sentry_left/modules/referee/referee_task.c

/**
 * @file referee.C
 * @author kidneygood (you@domain.com)
 * @brief
 * @version 0.1
 * @date 2022-11-18
 *
 * @copyright Copyright (c) 2022
 *
 */
#include "referee_task.h"
#include "robot_def.h"
#include "rm_referee.h"
#include "referee_UI.h"
#include "string.h"
#include "cmsis_os.h"
#include "crc_ref.h"

static Referee_Interactive_info_t *Interactive_data; // UI绘制需要的机器人状态数据
static referee_info_t *referee_recv_info;            // 接收到的裁判系统数据
uint8_t UI_Seq;                                      // 包序号，供整个referee文件使用
// @todo 不应该使用全局变量

/**
 * @brief  判断各种ID，选择客户端ID
 * @param  referee_info_t *referee_recv_info
 * @retval none
 * @attention
 */
static void DeterminRobotID()
{
    // id小于7是红色,大于7是蓝色,0为红色，1为蓝色   #define Robot_Red 0    #define Robot_Blue 1
    referee_recv_info->referee_id.Robot_Color = referee_recv_info->GameRobotState.robot_id > 7 ? Robot_Blue : Robot_Red;
    referee_recv_info->referee_id.Robot_ID = referee_recv_info->GameRobotState.robot_id;
    referee_recv_info->referee_id.Cilent_ID = 0x0100 + referee_recv_info->referee_id.Robot_ID; // 计算客户端ID
    referee_recv_info->referee_id.Receiver_Robot_ID = 0;
}
Sentry_Decision_Data_t SentryDecision;
static void Sentry_CMD_send(referee_id_t *_id,Sentry_Decision_Data_t Sentry_Decision);

referee_info_t *UITaskInit(UART_HandleTypeDef *referee_usart_handle, Referee_Interactive_info_t *UI_data)
{
    referee_recv_info = RefereeInit(referee_usart_handle); // 初始化裁判系统的串口,并返回裁判系统反馈数据指针
    Interactive_data = UI_data;                            // 获取UI绘制需要的机器人状态数据
    referee_recv_info->init_flag = 1;
    return referee_recv_info;
}

void UITask()
{
    SentryDecision.reserve = 1; // 确认复活
    SentryDecision.buy_bullet = 100; //买100发弹丸
    Sentry_CMD_send(&referee_recv_info->referee_id,SentryDecision);
}

void MyUIInit()
{
//    if (!referee_recv_info->init_flag)
        //vTaskDelete(NULL); // 如果没有初始化裁判系统则直接删除ui任务
    while (referee_recv_info->GameRobotState.robot_id == 0)
    {
        osDelay(100); // 若还未收到裁判系统数据,等待一段时间后再检查
    }
    DeterminRobotID();                                            // 确定ui要发送到的目标客户端
}



void Sentry_CMD_send(referee_id_t *_id,Sentry_Decision_Data_t Sentry_Decision)
{
    static Sentry_CMD_t sentryCmd;

    uint8_t temp_datalength = Interactive_Data_LEN_Head + Sentry_Decision_LEN; // 计算交互数据长度

    sentryCmd.FrameHeader.SOF = REFEREE_SOF;
    sentryCmd.FrameHeader.DataLength = temp_datalength;
    sentryCmd.FrameHeader.Seq = UI_Seq;
    sentryCmd.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&sentryCmd, LEN_CRC8, 0xFF);

    sentryCmd.CmdID = ID_student_interactive;

    sentryCmd.datahead.data_cmd_id = Sentry_Decision_ID;

    sentryCmd.datahead.receiver_ID = RobotID_Referee;
    sentryCmd.datahead.sender_ID = _id->Robot_ID;

    sentryCmd.SentryDecision = Sentry_Decision;

    sentryCmd.frametail = Get_CRC16_Check_Sum((uint8_t *)&sentryCmd, LEN_HEADER + LEN_CMDID + temp_datalength, 0xFFFF);

    RefereeSend((uint8_t *)&sentryCmd, LEN_HEADER + LEN_CMDID + temp_datalength + LEN_TAIL); // 发送

    UI_Seq++; // 包序号+1
}