绘制基础UI

application/chassis/balance.c

@@ -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);
 }

application/cmd/robot_cmd.c

@@ -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);
 

application/robot_def.h

@@ -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;
+    Chassis_Power_Data_s super_cap; //  超级电容
-    Target_State_e target_state;
+    friction_mode_e friction_mode;  //  摩擦轮状态
-    loader_mode_e loader_mode;
+    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

application/robot_task.h

@@ -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
     }

modules/referee/referee_task.c

@@ -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:");
+    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[3]);
-    UICharDraw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 550, "lid:");
     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");
+    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[3]);
-    UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 550, "open ");
     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");
+        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[3]);
+        UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[1]);
         _Interactive_data->Referee_Interactive_Flag.friction_flag = 0;
     }
-    // lid
+    // vision
-    if (_Interactive_data->Referee_Interactive_Flag.lid_flag == 1)
+    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;
+    }
 }

modules/referee/rm_referee.h

@@ -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;