delete_Operate = Del_Operate; //删除操作
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UI_delete_data.Layer = Del_Layer;
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UI_delete_data.frametail = Get_CRC16_Check_Sum((uint8_t *)&UI_delete_data,LEN_HEADER+LEN_CMDID+temp_datalength,0xFFFF);
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/* syhtodo为什么填入0xFFFF */
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RefereeSend((uint8_t *)&UI_delete_data,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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/************************************************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_t *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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//??????syhtodo
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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_t *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_t *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_t *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_t *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,
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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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radius=a&0x3FF; a为浮点数乘以1000后的32位整型数
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end_x=(a>>10)&0x7FF;
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end_y=(a>>21)&0x7FF;
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**********************************************************************************************************/
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void Float_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
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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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{
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graph->graphic_name[2-i]=graphname[i];
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}
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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->radius=Graph_Float&0x3FF;
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graph->end_x=(Graph_Float>>10)&0x7FF;
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graph->end_y=(Graph_Float>>21)&0x7FF;
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}
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/************************************************绘制整型数据*************************************************
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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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radius=a&0x3FF; a为32位整型数
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end_x=(a>>10)&0x7FF;
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end_y=(a>>21)&0x7FF;
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**********************************************************************************************************/
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void Integer_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
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uint32_t Graph_Size,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,int32_t Graph_Integer)
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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_Int;
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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_Size;
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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_Integer&0x3FF;
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graph->end_x=(Graph_Integer>>10)&0x7FF;
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graph->end_y=(Graph_Integer>>21)&0x7FF;
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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_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
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uint32_t Graph_Size,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y)
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{
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memset(graph->Graph_Control.graphic_name, 0, 3);//syhtodo 是否需要手动清零
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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->Graph_Control.graphic_name[2-i]=graphname[i];
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}
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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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//syhtodo无关的赋值为0
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graph->Graph_Control.radius=0;
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graph->Graph_Control.end_x=0;
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graph->Graph_Control.end_y=0;
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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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fmt需要显示的字符串
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syhtodo 尚未理解该函数的写法
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**********************************************************************************************************/
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void Char_Write(String_Data_t *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);//使用参数列表发送格式化输出到字符串
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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_GraphReFresh_t UI_GraphReFresh_data;
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Graph_Data_t graphData;
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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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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.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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UI_GraphReFresh_data.CmdID = ID_student_interactive;
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switch(cnt)
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{
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case 1:
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UI_GraphReFresh_data.datahead.data_cmd_id=UI_Data_ID_Draw1;
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break;
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case 2:
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UI_GraphReFresh_data.datahead.data_cmd_id=UI_Data_ID_Draw2;
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break;
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case 5:
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UI_GraphReFresh_data.datahead.data_cmd_id=UI_Data_ID_Draw5;
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break;
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case 7:
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UI_GraphReFresh_data.datahead.data_cmd_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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UI_GraphReFresh_data.datahead.receiver_ID = Cilent_ID;
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UI_GraphReFresh_data.datahead.sender_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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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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graphData=va_arg(ap,Graph_Data_t);//访问参数列表中的每个项,第二个参数是你要返回的参数的类型,在取值时需要将其强制转化为指定类型的变量
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//发送并计算CRC16
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RefereeSend((uint8_t *)&graphData,UI_Operate_LEN_PerDraw);
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UI_GraphReFresh_data.frametail=Get_CRC16_Check_Sum((uint8_t *)&graphData,UI_Operate_LEN_PerDraw,UI_GraphReFresh_data.frametail);
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}
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RefereeSend((uint8_t *)&UI_GraphReFresh_data.frametail,LEN_TAIL); //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_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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UI_CharReFresh_data.FrameHeader.SOF = REFEREE_SOF;
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UI_CharReFresh_data.FrameHeader.DataLength = temp_datalength;
|
||
UI_CharReFresh_data.FrameHeader.Seq = UI_Seq;
|
||
UI_CharReFresh_data.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&UI_CharReFresh_data,LEN_CRC8,0xFF);
|
||
|
||
UI_CharReFresh_data.CmdID = ID_student_interactive;
|
||
|
||
UI_CharReFresh_data.datahead.data_cmd_id = UI_Data_ID_DrawChar;
|
||
UI_CharReFresh_data.datahead.receiver_ID = Cilent_ID;
|
||
UI_CharReFresh_data.datahead.sender_ID = Robot_ID;
|
||
|
||
UI_CharReFresh_data.String_Data = string_Data;
|
||
|
||
UI_CharReFresh_data.frametail = Get_CRC16_Check_Sum((uint8_t *)&UI_CharReFresh_data,LEN_HEADER+LEN_CMDID+temp_datalength,0xFFFF);
|
||
|
||
RefereeSend((uint8_t *)&UI_CharReFresh_data,LEN_HEADER+LEN_CMDID+temp_datalength+LEN_TAIL); //发送
|
||
|
||
UI_Seq++; //包序号+1
|
||
return 0;
|
||
}
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
// /**
|
||
// * @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 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
|
||
// }
|
||
// }
|