300 lines
14 KiB
C
300 lines
14 KiB
C
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/**
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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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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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static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_info_t *_Interactive_data);
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static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data); // 模式切换检测
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static void RobotModeTest(Referee_Interactive_info_t *_Interactive_data); // 测试用函数，实现模式自动变化
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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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RobotModeTest(Interactive_data); // 测试用函数，实现模式自动变化,用于检查该任务和裁判系统是否连接正常
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MyUIRefresh(referee_recv_info, Interactive_data);
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}
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static Graph_Data_t UI_shoot_line[10]; // 射击准线
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static Graph_Data_t UI_Energy[3]; // 电容能量条
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static String_Data_t UI_State_sta[6]; // 机器人状态,静态只需画一次
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static String_Data_t UI_State_dyn[6]; // 机器人状态,动态先add才能change
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static uint32_t shoot_line_location[10] = {540, 960, 490, 515, 565};
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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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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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DeterminRobotID(); // 确定ui要发送到的目标客户端
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UIDelete(&referee_recv_info->referee_id, UI_Data_Del_ALL, 0); // 清空UI
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// 绘制发射基准线
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UILineDraw(&UI_shoot_line[0], "sl0", UI_Graph_ADD, 7, UI_Color_White, 3, 710, shoot_line_location[0], 1210, shoot_line_location[0]);
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UILineDraw(&UI_shoot_line[1], "sl1", UI_Graph_ADD, 7, UI_Color_White, 3, shoot_line_location[1], 340, shoot_line_location[1], 740);
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UILineDraw(&UI_shoot_line[2], "sl2", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[2], 1110, shoot_line_location[2]);
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UILineDraw(&UI_shoot_line[3], "sl3", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[3], 1110, shoot_line_location[3]);
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UILineDraw(&UI_shoot_line[4], "sl4", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[4], 1110, shoot_line_location[4]);
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UIGraphRefresh(&referee_recv_info->referee_id, 5, UI_shoot_line[0], UI_shoot_line[1], UI_shoot_line[2], UI_shoot_line[3], UI_shoot_line[4]);
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// 绘制车辆状态标志指示
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UICharDraw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 150, 750, "chassis:");
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UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[0]);
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UICharDraw(&UI_State_sta[1], "ss1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 150, 700, "gimbal:");
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UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[1]);
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UICharDraw(&UI_State_sta[2], "ss2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 150, 650, "shoot:");
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UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[2]);
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UICharDraw(&UI_State_sta[3], "ss3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 600, "frict:");
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UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[3]);
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UICharDraw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 550, "lid:");
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UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[4]);
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// 绘制车辆状态标志，动态
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// 由于初始化时xxx_last_mode默认为0，所以此处对应UI也应该设为0时对应的UI，防止模式不变的情况下无法置位flag，导致UI无法刷新
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UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 270, 750, "zeroforce");
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UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[0]);
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UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 270, 700, "zeroforce");
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UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[1]);
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UICharDraw(&UI_State_dyn[2], "sd2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 270, 650, "off");
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UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[2]);
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UICharDraw(&UI_State_dyn[3], "sd3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 600, "off");
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UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[3]);
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UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 550, "open ");
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UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
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// 底盘功率显示，静态
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UICharDraw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 7, UI_Color_Green, 18, 2, 620, 230, "Power:");
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UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[5]);
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// 能量条框
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UIRectangleDraw(&UI_Energy[0], "ss6", UI_Graph_ADD, 7, UI_Color_Green, 2, 720, 140, 1220, 180);
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UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[0]);
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// 底盘功率显示,动态
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UIFloatDraw(&UI_Energy[1], "sd5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 2, 750, 230, 24000);
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// 能量条初始状态
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UILineDraw(&UI_Energy[2], "sd6", UI_Graph_ADD, 8, UI_Color_Pink, 30, 720, 160, 1020, 160);
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UIGraphRefresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]);
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}
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// 测试用函数，实现模式自动变化,用于检查该任务和裁判系统是否连接正常
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static uint8_t count = 0;
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static uint16_t count1 = 0;
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static void RobotModeTest(Referee_Interactive_info_t *_Interactive_data) // 测试用函数，实现模式自动变化
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{
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count++;
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if (count >= 50)
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{
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count = 0;
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count1++;
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}
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switch (count1 % 4)
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{
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case 0:
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{
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_Interactive_data->chassis_mode = CHASSIS_ZERO_FORCE;
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_Interactive_data->gimbal_mode = GIMBAL_ZERO_FORCE;
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_Interactive_data->shoot_mode = SHOOT_ON;
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_Interactive_data->friction_mode = FRICTION_ON;
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_Interactive_data->lid_mode = LID_OPEN;
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_Interactive_data->Chassis_Power_Data.chassis_power_mx += 3.5;
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if (_Interactive_data->Chassis_Power_Data.chassis_power_mx >= 18)
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_Interactive_data->Chassis_Power_Data.chassis_power_mx = 0;
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break;
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}
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case 1:
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{
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_Interactive_data->chassis_mode = CHASSIS_ROTATE;
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_Interactive_data->gimbal_mode = GIMBAL_FREE_MODE;
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_Interactive_data->shoot_mode = SHOOT_OFF;
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_Interactive_data->friction_mode = FRICTION_OFF;
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_Interactive_data->lid_mode = LID_CLOSE;
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break;
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}
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case 2:
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{
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_Interactive_data->chassis_mode = CHASSIS_NO_FOLLOW;
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_Interactive_data->gimbal_mode = GIMBAL_GYRO_MODE;
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_Interactive_data->shoot_mode = SHOOT_ON;
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_Interactive_data->friction_mode = FRICTION_ON;
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_Interactive_data->lid_mode = LID_OPEN;
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break;
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}
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case 3:
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{
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_Interactive_data->chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
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_Interactive_data->gimbal_mode = GIMBAL_ZERO_FORCE;
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_Interactive_data->shoot_mode = SHOOT_OFF;
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_Interactive_data->friction_mode = FRICTION_OFF;
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_Interactive_data->lid_mode = LID_CLOSE;
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break;
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}
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default:
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break;
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}
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}
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static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_info_t *_Interactive_data)
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{
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UIChangeCheck(_Interactive_data);
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// chassis
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if (_Interactive_data->Referee_Interactive_Flag.chassis_flag == 1)
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{
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switch (_Interactive_data->chassis_mode)
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{
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case CHASSIS_ZERO_FORCE:
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UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "zeroforce");
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break;
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case CHASSIS_ROTATE:
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UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "rotate ");
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// 此处注意字数对齐问题，字数相同才能覆盖掉
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break;
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case CHASSIS_NO_FOLLOW:
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UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "nofollow ");
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break;
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case CHASSIS_FOLLOW_GIMBAL_YAW:
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UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "follow ");
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break;
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}
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UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[0]);
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_Interactive_data->Referee_Interactive_Flag.chassis_flag = 0;
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}
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// gimbal
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if (_Interactive_data->Referee_Interactive_Flag.gimbal_flag == 1)
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{
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switch (_Interactive_data->gimbal_mode)
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{
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case GIMBAL_ZERO_FORCE:
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{
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UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "zeroforce");
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break;
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}
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case GIMBAL_FREE_MODE:
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{
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UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "free ");
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break;
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}
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case GIMBAL_GYRO_MODE:
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{
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UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "gyro ");
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break;
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}
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}
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UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[1]);
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_Interactive_data->Referee_Interactive_Flag.gimbal_flag = 0;
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}
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// shoot
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if (_Interactive_data->Referee_Interactive_Flag.shoot_flag == 1)
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{
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UICharDraw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 650, _Interactive_data->shoot_mode == SHOOT_ON ? "on " : "off");
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UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[2]);
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_Interactive_data->Referee_Interactive_Flag.shoot_flag = 0;
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}
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// friction
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if (_Interactive_data->Referee_Interactive_Flag.friction_flag == 1)
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{
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UICharDraw(&UI_State_dyn[3], "sd3", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 600, _Interactive_data->friction_mode == FRICTION_ON ? "on " : "off");
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UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[3]);
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_Interactive_data->Referee_Interactive_Flag.friction_flag = 0;
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}
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// lid
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if (_Interactive_data->Referee_Interactive_Flag.lid_flag == 1)
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{
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UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 550, _Interactive_data->lid_mode == LID_OPEN ? "open " : "close");
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UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
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_Interactive_data->Referee_Interactive_Flag.lid_flag = 0;
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}
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// power
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if (_Interactive_data->Referee_Interactive_Flag.Power_flag == 1)
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{
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UIFloatDraw(&UI_Energy[1], "sd5", UI_Graph_Change, 8, UI_Color_Green, 18, 2, 2, 750, 230, _Interactive_data->Chassis_Power_Data.chassis_power_mx * 1000);
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UILineDraw(&UI_Energy[2], "sd6", UI_Graph_Change, 8, UI_Color_Pink, 30, 720, 160, (uint32_t)750 + _Interactive_data->Chassis_Power_Data.chassis_power_mx * 30, 160);
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UIGraphRefresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]);
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_Interactive_data->Referee_Interactive_Flag.Power_flag = 0;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief 模式切换检测,模式发生切换时，对flag置位
|
|||
|
|
* @param Referee_Interactive_info_t *_Interactive_data
|
|||
|
|
* @retval none
|
|||
|
|
* @attention
|
|||
|
|
*/
|
|||
|
|
static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data)
|
|||
|
|
{
|
|||
|
|
if (_Interactive_data->chassis_mode != _Interactive_data->chassis_last_mode)
|
|||
|
|
{
|
|||
|
|
_Interactive_data->Referee_Interactive_Flag.chassis_flag = 1;
|
|||
|
|
_Interactive_data->chassis_last_mode = _Interactive_data->chassis_mode;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if (_Interactive_data->gimbal_mode != _Interactive_data->gimbal_last_mode)
|
|||
|
|
{
|
|||
|
|
_Interactive_data->Referee_Interactive_Flag.gimbal_flag = 1;
|
|||
|
|
_Interactive_data->gimbal_last_mode = _Interactive_data->gimbal_mode;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if (_Interactive_data->shoot_mode != _Interactive_data->shoot_last_mode)
|
|||
|
|
{
|
|||
|
|
_Interactive_data->Referee_Interactive_Flag.shoot_flag = 1;
|
|||
|
|
_Interactive_data->shoot_last_mode = _Interactive_data->shoot_mode;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if (_Interactive_data->friction_mode != _Interactive_data->friction_last_mode)
|
|||
|
|
{
|
|||
|
|
_Interactive_data->Referee_Interactive_Flag.friction_flag = 1;
|
|||
|
|
_Interactive_data->friction_last_mode = _Interactive_data->friction_mode;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if (_Interactive_data->lid_mode != _Interactive_data->lid_last_mode)
|
|||
|
|
{
|
|||
|
|
_Interactive_data->Referee_Interactive_Flag.lid_flag = 1;
|
|||
|
|
_Interactive_data->lid_last_mode = _Interactive_data->lid_mode;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if (_Interactive_data->Chassis_Power_Data.chassis_power_mx != _Interactive_data->Chassis_last_Power_Data.chassis_power_mx)
|
|||
|
|
{
|
|||
|
|
_Interactive_data->Referee_Interactive_Flag.Power_flag = 1;
|
|||
|
|
_Interactive_data->Chassis_last_Power_Data.chassis_power_mx = _Interactive_data->Chassis_Power_Data.chassis_power_mx;
|
|||
|
|
}
|
|||
|
|
}
|