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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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84
modules/referee/referee_communication.c
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@@ -1,51 +1,45 @@
/**
* @file referee_communication.h
* @author kidneygood (you@domain.com)
* @version 0.1
* @date 2022-12-02
*
* @copyright Copyright (c) HNU YueLu EC 2022 all rights reserved
*
*/
#include "referee_communication.h"
#include "crc.h"
#include "stdio.h"
#include "rm_referee.h"
/**
* @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 Communicate_SendData(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);
// #define send_max_len 200
// unsigned char CliendTxBuffer[send_max_len];
// void JUDGE_Show_Data(void)
// {
// static uint8_t datalength,i;
// uint8_t judge_led = 0xff;//初始化led为全绿
// static uint8_t auto_led_time = 0;
// static uint8_t buff_led_time = 0;
// determine_ID();//判断发送者ID和其对应的客户端ID
// ShowData.txFrameHeader.SOF = 0xA5;
// ShowData.txFrameHeader.DataLength = sizeof(ext_student_interactive_header_data_t) + sizeof(client_custom_data_t);
// ShowData.txFrameHeader.Seq = 0;
// memcpy(CliendTxBuffer, &ShowData.txFrameHeader, sizeof(xFrameHeader));//写入帧头数据
// Append_CRC8_Check_Sum(CliendTxBuffer, sizeof(xFrameHeader));//写入帧头CRC8校验码
// ShowData.CmdID = 0x0301;
// ShowData.dataFrameHeader.data_cmd_id = 0xD180;//发给客户端的cmd,官方固定
// //ID已经是自动读取的了
// ShowData.dataFrameHeader.send_ID = Judge_Self_ID;//发送者的ID
// ShowData.dataFrameHeader.receiver_ID = Judge_SelfClient_ID;//客户端的ID，只能为发送者机器人对应的客户端
// /*- 自定义内容 -*/
// ShowData.clientData.data1 = (float)Capvoltage_Percent();//电容剩余电量
// ShowData.clientData.data2 = (float)Base_Angle_Measure();//吊射角度测
// ShowData.clientData.data3 = GIMBAL_PITCH_Judge_Angle();//云台抬头角度
// ShowData.clientData.masks = judge_led;//0~5位0红灯,1绿灯
// //打包写入数据段
// memcpy(
// CliendTxBuffer + 5,
// (uint8_t*)&ShowData.CmdID,
// (sizeof(ShowData.CmdID)+ sizeof(ShowData.dataFrameHeader)+ sizeof(ShowData.clientData))
// );
// Append_CRC16_Check_Sum(CliendTxBuffer,sizeof(ShowData));//写入数据段CRC16校验码
SendData.CmdID = ID_student_interactive;
// datalength = sizeof(ShowData);
// for(i = 0;i < datalength;i++)
// {
// USART_SendData(UART5,(uint16_t)CliendTxBuffer[i]);
// while(USART_GetFlagStatus(UART5,USART_FLAG_TC)==RESET);
// }
// }
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
}