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engineering/modules/referee/referee_task.c

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/**
* @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 "chassis.h"
#include "super_cap.h"
extern SuperCapInstance *cap; // 超级电容
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
Referee_Interactive_info_t ui_data;
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 #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;
}
static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_info_t *_Interactive_data);
static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data); // 模式切换检测
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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static void xyz_refresh(referee_info_t *referee_recv_info, Referee_Interactive_info_t *_Interactive_data);
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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()
{
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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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xyz_refresh(referee_recv_info, Interactive_data);
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}
static String_Data_t UI_State_sta[7]; // 机器人状态,静态只需画一次
static String_Data_t UI_State_dyn[7]; // 机器人状态,动态先add才能change
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static Graph_Data_t UI_State_dyn_graph[2];
#define AXIS_LEN 250
#define AXIS_X0 550
#define AXIS_Y0 80
static Graph_Data_t xyz_axis[6]; // 抬升 横移位置
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void MyUIInit()
{
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//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
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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
UIDelete(&referee_recv_info->referee_id, UI_Data_Del_ALL, 0); // 清空UI
// 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, 20, 2, 10, 750, "F.AIR_PUMP:");
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UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[0]);
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// xyz坐标系 静态
UILineDraw(&xyz_axis[0], "x_axis_s", UI_Graph_ADD, 7, UI_Color_Green, 1, AXIS_X0, AXIS_Y0,AXIS_X0+AXIS_LEN , AXIS_Y0);
UILineDraw(&xyz_axis[1], "y_axis_s", UI_Graph_ADD, 7, UI_Color_Green, 1, AXIS_X0, AXIS_Y0,AXIS_X0+AXIS_LEN , AXIS_Y0+AXIS_LEN);
UILineDraw(&xyz_axis[2], "z_axis_s", UI_Graph_ADD, 7, UI_Color_Green, 1, AXIS_X0, AXIS_Y0,AXIS_X0 , AXIS_Y0+AXIS_LEN);
UIGraphRefresh(&referee_recv_info->referee_id,1,xyz_axis[0]);
UIGraphRefresh(&referee_recv_info->referee_id,2,xyz_axis[1],xyz_axis[2]);
// xyz坐标系 动态
UILineDraw(&xyz_axis[3], "x_axis_d", UI_Graph_ADD, 8, UI_Color_Green, 5, AXIS_X0, AXIS_Y0,AXIS_X0+AXIS_LEN*0.5 , AXIS_Y0);
UILineDraw(&xyz_axis[4], "y_axis_d", UI_Graph_ADD, 8, UI_Color_Green, 5, AXIS_X0, AXIS_Y0,AXIS_X0+AXIS_LEN*0.5 , AXIS_Y0+AXIS_LEN*0.5);
UILineDraw(&xyz_axis[5], "z_axis_d", UI_Graph_ADD, 8, UI_Color_Green, 5, AXIS_X0, AXIS_Y0,AXIS_X0 , AXIS_Y0+AXIS_LEN*0.5);
UIGraphRefresh(&referee_recv_info->referee_id,1,xyz_axis[3]);
UIGraphRefresh(&referee_recv_info->referee_id,2,xyz_axis[4],xyz_axis[5]);
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// 绘制车辆状态标志，动态
// 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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//UILineDraw(&UI_State_dyn_graph[0], "pump_close", UI_Graph_ADD, 8, UI_Color_Purplish_red, 10, 330, 695, 377, 743);
UICircleDraw(&UI_State_dyn_graph[1], "pump_open", UI_Graph_ADD, 8, UI_Color_Purplish_red, 10, 350, 720, 10);
UIGraphRefresh(&referee_recv_info->referee_id,1,UI_State_dyn_graph[1]);
// UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 270, 750, "zeroforce");
// UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[0]);
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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
static uint8_t count = 0;
static uint16_t count1 = 0;
static void RobotModeTest(Referee_Interactive_info_t *_Interactive_data) // 测试用函数，实现模式自动变化
{
count++;
if (count >= 50)
{
count = 0;
count1++;
}
switch (count1 % 4)
{
case 0:
{
_Interactive_data->chassis_mode = CHASSIS_ZERO_FORCE;
_Interactive_data->gimbal_mode = GIMBAL_ZERO_FORCE;
}
case 1:
{
_Interactive_data->chassis_mode = CHASSIS_ROTATE;
_Interactive_data->gimbal_mode = GIMBAL_FREE_MODE;
break;
}
case 2:
{
_Interactive_data->chassis_mode = CHASSIS_NO_FOLLOW;
_Interactive_data->gimbal_mode = GIMBAL_GYRO_MODE;
break;
}
case 3:
{
_Interactive_data->chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
_Interactive_data->gimbal_mode = GIMBAL_ZERO_FORCE;
break;
}
default:
break;
}
}
static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_info_t *_Interactive_data)
{
UIChangeCheck(_Interactive_data);
// chassis
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// if (_Interactive_data->Referee_Interactive_Flag.chassis_flag == 1)
// {
// switch (_Interactive_data->chassis_mode)
// {
// case CHASSIS_ZERO_FORCE:
// UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "zeroforce");
// break;
// case CHASSIS_ROTATE:
// UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "rotate ");
// // 此处注意字数对齐问题，字数相同才能覆盖掉
// break;
// case CHASSIS_NO_FOLLOW:
// UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "nofollow ");
// break;
// case CHASSIS_FOLLOW_GIMBAL_YAW:
// UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "follow ");
// break;
// }
// UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[0]);
// _Interactive_data->Referee_Interactive_Flag.chassis_flag = 0;
// }
// // gimbal
// if (_Interactive_data->Referee_Interactive_Flag.gimbal_flag == 1)
// {
// switch (_Interactive_data->gimbal_mode)
// {
// case GIMBAL_ZERO_FORCE:
// {
// UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "zeroforce");
// break;
// }
// case GIMBAL_FREE_MODE:
// {
// UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "free ");
// break;
// }
// case GIMBAL_GYRO_MODE:
// {
// UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "gyro ");
// break;
// }
// }
// UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[1]);
// _Interactive_data->Referee_Interactive_Flag.gimbal_flag = 0;
// }
// pump
if (_Interactive_data->Referee_Interactive_Flag.pump_flag == 1)
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{
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switch (_Interactive_data->pump_mode) {
case PUMP_STOP:
//UILineDraw(&UI_State_dyn_graph[0], "pump_close", UI_Graph_Change, 8, UI_Color_Purplish_red, 10, 330, 695, 377, 743);
UICircleDraw(&UI_State_dyn_graph[1], "pump_open", UI_Graph_Change, 8, UI_Color_Purplish_red, 10, 350, 720, 10);
break;
case PUMP_OPEN:
//UILineDraw(&UI_State_dyn_graph[0], "pump_close", UI_Graph_Change, 8, UI_Color_Purplish_red, 0, 330, 695, 330, 695);
UICircleDraw(&UI_State_dyn_graph[1], "pump_open", UI_Graph_Change, 8, UI_Color_Green, 10, 350, 720, 25);
break;
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}
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UIGraphRefresh(&referee_recv_info->referee_id,1,UI_State_dyn_graph[1]);
_Interactive_data->Referee_Interactive_Flag.pump_flag = 0;
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}
}
/**
* @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;
}
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if (_Interactive_data->pump_mode != _Interactive_data->pump_last_mode)
{
_Interactive_data->Referee_Interactive_Flag.pump_flag = 1;
_Interactive_data->pump_last_mode = _Interactive_data->pump_mode;
}
}
static void xyz_refresh(referee_info_t *referee_recv_info, Referee_Interactive_info_t *_Interactive_data)
{
const float y_max = 100;//单位mm
const float z_max = 100;//单位mm
float y_ratio = _Interactive_data->xyz[1]/y_max;
float z_ratio = _Interactive_data->xyz[2]/z_max;
// xyz坐标系 动态
UILineDraw(&xyz_axis[3], "x_axis_d", UI_Graph_Change, 8, UI_Color_Green, 5, AXIS_X0, AXIS_Y0,AXIS_X0+AXIS_LEN , AXIS_Y0);
UILineDraw(&xyz_axis[4], "y_axis_d", UI_Graph_Change, 8, UI_Color_Green, 5, AXIS_X0, AXIS_Y0,AXIS_X0+(AXIS_LEN*y_ratio) , AXIS_Y0+(AXIS_LEN*y_ratio));
UILineDraw(&xyz_axis[5], "z_axis_d", UI_Graph_Change, 8, UI_Color_Green, 5, AXIS_X0, AXIS_Y0,AXIS_X0 , AXIS_Y0+(AXIS_LEN*z_ratio));
UIGraphRefresh(&referee_recv_info->referee_id,3,xyz_axis[3],xyz_axis[4],xyz_axis[5]);
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}