TuxMonkey/bf_original_balance_chassis
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绘制基础UI

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This commit is contained in:
kai
2024-05-24 20:49:07 +08:00
parent 20546dd2d7
commit 03ae284fca
6 changed files with 138 additions and 57 deletions
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17
application/chassis/balance.c
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@@ -441,6 +441,20 @@ static void WattLimitSet() /* 设定运动模态的输出 */
LKMotorSetRef(r_driven, 195.3125 * -r_side.T_wheel);
}
// 裁判系统,双板通信,电容功率控制等
static void CommNPower()
{
// CANCommSend(cmd_can_comm, (void *)&chassis_feedback_data);
/* 更新ui数据 */
ui_data.direction = chassis_cmd_recv.direction;
ui_data.friction_mode = chassis_cmd_recv.friction_mode;
ui_data.loader_mode = chassis_cmd_recv.loader_mode;
ui_data.chassis_mode = chassis_cmd_recv.chassis_mode;
ui_data.ui_mode = chassis_cmd_recv.ui_mode;
ui_data.vision_mode = chassis_cmd_recv.vision_mode;
}
void BalanceTask()
{
del_t = DWT_GetDeltaT(&balance_dwt_cnt);
@@ -450,6 +464,8 @@ void BalanceTask()
ControlSwitch();
// 设置目标参数和工作模式
WokingStateSet();
// 裁判系统,双板通信,电容功率控制等
CommNPower();
// 参数组装
ParamAssemble();
// 将五连杆映射成单杆
@@ -479,5 +495,4 @@ void BalanceTask()
// 运动模态,电机输出映射和限幅
WattLimitSet();
// CANCommSend(cmd_can_comm, (void *)&chassis_feedback_data);
}

13
application/cmd/robot_cmd.c
View File

@@ -249,6 +249,16 @@ static void MouseKeySet()
else
shoot_cmd_send.load_mode = LOAD_STOP;
switch (rc_data[TEMP].key[KEY_PRESS].z) // Z键刷新UI
{
case 0:
chassis_cmd_send.ui_mode = UI_KEEP;
break;
default:
chassis_cmd_send.ui_mode = UI_REFRESH;
break;
}
if (rc_data[TEMP].mouse.press_r)
{
gimbal_cmd_send.yaw = (vision_recv_data->yaw == 0 ? gimbal_cmd_send.yaw : vision_recv_data->yaw);
@@ -330,6 +340,9 @@ void RobotCMDTask()
EmergencyHandler(); // 处理模块离线和遥控器急停等紧急情况
chassis_cmd_send.direction = chassis_direction;
// UI数据
chassis_cmd_send.friction_mode = shoot_cmd_send.friction_mode;
chassis_cmd_send.loader_mode = shoot_cmd_send.load_mode;
CANCommSend(cmd_can_comm, (void *)&chassis_cmd_send);

23
application/robot_def.h
View File

@@ -72,6 +72,13 @@ typedef enum
APP_ERROR,
} App_Status_e;
// UI模式设置
typedef enum
{
UI_KEEP = 0,
UI_REFRESH,
} ui_mode_e;
// 底盘模式设置
/**
* @brief 后续考虑修改为云台跟随底盘,而不是让底盘去追云台,云台的惯量比底盘小.
@@ -122,6 +129,13 @@ typedef enum
LOAD_BURSTFIRE, // 连发
} loader_mode_e;
typedef enum
{
UNLOCK = 0, // 未开启自瞄或视觉未锁定
CONVERGE, // 视觉锁定过程中，正在校准
LOCK, // 视觉锁定, 可以开火
} vision_mode_e;
// 功率限制,从裁判系统获取,是否有必要保留?
typedef struct
{ // 功率控制
@@ -151,11 +165,12 @@ typedef struct
chassis_direction_e direction;
// UI部分
friction_mode_e friction_mode;
Target_State_e target_state;
loader_mode_e loader_mode;
Chassis_Power_Data_s super_cap; // 超级电容
friction_mode_e friction_mode; // 摩擦轮状态
vision_mode_e vision_mode; // 视觉状态
ui_mode_e ui_mode; // UI状态
loader_mode_e loader_mode; // 拨盘状态
uint8_t ui_refresh_flag;
} Chassis_Ctrl_Cmd_s;
// cmd发布的云台控制数据,由gimbal订阅

3
application/robot_task.h
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@@ -126,11 +126,12 @@ __attribute__((noreturn)) void StartROBOTTASK(void const *argument)
__attribute__((noreturn)) void StartUITASK(void const *argument)
{
LOGINFO("[freeRTOS] UI Task Start");
MyUIInit();
// MyUIInit();
LOGINFO("[freeRTOS] UI Init Done, communication with ref has established");
for (;;)
{
// 每给裁判系统发送一包数据会挂起一次,详见UITask函数的refereeSend()
MyUIInit();
UITask();
osDelay(1); // 即使没有任何UI需要刷新,也挂起一次,防止卡在UITask中无法切换
}

129
modules/referee/referee_task.c
View File

@@ -49,20 +49,25 @@ referee_info_t *UITaskInit(UART_HandleTypeDef *referee_usart_handle, Referee_Int
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
// 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, 490, 515, 565};
static uint32_t shoot_line_location[10] = {540, 960, 600, 460, 420, 350};
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
@@ -75,38 +80,39 @@ void MyUIInit()
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]);
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]);
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, "gimbal:");
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, "shoot:");
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[3], "ss3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 600, "frict:");
UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[3]);
UICharDraw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 550, "lid:");
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_Yellow, 15, 2, 270, 700, "zeroforce");
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, "off");
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[3], "sd3", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 600, "off");
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[3]);
UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 550, "open ");
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, 1220, 180);
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
@@ -152,6 +158,7 @@ static void RobotModeTest(Referee_Interactive_info_t *_Interactive_data) // 测
}
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;
@@ -187,6 +194,9 @@ static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_i
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;
@@ -194,50 +204,55 @@ static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_i
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;
}
// shoot
if (_Interactive_data->Referee_Interactive_Flag.shoot_flag == 1)
{
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");
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[2]);
_Interactive_data->Referee_Interactive_Flag.shoot_flag = 0;
}
// friction
if (_Interactive_data->Referee_Interactive_Flag.friction_flag == 1)
{
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");
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[3]);
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;
}
// lid
if (_Interactive_data->Referee_Interactive_Flag.lid_flag == 1)
// vision
if (_Interactive_data->Referee_Interactive_Flag.vision_flag == 1)
{
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");
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.lid_flag = 0;
_Interactive_data->Referee_Interactive_Flag.loader_flag = 0;
}
// power
if (_Interactive_data->Referee_Interactive_Flag.Power_flag == 1)
@@ -292,4 +307,16 @@ static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data)
_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;
}
}

10
modules/referee/rm_referee.h
View File

@@ -54,6 +54,9 @@ typedef struct
uint32_t lid_flag : 1;
uint32_t friction_flag : 1;
uint32_t Power_flag : 1;
uint32_t vision_flag : 1;
uint32_t loader_flag : 1;
uint32_t direction_flag : 1;
} Referee_Interactive_Flag_t;
// 此结构体包含UI绘制与机器人车间通信的需要的其他非裁判系统数据
@@ -67,6 +70,10 @@ typedef struct
friction_mode_e friction_mode; // 摩擦轮关闭
lid_mode_e lid_mode; // 弹舱盖打开
Chassis_Power_Data_s Chassis_Power_Data; // 功率控制
ui_mode_e ui_mode; // UI状态
vision_mode_e vision_mode; // 视觉状态
loader_mode_e loader_mode; // 拨盘模式
chassis_direction_e direction; // 对齐状态
// 上一次的模式，用于flag判断
chassis_mode_e chassis_last_mode;
@@ -75,6 +82,9 @@ typedef struct
friction_mode_e friction_last_mode;
lid_mode_e lid_last_mode;
Chassis_Power_Data_s Chassis_last_Power_Data;
vision_mode_e vision_last_mode;
loader_mode_e loader_last_mode;
chassis_direction_e last_direction;
} Referee_Interactive_info_t;