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更新了Todo Lists,规范UI绘制任务的命名和底层接口

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NeoZng
2023-06-15 12:19:32 +08:00
parent 0eec5d762b
commit c9564936ef
9 changed files with 192 additions and 260 deletions
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133
modules/referee/referee_task.c
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@@ -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)
{