bf_original_balance_chassis/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 "balance.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;
}

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

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()
{
    // 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
    MyUIRefresh(referee_recv_info, Interactive_data);
}

static Graph_Data_t UI_shoot_line[10]; // 射击准线
static Graph_Data_t UI_Energy[3];      // 电容能量条
static Graph_Data_t UI_Vision[3];      // 视觉标识框
static String_Data_t UI_State_sta[6];  // 机器人状态,静态只需画一次
static String_Data_t UI_State_dyn[6];  // 机器人状态,动态先add才能change
static uint32_t shoot_line_location[10] = {540, 960, 600, 460, 420, 350};

#define Leg_X_Offset 1650
#define Leg_Y_Offset 500
#define Leg_Gain 500
static Graph_Data_t Leg_Graph_sta[2];
static Graph_Data_t Leg_Graph_dyn[6];
static uint32_t Processed_coord[6] = {1605, 455, 1695, 410, 1785, 455}; // Y坐标取反，放大，平移后的

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

    if (Interactive_data->ui_mode == UI_KEEP)
        return;

    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

    // 绘制发射基准线
    UILineDraw(&UI_shoot_line[0], "sl0", UI_Graph_ADD, 7, UI_Color_White, 3, 710, shoot_line_location[0], 1210, shoot_line_location[0]);
    UILineDraw(&UI_shoot_line[1], "sl1", UI_Graph_ADD, 7, UI_Color_White, 3, shoot_line_location[1], 340, shoot_line_location[1], 740);
    UILineDraw(&UI_shoot_line[2], "sl2", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[2], 1110, shoot_line_location[2]);
    UILineDraw(&UI_shoot_line[3], "sl3", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[3], 1110, shoot_line_location[3]);
    UILineDraw(&UI_shoot_line[4], "sl4", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[4], 1110, shoot_line_location[4]);
    UILineDraw(&UI_shoot_line[5], "sl5", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[5], 1110, shoot_line_location[5]);
    UIGraphRefresh(&referee_recv_info->referee_id, 7, UI_shoot_line[0], UI_shoot_line[1], UI_shoot_line[2], UI_shoot_line[3], UI_shoot_line[4], UI_shoot_line[5], UI_shoot_line[6]);

    // 绘制车辆状态标志指示
    UICharDraw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 150, 750, "chassis:");
    UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[0]);
    UICharDraw(&UI_State_sta[1], "ss1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 150, 700, "frict:");
    UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[1]);
    UICharDraw(&UI_State_sta[2], "ss2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 150, 650, "vision:");
    UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[2]);
    UICharDraw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Cyan, 15, 2, 150, 600, "loader:");
    UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[4]);

    // 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
    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]);
    UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 700, "off");
    UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[1]);
    UICharDraw(&UI_State_dyn[2], "sd2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 270, 650, "unlock");
    UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[2]);
    UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Cyan, 15, 2, 270, 600, "stop");
    UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]);

    // 绘制视觉标识框
    UIRectangleDraw(&UI_Vision[0], "sd3", UI_Graph_ADD, 9, UI_Color_Green, 2, 650, 700, 1270, 380);
    UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Vision[0]);

    // 底盘功率显示，静态
    UICharDraw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 7, UI_Color_Green, 18, 2, 620, 230, "Power:");
    UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[5]);
    // 能量条框
    UIRectangleDraw(&UI_Energy[0], "ss6", UI_Graph_ADD, 7, UI_Color_Green, 2, 720, 140, 1420, 180);
    UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[0]);

    // 底盘功率显示,动态
    UIFloatDraw(&UI_Energy[1], "sd5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 2, 750, 230, 24000);
    // 能量条初始状态
    UILineDraw(&UI_Energy[2], "sd6", UI_Graph_ADD, 8, UI_Color_Pink, 30, 720, 160, 1020, 160);
    UIGraphRefresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]);

    // 底盘方向--指示云台方向
    UILineDraw(&Leg_Graph_sta[0], "ws0", UI_Graph_ADD, 9, UI_Color_Purplish_red, 4, 1700, 600, 1700, 705);
    UIGraphRefresh(&referee_recv_info->referee_id, 1, Leg_Graph_sta[0]);

    // 腿部运动，五连杆
    UILineDraw(&Leg_Graph_dyn[1], "wd1", UI_Graph_ADD, 7, UI_Color_Yellow, 5,
              0 + Leg_X_Offset, 0 + Leg_Y_Offset, (uint32_t)(JOINT_DISTANCE * Leg_Gain + Leg_X_Offset), 0 + Leg_Y_Offset); // 水平线
    UILineDraw(&Leg_Graph_dyn[2], "wd2", UI_Graph_ADD, 7, UI_Color_Green, 5,
              0 + Leg_X_Offset, 0 + Leg_Y_Offset, Processed_coord[0], Processed_coord[1]); // 左大腿
    UILineDraw(&Leg_Graph_dyn[3], "wd3", UI_Graph_ADD, 7, UI_Color_Green, 5,
              Processed_coord[0], Processed_coord[1], Processed_coord[2], Processed_coord[3]); // 左小腿
    UILineDraw(&Leg_Graph_dyn[4], "wd4", UI_Graph_ADD, 7, UI_Color_Purplish_red, 5,
              (uint32_t)(JOINT_DISTANCE * Leg_Gain + Leg_X_Offset), 0 + Leg_Y_Offset, Processed_coord[4], Processed_coord[5]); // 右大腿
    UILineDraw(&Leg_Graph_dyn[5], "wd5", UI_Graph_ADD, 7, UI_Color_Purplish_red, 5,
              Processed_coord[2], Processed_coord[3], Processed_coord[4], Processed_coord[5]); // 右小腿
    UIGraphRefresh(&referee_recv_info->referee_id, 5, Leg_Graph_dyn[1], Leg_Graph_dyn[2], Leg_Graph_dyn[3], Leg_Graph_dyn[4], Leg_Graph_dyn[5]);
}

// 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;
        _Interactive_data->shoot_mode = SHOOT_ON;
        _Interactive_data->friction_mode = FRICTION_ON;
        _Interactive_data->lid_mode = LID_OPEN;
        _Interactive_data->Chassis_Power_Data.chassis_power_mx += 3.5;
        if (_Interactive_data->Chassis_Power_Data.chassis_power_mx >= 18)
            _Interactive_data->Chassis_Power_Data.chassis_power_mx = 0;
        break;
    }
    case 1:
    {
        _Interactive_data->chassis_mode = CHASSIS_ROTATE;
        _Interactive_data->gimbal_mode = GIMBAL_FREE_MODE;
        _Interactive_data->shoot_mode = SHOOT_OFF;
        _Interactive_data->friction_mode = FRICTION_OFF;
        _Interactive_data->lid_mode = LID_CLOSE;
        break;
    }
    case 2:
    {
        _Interactive_data->chassis_mode = CHASSIS_RESET;
        _Interactive_data->gimbal_mode = GIMBAL_GYRO_MODE;
        _Interactive_data->shoot_mode = SHOOT_ON;
        _Interactive_data->friction_mode = FRICTION_ON;
        _Interactive_data->lid_mode = LID_OPEN;
        break;
    }
    case 3:
    {
        _Interactive_data->chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
        _Interactive_data->gimbal_mode = GIMBAL_ZERO_FORCE;
        _Interactive_data->shoot_mode = SHOOT_OFF;
        _Interactive_data->friction_mode = FRICTION_OFF;
        _Interactive_data->lid_mode = LID_CLOSE;
        break;
    }
    default:
        break;
    }
}

static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_info_t *_Interactive_data)
{
    UIChangeCheck(_Interactive_data);
    // chassis
    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_RESET:
            UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "reset    ");
            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;
    }
    // friction
    if (_Interactive_data->Referee_Interactive_Flag.friction_flag == 1)
    {
        UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 700, _Interactive_data->friction_mode == FRICTION_ON ? "on " : "off");
        UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[1]);
        _Interactive_data->Referee_Interactive_Flag.friction_flag = 0;
    }
    // vision
    if (_Interactive_data->Referee_Interactive_Flag.vision_flag == 1)
    {
        switch (_Interactive_data->vision_mode)
        {
        case UNLOCK:
            UICharDraw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Orange, 15, 2, 270, 650, "unlock  ");
            UIRectangleDraw(&UI_Vision[0], "sd3", UI_Graph_Change, 9, UI_Color_Green, 2, 650, 700, 1270, 380);
            break;
        case CONVERGE:
            UICharDraw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Orange, 15, 2, 270, 650, "converge");
            UIRectangleDraw(&UI_Vision[0], "sd3", UI_Graph_Change, 9, UI_Color_Purplish_red, 2, 650, 700, 1270, 380);
            break;
        case LOCK:
            UICharDraw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Orange, 15, 2, 270, 650, "lock    ");
            UIRectangleDraw(&UI_Vision[0], "sd3", UI_Graph_Change, 9, UI_Color_Purplish_red, 2, 650, 700, 1270, 380);
            break;
        }
        UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[2]);
        UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Vision[0]);
        _Interactive_data->Referee_Interactive_Flag.vision_flag = 0;
    }
    // loader
    if (_Interactive_data->Referee_Interactive_Flag.loader_flag == 1)
    {
        switch (_Interactive_data->loader_mode)
        {
        case LOAD_1_BULLET:
            UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Cyan, 15, 2, 270, 600, "1 bull");
            break;
        case LOAD_3_BULLET:
            UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Purplish_red, 15, 2, 270, 600, "3 bull");
            break;
        case LOAD_BURSTFIRE:
            UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Purplish_red, 15, 2, 270, 600, "burst ");
            break;
        case LOAD_STOP:
            UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Purplish_red, 15, 2, 270, 600, "stop  ");
            break;
        }
        UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
        _Interactive_data->Referee_Interactive_Flag.loader_flag = 0;
    }
    // power
    if (_Interactive_data->Referee_Interactive_Flag.Power_flag == 1)
    {
        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);
        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);
        UIGraphRefresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]);
        _Interactive_data->Referee_Interactive_Flag.Power_flag = 0;
    }

    // 底盘方向
    if (_Interactive_data->Referee_Interactive_Flag.direction_flag == 1)
    {
        switch (_Interactive_data->direction)
        {
        case CHASSIS_SIDLE:
        {
            UILineDraw(&Leg_Graph_dyn[0], "wd0", UI_Graph_Change, 9, UI_Color_Green, 7, 1700, 600, 1700, 700);
            break;
        }
        case CHASSIS_ALIGN:
        {
            UILineDraw(&Leg_Graph_dyn[0], "wd0", UI_Graph_Change, 9, UI_Color_Green, 7, 1650, 600, 1750, 600);
            break;
        }
        }
        UIGraphRefresh(&referee_recv_info->referee_id, 1, Leg_Graph_dyn[0]);
        _Interactive_data->Referee_Interactive_Flag.direction_flag = 0;
    }

    if (Processed_coord[0] != (uint32_t)(_Interactive_data->coord[0] * Leg_Gain + Leg_X_Offset))
    {
        Processed_coord[0] = (uint32_t)(_Interactive_data->coord[0] * Leg_Gain + Leg_X_Offset);
        Processed_coord[1] = (uint32_t)(_Interactive_data->coord[1] * -Leg_Gain + Leg_Y_Offset);
        Processed_coord[2] = (uint32_t)(_Interactive_data->coord[2] * Leg_Gain + Leg_X_Offset);
        Processed_coord[3] = (uint32_t)(_Interactive_data->coord[3] * -Leg_Gain + Leg_Y_Offset);
        Processed_coord[4] = (uint32_t)(_Interactive_data->coord[4] * Leg_Gain + Leg_X_Offset);
        Processed_coord[5] = (uint32_t)(_Interactive_data->coord[5] * -Leg_Gain + Leg_Y_Offset);

        // 腿部运动，五连杆，不需要检测变更，实时显示变化
        UILineDraw(&Leg_Graph_dyn[2], "wd2", UI_Graph_Change, 7, UI_Color_Green, 5,
                  0 + Leg_X_Offset, 0 + Leg_Y_Offset, Processed_coord[0], Processed_coord[1]); // 左大腿

        UILineDraw(&Leg_Graph_dyn[3], "wd3", UI_Graph_Change, 7, UI_Color_Green, 5,
                  Processed_coord[0], Processed_coord[1], Processed_coord[2], Processed_coord[3]); // 左小腿

        UILineDraw(&Leg_Graph_dyn[4], "wd4", UI_Graph_Change, 7, UI_Color_Purplish_red, 5,
                  (uint32_t)(JOINT_DISTANCE * Leg_Gain + Leg_X_Offset), 0 + Leg_Y_Offset, Processed_coord[4], Processed_coord[5]); // 右大腿

        UILineDraw(&Leg_Graph_dyn[5], "wd5", UI_Graph_Change, 7, UI_Color_Purplish_red, 5,
                  Processed_coord[2], Processed_coord[3], Processed_coord[4], Processed_coord[5]); // 右小腿
        UIGraphRefresh(&referee_recv_info->referee_id, 5, Leg_Graph_dyn[1], Leg_Graph_dyn[2], Leg_Graph_dyn[3], Leg_Graph_dyn[4], Leg_Graph_dyn[5]);
    }
}

/**
 * @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;
    }
    
    if(_Interactive_data->vision_mode != _Interactive_data->vision_last_mode)
    {
        _Interactive_data->Referee_Interactive_Flag.vision_flag = 1;
        _Interactive_data->vision_last_mode = _Interactive_data->vision_mode;
    }

    if (_Interactive_data->loader_mode != _Interactive_data->loader_last_mode)
    {
        _Interactive_data->Referee_Interactive_Flag.loader_flag = 1;
        _Interactive_data->loader_last_mode = _Interactive_data->loader_mode;
    }

    if (_Interactive_data->direction != _Interactive_data->last_direction)
    {
        _Interactive_data->Referee_Interactive_Flag.direction_flag = 1;
        _Interactive_data->last_direction = _Interactive_data->direction;
    }
}