TuxMonkey/bf_original_balance_chassis
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重新组织了裁判系统相关模块的结构

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NeoZng
2023-04-19 18:52:40 +08:00
parent 5c9c7962c8
commit f6c686598d
18 changed files with 615 additions and 704 deletions
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2
application/balance_chassis/balance.c
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@@ -7,11 +7,11 @@
#include "HT04.h"
#include "LK9025.h"
#include "bmi088.h"
#include "referee.h"
#include "super_cap.h"
#include "controller.h"
#include "can_comm.h"
#include "user_lib.h"
#include "rm_referee.h"
// standard
#include "stdint.h"
#include "arm_math.h" // 需要用到较多三角函数

10
application/chassis/chassis.c
View File

@@ -16,12 +16,7 @@
#include "dji_motor.h"
#include "super_cap.h"
#include "message_center.h"
// referee需要移动到module层
/////////////////////////
#include "rm_referee.h"
/////////////////////////
#include "general_def.h"
#include "bsp_dwt.h"
@@ -47,6 +42,9 @@ static Subscriber_t *chassis_sub; // 用于订阅底盘的控
static Chassis_Ctrl_Cmd_s chassis_cmd_recv; // 底盘接收到的控制命令
static Chassis_Upload_Data_s chassis_feedback_data; // 底盘回传的反馈数据
static referee_info_t* referee_data; // 用于获取裁判系统的数据
static Referee_Interactive_info_t ui_data; // UI数据
static SuperCapInstance *cap; // 超级电容
static DJIMotorInstance *motor_lf, *motor_rf, *motor_lb, *motor_rb; // left right forward back
@@ -105,7 +103,7 @@ void ChassisInit()
chassis_motor_config.controller_setting_init_config.motor_reverse_flag = MOTOR_DIRECTION_REVERSE;
motor_rb = DJIMotorInit(&chassis_motor_config);
// referee_data = RefereeInit(&huart6); // 裁判系统初始化
referee_data = RefereeInit(&huart6,&ui_data); // 裁判系统初始化
// while (referee_data->GameRobotState.robot_id ==0);
// Referee_Interactive_init(referee_data);

381
application/referee/referee.c
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@@ -1,381 +0,0 @@
/**
* @file referee.C
* @author kidneygood (you@domain.com)
* @brief
* @version 0.1
* @date 2022-11-18
*
* @copyright Copyright (c) 2022
*
*/
#include "referee.h"
#include "robot_def.h"
#include "rm_referee.h"
#include "referee_UI.h"
#include "referee_communication.h"
static Referee_Interactive_info_t Interactive_data; // 非裁判系统数据
static referee_info_t *referee_data; // 裁判系统相关数据
static robot_interactive_data_t *SendData;
static void determine_ID(referee_info_t *_referee_info);
static void My_UI_init(referee_info_t *_referee_info);
static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_info_t *_Interactive_data);
static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data); // 模式切换检测
// 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
static void UI_test_init(referee_info_t *_referee_info); // UI测试函数
void Referee_Interactive_init()
{
referee_data = RefereeInit(&huart6); // 裁判系统初始化
// while (referee_data->GameRobotState.robot_id == 0);
referee_data->GameRobotState.robot_id = 103; // syhtodo RobotInit中关闭了中断进行初始化，无法读取到裁判系统的ID，暂时在此处写死
determine_ID(referee_data);
My_UI_init(referee_data);
// UI_test_init(referee_data); // 测试函数
RefereeSend();
//如果此处还要加入车间通信初始化，注意将referee和车间通信的数据合并后再使用
//refereesend函数永远是最后一步
//串口接收需要设置喂狗
}
void Referee_Interactive_task()
{
robot_mode_change(&Interactive_data); // 测试用函数，实现模式自动变化
My_UI_Refresh(referee_data, &Interactive_data);
}
static Graph_Data_t UI_shoot_line[10]; // 射击准线
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};
static void My_UI_init(referee_info_t *_referee_info)
{
UI_Delete(&_referee_info->referee_id, UI_Data_Del_ALL, 0);
// 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_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，静态
Char_Draw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 150, 750);
Char_Write(&UI_State_sta[0], "chassis:");
Char_ReFresh(&_referee_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);
Char_Write(&UI_State_sta[1], "gimbal:");
Char_ReFresh(&_referee_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);
Char_Write(&UI_State_sta[2], "shoot:");
Char_ReFresh(&_referee_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);
Char_Write(&UI_State_sta[3], "frict:");
Char_ReFresh(&_referee_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);
Char_Write(&UI_State_sta[4], "lid:");
Char_ReFresh(&_referee_info->referee_id, UI_State_sta[4]);
// 底盘功率显示，静态
Char_Draw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 720, 210);
Char_Write(&UI_State_sta[5], "Power:");
Char_ReFresh(&_referee_info->referee_id, UI_State_sta[5]);
// 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);
Char_Write(&UI_State_dyn[0], "zeroforce");
Char_ReFresh(&_referee_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);
Char_Write(&UI_State_dyn[1], "zeroforce");
Char_ReFresh(&_referee_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);
Char_Write(&UI_State_dyn[2], "off");
Char_ReFresh(&_referee_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);
Char_Write(&UI_State_dyn[3], "off");
Char_ReFresh(&_referee_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);
Char_Write(&UI_State_dyn[4], "open ");
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[4]);
// 底盘功率显示，动态
Char_Draw(&UI_State_dyn[5], "sd5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 840, 210);
Char_Write(&UI_State_dyn[5], "0000");
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[5]);
}
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
{
count++;
if (count >= 50)
{
count = 0;
count1++;
}
switch (count1 % 4)
{
case 0:
{
_Interactive_data->chassis_mode = CHASSIS_ZERO_FORCE;
_Interactive_data->gimbal_mode = GIMBAL_ZERO_FORCE;
_Interactive_data->shoot_mode = SHOOT_ON;
_Interactive_data->friction_mode = FRICTION_ON;
_Interactive_data->lid_mode = LID_OPEN;
break;
}
case 1:
{
;
_Interactive_data->chassis_mode = CHASSIS_ROTATE;
_Interactive_data->gimbal_mode = GIMBAL_FREE_MODE;
_Interactive_data->shoot_mode = SHOOT_OFF;
_Interactive_data->friction_mode = FRICTION_OFF;
_Interactive_data->lid_mode = LID_CLOSE;
break;
}
case 2:
{
_Interactive_data->chassis_mode = CHASSIS_NO_FOLLOW;
_Interactive_data->gimbal_mode = GIMBAL_GYRO_MODE;
_Interactive_data->shoot_mode = SHOOT_ON;
_Interactive_data->friction_mode = FRICTION_ON;
_Interactive_data->lid_mode = LID_OPEN;
break;
}
case 3:
{
_Interactive_data->chassis_mode = CHASSIS_FOLLOW_GIMBAL_YAW;
_Interactive_data->gimbal_mode = GIMBAL_ZERO_FORCE;
_Interactive_data->shoot_mode = SHOOT_OFF;
_Interactive_data->friction_mode = FRICTION_OFF;
_Interactive_data->lid_mode = LID_CLOSE;
break;
}
default:
break;
}
}
static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_info_t *_Interactive_data)
{
Mode_Change_Check(_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);
Char_Write(&UI_State_dyn[0], "zeroforce");
break;
}
case CHASSIS_ROTATE:
{
Char_Draw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750);
Char_Write(&UI_State_dyn[0], "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);
Char_Write(&UI_State_dyn[0], "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);
Char_Write(&UI_State_dyn[0], "follow ");
break;
}
}
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[0]);
_Interactive_data->Referee_Interactive_Flag.chassis_flag = 0;
}
// gimbal
if (_Interactive_data->Referee_Interactive_Flag.gimbal_flag == 1)
{
switch (_Interactive_data->gimbal_mode)
{
case GIMBAL_ZERO_FORCE:
{
Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700);
Char_Write(&UI_State_dyn[1], "zeroforce");
break;
}
case GIMBAL_FREE_MODE:
{
Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700);
Char_Write(&UI_State_dyn[1], "free ");
break;
}
case GIMBAL_GYRO_MODE:
{
Char_Draw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Yellow, 15, 2, 270, 700);
Char_Write(&UI_State_dyn[1], "gyro ");
break;
}
}
Char_ReFresh(&_referee_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)
{
switch (_Interactive_data->shoot_mode)
{
case SHOOT_OFF:
{
Char_Draw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Orange, 15, 2, 270, 650);
Char_Write(&UI_State_dyn[2], "off");
break;
}
case SHOOT_ON:
{
Char_Draw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Orange, 15, 2, 270, 650);
Char_Write(&UI_State_dyn[2], "on ");
break;
}
}
Char_ReFresh(&_referee_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)
{
switch (_Interactive_data->friction_mode)
{
case FRICTION_OFF:
{
Char_Draw(&UI_State_dyn[3], "sd3", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 600);
Char_Write(&UI_State_dyn[3], "off");
break;
}
case FRICTION_ON:
{
Char_Draw(&UI_State_dyn[3], "sd3", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 600);
Char_Write(&UI_State_dyn[3], "on ");
break;
}
}
Char_ReFresh(&_referee_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)
{
switch (_Interactive_data->lid_mode)
{
case LID_CLOSE:
{
Char_Draw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 550);
Char_Write(&UI_State_dyn[4], "close");
break;
}
case LID_OPEN:
{
Char_Draw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 550);
Char_Write(&UI_State_dyn[4], "open ");
break;
}
}
Char_ReFresh(&_referee_info->referee_id, UI_State_dyn[4]);
_Interactive_data->Referee_Interactive_Flag.lid_flag = 0;
}
}
/**
* @brief 模式切换检测,模式发生切换时，对flag置位
* @param Referee_Interactive_info_t *_Interactive_data
* @retval none
* @attention
*/
static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data)
{
if (_Interactive_data->chassis_mode != _Interactive_data->chassis_last_mode)
{
_Interactive_data->Referee_Interactive_Flag.chassis_flag = 1;
_Interactive_data->chassis_last_mode = _Interactive_data->chassis_mode;
}
if (_Interactive_data->gimbal_mode != _Interactive_data->gimbal_last_mode)
{
_Interactive_data->Referee_Interactive_Flag.gimbal_flag = 1;
_Interactive_data->gimbal_last_mode = _Interactive_data->gimbal_mode;
}
if (_Interactive_data->shoot_mode != _Interactive_data->shoot_last_mode)
{
_Interactive_data->Referee_Interactive_Flag.shoot_flag = 1;
_Interactive_data->shoot_last_mode = _Interactive_data->shoot_mode;
}
if (_Interactive_data->friction_mode != _Interactive_data->friction_last_mode)
{
_Interactive_data->Referee_Interactive_Flag.friction_flag = 1;
_Interactive_data->friction_last_mode = _Interactive_data->friction_mode;
}
if (_Interactive_data->lid_mode != _Interactive_data->lid_last_mode)
{
_Interactive_data->Referee_Interactive_Flag.lid_flag = 1;
_Interactive_data->lid_last_mode = _Interactive_data->lid_mode;
}
}
/**
* @brief 判断各种ID，选择客户端ID
* @param referee_info_t *_referee_info
* @retval none
* @attention
*/
static void determine_ID(referee_info_t *_referee_info)
{
// id小于7是红色,大于7是蓝色,0为红色，1为蓝色 #define Robot_Red 0 #define Robot_Blue 1
_referee_info->referee_id.Robot_Color = _referee_info->GameRobotState.robot_id > 7 ? Robot_Blue : Robot_Red;
_referee_info->referee_id.Robot_ID = _referee_info->GameRobotState.robot_id;
_referee_info->referee_id.Cilent_ID = 0x0100 + _referee_info->referee_id.Robot_ID; // 计算客户端ID
_referee_info->referee_id.Receiver_Robot_ID = 0;
}
/* 测试用函数 */
static void UI_test_init(referee_info_t *_referee_info)
{
Graph_Data_t graph[5];
Graph_Data_t num[2];
String_Data_t sdata[1];
UI_Delete(&_referee_info->referee_id, UI_Data_Del_ALL, 0);
Line_Draw(&graph[0], "s0", UI_Graph_ADD, 0, UI_Color_White, 3, 710, 540, 1210, 540);
Rectangle_Draw(&graph[1], "s1", UI_Graph_ADD, 0, UI_Color_Yellow, 4, 600, 200, 800, 500);
Circle_Draw(&graph[2], "s2", UI_Graph_ADD, 0, UI_Color_Green, 5, 960, 540, 100);
Elliptical_Draw(&graph[3], "s3", UI_Graph_ADD, 0, UI_Color_Orange, 3, 960, 540, 100, 20);
Arc_Draw(&graph[4], "s4", UI_Graph_ADD, 0, UI_Color_Purplish_red, 30, 160, 3, 1200, 550, 50, 100);
Float_Draw(&num[0], "s5", UI_Graph_ADD, 0, UI_Color_Pink, 50, 3, 5, 1050, 660, 1245545);
Integer_Draw(&num[1], "s6", UI_Graph_ADD, 0, UI_Color_Cyan, 50, 5, 1050, 460, 12345);
UI_ReFresh(&_referee_info->referee_id, 7, graph[0], graph[1], graph[2], graph[3], graph[4], num[0], num[1]);
Char_Draw(&sdata[0], "s7", UI_Graph_ADD, 0, UI_Color_Green, 20, 2, 620, 710);
Char_Write(&sdata[0], "number:%d", 123);
Char_ReFresh(&_referee_info->referee_id, sdata[0]);
}

50
application/referee/referee.h
View File

@@ -1,50 +0,0 @@
#ifndef REFEREE_H
#define REFEREE_H
#include "rm_referee.h"
#include "robot_def.h"
#pragma pack(1)
//模式是否切换标志位，0为未切换，1为切换，static定义默认为0
typedef struct
{
uint32_t chassis_flag : 1;
uint32_t gimbal_flag : 1;
uint32_t shoot_flag : 1;
uint32_t lid_flag : 1;
uint32_t friction_flag : 1;
uint32_t Power_flag : 1;
} Referee_Interactive_Flag_t;
// 此结构体包含UI绘制与机器人车间通信的需要的其他非裁判系统数据
typedef struct
{
Referee_Interactive_Flag_t Referee_Interactive_Flag;
//为UI绘制以及交互数据所用
Robot_Status_e Robot_Status;// 机器人状态
App_Status_e App_Status;// 应用状态
chassis_mode_e chassis_mode;//底盘模式
gimbal_mode_e gimbal_mode;//云台模式
shoot_mode_e shoot_mode;//发射模式设置
friction_mode_e friction_mode;//摩擦轮关闭
lid_mode_e lid_mode;//弹舱盖打开
loader_mode_e loader_mode;//单发...连发
Chassis_Power_Data_s Chassis_Power_Data;// 功率控制
chassis_mode_e chassis_last_mode;//底盘模式
gimbal_mode_e gimbal_last_mode;//云台模式
shoot_mode_e shoot_last_mode;//发射模式设置
friction_mode_e friction_last_mode;//摩擦轮关闭
lid_mode_e lid_last_mode;//弹舱盖打开
} Referee_Interactive_info_t;
#pragma pack()
void Referee_Interactive_init(void);
void Referee_Interactive_task(void);
#endif // REFEREE_H

3
application/referee/referee.md
View File

@@ -1,3 +0,0 @@
# referee
需要将此模块移动到module层，并新建一个rtos任务，以一定频率运行，用于ui刷新和多机通信

8
application/robot.c
View File

@@ -22,14 +22,13 @@
#include "balance.h"
#endif // BALANCE_BOARD
void RobotInit()
{
{
// 关闭中断,防止在初始化过程中发生中断
// 请不要在初始化过程中使用中断和延时函数！
// 若必须,则只允许使用DWT_Delay()
__disable_irq();
BSPInit();
#if defined(ONE_BOARD) || defined(GIMBAL_BOARD)
@@ -39,7 +38,7 @@ void RobotInit()
#endif
#if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
// ChassisInit();
ChassisInit();
#endif
#ifdef BALANCE_BAORD
@@ -48,7 +47,6 @@ void RobotInit()
// 初始化完成,开启中断
__enable_irq();
Referee_Interactive_init();
}
void RobotTask()