TuxMonkey/bf_original_balance_chassis
1
0
Fork 0
mirror of https://gitee.com/dlmu-cone/bf_original_balance_chassis synced 2026-07-24 03:27:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
kidneygood
2023-01-24 22:37:53 +08:00
parent 289530ac10
commit 68f7e64c2a
11 changed files with 385 additions and 133 deletions
Download Patch File Download Diff File Expand all files Collapse all files

130
modules/referee/referee_UI.c
View File

@@ -1,91 +1,16 @@
#include "referee_UI.h"
#include "string.h"
#include "crc.h"
#include "bsp_usart.h"
#include "stdio.h"
#include "referee.h"
static void UI_Delete(referee_id_t *_id,uint8_t Del_Operate,uint8_t Del_Layer);
static void Line_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t End_x,uint32_t End_y);
static void Rectangle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t End_x,uint32_t End_y);
static void Circle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t Graph_Radius);
static void Elliptical_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t end_x,uint32_t end_y);
static void Arc_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_StartAngle,uint32_t Graph_EndAngle,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,
uint32_t end_x,uint32_t end_y);
static void Float_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_Size,uint32_t Graph_Digit,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,int32_t Graph_Float);
static void Integer_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_Size,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,int32_t Graph_Integer);
static void Char_Draw(String_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_Size,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y);
static void Char_Write(String_Data_t *graph,char* fmt, ...);
static int UI_ReFresh(referee_id_t *_id,int cnt,...);
static int Char_ReFresh(referee_id_t *_id,String_Data_t string_Data);
static void determine_ID(referee_info_t *_referee_info);
#include "rm_referee.h"
static uint8_t UI_Seq; //包序号
void Interactive_init(referee_info_t *_referee_info)
{
determine_ID(_referee_info);
Graph_Data_t graph[5];
Graph_Data_t num[2];
String_Data_t sdata[1];
memset(sdata[0].show_Data, 0, 30); //使用memset方法 syhtodo 数据存在初始化未默认为0的情况
memset(&graph[0], 0, 15);
UI_Delete(&_referee_info->referee_id,UI_Data_Del_ALL,0);
Line_Draw(&graph[0],"s0",UI_Graph_ADD,0,UI_Color_White,3,710,540,1210,540);
Rectangle_Draw(&graph[1],"s1",UI_Graph_ADD,0,UI_Color_Yellow,4,600,200,800,500);
Circle_Draw(&graph[2],"s2",UI_Graph_ADD,0,UI_Color_Green,5,960,540,100);
Elliptical_Draw(&graph[3],"s3",UI_Graph_ADD,0,UI_Color_Orange,3,960,540,100,20);
Arc_Draw(&graph[4],"s4",UI_Graph_ADD,0,UI_Color_Purplish_red,30,160,3,1200,550,50,100);
Float_Draw(&num[0],"s5",UI_Graph_ADD,0,UI_Color_Pink,50,3,5,1050,660,1245545);
Integer_Draw(&num[1],"s6",UI_Graph_ADD,0,UI_Color_Cyan,50,5,1050,460,12345);
UI_ReFresh(&_referee_info->referee_id,7,graph[0],graph[1],graph[2],graph[3],graph[4],num[0],num[1]);
Char_Draw(&sdata[0],"s7",UI_Graph_ADD,0,UI_Color_Green,20,2,620,710);
Char_Write(&sdata[0],"number:%d",123);
Char_ReFresh(&_referee_info->referee_id,sdata[0]);
}
/**
* @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
}
/********************************************删除操作*************************************
**参数：Del_Operate 对应头文件删除操作
**参数：_id 对应的id结构体
Del_Operate 对应头文件删除操作
Del_Layer 要删除的层 取值0-9
*****************************************************************************************/
static void UI_Delete(referee_id_t *_id,uint8_t Del_Operate,uint8_t Del_Layer)
void UI_Delete(referee_id_t *_id,uint8_t Del_Operate,uint8_t Del_Layer)
{
UI_delete_t UI_delete_data;
uint8_t temp_datalength = UI_Data_LEN_Head + UI_Operate_LEN_Del; //计算交互数据长度
@@ -122,16 +47,16 @@ static void UI_Delete(referee_id_t *_id,uint8_t Del_Operate,uint8_t Del_Layer)
End_x、End_y 终点xy坐标
**********************************************************************************************************/
static void Line_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
void Line_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t End_x,uint32_t End_y)
{
// memset(graph,0,UI_Operate_LEN_PerDraw); //如果定义的是非静态变量，数据存在初始化未默认为0的情况，使用memset方法，以下类似 syhtodo
int i;
//??????syhtodo
for(i=0;i<3&&graphname[i]!='\0';i++)
for(i=0;i<3&&graphname[i]!='\0';i++) //填充至‘0’为止
{
graph->graphic_name[2-i]=graphname[i];
graph->graphic_name[2-i]=graphname[i]; //按内存地址增大方向填充，所以会有i与2-i
}
graph->operate_tpye = Graph_Operate;
graph->graphic_tpye = UI_Graph_Line;
graph->layer = Graph_Layer;
@@ -154,9 +79,10 @@ static void Line_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Opera
Start_x、Start_y 起点xy坐标
End_x、End_y 对角顶点xy坐标
**********************************************************************************************************/
static void Rectangle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
void Rectangle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t End_x,uint32_t End_y)
{
// memset(&graph,0,UI_Operate_LEN_PerDraw);
int i;
for(i=0;i<3&&graphname[i]!='\0';i++)
{
@@ -186,9 +112,10 @@ static void Rectangle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_
Graph_Radius 圆形半径
**********************************************************************************************************/
static void Circle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
void Circle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t Graph_Radius)
{
// memset(&graph,0,UI_Operate_LEN_PerDraw);
int i;
for(i=0;i<3&&graphname[i]!='\0';i++)
{
@@ -215,9 +142,10 @@ static void Circle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Ope
Start_x、Start_y 圆心xy坐标
End_x、End_y xy半轴长度
**********************************************************************************************************/
static void Elliptical_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
void Elliptical_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t end_x,uint32_t end_y)
{
// memset(&graph,0,UI_Operate_LEN_PerDraw);
int i;
for(i=0;i<3&&graphname[i]!='\0';i++)
{
@@ -249,10 +177,11 @@ static void Elliptical_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph
x_Length,y_Length xy半轴长度
**********************************************************************************************************/
static void Arc_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
void Arc_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_StartAngle,uint32_t Graph_EndAngle,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,
uint32_t end_x,uint32_t end_y)
{
//memset(&graph,0,UI_Operate_LEN_PerDraw);
int i;
for(i=0;i<3&&graphname[i]!='\0';i++)
{
@@ -288,9 +217,10 @@ static void Arc_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operat
end_y=(a>>21)&0x7FF;
**********************************************************************************************************/
static void Float_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
void Float_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_Size,uint32_t Graph_Digit,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,int32_t Graph_Float)
{
//memset(&graph,0,UI_Operate_LEN_PerDraw);
int i;
for(i=0;i<3&&graphname[i]!='\0';i++)
{
@@ -325,9 +255,10 @@ static void Float_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Oper
end_x=(a>>10)&0x7FF;
end_y=(a>>21)&0x7FF;
**********************************************************************************************************/
static void Integer_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
void Integer_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_Size,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,int32_t Graph_Integer)
{
//memset(&graph,0,UI_Operate_LEN_PerDraw);
int i;
for(i=0;i<3&&graphname[i]!='\0';i++)
{
@@ -359,10 +290,11 @@ static void Integer_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Op
Graph_Width 图形线宽
Start_x、Start_y 开始坐标
**********************************************************************************************************/
static void Char_Draw(String_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
void Char_Draw(String_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_Size,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y)
{
memset(graph->Graph_Control.graphic_name, 0, 3);//syhtodo 是否需要手动清零
// //memset(graph->Graph_Control.graphic_name, 0, 3);//syhtodo 是否需要手动清零
//memset(&graph,0,UI_Operate_LEN_DrawChar);
int i;
for(i=0;i<3&&graphname[i]!='\0';i++)
{
@@ -388,14 +320,15 @@ static void Char_Draw(String_Data_t *graph,char graphname[3],uint32_t Graph_Oper
/************************************************绘制字符型数据*************************************************
**参数：*graph Graph_Data类型变量指针，用于存放图形数据
fmt需要显示的字符串
此函数的实现和具体使用类似于printf函数
syhtodo 尚未理解该函数的写法
**********************************************************************************************************/
static void Char_Write(String_Data_t *graph,char* fmt, ...)
void Char_Write(String_Data_t *graph,char* fmt, ...)
{
uint16_t i = 0;
va_list ap;
va_start(ap,fmt);
vsprintf((char*)graph->show_Data, fmt, ap);//使用参数列表发送格式化输出到字符串
vsprintf((char*)graph->show_Data,fmt,ap);//使用参数列表进行格式化并输出到字符串
va_end(ap);
i = strlen((const char*)graph->show_Data);
graph->Graph_Control.end_angle = i;
@@ -407,7 +340,7 @@ static void Char_Write(String_Data_t *graph,char* fmt, ...)
... 图形变量参数
Tips：：该函数只能推送1，2，5，7个图形，其他数目协议未涉及
*/
static int UI_ReFresh(referee_id_t *_id,int cnt,...)
void UI_ReFresh(referee_id_t *_id,int cnt,...)
{
int i;
UI_GraphReFresh_t UI_GraphReFresh_data;
@@ -437,8 +370,6 @@ static int UI_ReFresh(referee_id_t *_id,int cnt,...)
case 7:
UI_GraphReFresh_data.datahead.data_cmd_id=UI_Data_ID_Draw7;
break;
default:
return (-1);
}
UI_GraphReFresh_data.datahead.receiver_ID = _id->Cilent_ID;
@@ -460,12 +391,10 @@ static int UI_ReFresh(referee_id_t *_id,int cnt,...)
va_end(ap);//结束可变参数的获取
UI_Seq++; //包序号+1
return 0;
}
/************************************************UI推送字符（使更改生效）*********************************/
static int Char_ReFresh(referee_id_t *_id,String_Data_t string_Data)
void Char_ReFresh(referee_id_t *_id,String_Data_t string_Data)
{
UI_CharReFresh_t UI_CharReFresh_data;
@@ -490,6 +419,5 @@ static int Char_ReFresh(referee_id_t *_id,String_Data_t string_Data)
RefereeSend((uint8_t *)&UI_CharReFresh_data,LEN_HEADER+LEN_CMDID+temp_datalength+LEN_TAIL); //发送
UI_Seq++; //包序号+1
return 0;
}

39
modules/referee/referee_UI.h
View File

@@ -2,10 +2,9 @@
#define REFEREE_UI_H
#include "stdarg.h"
#include "usart.h"
#include "stdint.h"
#include "referee_def.h"
#include "referee.h"
#include "rm_referee.h"
#pragma pack(1) //按1字节对齐
@@ -39,6 +38,40 @@ typedef struct
#pragma pack()
void Interactive_init(referee_info_t *_referee_info);
void UI_Delete(referee_id_t *_id,uint8_t Del_Operate,uint8_t Del_Layer);
void Line_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t End_x,uint32_t End_y);
void Rectangle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t End_x,uint32_t End_y);
void Circle_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t Graph_Radius);
void Elliptical_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,uint32_t end_x,uint32_t end_y);
void Arc_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_StartAngle,uint32_t Graph_EndAngle,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,
uint32_t end_x,uint32_t end_y);
void Float_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_Size,uint32_t Graph_Digit,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,int32_t Graph_Float);
void Integer_Draw(Graph_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_Size,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y,int32_t Graph_Integer);
void Char_Draw(String_Data_t *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
uint32_t Graph_Size,uint32_t Graph_Width,uint32_t Start_x,uint32_t Start_y);
void Char_Write(String_Data_t *graph,char* fmt, ...);
void UI_ReFresh(referee_id_t *_id,int cnt,...);
void Char_ReFresh(referee_id_t *_id,String_Data_t string_Data);
#endif

13
modules/referee/referee.c → modules/referee/rm_referee.c
View File

@@ -1,4 +1,15 @@
#include "referee.h"
/**
* @file rm_referee.C
* @author kidneygood (you@domain.com)
* @brief
* @version 0.1
* @date 2022-11-18
*
* @copyright Copyright (c) 2022
*
*/
#include "rm_referee.h"
#include "string.h"
#include "crc.h"
#include "bsp_usart.h"

18
modules/referee/referee.h → modules/referee/rm_referee.h
View File

@@ -1,20 +1,10 @@
/**
* @file referee.h
* @author kidneygood (you@domain.com)
* @brief
* @version 0.1
* @date 2022-11-18
*
* @copyright Copyright (c) 2022
*
*/
#ifndef REFEREE_H
#define REFEREE_H
#ifndef RM_REFEREE_H
#define RM_REFEREE_H
#include "usart.h"
#include "referee_def.h"
#include "bsp_usart.h"
#include "robot_def.h"
#pragma pack(1)
@@ -26,7 +16,7 @@ typedef struct
uint16_t Receiver_Robot_ID; //机器人车间通信时接收者的ID
} referee_id_t;
// 次结构体包含裁判系统接收数据以及UI绘制与机器人车间通信的相关信息
// 此结构体包含裁判系统接收数据以及UI绘制与机器人车间通信的相关信息
typedef struct
{
referee_id_t referee_id;