95 lines
3.3 KiB
C
95 lines
3.3 KiB
C
/**
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* @file referee.C
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* @author kidneygood (you@domain.com)
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* @brief
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* @version 0.1
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* @date 2022-11-18
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*
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* @copyright Copyright (c) 2022
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*
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*/
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#include "referee_task.h"
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#include "robot_def.h"
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#include "rm_referee.h"
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#include "referee_UI.h"
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#include "string.h"
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#include "cmsis_os.h"
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#include "crc_ref.h"
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static Referee_Interactive_info_t *Interactive_data; // UI绘制需要的机器人状态数据
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static referee_info_t *referee_recv_info; // 接收到的裁判系统数据
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uint8_t UI_Seq; // 包序号，供整个referee文件使用
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// @todo 不应该使用全局变量
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/**
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* @brief 判断各种ID，选择客户端ID
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* @param referee_info_t *referee_recv_info
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* @retval none
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* @attention
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*/
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static void DeterminRobotID()
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{
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// 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
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referee_recv_info->referee_id.Robot_Color = referee_recv_info->GameRobotState.robot_id > 7 ? Robot_Blue : Robot_Red;
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referee_recv_info->referee_id.Robot_ID = referee_recv_info->GameRobotState.robot_id;
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referee_recv_info->referee_id.Cilent_ID = 0x0100 + referee_recv_info->referee_id.Robot_ID; // 计算客户端ID
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referee_recv_info->referee_id.Receiver_Robot_ID = 0;
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}
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Sentry_Decision_Data_t SentryDecision;
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static void Sentry_CMD_send(referee_id_t *_id,Sentry_Decision_Data_t Sentry_Decision);
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referee_info_t *UITaskInit(UART_HandleTypeDef *referee_usart_handle, Referee_Interactive_info_t *UI_data)
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{
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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
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Interactive_data = UI_data; // 获取UI绘制需要的机器人状态数据
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referee_recv_info->init_flag = 1;
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return referee_recv_info;
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}
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void UITask()
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{
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SentryDecision.reserve = 1; // 确认复活
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SentryDecision.buy_bullet = 100; //买100发弹丸
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Sentry_CMD_send(&referee_recv_info->referee_id,SentryDecision);
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}
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void MyUIInit()
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{
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// if (!referee_recv_info->init_flag)
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//vTaskDelete(NULL); // 如果没有初始化裁判系统则直接删除ui任务
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while (referee_recv_info->GameRobotState.robot_id == 0)
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{
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osDelay(100); // 若还未收到裁判系统数据,等待一段时间后再检查
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}
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DeterminRobotID(); // 确定ui要发送到的目标客户端
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}
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void Sentry_CMD_send(referee_id_t *_id,Sentry_Decision_Data_t Sentry_Decision)
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{
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static Sentry_CMD_t sentryCmd;
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uint8_t temp_datalength = Interactive_Data_LEN_Head + Sentry_Decision_LEN; // 计算交互数据长度
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sentryCmd.FrameHeader.SOF = REFEREE_SOF;
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sentryCmd.FrameHeader.DataLength = temp_datalength;
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sentryCmd.FrameHeader.Seq = UI_Seq;
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sentryCmd.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&sentryCmd, LEN_CRC8, 0xFF);
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sentryCmd.CmdID = ID_student_interactive;
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sentryCmd.datahead.data_cmd_id = Sentry_Decision_ID;
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sentryCmd.datahead.receiver_ID = RobotID_Referee;
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sentryCmd.datahead.sender_ID = _id->Robot_ID;
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sentryCmd.SentryDecision = Sentry_Decision;
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sentryCmd.frametail = Get_CRC16_Check_Sum((uint8_t *)&sentryCmd, LEN_HEADER + LEN_CMDID + temp_datalength, 0xFFFF);
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RefereeSend((uint8_t *)&sentryCmd, 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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