mirror of
https://gitee.com/dlmu-cone/bf_original_balance_chassis
synced 2026-07-23 19:25:09 +08:00
更新了Todo Lists,规范UI绘制任务的命名和底层接口
This commit is contained in:
NeoZng
@@ -4,12 +4,11 @@
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首先在chassis的初始化中调用裁判系统初始化函数，将要绘制的uidata的指针传递给接口，接口会返回裁判系统的反馈数据指针。然后，在refereeUItask里进行UI初始化，确定ui发送的目标并绘制初始化UI。完成后，uitask会以10hz的频率按顺序更新UI。
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## 如何绘制你的自定义UI？以绘制超级电容能量条为例
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## 如何绘制你的自定义UI？以绘制超级电容能量条为例：
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UI的绘制包含初始化和TASK两个部分，初始化部分在`MyUIInit`函数中，TASK部分在`MyUIRefresh`函数中。
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UI的绘制包含初始化和TASK两个部分，初始化部分在`My_UI_init`函数中，TASK部分在`My_UI_Refresh`函数中。
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### 初始化部分：
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### 初始化部分
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初始化部分的UI主要有两个目的：静态UI的绘制、为动态UI的绘制做准备。
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@@ -22,7 +21,7 @@ Power：xxx Power为静态不变的，冒号后的xxx为变化的量。
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为动态UI的准备如下：
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绘制矩形方框内的初始能量条、绘制Power的初始值。
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### 绘制字符“Power:”：
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### 绘制字符“Power:”
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设置绘制用结构体，此处使用数组是因为需要绘制多个字符。本次绘制的字符为“Power:”，只是用到了第6个，即xxx[5]：
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@@ -33,7 +32,7 @@ static String_Data_t UI_State_sta[6]; // 静态
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字符格式以及内容设置：
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```c
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Char_Draw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 7, UI_Color_Green, 18, 2, 620, 230, "Power:");
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UICharDraw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 7, UI_Color_Green, 18, 2, 620, 230, "Power:");
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//各参数意义如下，函数定义中有详细注释：
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string String_Data类型变量指针，用于存放字符串数据
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@@ -47,12 +46,10 @@ Char_Draw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 7, UI_Color_Green, 18, 2, 620,
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*stringdata 字符串数据
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//设置完毕后，使用“Char_ReFresh”发送即可：
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Char_ReFresh(&referee_recv_info->referee_id, UI_State_sta[5]);
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UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[5]);
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```
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### 绘制能量框：
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### 绘制能量框
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定义一个图形类结构体，用于绘制能量框：
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@@ -63,54 +60,55 @@ static Graph_Data_t UI_energy_line[3]; // 电容能量条
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能量框参数设置以及发送函数：
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```c
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Rectangle_Draw(&UI_energy_line[0],"ss6", UI_Graph_ADD, 7, UI_Color_Green,20, 720, 220, 820, 240)
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UI_ReFresh(&referee_recv_info->referee_id, 1,UI_energy_line[0]);
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UIRectangleDraw(&UI_energy_line[0],"ss6", UI_Graph_ADD, 7, UI_Color_Green,20, 720, 220, 820, 240)
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UIRefresh(&referee_recv_info->referee_id, 1,UI_energy_line[0]);
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```
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### 绘制power的初始值：
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### 绘制power的初始值
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```c
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Float_Draw(&UI_Energy[1], "sd5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 2, 750, 230, 24000);
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UIFloatDraw(&UI_Energy[1], "sd5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 2, 750, 230, 24000);
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```
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### 绘制能量条的初始值：
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### 绘制能量条的初始值
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```c
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Line_Draw(&UI_Energy[2], "sd6", UI_Graph_ADD, 8, UI_Color_Pink, 30, 720, 160, 1020, 160);
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UILineDraw(&UI_Energy[2], "sd6", UI_Graph_ADD, 8, UI_Color_Pink, 30, 720, 160, 1020, 160);
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```
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将两个图形打包发送
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```
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UI_ReFresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]);
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UIRefresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]);
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```
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## TASK部分
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task中UI处于动态变化，此时需要检测所画的UI是否发生变化，若发生变化，则刷新对应UI。
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### 添加变化检测:
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### 添加变化检测
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绘制功率部分UI，我们需要的是`Chassis_Power_Data_s`中的数据，我们定义`Chassis_Power_Data_s Chassis_Power_Data;`和`Chassis_Power_Data_s Chassis_last_Power_Data;`分别存储此次和上次的对应数据，本次和上次对应检测变化的需求。
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```c
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typedef struct
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{
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Referee_Interactive_Flag_t Referee_Interactive_Flag;
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// 为UI绘制以及交互数据所用
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chassis_mode_e chassis_mode; // 底盘模式
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gimbal_mode_e gimbal_mode; // 云台模式
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shoot_mode_e shoot_mode; // 发射模式设置
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friction_mode_e friction_mode; // 摩擦轮关闭
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lid_mode_e lid_mode; // 弹舱盖打开
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Chassis_Power_Data_s Chassis_Power_Data; // 功率控制
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Referee_Interactive_Flag_t Referee_Interactive_Flag;
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// 为UI绘制以及交互数据所用
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chassis_mode_e chassis_mode; // 底盘模式
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gimbal_mode_e gimbal_mode; // 云台模式
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shoot_mode_e shoot_mode; // 发射模式设置
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friction_mode_e friction_mode; // 摩擦轮关闭
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lid_mode_e lid_mode; // 弹舱盖打开
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Chassis_Power_Data_s Chassis_Power_Data; // 功率控制
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// 上一次的模式，用于flag判断
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chassis_mode_e chassis_last_mode;
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gimbal_mode_e gimbal_last_mode;
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shoot_mode_e shoot_last_mode;
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friction_mode_e friction_last_mode;
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lid_mode_e lid_last_mode;
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Chassis_Power_Data_s Chassis_last_Power_Data;
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// 上一次的模式，用于flag判断
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chassis_mode_e chassis_last_mode;
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gimbal_mode_e gimbal_last_mode;
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shoot_mode_e shoot_last_mode;
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friction_mode_e friction_last_mode;
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lid_mode_e lid_last_mode;
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Chassis_Power_Data_s Chassis_last_Power_Data;
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} Referee_Interactive_info_t;
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```
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@@ -120,17 +118,19 @@ typedef struct
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```
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typedef struct
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{
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uint32_t chassis_flag : 1;
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uint32_t gimbal_flag : 1;
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uint32_t shoot_flag : 1;
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uint32_t lid_flag : 1;
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uint32_t friction_flag : 1;
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uint32_t Power_flag : 1;
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uint32_t chassis_flag : 1;
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uint32_t gimbal_flag : 1;
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uint32_t shoot_flag : 1;
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uint32_t lid_flag : 1;
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uint32_t friction_flag : 1;
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uint32_t Power_flag : 1;
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} Referee_Interactive_Flag_t;
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```
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在变化检测函数中增加对应判断,由于voltage和能量条的变化对应同一个参数`Chassis_last_Power_Data.chassis_power_mx`的变化，所以只需要一个参数即可：
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```
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static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data)
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static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data)
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{
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if (_Interactive_data->chassis_mode != _Interactive_data->chassis_last_mode)
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......
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@@ -148,52 +148,49 @@ static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data)
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}
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}
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```
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### 根据功率的变化绘制UI：
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### 根据功率的变化绘制UI
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在绘制变化的UI时，由于初始化时已经使用`UI_Graph_ADD`操作添加了UI，所以在绘制时，需要使用`UI_Graph_Change`操作，以便于刷新UI。
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同时，完成UI刷新后，需要将对应的flag置0，以便于下次检测变化
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```
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if (_Interactive_data->Referee_Interactive_Flag.Power_flag == 1)
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{
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Float_Draw(&UI_Energy[1], "sd5", UI_Graph_Change, 8, UI_Color_Green, 18, 2, 2, 750, 230, _Interactive_data->Chassis_Power_Data.chassis_power_mx * 1000);
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Line_Draw(&UI_Energy[2], "sd6", UI_Graph_Change, 8, UI_Color_Pink, 30, 720, 160, (uint32_t)750 + _Interactive_data->Chassis_Power_Data.chassis_power_mx * 30, 160);
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UI_ReFresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]);
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_Interactive_data->Referee_Interactive_Flag.Power_flag = 0;
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UIFloatDraw(&UI_Energy[1], "sd5", UI_Graph_Change, 8, UI_Color_Green, 18, 2, 2, 750, 230, _Interactive_data->Chassis_Power_Data.chassis_power_mx * 1000);
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UILineDraw(&UI_Energy[2], "sd6", UI_Graph_Change, 8, UI_Color_Pink, 30, 720, 160, (uint32_t)750 + _Interactive_data->Chassis_Power_Data.chassis_power_mx * 30, 160);
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UIRefresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]);
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_Interactive_data->Referee_Interactive_Flag.Power_flag = 0;
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}
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```
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---
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#
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#
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#
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若需要进行多机交互，可增加此函数：
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```c
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void CommBetweenRobotSend(referee_id_t *_id, robot_interactive_data_t *_data)
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{
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Communicate_SendData_t SendData;
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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
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Communicate_SendData_t SendData;
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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
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SendData.FrameHeader.SOF = REFEREE_SOF;
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SendData.FrameHeader.DataLength = temp_datalength;
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SendData.FrameHeader.Seq = UI_Seq;
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SendData.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&SendData, LEN_CRC8, 0xFF);
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SendData.FrameHeader.SOF = REFEREE_SOF;
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SendData.FrameHeader.DataLength = temp_datalength;
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SendData.FrameHeader.Seq = UI_Seq;
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SendData.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&SendData, LEN_CRC8, 0xFF);
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SendData.CmdID = ID_student_interactive;
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SendData.CmdID = ID_student_interactive;
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SendData.datahead.data_cmd_id = Communicate_Data_ID;
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SendData.datahead.sender_ID = _id->Robot_ID;
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SendData.datahead.receiver_ID = _id->Receiver_Robot_ID;
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SendData.datahead.data_cmd_id = Communicate_Data_ID;
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SendData.datahead.sender_ID = _id->Robot_ID;
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SendData.datahead.receiver_ID = _id->Receiver_Robot_ID;
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SendData.Data = *_data;
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SendData.Data = *_data;
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SendData.frametail = Get_CRC16_Check_Sum((uint8_t *)&SendData, LEN_HEADER + LEN_CMDID + temp_datalength, 0xFFFF);
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SendData.frametail = Get_CRC16_Check_Sum((uint8_t *)&SendData, LEN_HEADER + LEN_CMDID + temp_datalength, 0xFFFF);
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RefereeSend((uint8_t *)&SendData, LEN_HEADER + LEN_CMDID + temp_datalength + LEN_TAIL); // 发送
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UI_Seq++; // 包序号+1
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RefereeSend((uint8_t *)&SendData, LEN_HEADER + LEN_CMDID + temp_datalength + LEN_TAIL); // 发送
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UI_Seq++; // 包序号+1
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}
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```
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```
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@@ -57,8 +57,8 @@ void UIDelete(referee_id_t *_id, uint8_t Del_Operate, uint8_t Del_Layer)
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End_x、End_y 终点xy坐标
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**********************************************************************************************************/
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void Line_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
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uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t End_x, uint32_t End_y)
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void UILineDraw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
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uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t End_x, uint32_t End_y)
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{
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int i;
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for (i = 0; i < 3 && graphname[i] != '\0'; i++) // 填充至‘0’为止
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@@ -91,8 +91,8 @@ void Line_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, u
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Start_x、Start_y 起点xy坐标
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End_x、End_y 对角顶点xy坐标
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**********************************************************************************************************/
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void Rectangle_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
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uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t End_x, uint32_t End_y)
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void UIRectangleDraw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
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uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t End_x, uint32_t End_y)
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{
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int i;
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for (i = 0; i < 3 && graphname[i] != '\0'; i++)
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@@ -126,8 +126,8 @@ void Rectangle_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Opera
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Graph_Radius 圆形半径
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**********************************************************************************************************/
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void Circle_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
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uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t Graph_Radius)
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void UICircleDraw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
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uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t Graph_Radius)
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{
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int i;
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for (i = 0; i < 3 && graphname[i] != '\0'; i++)
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@@ -159,8 +159,8 @@ void Circle_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate,
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Start_x、Start_y 圆心xy坐标
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End_x、End_y xy半轴长度
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**********************************************************************************************************/
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void Elliptical_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
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uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t end_x, uint32_t end_y)
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void UIOvalDraw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
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uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t end_x, uint32_t end_y)
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{
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int i;
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for (i = 0; i < 3 && graphname[i] != '\0'; i++)
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@@ -196,9 +196,9 @@ void Elliptical_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Oper
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x_Length,y_Length xy半轴长度
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**********************************************************************************************************/
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void Arc_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
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uint32_t Graph_StartAngle, uint32_t Graph_EndAngle, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y,
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uint32_t end_x, uint32_t end_y)
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void UIArcDraw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
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uint32_t Graph_StartAngle, uint32_t Graph_EndAngle, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y,
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uint32_t end_x, uint32_t end_y)
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{
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int i;
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for (i = 0; i < 3 && graphname[i] != '\0'; i++)
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@@ -236,8 +236,8 @@ void Arc_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, ui
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end_y=(a>>21)&0x7FF;
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**********************************************************************************************************/
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void Float_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
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uint32_t Graph_Size, uint32_t Graph_Digit, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, int32_t Graph_Float)
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void UIFloatDraw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
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uint32_t Graph_Size, uint32_t Graph_Digit, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, int32_t Graph_Float)
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{
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int i;
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@@ -274,8 +274,8 @@ void Float_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate,
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end_x=(a>>10)&0x7FF;
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end_y=(a>>21)&0x7FF;
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**********************************************************************************************************/
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void Integer_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
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uint32_t Graph_Size, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, int32_t Graph_Integer)
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void UIIntDraw(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)
|
||||
{
|
||||
int i;
|
||||
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
|
||||
@@ -311,8 +311,8 @@ void Integer_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate
|
||||
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
|
||||
**********************************************************************************************************/
|
||||
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, char *fmt, ...)
|
||||
void UICharDraw(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, char *fmt, ...)
|
||||
{
|
||||
int i;
|
||||
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
|
||||
@@ -345,7 +345,7 @@ void Char_Draw(String_Data_t *graph, char graphname[3], uint32_t Graph_Operate,
|
||||
... 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
|
||||
*/
|
||||
void UI_ReFresh(referee_id_t *_id, int cnt, ...)
|
||||
void UIGraphRefresh(referee_id_t *_id, int cnt, ...)
|
||||
{
|
||||
UI_GraphReFresh_t UI_GraphReFresh_data;
|
||||
Graph_Data_t graphData;
|
||||
@@ -390,13 +390,13 @@ void UI_ReFresh(referee_id_t *_id, int cnt, ...)
|
||||
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);
|
||||
RefereeSend(buffer, temp_datalength);
|
||||
RefereeSend(buffer, temp_datalength);
|
||||
|
||||
va_end(ap); // 结束可变参数的获取
|
||||
}
|
||||
|
||||
/************************************************UI推送字符（使更改生效）*********************************/
|
||||
void Char_ReFresh(referee_id_t *_id, String_Data_t string_Data)
|
||||
void UICharRefresh(referee_id_t *_id, String_Data_t string_Data)
|
||||
{
|
||||
static UI_CharReFresh_t UI_CharReFresh_data;
|
||||
|
||||
|
||||
@@ -40,33 +40,33 @@ typedef struct
|
||||
|
||||
void UIDelete(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 UILineDraw(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 UIRectangleDraw(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 UICircleDraw(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 UIOvalDraw(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 UIArcDraw(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 UIFloatDraw(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 UIIntDraw(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, char *fmt, ...);
|
||||
void UICharDraw(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, char *fmt, ...);
|
||||
|
||||
void UI_ReFresh(referee_id_t *_id, int cnt, ...);
|
||||
void UIGraphRefresh(referee_id_t *_id, int cnt, ...);
|
||||
|
||||
void Char_ReFresh(referee_id_t *_id, String_Data_t string_Data);
|
||||
void UICharRefresh(referee_id_t *_id, String_Data_t string_Data);
|
||||
|
||||
#endif
|
||||
|
||||
@@ -35,13 +35,11 @@ static void DeterminRobotID()
|
||||
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
|
||||
static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_info_t *_Interactive_data);
|
||||
static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data); // 模式切换检测
|
||||
static void RobotModeTest(Referee_Interactive_info_t *_Interactive_data); // 测试用函数，实现模式自动变化
|
||||
|
||||
// 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
|
||||
|
||||
referee_info_t *Referee_Interactive_init(UART_HandleTypeDef *referee_usart_handle, Referee_Interactive_info_t *UI_data)
|
||||
referee_info_t *UITaskInit(UART_HandleTypeDef *referee_usart_handle, Referee_Interactive_info_t *UI_data)
|
||||
{
|
||||
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
|
||||
@@ -49,10 +47,10 @@ referee_info_t *Referee_Interactive_init(UART_HandleTypeDef *referee_usart_handl
|
||||
return referee_recv_info;
|
||||
}
|
||||
|
||||
void Referee_Interactive_task()
|
||||
void UITask()
|
||||
{
|
||||
robot_mode_change(Interactive_data); // 测试用函数，实现模式自动变化
|
||||
My_UI_Refresh(referee_recv_info, Interactive_data);
|
||||
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
|
||||
@@ -61,66 +59,67 @@ 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};
|
||||
|
||||
void My_UI_init()
|
||||
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
|
||||
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
|
||||
|
||||
DeterminRobotID(); // 确定ui要发送到的目标客户端
|
||||
|
||||
DeterminRobotID(); // 确定ui要发送到的目标客户端
|
||||
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]);
|
||||
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_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[0], "sl0", UI_Graph_ADD, 7, UI_Color_White, 3, 710, shoot_line_location[0], 1210, shoot_line_location[0]);
|
||||
UILineDraw(&UI_shoot_line[1], "sl1", UI_Graph_ADD, 7, UI_Color_White, 3, shoot_line_location[1], 340, shoot_line_location[1], 740);
|
||||
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]);
|
||||
|
||||
// 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_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_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_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_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_recv_info->referee_id, UI_State_sta[4]);
|
||||
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:");
|
||||
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:");
|
||||
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:");
|
||||
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
|
||||
Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 270, 750, "zeroforce");
|
||||
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_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_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_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_recv_info->referee_id, UI_State_dyn[4]);
|
||||
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");
|
||||
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");
|
||||
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 ");
|
||||
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
|
||||
|
||||
// 底盘功率显示，静态
|
||||
Char_Draw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 7, UI_Color_Green, 18, 2, 620, 230, "Power:");
|
||||
Char_ReFresh(&referee_recv_info->referee_id, UI_State_sta[5]);
|
||||
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
|
||||
Rectangle_Draw(&UI_Energy[0], "ss6", UI_Graph_ADD, 7, UI_Color_Green, 2, 720, 140, 1220, 180);
|
||||
UI_ReFresh(&referee_recv_info->referee_id, 1, UI_Energy[0]);
|
||||
UIRectangleDraw(&UI_Energy[0], "ss6", UI_Graph_ADD, 7, UI_Color_Green, 2, 720, 140, 1220, 180);
|
||||
UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[0]);
|
||||
|
||||
// 底盘功率显示,动态
|
||||
Float_Draw(&UI_Energy[1], "sd5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 2, 750, 230, 24000);
|
||||
UIFloatDraw(&UI_Energy[1], "sd5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 2, 750, 230, 24000);
|
||||
// 能量条初始状态
|
||||
Line_Draw(&UI_Energy[2], "sd6", UI_Graph_ADD, 8, UI_Color_Pink, 30, 720, 160, 1020, 160);
|
||||
UI_ReFresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]);
|
||||
UILineDraw(&UI_Energy[2], "sd6", UI_Graph_ADD, 8, UI_Color_Pink, 30, 720, 160, 1020, 160);
|
||||
UIGraphRefresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]);
|
||||
}
|
||||
|
||||
// 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
|
||||
static uint8_t count = 0;
|
||||
static uint16_t count1 = 0;
|
||||
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 RobotModeTest(Referee_Interactive_info_t *_Interactive_data) // 测试用函数，实现模式自动变化
|
||||
{
|
||||
count++;
|
||||
if (count >= 50)
|
||||
@@ -174,29 +173,29 @@ static void robot_mode_change(Referee_Interactive_info_t *_Interactive_data) //
|
||||
}
|
||||
}
|
||||
|
||||
static void My_UI_Refresh(referee_info_t *referee_recv_info, Referee_Interactive_info_t *_Interactive_data)
|
||||
static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_info_t *_Interactive_data)
|
||||
{
|
||||
Mode_Change_Check(_Interactive_data);
|
||||
UIChangeCheck(_Interactive_data);
|
||||
// chassis
|
||||
if (_Interactive_data->Referee_Interactive_Flag.chassis_flag == 1)
|
||||
{
|
||||
switch (_Interactive_data->chassis_mode)
|
||||
{
|
||||
case CHASSIS_ZERO_FORCE:
|
||||
Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "zeroforce");
|
||||
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "zeroforce");
|
||||
break;
|
||||
case CHASSIS_ROTATE:
|
||||
Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "rotate ");
|
||||
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_NO_FOLLOW:
|
||||
Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "nofollow ");
|
||||
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "nofollow ");
|
||||
break;
|
||||
case CHASSIS_FOLLOW_GIMBAL_YAW:
|
||||
Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "follow ");
|
||||
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "follow ");
|
||||
break;
|
||||
}
|
||||
Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[0]);
|
||||
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[0]);
|
||||
_Interactive_data->Referee_Interactive_Flag.chassis_flag = 0;
|
||||
}
|
||||
// gimbal
|
||||
@@ -206,50 +205,50 @@ static void My_UI_Refresh(referee_info_t *referee_recv_info, Referee_Interactive
|
||||
{
|
||||
case GIMBAL_ZERO_FORCE:
|
||||
{
|
||||
Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "zeroforce");
|
||||
UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "zeroforce");
|
||||
break;
|
||||
}
|
||||
case GIMBAL_FREE_MODE:
|
||||
{
|
||||
Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "free ");
|
||||
UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "free ");
|
||||
break;
|
||||
}
|
||||
case GIMBAL_GYRO_MODE:
|
||||
{
|
||||
Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "gyro ");
|
||||
UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700, "gyro ");
|
||||
break;
|
||||
}
|
||||
}
|
||||
Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[1]);
|
||||
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)
|
||||
{
|
||||
Char_Draw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 650, _Interactive_data->shoot_mode == SHOOT_ON ? "on " : "off");
|
||||
Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[2]);
|
||||
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)
|
||||
{
|
||||
Char_Draw(&UI_State_dyn[3], "sd3", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 600, _Interactive_data->friction_mode == FRICTION_ON ? "on " : "off");
|
||||
Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[3]);
|
||||
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]);
|
||||
_Interactive_data->Referee_Interactive_Flag.friction_flag = 0;
|
||||
}
|
||||
// lid
|
||||
if (_Interactive_data->Referee_Interactive_Flag.lid_flag == 1)
|
||||
{
|
||||
Char_Draw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 550, _Interactive_data->lid_mode == LID_OPEN ? "open " : "close");
|
||||
Char_ReFresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
|
||||
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");
|
||||
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]);
|
||||
_Interactive_data->Referee_Interactive_Flag.lid_flag = 0;
|
||||
}
|
||||
// power
|
||||
if (_Interactive_data->Referee_Interactive_Flag.Power_flag == 1)
|
||||
{
|
||||
Float_Draw(&UI_Energy[1], "sd5", UI_Graph_Change, 8, UI_Color_Green, 18, 2, 2, 750, 230, _Interactive_data->Chassis_Power_Data.chassis_power_mx * 1000);
|
||||
Line_Draw(&UI_Energy[2], "sd6", UI_Graph_Change, 8, UI_Color_Pink, 30, 720, 160, (uint32_t)750 + _Interactive_data->Chassis_Power_Data.chassis_power_mx * 30, 160);
|
||||
UI_ReFresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]);
|
||||
UIFloatDraw(&UI_Energy[1], "sd5", UI_Graph_Change, 8, UI_Color_Green, 18, 2, 2, 750, 230, _Interactive_data->Chassis_Power_Data.chassis_power_mx * 1000);
|
||||
UILineDraw(&UI_Energy[2], "sd6", UI_Graph_Change, 8, UI_Color_Pink, 30, 720, 160, (uint32_t)750 + _Interactive_data->Chassis_Power_Data.chassis_power_mx * 30, 160);
|
||||
UIGraphRefresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]);
|
||||
_Interactive_data->Referee_Interactive_Flag.Power_flag = 0;
|
||||
}
|
||||
}
|
||||
@@ -260,7 +259,7 @@ static void My_UI_Refresh(referee_info_t *referee_recv_info, Referee_Interactive
|
||||
* @retval none
|
||||
* @attention
|
||||
*/
|
||||
static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data)
|
||||
static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data)
|
||||
{
|
||||
if (_Interactive_data->chassis_mode != _Interactive_data->chassis_last_mode)
|
||||
{
|
||||
|
||||
@@ -8,18 +8,18 @@
|
||||
* @brief 初始化裁判系统交互任务(UI和多机通信)
|
||||
*
|
||||
*/
|
||||
referee_info_t *Referee_Interactive_init(UART_HandleTypeDef *referee_usart_handle, Referee_Interactive_info_t *UI_data);
|
||||
referee_info_t *UITaskInit(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();
|
||||
void MyUIInit();
|
||||
|
||||
/**
|
||||
* @brief 裁判系统交互任务(UI和多机通信)
|
||||
*
|
||||
*/
|
||||
void Referee_Interactive_task();
|
||||
void UITask();
|
||||
|
||||
#endif // REFEREE_H
|
||||
|
||||
Reference in New Issue
Block a user