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自定义交互数据、机器人车间通信的发送和接收，仅测试发送

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kidneygood
2023-01-26 19:52:07 +08:00
parent 67940a4e38
commit dc68657c16
7 changed files with 154 additions and 145 deletions
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22
modules/referee/referee_UI.c
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@@ -1,10 +1,20 @@
/**
* @file referee_UI.C
* @author kidneygood (you@domain.com)
* @brief
* @version 0.1
* @date 2023-1-18
*
* @copyright Copyright (c) 2022
*
*/
#include "referee_UI.h"
#include "string.h"
#include "crc.h"
#include "stdio.h"
#include "rm_referee.h"
static uint8_t UI_Seq; //包序号
//包序号
/********************************************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
@@ -13,7 +23,7 @@ static uint8_t UI_Seq; //包序号
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
uint8_t temp_datalength = Interactive_Data_LEN_Head + UI_Operate_LEN_Del; //计算交互数据长度
UI_delete_data.FrameHeader.SOF = REFEREE_SOF;
UI_delete_data.FrameHeader.DataLength = temp_datalength;
@@ -349,7 +359,7 @@ void UI_ReFresh(referee_id_t *_id,int cnt,...)
va_start(ap,cnt);//初始化 va_list 变量为一个参数列表
UI_GraphReFresh_data.FrameHeader.SOF = REFEREE_SOF;
UI_GraphReFresh_data.FrameHeader.DataLength = UI_Data_LEN_Head+cnt*UI_Operate_LEN_PerDraw;
UI_GraphReFresh_data.FrameHeader.DataLength = Interactive_Data_LEN_Head+cnt*UI_Operate_LEN_PerDraw;
UI_GraphReFresh_data.FrameHeader.Seq = UI_Seq;
UI_GraphReFresh_data.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&UI_GraphReFresh_data,LEN_CRC8,0xFF);
@@ -375,8 +385,8 @@ void UI_ReFresh(referee_id_t *_id,int cnt,...)
UI_GraphReFresh_data.datahead.sender_ID = _id->Robot_ID;
//先发送帧头、命令码、交互数据帧头三部分，并计算CRC16校验值
UI_GraphReFresh_data.frametail=Get_CRC16_Check_Sum((uint8_t *)&UI_GraphReFresh_data,LEN_HEADER+LEN_CMDID+UI_Data_LEN_Head,0xFFFF);
RefereeSend((uint8_t *)&UI_GraphReFresh_data,LEN_HEADER+LEN_CMDID+UI_Data_LEN_Head);
UI_GraphReFresh_data.frametail=Get_CRC16_Check_Sum((uint8_t *)&UI_GraphReFresh_data,LEN_HEADER+LEN_CMDID+Interactive_Data_LEN_Head,0xFFFF);
RefereeSend((uint8_t *)&UI_GraphReFresh_data,LEN_HEADER+LEN_CMDID+Interactive_Data_LEN_Head);
for(i=0;i<cnt;i++) //发送交互数据的数据帧，并计算CRC16校验值
{
@@ -397,7 +407,7 @@ void Char_ReFresh(referee_id_t *_id,String_Data_t string_Data)
{
UI_CharReFresh_t UI_CharReFresh_data;
uint8_t temp_datalength = UI_Data_LEN_Head + UI_Operate_LEN_DrawChar; //计算交互数据长度
uint8_t temp_datalength = Interactive_Data_LEN_Head + UI_Operate_LEN_DrawChar; //计算交互数据长度
UI_CharReFresh_data.FrameHeader.SOF = REFEREE_SOF;
UI_CharReFresh_data.FrameHeader.DataLength = temp_datalength;