TuxMonkey/bf_original_balance_chassis
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application中分离referee部分，相关代码重构，完成步兵UI的init

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kidneygood
2023-01-24 22:37:53 +08:00
parent 289530ac10
commit 68f7e64c2a
11 changed files with 385 additions and 133 deletions
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25
application/chassis/chassis.c
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@@ -16,7 +16,12 @@
#include "dji_motor.h"
#include "super_cap.h"
#include "message_center.h"
/////////////////////////
#include "referee.h"
#include "rm_referee.h"
/////////////////////////
#include "general_def.h"
#include "bsp_dwt.h"
#include "referee_UI.h"
@@ -41,7 +46,7 @@ static Subscriber_t *chassis_sub; // 用于订阅底盘的控
static Chassis_Ctrl_Cmd_s chassis_cmd_recv; // 底盘接收到的控制命令
static Chassis_Upload_Data_s chassis_feedback_data; // 底盘回传的反馈数据
static referee_info_t *referee_data; // 裁判系统相关数据
// static referee_info_t *referee_data; // 裁判系统相关数据
static SuperCapInstance *cap; // 超级电容
static DJIMotorInstance *motor_lf; // left right forward back
static DJIMotorInstance *motor_rf;
@@ -99,10 +104,10 @@ void ChassisInit()
chassis_motor_config.controller_setting_init_config.reverse_flag = MOTOR_DIRECTION_NORMAL;
motor_rb = DJIMotorInit(&chassis_motor_config);
referee_data = RefereeInit(&huart6); // 裁判系统初始化
// referee_data = RefereeInit(&huart6); // 裁判系统初始化
while (referee_data->GameRobotState.robot_id ==0);
Interactive_init(referee_data);
// while (referee_data->GameRobotState.robot_id ==0);
// Referee_Interactive_init(referee_data);
SuperCap_Init_Config_s cap_conf = {
@@ -240,12 +245,12 @@ void ChassisTask()
// 根据电机的反馈速度和IMU(如果有)计算真实速度
EstimateSpeed();
// 获取裁判系统数据
// 我方颜色id小于7是红色,大于7是蓝色,注意这里发送的是对方的颜色, 0:blue , 1:red
chassis_feedback_data.enemy_color = referee_data->GameRobotState.robot_id > 7 ? 1 : 0;
// 当前只做了17mm热量的数据获取,后续根据robot_def中的宏切换双枪管和英雄42mm的情况
chassis_feedback_data.bullet_speed = referee_data->GameRobotState.shooter_id1_17mm_speed_limit;
chassis_feedback_data.rest_heat = referee_data->PowerHeatData.shooter_heat0;
// // 获取裁判系统数据 建议将裁判系统与底盘分离，所以此处数据应使用消息中心发送
// // 我方颜色id小于7是红色,大于7是蓝色,注意这里发送的是对方的颜色, 0:blue , 1:red
// chassis_feedback_data.enemy_color = referee_data->GameRobotState.robot_id > 7 ? 1 : 0;
// // 当前只做了17mm热量的数据获取,后续根据robot_def中的宏切换双枪管和英雄42mm的情况
// chassis_feedback_data.bullet_speed = referee_data->GameRobotState.shooter_id1_17mm_speed_limit;
// chassis_feedback_data.rest_heat = referee_data->PowerHeatData.shooter_heat0;
// 推送反馈消息
#ifdef ONE_BOARD

235
application/referee/referee.c Normal file
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@@ -0,0 +1,235 @@
/**
* @file referee.C
* @author kidneygood (you@domain.com)
* @brief
* @version 0.1
* @date 2022-11-18
*
* @copyright Copyright (c) 2022
*
*/
#include "referee.h"
#include "robot_def.h"
#include "rm_referee.h"
#include "referee_UI.h"
static Referee_Interactive_info_t *Interactive_data;// 非裁判系统数据
static referee_info_t *referee_data; // 裁判系统相关数据
static void determine_ID(referee_info_t *_referee_info);
static void My_UI_init(referee_info_t *_referee_info);
static void My_UI_Refresh(referee_info_t *_referee_info,Referee_Interactive_info_t *_Interactive_data);
void Referee_Interactive_init()
{
referee_data = RefereeInit(&huart6); // 裁判系统初始化
while (referee_data->GameRobotState.robot_id ==0);
determine_ID(referee_data);
My_UI_init(referee_data);
}
void Referee_Interactive_task()
{
My_UI_Refresh(referee_data,Interactive_data);
}
static Graph_Data_t UI_shoot_line[10];//射击准线
static String_Data_t UI_State_sta[5];//机器人状态,静态只需画一次
static String_Data_t UI_State_dyn[5];//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 void My_UI_init(referee_info_t *_referee_info)
{
UI_Delete(&_referee_info->referee_id,UI_Data_Del_ALL,0);
//绘制发射基准线
Line_Draw(&UI_shoot_line[0],"sl0",UI_Graph_ADD,7,UI_Color_White,3,710,shoot_line_location[0],1210,shoot_line_location[0]);
Line_Draw(&UI_shoot_line[1],"sl1",UI_Graph_ADD,7,UI_Color_White,3,shoot_line_location[1],340,shoot_line_location[1],740);
Line_Draw(&UI_shoot_line[2],"sl2",UI_Graph_ADD,7,UI_Color_Yellow,2,810,shoot_line_location[2],1110,shoot_line_location[2]);
Line_Draw(&UI_shoot_line[3],"sl3",UI_Graph_ADD,7,UI_Color_Yellow,2,810,shoot_line_location[3],1110,shoot_line_location[3]);
Line_Draw(&UI_shoot_line[4],"sl4",UI_Graph_ADD,7,UI_Color_Yellow,2,810,shoot_line_location[4],1110,shoot_line_location[4]);
UI_ReFresh(&_referee_info->referee_id,5,UI_shoot_line[0],UI_shoot_line[1],UI_shoot_line[2],UI_shoot_line[3],UI_shoot_line[4]);
//绘制车辆状态标志，静态
Char_Draw(&UI_State_sta[0],"ss0",UI_Graph_ADD,8,UI_Color_Main,15,2,150,750);
Char_Write(&UI_State_sta[0],"chassis:");
Char_ReFresh(&_referee_info->referee_id,UI_State_sta[0]);
Char_Draw(&UI_State_sta[1],"ss1",UI_Graph_ADD,8,UI_Color_Yellow,15,2,150,700);
Char_Write(&UI_State_sta[1],"gimbal:");
Char_ReFresh(&_referee_info->referee_id,UI_State_sta[1]);
Char_Draw(&UI_State_sta[2],"ss2",UI_Graph_ADD,8,UI_Color_Orange,15,2,150,650);
Char_Write(&UI_State_sta[2],"cover:");
Char_ReFresh(&_referee_info->referee_id,UI_State_sta[2]);
Char_Draw(&UI_State_sta[3],"ss3",UI_Graph_ADD,8,UI_Color_Pink,15,2,150,600);
Char_Write(&UI_State_sta[3],"frict:");
Char_ReFresh(&_referee_info->referee_id,UI_State_sta[3]);
//底盘功率显示，静态
Char_Draw(&UI_State_sta[4],"ss4",UI_Graph_ADD,8,UI_Color_Green,18,2,720,210);
Char_Write(&UI_State_sta[4],"Power:");
Char_ReFresh(&_referee_info->referee_id,UI_State_sta[4]);
//绘制车辆状态标志，动态
Char_Draw(&UI_State_dyn[0],"sd0",UI_Graph_ADD,8,UI_Color_Main,15,2,270,750);
Char_Write(&UI_State_dyn[0],"0000");
Char_ReFresh(&_referee_info->referee_id,UI_State_dyn[0]);
Char_Draw(&UI_State_dyn[1],"sd1",UI_Graph_ADD,8,UI_Color_Yellow,15,2,270,700);
Char_Write(&UI_State_dyn[1],"0000");
Char_ReFresh(&_referee_info->referee_id,UI_State_dyn[1]);
Char_Draw(&UI_State_dyn[2],"sd2",UI_Graph_ADD,8,UI_Color_Orange,15,2,270,650);
Char_Write(&UI_State_dyn[2],"0000");
Char_ReFresh(&_referee_info->referee_id,UI_State_dyn[2]);
Char_Draw(&UI_State_dyn[3],"sd3",UI_Graph_ADD,8,UI_Color_Pink,15,2,270,600);
Char_Write(&UI_State_dyn[3],"0000");
Char_ReFresh(&_referee_info->referee_id,UI_State_dyn[3]);
//底盘功率显示，动态
Char_Draw(&UI_State_dyn[4],"sd4",UI_Graph_ADD,8,UI_Color_Green,18,2,840,210);
Char_Write(&UI_State_dyn[4],"0000");
Char_ReFresh(&_referee_info->referee_id,UI_State_dyn[4]);
}
static void My_UI_Refresh(referee_info_t *_referee_info,Referee_Interactive_info_t *_Interactive_data)
{
// syhtodo 按键刷新
// syhtodo与上次不一样才要进入刷新，避免重复发送
// switch(dbus_infomation.chassis_mode)
// {
// case rotate_mode:
// {
// Char_Draw(&UI_State[0],"s1",UI_Graph_Change,8,UI_Color_Main,15,2,150,750);
// Char_Write(&UI_State[0],"chassis:rotate");
// break;
// }
// case back_middle_mode:
// {
// if (dbus_infomation.back_middle_mode_XL == X)
// {
// Char_Draw(&UI_State[0],"s1",UI_Graph_Change,8,UI_Color_Main,15,2,150,750);
// Char_Write(&UI_State[0],"chassis:follow_x");
// }
// else if (dbus_infomation.back_middle_mode_XL == L)
// {
// Char_Draw(&UI_State[0],"s1",UI_Graph_Change,8,UI_Color_Main,15,2,150,750);
// Char_Write(&UI_State[0],"chassis:follow_l");
// }
// break;
// }
// case free_mode:
// {
// Char_Draw(&UI_State[0],"s1",UI_Graph_Change,8,UI_Color_Main,15,2,150,750);
// Char_Write(&UI_State[0],"chassis:free ");
// break;
// }
// }
// Char_ReFresh(UI_State[0]);
// switch(dbus_infomation.gimbal_mode)
// {
// case mechanical_mode:
// {
// Char_Draw(&UI_State[1],"s2",UI_Graph_Change,8,UI_Color_Yellow,15,2,150,700);
// Char_Write(&UI_State[1],"gimbal:mech ");
// break;
// }
// case visual_mode:
// {
// Char_Draw(&UI_State[1],"s2",UI_Graph_Change,8,UI_Color_Yellow,15,2,150,700);
// Char_Write(&UI_State[1],"gimbal:visual");
// break;
// }
// case gyro_mode:
// {
// Char_Draw(&UI_State[1],"s2",UI_Graph_Change,8,UI_Color_Yellow,15,2,150,700);
// Char_Write(&UI_State[1],"gimbal:gyro ");
// break;
// }
// }
// Char_ReFresh(UI_State[1]);
// switch(dbus_infomation.cover_state)
// {
// case cover_close_sign:
// {
// Char_Draw(&UI_State[2],"s3",UI_Graph_Change,8,UI_Color_Orange,15,2,150,650);
// Char_Write(&UI_State[2],"cover:OFF");
// break;
// }
// case cover_open_sign:
// {
// Char_Draw(&UI_State[2],"s3",UI_Graph_Change,8,UI_Color_Orange,15,2,150,650);
// Char_Write(&UI_State[2],"cover:ON ");
// break;
// }
// }
// Char_ReFresh(UI_State[2]);
// switch(dbus_infomation.friction_state)
// {
// case friction_stop_sign:
// {
// Char_Draw(&UI_State[3],"s4",UI_Graph_Change,8,UI_Color_Pink,15,2,150,600);
// Char_Write(&UI_State[3],"friction:OFF");
// break;
// }
// case friction_start_sign:
// {
// Char_Draw(&UI_State[3],"s4",UI_Graph_Change,8,UI_Color_Pink,15,2,150,600);
// Char_Write(&UI_State[3],"friction:ON ");
// break;
// }
// }
// Char_ReFresh(UI_State[3]);
// }
// else if(timer_count == PEFEREE_PERIOD_TX_C/2)
// {
// //功率值变化
// Char_Draw(&UI_State[4],"s5",UI_Graph_Change,8,UI_Color_Green,18,2,720,240);
// Char_Write(&UI_State[4],"Voltage:%dV",super_cap_info.cap_voltage_cap);
// Char_ReFresh(UI_State[4]);
// }
// }
}
/**
* @brief 判断各种ID，选择客户端ID
* @param void
* @retval referee_info
* @attention
*/
static void determine_ID(referee_info_t *_referee_info)
{
//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_info->referee_id.Robot_Color = _referee_info->GameRobotState.robot_id >7 ? Robot_Blue : Robot_Red;
_referee_info->referee_id.Robot_ID=_referee_info->GameRobotState.robot_id;
_referee_info->referee_id.Cilent_ID = 0x0100 + _referee_info->referee_id.Robot_ID;//计算客户端ID
_referee_info->referee_id.Receiver_Robot_ID = 0x00; //机器人车间通信时接收者的ID暂时为0
}

45
application/referee/referee.h Normal file
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@@ -0,0 +1,45 @@
#ifndef REFEREE_H
#define REFEREE_H
#include "rm_referee.h"
#include "robot_def.h"
#pragma pack(1)
typedef struct
{
uint32_t chassis_flag : 1;
uint32_t gimbal_flag : 1;
uint32_t cover_flag : 1;
uint32_t friction_flag : 1;
uint32_t Power_flag : 1;
uint32_t end_angle_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
typedef struct
{
Referee_Interactive_Flag_t Referee_Interactive_Flag;
//为UI绘制以及交互数据所用
Robot_Status_e Robot_Status;// 机器人状态
App_Status_e App_Status;// 应用状态
chassis_mode_e chassis_mode;//底盘模式
gimbal_mode_e gimbal_mode;//云台模式
shoot_mode_e shoot_mode;//发射模式设置
friction_mode_e friction_mode;//摩擦轮关闭
lid_mode_e lid_mode;//弹舱盖打开
loader_mode_e loader_mode;//单发...连发
Chassis_Power_Data_s Chassis_Power_Data;// 功率控制
} Referee_Interactive_info_t;
#pragma pack()
void Referee_Interactive_init(void);
void Referee_Interactive_task(void);
#endif // REFEREE_H

3
application/robot.c
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@@ -4,6 +4,7 @@
#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
#include "chassis.h"
#include "referee.h"
#endif
#if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
@@ -23,6 +24,7 @@ void RobotInit()
#endif
#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
Referee_Interactive_init();//syh
ChassisInit();
#endif
}
@@ -37,5 +39,6 @@ void RobotTask()
#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
ChassisTask();
Referee_Interactive_task();
#endif
}