修改了初始化顺序和布局

2026-07-23 19:25:09 +08:00 · 2023-04-19 19:28:17 +08:00
parent f6c686598d
commit bcb1d72a97
9 changed files with 93 additions and 372 deletions
--- a/modules/referee/referee.md
+++ b/modules/referee/referee.md
@@ -1 +1,29 @@
-# referee
+# referee
+
+
+若需要进行多机交互，可增加此函数：
+```c
+void CommBetweenRobotSend(referee_id_t *_id, robot_interactive_data_t *_data)
+{
+	Communicate_SendData_t SendData;
+	uint8_t temp_datalength = Interactive_Data_LEN_Head + Communicate_Data_LEN; // 计算交互数据长度  6+n,n为交互数据长度
+
+	SendData.FrameHeader.SOF = REFEREE_SOF;
+	SendData.FrameHeader.DataLength = temp_datalength;
+	SendData.FrameHeader.Seq = UI_Seq;
+	SendData.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&SendData, LEN_CRC8, 0xFF);
+
+	SendData.CmdID = ID_student_interactive;
+
+	SendData.datahead.data_cmd_id = Communicate_Data_ID;
+	SendData.datahead.sender_ID = _id->Robot_ID;
+	SendData.datahead.receiver_ID = _id->Receiver_Robot_ID;
+
+	SendData.Data = *_data;
+
+	SendData.frametail = Get_CRC16_Check_Sum((uint8_t *)&SendData, LEN_HEADER + LEN_CMDID + temp_datalength, 0xFFFF);
+
+	RefereeSend((uint8_t *)&SendData, LEN_HEADER + LEN_CMDID + temp_datalength + LEN_TAIL); // 发送
+	UI_Seq++;																				// 包序号+1
+}
+```
--- a/modules/referee/referee_UI.c
+++ b/modules/referee/referee_UI.c
@@ -389,7 +389,7 @@ void UI_ReFresh(referee_id_t *_id, int cnt, ...)
 		graphData = va_arg(ap, Graph_Data_t); // 访问参数列表中的每个项,第二个参数是你要返回的参数的类型,在取值时需要将其强制转化为指定类型的变量
 		memcpy(buffer + (LEN_HEADER + LEN_CMDID + Interactive_Data_LEN_Head + UI_Operate_LEN_PerDraw * i), (uint8_t *)&graphData, UI_Operate_LEN_PerDraw);
 	}
-	Append_CRC16_Check_Sum(buffer,temp_datalength);
+	Append_CRC16_Check_Sum(buffer, temp_datalength);
 	RefereeSend(buffer, temp_datalength); // 发送CRC16校验值

 	va_end(ap); // 结束可变参数的获取
--- a/modules/referee/referee_task.c
+++ b/modules/referee/referee_task.c
@@ -16,21 +16,32 @@
 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

-static void DeterminRobotID(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);
+/**
+ * @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 My_UI_Refresh(referee_info_t *referee_recv_info, Referee_Interactive_info_t *_Interactive_data);
 static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data); // 模式切换检测

 // syhtod 正式上车后需删除
 static void robot_mode_change(Referee_Interactive_info_t *_Interactive_data); // 测试用函数，实现模式自动变化
-static void UI_test_init(referee_info_t *_referee_info);                      // UI测试函数

-void Referee_Interactive_init()
+referee_info_t *Referee_Interactive_init(UART_HandleTypeDef *referee_usart_handle, Referee_Interactive_info_t *UI_data)
 {
-    RefereeGetUIData(&referee_recv_info, &Interactive_data);
-    while (referee_recv_info->GameRobotState.robot_id == 0);
-    DeterminRobotID(referee_recv_info);
-    My_UI_init(referee_recv_info);
+    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
+    return referee_recv_info;
 }

 void Referee_Interactive_task()
@@ -44,9 +55,10 @@ 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 void My_UI_init(referee_info_t *_referee_info)
+void My_UI_init()
 {
-    UIDelete(&_referee_info->referee_id, UI_Data_Del_ALL, 0);
+    DeterminRobotID();
+    UIDelete(&referee_recv_info->referee_id, UI_Data_Del_ALL, 0); // 清空UI

    // // 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]);
@@ -55,40 +67,40 @@ static void My_UI_init(referee_info_t *_referee_info)
    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]);
+    UI_ReFresh(&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]);

    // 绘制车辆状态标志指示
    Char_Draw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 150, 750, "chassis:");
-    Char_ReFresh(&_referee_info->referee_id, UI_State_sta[0]);
+    Char_ReFresh(&referee_recv_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, "gimbal:");
-    Char_ReFresh(&_referee_info->referee_id, UI_State_sta[1]);
+    Char_ReFresh(&referee_recv_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, "shoot:");
-    Char_ReFresh(&_referee_info->referee_id, UI_State_sta[2]);
+    Char_ReFresh(&referee_recv_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, "frict:");
-    Char_ReFresh(&_referee_info->referee_id, UI_State_sta[3]);
+    Char_ReFresh(&referee_recv_info->referee_id, UI_State_sta[3]);
    Char_Draw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 150, 550, "lid:");
-    Char_ReFresh(&_referee_info->referee_id, UI_State_sta[4]);
+    Char_ReFresh(&referee_recv_info->referee_id, UI_State_sta[4]);

    // 底盘功率显示，静态
    Char_Draw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 720, 210, "Power:");
-    Char_ReFresh(&_referee_info->referee_id, UI_State_sta[5]);
+    Char_ReFresh(&referee_recv_info->referee_id, UI_State_sta[5]);

    // 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
    Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 270, 750, "zeroforce");
-    Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[0]);
+    Char_ReFresh(&referee_recv_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, "zeroforce");
-    Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[1]);
+    Char_ReFresh(&referee_recv_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, "off");
-    Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[2]);
+    Char_ReFresh(&referee_recv_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, "off");
-    Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[3]);
+    Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[3]);
    Char_Draw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 550, "open ");
-    Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[4]);
+    Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[4]);

    // 底盘功率显示,动态
    Char_Draw(&UI_State_dyn[5], "sd5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 840, 210, "0000");
-    Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[5]);
+    Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[5]);
 }

 static uint8_t count = 0;
@@ -144,7 +156,7 @@ static void robot_mode_change(Referee_Interactive_info_t *_Interactive_data) //
    }
 }

-static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_info_t *_Interactive_data)
+static void My_UI_Refresh(referee_info_t *referee_recv_info, Referee_Interactive_info_t *_Interactive_data)
 {
    Mode_Change_Check(_Interactive_data);
    // chassis
@@ -166,7 +178,7 @@ static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_inf
            Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "follow   ");
            break;
        }
-        Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[0]);
+        Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[0]);
        _Interactive_data->Referee_Interactive_Flag.chassis_flag = 0;
    }
    // gimbal
@@ -190,7 +202,7 @@ static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_inf
            break;
        }
        }
-        Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[1]);
+        Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[1]);
        _Interactive_data->Referee_Interactive_Flag.gimbal_flag = 0;
    }
    // shoot
@@ -209,7 +221,7 @@ static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_inf
            break;
        }
        }
-        Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[2]);
+        Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[2]);
        _Interactive_data->Referee_Interactive_Flag.shoot_flag = 0;
    }

@@ -228,7 +240,7 @@ static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_inf
            break;
        }
        }
-        Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[3]);
+        Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[3]);
        _Interactive_data->Referee_Interactive_Flag.friction_flag = 0;
    }

@@ -247,7 +259,7 @@ static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_inf
            break;
        }
        }
-        Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[4]);
+        Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
        _Interactive_data->Referee_Interactive_Flag.lid_flag = 0;
    }
 }
@@ -290,40 +302,3 @@ static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data)
        _Interactive_data->lid_last_mode = _Interactive_data->lid_mode;
    }
 }
-
-/**
- * @brief  判断各种ID，选择客户端ID
- * @param  referee_info_t *_referee_info
- * @retval none
- * @attention
- */
-static void DeterminRobotID(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 = 0;
-}
-
-/* 测试用函数 */
-static void UI_test_init(referee_info_t *_referee_info)
-{
-    Graph_Data_t graph[5];
-    Graph_Data_t num[2];
-    String_Data_t sdata[1];
-    UIDelete(&_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, "number:%d", 123);
-    Char_ReFresh(&_referee_info->referee_id, sdata[0]);
-}
--- a/modules/referee/referee_task.h
+++ b/modules/referee/referee_task.h
@@ -8,7 +8,13 @@
 * @brief 初始化裁判系统交互任务(UI和多机通信)
 *
 */
-void Referee_Interactive_init();
+referee_info_t *Referee_Interactive_init(UART_HandleTypeDef *referee_usart_handle, Referee_Interactive_info_t *UI_data);
+
+/**
+ * @brief 在referee task之前调用,添加在freertos.c中
+ * 
+ */
+void My_UI_init();

 /**
 * @brief 裁判系统交互任务(UI和多机通信)
--- a/modules/referee/rm_referee.c
+++ b/modules/referee/rm_referee.c
@@ -19,7 +19,6 @@

 static USARTInstance *referee_usart_instance; // 裁判系统串口实例
 static referee_info_t referee_info;			  // 裁判系统数据
-static Referee_Interactive_info_t *UI_tmp;	  // UI绘制需要的机器人状态数据

 static void RefereeRxCallback();
 static void JudgeReadData(uint8_t *buff);
@@ -27,46 +26,17 @@ static void JudgeReadData(uint8_t *buff);
 uint8_t UI_Seq = 0; // 包序号，供整个referee文件使用

 /* 裁判系统通信初始化 */
-referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle, Referee_Interactive_info_t *UI_data)
+referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle)
 {
 	USART_Init_Config_s conf;
 	conf.module_callback = RefereeRxCallback;
 	conf.usart_handle = referee_usart_handle;
 	conf.recv_buff_size = RE_RX_BUFFER_SIZE;
 	referee_usart_instance = USARTRegister(&conf);
-	UI_tmp = UI_data;
 	return &referee_info;
 }

-void RefereeGetUIData(referee_info_t **recv_info_pp, Referee_Interactive_info_t **UI_data_pp)
-{
-	*recv_info_pp = &referee_info;
-	*UI_data_pp = UI_tmp;
-}

-void CommBetweenRobotSend(referee_id_t *_id, robot_interactive_data_t *_data)
-{
-	Communicate_SendData_t SendData;
-	uint8_t temp_datalength = Interactive_Data_LEN_Head + Communicate_Data_LEN; // 计算交互数据长度  6+n,n为交互数据长度
-
-	SendData.FrameHeader.SOF = REFEREE_SOF;
-	SendData.FrameHeader.DataLength = temp_datalength;
-	SendData.FrameHeader.Seq = UI_Seq;
-	SendData.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&SendData, LEN_CRC8, 0xFF);
-
-	SendData.CmdID = ID_student_interactive;
-
-	SendData.datahead.data_cmd_id = Communicate_Data_ID;
-	SendData.datahead.sender_ID = _id->Robot_ID;
-	SendData.datahead.receiver_ID = _id->Receiver_Robot_ID;
-
-	SendData.Data = *_data;
-
-	SendData.frametail = Get_CRC16_Check_Sum((uint8_t *)&SendData, LEN_HEADER + LEN_CMDID + temp_datalength, 0xFFFF);
-
-	RefereeSend((uint8_t *)&SendData, LEN_HEADER + LEN_CMDID + temp_datalength + LEN_TAIL); // 发送
-	UI_Seq++;																				// 包序号+1
-}

 /**
 * @brief 裁判系统数据发送函数,由于使用
--- a/modules/referee/rm_referee.h
+++ b/modules/referee/rm_referee.h
@@ -68,8 +68,8 @@ typedef struct
 	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
-	
-	//上一次的模式，用于flag判断
+
+	// 上一次的模式，用于flag判断
 	chassis_mode_e chassis_last_mode;	// 底盘模式
 	gimbal_mode_e gimbal_last_mode;		// 云台模式
 	shoot_mode_e shoot_last_mode;		// 发射模式设置
@@ -81,35 +81,19 @@ typedef struct
 #pragma pack()

 /**
- * @brief 裁判系统通信初始化, 该函数会初始化裁判系统串口,开启中断,同时将UI绘制的数据指针传入
- * 
+ * @brief 裁判系统通信初始化,该函数会初始化裁判系统串口,开启中断
+ *
 * @param referee_usart_handle 串口handle,C板一般用串口6
- * @param UI_data UI绘制数据指针,即保存着UI绘制的各种状态数据
 * @return referee_info_t* 返回裁判系统反馈的数据,包括热量/血量/状态等
 */
-referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle, Referee_Interactive_info_t *UI_data);
+referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle);

 /**
- * @brief 由UI绘制的任务初始化调用,用于获取裁判系统反馈的数据指针和UI绘制的数据指针,以便UI绘制任务使用
- * 
- * @param recv_info_pp 指向裁判系统反馈的数据指针
- * @param UI_data_pp 
- */
-void RefereeGetUIData(referee_info_t **recv_info_pp, Referee_Interactive_info_t **UI_data_pp);
-
-/**
- * @brief  发送机器人间的交互数据
- * @param  referee_id_t *_id  sender为本机器人，receiver为接收方机器人，发送前设置Receiver_Robot_ID再调用该函数
- *         robot_interactive_data_t *data    数据段
- * @retval none
- * @attention
- */
-void CommBetweenRobotSend(referee_id_t *_id, robot_interactive_data_t *_data);
-
-/**
- * @brief 发送函数
- * @todo
- * @param
+ * @brief UI绘制和交互数的发送接口,由UI绘制任务和多机通信函数调用
+ * @note 内部包含了一个实时系统的延时函数,这是因为裁判系统接收CMD数据至高位10Hz
+ *
+ * @param send 发送数据首地址
+ * @param tx_len 发送长度
 */
 void RefereeSend(uint8_t *send, uint16_t tx_len);