TuxMonkey/bf_original_balance_chassis
1
0
Fork 0
mirror of https://gitee.com/dlmu-cone/bf_original_balance_chassis synced 2026-07-24 03:27:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

优化数据发送方式，整包发送

Browse Source
This commit is contained in:
kidneygood
2023-01-13 21:45:04 +08:00
parent 9b16407b57
commit e0abbf95ca
5 changed files with 197 additions and 190 deletions
Download Patch File Download Diff File Expand all files Collapse all files

198
modules/referee/referee_UI.c
View File

@@ -5,7 +5,10 @@
#include "dma.h"
#include "stdio.h"
#include "referee.h"
/* syhtodo 根据自身id判断客户端id */
/* syhtodo 根据自身id判断客户端id
涉及到的数字是否可以枚举定义？？？
*/
uint16_t Robot_ID = UI_Data_RobotID_BHero;
uint16_t Cilent_ID = UI_Data_CilentID_BHero;
@@ -17,40 +20,27 @@ uint8_t UI_Seq; //包序号
*****************************************************************************************/
void UI_Delete(uint8_t Del_Operate,uint8_t Del_Layer)
{
/* syhtodo可化简，去掉读写指针 */
unsigned char *framepoint; //读写指针
uint16_t frametail=0xFFFF; //CRC16校验值
UI_Packhead framehead; //帧头
UI_Data_Operate datahead; //数据交互帧
UI_Data_Delete del; //删除图层帧
framepoint=(unsigned char *)&framehead;
framehead.SOF=UI_SOF;
framehead.Data_Length=8;
framehead.Seq=UI_Seq;
framehead.CRC8=Get_CRC8_Check_Sum(framepoint,4,0xFF);
framehead.CMD_ID=UI_CMD_Robo_Exchange; //填充包头数据
datahead.Data_ID=UI_Data_ID_Del;
datahead.Sender_ID=Robot_ID;
datahead.Receiver_ID=Cilent_ID; //填充操作数据
del.Delete_Operate=Del_Operate;
del.Layer=Del_Layer; //控制信息
frametail=Get_CRC16_Check_Sum(framepoint,sizeof(framehead),frametail);
framepoint=(unsigned char *)&datahead;
frametail=Get_CRC16_Check_Sum(framepoint,sizeof(datahead),frametail);
framepoint=(unsigned char *)&del;
frametail=Get_CRC16_Check_Sum(framepoint,sizeof(del),frametail); //CRC16校验值计算
RefereeSend((uint8_t *)&framehead,sizeof(framehead));
RefereeSend((uint8_t *)&datahead,sizeof(datahead));
RefereeSend((uint8_t *)&del,sizeof(del)); //发送所有帧
RefereeSend((uint8_t *)&frametail,sizeof(frametail)); //发送CRC16校验值
UI_delete_t UI_delete_data;
UI_delete_data.FrameHeader.SOF = REFEREE_SOF;
UI_delete_data.FrameHeader.DataLength = UI_Data_LEN_Del;
UI_delete_data.FrameHeader.Seq = UI_Seq;
UI_delete_data.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&UI_delete_data,4,0xFF);
UI_delete_data.CmdID = ID_student_interactive;
UI_delete_data.datahead.data_cmd_id = UI_Data_ID_Del;
UI_delete_data.datahead.receiver_ID = Cilent_ID;
UI_delete_data.datahead.sender_ID = Robot_ID;
UI_delete_data.Delete_Operate = Del_Operate; //删除操作
UI_delete_data.Layer = Del_Layer;
UI_delete_data.frametail = Get_CRC16_Check_Sum((uint8_t *)&UI_delete_data,LEN_HEADER+LEN_CMDID+UI_Data_LEN_Del,0xFFFF);
/* syhtodo为什么填入0xFFFF */
RefereeSend((uint8_t *)&UI_delete_data,LEN_HEADER+LEN_CMDID+UI_Data_LEN_Del+LEN_TAIL); //发送
UI_Seq++; //包序号+1
}
/************************************************绘制直线*************************************************
@@ -64,11 +54,11 @@ void UI_Delete(uint8_t Del_Operate,uint8_t Del_Layer)
End_x、End_y 终点xy坐标
**********************************************************************************************************/
void Line_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
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)
{
int i;
//??????
//??????syhtodo
for(i=0;i<3&&graphname[i]!='\0';i++)
{
graph->graphic_name[2-i]=graphname[i];
@@ -96,7 +86,7 @@ void Line_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32
Start_x、Start_y 起点xy坐标
End_x、End_y 对角顶点xy坐标
**********************************************************************************************************/
void Rectangle_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
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)
{
int i;
@@ -128,7 +118,7 @@ void Rectangle_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,u
Graph_Radius 圆形半径
**********************************************************************************************************/
void Circle_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
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)
{
int i;
@@ -157,7 +147,7 @@ void Circle_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint
Start_x、Start_y 圆心xy坐标
End_x、End_y xy半轴长度
**********************************************************************************************************/
void Elliptical_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
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)
{
int i;
@@ -191,7 +181,7 @@ void Elliptical_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,
x_Length,y_Length xy半轴长度
**********************************************************************************************************/
void Arc_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
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)
{
@@ -230,7 +220,7 @@ void Arc_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_
end_y=(a>>21)&0x7FF;
**********************************************************************************************************/
void Float_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
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)
{
int i;
@@ -267,7 +257,7 @@ void Float_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint3
end_x=(a>>10)&0x7FF;
end_y=(a>>21)&0x7FF;
**********************************************************************************************************/
void Integer_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
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)
{
int i;
@@ -301,10 +291,10 @@ void Integer_Draw(Graph_Data *graph,char graphname[3],uint32_t Graph_Operate,uin
Graph_Width 图形线宽
Start_x、Start_y 开始坐标
**********************************************************************************************************/
void Char_Draw(String_Data *graph,char graphname[3],uint32_t Graph_Operate,uint32_t Graph_Layer,uint32_t Graph_Color,
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)
{
memset(graph->Graph_Control.graphic_name, 0, 3);
memset(graph->Graph_Control.graphic_name, 0, 3);//syhtodo 是否需要手动清零
int i;
for(i=0;i<3&&graphname[i]!='\0';i++)
{
@@ -332,7 +322,7 @@ void Char_Draw(String_Data *graph,char graphname[3],uint32_t Graph_Operate,uint3
fmt需要显示的字符串
syhtodo 尚未理解该函数的写法
**********************************************************************************************************/
void Char_Write(String_Data *graph,char* fmt, ...)
void Char_Write(String_Data_t *graph,char* fmt, ...)
{
uint16_t i = 0;
va_list ap;
@@ -343,6 +333,7 @@ void Char_Write(String_Data *graph,char* fmt, ...)
graph->Graph_Control.end_angle = i;
}
/* UI推送函数（使更改生效）
参数： cnt 图形个数
... 图形变量参数
@@ -351,107 +342,88 @@ void Char_Write(String_Data *graph,char* fmt, ...)
int UI_ReFresh(int cnt,...)
{
int i;
UI_Packhead framehead;
UI_Data_Operate datahead;
Graph_Data graphData;
UI_GraphReFresh_t UI_GraphReFresh_data;
Graph_Data_t graphData;
unsigned char *framepoint; //读写指针
uint16_t frametail=0xFFFF; //CRC16校验值
va_list ap;//创建一个 va_list 类型变量
va_start(ap,cnt);//初始化 va_list 变量为一个参数列表
framepoint=(unsigned char *)&framehead;
framehead.SOF=UI_SOF;
framehead.Data_Length=6+cnt*15;
framehead.Seq=UI_Seq;
framehead.CRC8=Get_CRC8_Check_Sum(framepoint,4,0xFF);
framehead.CMD_ID=UI_CMD_Robo_Exchange; //填充包头数据
UI_GraphReFresh_data.FrameHeader.SOF = REFEREE_SOF;
UI_GraphReFresh_data.FrameHeader.DataLength = 6+cnt*15;//syhtodo 换成枚举
UI_GraphReFresh_data.FrameHeader.Seq = UI_Seq;
UI_GraphReFresh_data.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&UI_GraphReFresh_data,4,0xFF);
UI_GraphReFresh_data.CmdID = ID_student_interactive;
switch(cnt) //syhtodo可以直接计算式解决
{
case 1:
datahead.Data_ID=UI_Data_ID_Draw1;
UI_GraphReFresh_data.datahead.data_cmd_id=UI_Data_ID_Draw1;
break;
case 2:
datahead.Data_ID=UI_Data_ID_Draw2;
UI_GraphReFresh_data.datahead.data_cmd_id=UI_Data_ID_Draw2;
break;
case 5:
datahead.Data_ID=UI_Data_ID_Draw5;
UI_GraphReFresh_data.datahead.data_cmd_id=UI_Data_ID_Draw5;
break;
case 7:
datahead.Data_ID=UI_Data_ID_Draw7;
UI_GraphReFresh_data.datahead.data_cmd_id=UI_Data_ID_Draw7;
break;
default:
return (-1);
}
datahead.Sender_ID=Robot_ID;
datahead.Receiver_ID=Cilent_ID; //填充操作数据
framepoint=(unsigned char *)&framehead;
frametail=Get_CRC16_Check_Sum(framepoint,sizeof(framehead),frametail);
framepoint=(unsigned char *)&datahead;
frametail=Get_CRC16_Check_Sum(framepoint,sizeof(datahead),frametail); //CRC16校验值计算（部分）
UI_GraphReFresh_data.datahead.receiver_ID = Cilent_ID;
UI_GraphReFresh_data.datahead.sender_ID = Robot_ID;
RefereeSend((uint8_t *)&framehead,sizeof(framehead));
RefereeSend((uint8_t *)&datahead,sizeof(datahead));
UI_GraphReFresh_data.frametail=Get_CRC16_Check_Sum((uint8_t *)&UI_GraphReFresh_data,LEN_HEADER+LEN_CMDID+6,0xFFFF);
RefereeSend((uint8_t *)&UI_GraphReFresh_data,LEN_HEADER+LEN_CMDID+6);
unsigned char *framepoint; //读写指针
for(i=0;i<cnt;i++) //发送图片帧
{
graphData=va_arg(ap,Graph_Data);//访问参数列表中的每个项
RefereeSend((uint8_t *)&graphData,sizeof(graphData));
framepoint=(unsigned char *)&graphData;
frametail=Get_CRC16_Check_Sum(framepoint,sizeof(graphData),frametail);
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
RefereeSend((uint8_t *)&graphData,15);//syhtod 15可否计算
framepoint=(uint8_t *)&graphData;
UI_GraphReFresh_data.frametail=Get_CRC16_Check_Sum(framepoint,15,UI_GraphReFresh_data.frametail);
}
RefereeSend((uint8_t *)&frametail,sizeof(frametail)); //发送CRC16校验值
RefereeSend((uint8_t *)&UI_GraphReFresh_data.frametail,LEN_TAIL); //发送CRC16校验值
va_end(ap);//结束可变参数的获取
UI_Seq++; //包序号+1
return 0;
}
/************************************************UI推送字符（使更改生效）*********************************/
int Char_ReFresh(String_Data string_Data)
int Char_ReFresh(String_Data_t string_Data)
{
String_Data graphData;
unsigned char *framepoint; //读写指针
uint16_t frametail=0xFFFF; //CRC16校验值
UI_Packhead framehead;
UI_Data_Operate datahead;
graphData=string_Data;
framepoint=(unsigned char *)&framehead;
framehead.SOF=UI_SOF;
framehead.Data_Length=6+45;
framehead.Seq=UI_Seq;
framehead.CRC8=Get_CRC8_Check_Sum(framepoint,4,0xFF);
framehead.CMD_ID=UI_CMD_Robo_Exchange; //填充包头数据
datahead.Data_ID=UI_Data_ID_DrawChar;
datahead.Sender_ID=Robot_ID;
datahead.Receiver_ID=Cilent_ID; //填充操作数据
framepoint=(unsigned char *)&framehead;
frametail=Get_CRC16_Check_Sum(framepoint,sizeof(framehead),frametail);
framepoint=(unsigned char *)&datahead;
frametail=Get_CRC16_Check_Sum(framepoint,sizeof(datahead),frametail);
framepoint=(unsigned char *)&graphData;
frametail=Get_CRC16_Check_Sum(framepoint,sizeof(graphData),frametail); //CRC16校验 //CRC16校验值计算（部分）
RefereeSend((uint8_t *)&framehead,sizeof(framehead));
RefereeSend((uint8_t *)&datahead,sizeof(datahead));
RefereeSend((uint8_t *)&graphData,sizeof(graphData)); //发送操作数据
RefereeSend((uint8_t *)&frametail,sizeof(frametail)); //发送CRC16校验值
UI_CharReFresh_t UI_CharReFresh_data;
UI_CharReFresh_data.FrameHeader.SOF = REFEREE_SOF;
UI_CharReFresh_data.FrameHeader.DataLength = UI_Data_LEN_DrawChar;
UI_CharReFresh_data.FrameHeader.Seq = UI_Seq;
UI_CharReFresh_data.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&UI_CharReFresh_data,4,0xFF);
UI_CharReFresh_data.CmdID = ID_student_interactive;
UI_CharReFresh_data.datahead.data_cmd_id = UI_Data_ID_DrawChar;
UI_CharReFresh_data.datahead.receiver_ID = Cilent_ID;
UI_CharReFresh_data.datahead.sender_ID = Robot_ID;
UI_CharReFresh_data.String_Data = string_Data;
UI_CharReFresh_data.frametail = Get_CRC16_Check_Sum((uint8_t *)&UI_CharReFresh_data,LEN_HEADER+LEN_CMDID+UI_Data_LEN_DrawChar,0xFFFF);
RefereeSend((uint8_t *)&UI_CharReFresh_data,LEN_HEADER+LEN_CMDID+UI_Data_LEN_DrawChar+LEN_TAIL); //发送
UI_Seq++; //包序号+1
return 0;
}
// #define send_max_len 200
// unsigned char CliendTxBuffer[send_max_len];
// void JUDGE_Show_Data(void)