mirror of
https://gitee.com/dlmu-cone/bf_original_balance_chassis
synced 2026-07-24 03:27:45 +08:00
重新组织了裁判系统相关模块的结构
This commit is contained in:
NeoZng
@@ -10,424 +10,415 @@
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*/
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#include "referee_UI.h"
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#include "string.h"
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#include "crc.h"
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#include "crc_ref.h"
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#include "stdio.h"
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#include "rm_referee.h"
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// 包序号
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/********************************************删除操作*************************************
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**参数：_id 对应的id结构体
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Del_Operate 对应头文件删除操作
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Del_Layer 要删除的层 取值0-9
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Del_Operate 对应头文件删除操作
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Del_Layer 要删除的层 取值0-9
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*****************************************************************************************/
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void UI_Delete(referee_id_t *_id, uint8_t Del_Operate, uint8_t Del_Layer)
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void UIDelete(referee_id_t *_id, uint8_t Del_Operate, uint8_t Del_Layer)
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{
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UI_delete_t UI_delete_data;
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uint8_t temp_datalength = Interactive_Data_LEN_Head + UI_Operate_LEN_Del; // 计算交互数据长度
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UI_delete_t UI_delete_data;
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uint8_t temp_datalength = Interactive_Data_LEN_Head + UI_Operate_LEN_Del; // 计算交互数据长度
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UI_delete_data.FrameHeader.SOF = REFEREE_SOF;
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UI_delete_data.FrameHeader.DataLength = temp_datalength;
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UI_delete_data.FrameHeader.Seq = UI_Seq;
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UI_delete_data.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&UI_delete_data, LEN_CRC8, 0xFF);
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UI_delete_data.FrameHeader.SOF = REFEREE_SOF;
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UI_delete_data.FrameHeader.DataLength = temp_datalength;
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UI_delete_data.FrameHeader.Seq = UI_Seq;
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UI_delete_data.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&UI_delete_data, LEN_CRC8, 0xFF);
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UI_delete_data.CmdID = ID_student_interactive;
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UI_delete_data.CmdID = ID_student_interactive;
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UI_delete_data.datahead.data_cmd_id = UI_Data_ID_Del;
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UI_delete_data.datahead.receiver_ID = _id->Cilent_ID;
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UI_delete_data.datahead.sender_ID = _id->Robot_ID;
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UI_delete_data.datahead.data_cmd_id = UI_Data_ID_Del;
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UI_delete_data.datahead.receiver_ID = _id->Cilent_ID;
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UI_delete_data.datahead.sender_ID = _id->Robot_ID;
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UI_delete_data.Delete_Operate = Del_Operate; // 删除操作
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UI_delete_data.Layer = Del_Layer;
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UI_delete_data.Delete_Operate = Del_Operate; // 删除操作
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UI_delete_data.Layer = Del_Layer;
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UI_delete_data.frametail = Get_CRC16_Check_Sum((uint8_t *)&UI_delete_data, LEN_HEADER + LEN_CMDID + temp_datalength, 0xFFFF);
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/* 填入0xFFFF,关于crc校验 */
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UI_delete_data.frametail = Get_CRC16_Check_Sum((uint8_t *)&UI_delete_data, LEN_HEADER + LEN_CMDID + temp_datalength, 0xFFFF);
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/* 填入0xFFFF,关于crc校验 */
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RefereeLoadToBuffer((uint8_t *)&UI_delete_data, LEN_HEADER + LEN_CMDID + temp_datalength + LEN_TAIL); // 发送
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RefereeSend((uint8_t *)&UI_delete_data, LEN_HEADER + LEN_CMDID + temp_datalength + LEN_TAIL); // 发送
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UI_Seq++; // 包序号+1
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UI_Seq++; // 包序号+1
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}
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/************************************************绘制直线*************************************************
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**参数：*graph Graph_Data类型变量指针，用于存放图形数据
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graphname[3] 图片名称，用于标识更改
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Graph_Operate 图片操作，见头文件
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Graph_Layer 图层0-9
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Graph_Color 图形颜色
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Graph_Width 图形线宽
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Start_x、Start_y 起点xy坐标
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End_x、End_y 终点xy坐标
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graphname[3] 图片名称，用于标识更改
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Graph_Operate 图片操作，见头文件
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Graph_Layer 图层0-9
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Graph_Color 图形颜色
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Graph_Width 图形线宽
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Start_x、Start_y 起点xy坐标
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End_x、End_y 终点xy坐标
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**********************************************************************************************************/
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void Line_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
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uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t End_x, uint32_t End_y)
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uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t End_x, uint32_t End_y)
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{
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int i;
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for (i = 0; i < 3 && graphname[i] != '\0'; i++) // 填充至‘0’为止
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{
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graph->graphic_name[2 - i] = graphname[i]; // 按内存地址增大方向填充，所以会有i与2-i
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}
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int i;
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for (i = 0; i < 3 && graphname[i] != '\0'; i++) // 填充至‘0’为止
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{
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graph->graphic_name[2 - i] = graphname[i]; // 按内存地址增大方向填充，所以会有i与2-i
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}
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graph->operate_tpye = Graph_Operate;
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graph->graphic_tpye = UI_Graph_Line;
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graph->layer = Graph_Layer;
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graph->color = Graph_Color;
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graph->operate_tpye = Graph_Operate;
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graph->graphic_tpye = UI_Graph_Line;
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graph->layer = Graph_Layer;
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graph->color = Graph_Color;
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graph->start_angle = 0;
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graph->end_angle = 0;
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graph->width = Graph_Width;
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graph->start_x = Start_x;
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graph->start_y = Start_y;
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graph->radius = 0;
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graph->end_x = End_x;
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graph->end_y = End_y;
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graph->start_angle = 0;
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graph->end_angle = 0;
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graph->width = Graph_Width;
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graph->start_x = Start_x;
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graph->start_y = Start_y;
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graph->radius = 0;
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graph->end_x = End_x;
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graph->end_y = End_y;
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}
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/************************************************绘制矩形*************************************************
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**参数：*graph Graph_Data类型变量指针，用于存放图形数据
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graphname[3] 图片名称，用于标识更改
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Graph_Operate 图片操作，见头文件
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Graph_Layer 图层0-9
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Graph_Color 图形颜色
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Graph_Width 图形线宽
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Start_x、Start_y 起点xy坐标
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End_x、End_y 对角顶点xy坐标
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graphname[3] 图片名称，用于标识更改
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Graph_Operate 图片操作，见头文件
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Graph_Layer 图层0-9
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Graph_Color 图形颜色
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Graph_Width 图形线宽
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Start_x、Start_y 起点xy坐标
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End_x、End_y 对角顶点xy坐标
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**********************************************************************************************************/
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void Rectangle_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
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uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t End_x, uint32_t End_y)
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uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t End_x, uint32_t End_y)
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{
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int i;
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for (i = 0; i < 3 && graphname[i] != '\0'; i++)
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{
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graph->graphic_name[2 - i] = graphname[i];
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}
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int i;
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for (i = 0; i < 3 && graphname[i] != '\0'; i++)
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{
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graph->graphic_name[2 - i] = graphname[i];
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}
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graph->graphic_tpye = UI_Graph_Rectangle;
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graph->operate_tpye = Graph_Operate;
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graph->layer = Graph_Layer;
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graph->color = Graph_Color;
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graph->graphic_tpye = UI_Graph_Rectangle;
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graph->operate_tpye = Graph_Operate;
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graph->layer = Graph_Layer;
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graph->color = Graph_Color;
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graph->start_angle = 0;
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graph->end_angle = 0;
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graph->width = Graph_Width;
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graph->start_x = Start_x;
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graph->start_y = Start_y;
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graph->radius = 0;
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graph->end_x = End_x;
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graph->end_y = End_y;
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graph->start_angle = 0;
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graph->end_angle = 0;
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graph->width = Graph_Width;
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graph->start_x = Start_x;
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graph->start_y = Start_y;
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graph->radius = 0;
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graph->end_x = End_x;
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graph->end_y = End_y;
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}
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/************************************************绘制整圆*************************************************
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**参数：*graph Graph_Data类型变量指针，用于存放图形数据
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graphname[3] 图片名称，用于标识更改
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Graph_Operate 图片操作，见头文件
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Graph_Layer 图层0-9
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Graph_Color 图形颜色
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Graph_Width 图形线宽
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Start_x、Start_y 圆心xy坐标
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Graph_Radius 圆形半径
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graphname[3] 图片名称，用于标识更改
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Graph_Operate 图片操作，见头文件
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Graph_Layer 图层0-9
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Graph_Color 图形颜色
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Graph_Width 图形线宽
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Start_x、Start_y 圆心xy坐标
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Graph_Radius 圆形半径
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**********************************************************************************************************/
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void Circle_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
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uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t Graph_Radius)
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uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t Graph_Radius)
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{
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int i;
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for (i = 0; i < 3 && graphname[i] != '\0'; i++)
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{
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graph->graphic_name[2 - i] = graphname[i];
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}
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int i;
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for (i = 0; i < 3 && graphname[i] != '\0'; i++)
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{
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graph->graphic_name[2 - i] = graphname[i];
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}
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graph->graphic_tpye = UI_Graph_Circle;
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graph->operate_tpye = Graph_Operate;
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graph->layer = Graph_Layer;
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graph->color = Graph_Color;
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graph->graphic_tpye = UI_Graph_Circle;
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graph->operate_tpye = Graph_Operate;
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graph->layer = Graph_Layer;
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graph->color = Graph_Color;
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graph->start_angle = 0;
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graph->end_angle = 0;
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graph->width = Graph_Width;
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graph->start_x = Start_x;
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graph->start_y = Start_y;
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graph->radius = Graph_Radius;
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graph->end_x = 0;
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graph->end_y = 0;
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graph->start_angle = 0;
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graph->end_angle = 0;
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graph->width = Graph_Width;
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graph->start_x = Start_x;
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graph->start_y = Start_y;
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graph->radius = Graph_Radius;
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graph->end_x = 0;
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graph->end_y = 0;
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}
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/************************************************绘制椭圆*************************************************
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**参数：*graph Graph_Data类型变量指针，用于存放图形数据
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graphname[3] 图片名称，用于标识更改
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Graph_Operate 图片操作，见头文件
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Graph_Layer 图层0-9
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Graph_Color 图形颜色
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Graph_Width 图形线宽
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Start_x、Start_y 圆心xy坐标
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End_x、End_y xy半轴长度
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graphname[3] 图片名称，用于标识更改
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Graph_Operate 图片操作，见头文件
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Graph_Layer 图层0-9
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Graph_Color 图形颜色
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Graph_Width 图形线宽
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Start_x、Start_y 圆心xy坐标
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End_x、End_y xy半轴长度
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**********************************************************************************************************/
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void Elliptical_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
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uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t end_x, uint32_t end_y)
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uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, uint32_t end_x, uint32_t end_y)
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{
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int i;
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for (i = 0; i < 3 && graphname[i] != '\0'; i++)
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{
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graph->graphic_name[2 - i] = graphname[i];
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}
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int i;
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for (i = 0; i < 3 && graphname[i] != '\0'; i++)
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{
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graph->graphic_name[2 - i] = graphname[i];
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}
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graph->graphic_tpye = UI_Graph_Ellipse;
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graph->operate_tpye = Graph_Operate;
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graph->layer = Graph_Layer;
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graph->color = Graph_Color;
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graph->width = Graph_Width;
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graph->graphic_tpye = UI_Graph_Ellipse;
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graph->operate_tpye = Graph_Operate;
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graph->layer = Graph_Layer;
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graph->color = Graph_Color;
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graph->width = Graph_Width;
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graph->start_angle = 0;
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graph->end_angle = 0;
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graph->width = Graph_Width;
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graph->start_x = Start_x;
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graph->start_y = Start_y;
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graph->radius = 0;
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graph->end_x = end_x;
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graph->end_y = end_y;
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graph->start_angle = 0;
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graph->end_angle = 0;
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graph->width = Graph_Width;
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graph->start_x = Start_x;
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graph->start_y = Start_y;
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graph->radius = 0;
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graph->end_x = end_x;
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graph->end_y = end_y;
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}
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/************************************************绘制圆弧*************************************************
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**参数：*graph Graph_Data类型变量指针，用于存放图形数据
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graphname[3] 图片名称，用于标识更改
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Graph_Operate 图片操作，见头文件
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Graph_Layer 图层0-9
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Graph_Color 图形颜色
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Graph_StartAngle,Graph_EndAngle 起始终止角度
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Graph_Width 图形线宽
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Start_y,Start_y 圆心xy坐标
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x_Length,y_Length xy半轴长度
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graphname[3] 图片名称，用于标识更改
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Graph_Operate 图片操作，见头文件
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Graph_Layer 图层0-9
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Graph_Color 图形颜色
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Graph_StartAngle,Graph_EndAngle 起始终止角度
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Graph_Width 图形线宽
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Start_y,Start_y 圆心xy坐标
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x_Length,y_Length xy半轴长度
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**********************************************************************************************************/
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void Arc_Draw(Graph_Data_t *graph, char graphname[3], uint32_t Graph_Operate, uint32_t Graph_Layer, uint32_t Graph_Color,
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uint32_t Graph_StartAngle, uint32_t Graph_EndAngle, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y,
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uint32_t end_x, uint32_t end_y)
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uint32_t Graph_StartAngle, uint32_t Graph_EndAngle, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y,
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uint32_t end_x, uint32_t end_y)
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{
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int i;
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for (i = 0; i < 3 && graphname[i] != '\0'; i++)
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{
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graph->graphic_name[2 - i] = graphname[i];
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}
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int i;
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for (i = 0; i < 3 && graphname[i] != '\0'; i++)
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{
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graph->graphic_name[2 - i] = graphname[i];
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}
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graph->graphic_tpye = UI_Graph_Arc;
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graph->operate_tpye = Graph_Operate;
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graph->layer = Graph_Layer;
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graph->color = Graph_Color;
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graph->graphic_tpye = UI_Graph_Arc;
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graph->operate_tpye = Graph_Operate;
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graph->layer = Graph_Layer;
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graph->color = Graph_Color;
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graph->start_angle = Graph_StartAngle;
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graph->end_angle = Graph_EndAngle;
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graph->width = Graph_Width;
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graph->start_x = Start_x;
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graph->start_y = Start_y;
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graph->radius = 0;
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graph->end_x = end_x;
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graph->end_y = end_y;
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graph->start_angle = Graph_StartAngle;
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graph->end_angle = Graph_EndAngle;
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graph->width = Graph_Width;
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graph->start_x = Start_x;
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graph->start_y = Start_y;
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graph->radius = 0;
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graph->end_x = end_x;
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graph->end_y = end_y;
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}
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/************************************************绘制浮点型数据*************************************************
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**参数：*graph Graph_Data类型变量指针，用于存放图形数据
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graphname[3] 图片名称，用于标识更改
|
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Graph_Operate 图片操作，见头文件
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Graph_Layer 图层0-9
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Graph_Color 图形颜色
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Graph_Size 字号
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Graph_Digit 小数位数
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Graph_Width 图形线宽
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Start_x、Start_y 开始坐标
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radius=a&0x3FF; a为浮点数乘以1000后的32位整型数
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||||
end_x=(a>>10)&0x7FF;
|
||||
end_y=(a>>21)&0x7FF;
|
||||
graphname[3] 图片名称，用于标识更改
|
||||
Graph_Operate 图片操作，见头文件
|
||||
Graph_Layer 图层0-9
|
||||
Graph_Color 图形颜色
|
||||
Graph_Size 字号
|
||||
Graph_Digit 小数位数
|
||||
Graph_Width 图形线宽
|
||||
Start_x、Start_y 开始坐标
|
||||
radius=a&0x3FF; a为浮点数乘以1000后的32位整型数
|
||||
end_x=(a>>10)&0x7FF;
|
||||
end_y=(a>>21)&0x7FF;
|
||||
**********************************************************************************************************/
|
||||
|
||||
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)
|
||||
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;
|
||||
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
|
||||
{
|
||||
graph->graphic_name[2 - i] = graphname[i];
|
||||
}
|
||||
graph->graphic_tpye = UI_Graph_Float;
|
||||
graph->operate_tpye = Graph_Operate;
|
||||
graph->layer = Graph_Layer;
|
||||
graph->color = Graph_Color;
|
||||
int i;
|
||||
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
|
||||
{
|
||||
graph->graphic_name[2 - i] = graphname[i];
|
||||
}
|
||||
graph->graphic_tpye = UI_Graph_Float;
|
||||
graph->operate_tpye = Graph_Operate;
|
||||
graph->layer = Graph_Layer;
|
||||
graph->color = Graph_Color;
|
||||
|
||||
graph->width = Graph_Width;
|
||||
graph->start_x = Start_x;
|
||||
graph->start_y = Start_y;
|
||||
graph->start_angle = Graph_Size;
|
||||
graph->end_angle = Graph_Digit;
|
||||
graph->width = Graph_Width;
|
||||
graph->start_x = Start_x;
|
||||
graph->start_y = Start_y;
|
||||
graph->start_angle = Graph_Size;
|
||||
graph->end_angle = Graph_Digit;
|
||||
|
||||
graph->radius = Graph_Float & 0x3FF;
|
||||
graph->end_x = (Graph_Float >> 10) & 0x7FF;
|
||||
graph->end_y = (Graph_Float >> 21) & 0x7FF;
|
||||
graph->radius = Graph_Float & 0x3FF;
|
||||
graph->end_x = (Graph_Float >> 10) & 0x7FF;
|
||||
graph->end_y = (Graph_Float >> 21) & 0x7FF;
|
||||
}
|
||||
|
||||
/************************************************绘制整型数据*************************************************
|
||||
**参数：*graph Graph_Data类型变量指针，用于存放图形数据
|
||||
graphname[3] 图片名称，用于标识更改
|
||||
Graph_Operate 图片操作，见头文件
|
||||
Graph_Layer 图层0-9
|
||||
Graph_Color 图形颜色
|
||||
Graph_Size 字号
|
||||
Graph_Width 图形线宽
|
||||
Start_x、Start_y 开始坐标
|
||||
radius=a&0x3FF; a为32位整型数
|
||||
end_x=(a>>10)&0x7FF;
|
||||
end_y=(a>>21)&0x7FF;
|
||||
graphname[3] 图片名称，用于标识更改
|
||||
Graph_Operate 图片操作，见头文件
|
||||
Graph_Layer 图层0-9
|
||||
Graph_Color 图形颜色
|
||||
Graph_Size 字号
|
||||
Graph_Width 图形线宽
|
||||
Start_x、Start_y 开始坐标
|
||||
radius=a&0x3FF; a为32位整型数
|
||||
end_x=(a>>10)&0x7FF;
|
||||
end_y=(a>>21)&0x7FF;
|
||||
**********************************************************************************************************/
|
||||
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)
|
||||
uint32_t Graph_Size, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, int32_t Graph_Integer)
|
||||
{
|
||||
int i;
|
||||
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
|
||||
{
|
||||
graph->graphic_name[2 - i] = graphname[i];
|
||||
}
|
||||
graph->graphic_tpye = UI_Graph_Int;
|
||||
graph->operate_tpye = Graph_Operate;
|
||||
graph->layer = Graph_Layer;
|
||||
graph->color = Graph_Color;
|
||||
int i;
|
||||
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
|
||||
{
|
||||
graph->graphic_name[2 - i] = graphname[i];
|
||||
}
|
||||
graph->graphic_tpye = UI_Graph_Int;
|
||||
graph->operate_tpye = Graph_Operate;
|
||||
graph->layer = Graph_Layer;
|
||||
graph->color = Graph_Color;
|
||||
|
||||
graph->start_angle = Graph_Size;
|
||||
graph->end_angle = 0;
|
||||
graph->width = Graph_Width;
|
||||
graph->start_x = Start_x;
|
||||
graph->start_y = Start_y;
|
||||
graph->radius = Graph_Integer & 0x3FF;
|
||||
graph->end_x = (Graph_Integer >> 10) & 0x7FF;
|
||||
graph->end_y = (Graph_Integer >> 21) & 0x7FF;
|
||||
graph->start_angle = Graph_Size;
|
||||
graph->end_angle = 0;
|
||||
graph->width = Graph_Width;
|
||||
graph->start_x = Start_x;
|
||||
graph->start_y = Start_y;
|
||||
graph->radius = Graph_Integer & 0x3FF;
|
||||
graph->end_x = (Graph_Integer >> 10) & 0x7FF;
|
||||
graph->end_y = (Graph_Integer >> 21) & 0x7FF;
|
||||
}
|
||||
|
||||
/************************************************绘制字符型数据*************************************************
|
||||
**参数：*graph Graph_Data类型变量指针，用于存放图形数据
|
||||
graphname[3] 图片名称，用于标识更改
|
||||
Graph_Operate 图片操作，见头文件
|
||||
Graph_Layer 图层0-9
|
||||
Graph_Color 图形颜色
|
||||
Graph_Size 字号
|
||||
Graph_Width 图形线宽
|
||||
Start_x、Start_y 开始坐标
|
||||
graphname[3] 图片名称，用于标识更改
|
||||
Graph_Operate 图片操作，见头文件
|
||||
Graph_Layer 图层0-9
|
||||
Graph_Color 图形颜色
|
||||
Graph_Size 字号
|
||||
Graph_Width 图形线宽
|
||||
Start_x、Start_y 开始坐标
|
||||
|
||||
**参数：*graph Graph_Data类型变量指针，用于存放图形数据
|
||||
fmt需要显示的字符串
|
||||
此函数的实现和具体使用类似于printf函数
|
||||
**********************************************************************************************************/
|
||||
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)
|
||||
uint32_t Graph_Size, uint32_t Graph_Width, uint32_t Start_x, uint32_t Start_y, char *fmt, ...)
|
||||
{
|
||||
int i;
|
||||
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
|
||||
{
|
||||
graph->Graph_Control.graphic_name[2 - i] = graphname[i];
|
||||
}
|
||||
int i;
|
||||
for (i = 0; i < 3 && graphname[i] != '\0'; i++)
|
||||
{
|
||||
graph->Graph_Control.graphic_name[2 - i] = graphname[i];
|
||||
}
|
||||
|
||||
graph->Graph_Control.graphic_tpye = UI_Graph_Char;
|
||||
graph->Graph_Control.operate_tpye = Graph_Operate;
|
||||
graph->Graph_Control.layer = Graph_Layer;
|
||||
graph->Graph_Control.color = Graph_Color;
|
||||
graph->Graph_Control.graphic_tpye = UI_Graph_Char;
|
||||
graph->Graph_Control.operate_tpye = Graph_Operate;
|
||||
graph->Graph_Control.layer = Graph_Layer;
|
||||
graph->Graph_Control.color = Graph_Color;
|
||||
|
||||
graph->Graph_Control.width = Graph_Width;
|
||||
graph->Graph_Control.start_x = Start_x;
|
||||
graph->Graph_Control.start_y = Start_y;
|
||||
graph->Graph_Control.start_angle = Graph_Size;
|
||||
graph->Graph_Control.radius = 0;
|
||||
graph->Graph_Control.end_x = 0;
|
||||
graph->Graph_Control.end_y = 0;
|
||||
}
|
||||
graph->Graph_Control.width = Graph_Width;
|
||||
graph->Graph_Control.start_x = Start_x;
|
||||
graph->Graph_Control.start_y = Start_y;
|
||||
graph->Graph_Control.start_angle = Graph_Size;
|
||||
graph->Graph_Control.radius = 0;
|
||||
graph->Graph_Control.end_x = 0;
|
||||
graph->Graph_Control.end_y = 0;
|
||||
|
||||
/************************************************绘制字符型数据*************************************************
|
||||
**参数：*graph Graph_Data类型变量指针，用于存放图形数据
|
||||
fmt需要显示的字符串
|
||||
此函数的实现和具体使用类似于printf函数
|
||||
**********************************************************************************************************/
|
||||
void Char_Write(String_Data_t *graph, char *fmt, ...)
|
||||
{
|
||||
uint16_t i = 0;
|
||||
va_list ap;
|
||||
va_start(ap, fmt);
|
||||
vsprintf((char *)graph->show_Data, fmt, ap); // 使用参数列表进行格式化并输出到字符串
|
||||
va_end(ap);
|
||||
i = strlen((const char *)graph->show_Data);
|
||||
graph->Graph_Control.end_angle = i;
|
||||
va_list ap;
|
||||
va_start(ap, fmt);
|
||||
vsprintf((char *)graph->show_Data, fmt, ap); // 使用参数列表进行格式化并输出到字符串
|
||||
va_end(ap);
|
||||
graph->Graph_Control.end_angle = strlen((const char *)graph->show_Data);
|
||||
}
|
||||
|
||||
/* UI推送函数（使更改生效）
|
||||
参数： cnt 图形个数
|
||||
... 图形变量参数
|
||||
... 图形变量参数
|
||||
Tips：：该函数只能推送1，2，5，7个图形，其他数目协议未涉及
|
||||
*/
|
||||
void UI_ReFresh(referee_id_t *_id, int cnt, ...)
|
||||
{
|
||||
int i;
|
||||
UI_GraphReFresh_t UI_GraphReFresh_data;
|
||||
Graph_Data_t graphData;
|
||||
UI_GraphReFresh_t UI_GraphReFresh_data;
|
||||
Graph_Data_t graphData;
|
||||
|
||||
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
|
||||
uint8_t temp_datalength = LEN_HEADER + LEN_CMDID + Interactive_Data_LEN_Head + UI_Operate_LEN_PerDraw * cnt + LEN_TAIL; // 计算交互数据长度
|
||||
|
||||
UI_GraphReFresh_data.FrameHeader.SOF = REFEREE_SOF;
|
||||
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);
|
||||
uint8_t buffer[temp_datalength]; // 交互数据缓存
|
||||
|
||||
UI_GraphReFresh_data.CmdID = ID_student_interactive;
|
||||
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
|
||||
|
||||
switch (cnt)
|
||||
{
|
||||
case 1:
|
||||
UI_GraphReFresh_data.datahead.data_cmd_id = UI_Data_ID_Draw1;
|
||||
break;
|
||||
case 2:
|
||||
UI_GraphReFresh_data.datahead.data_cmd_id = UI_Data_ID_Draw2;
|
||||
break;
|
||||
case 5:
|
||||
UI_GraphReFresh_data.datahead.data_cmd_id = UI_Data_ID_Draw5;
|
||||
break;
|
||||
case 7:
|
||||
UI_GraphReFresh_data.datahead.data_cmd_id = UI_Data_ID_Draw7;
|
||||
break;
|
||||
}
|
||||
UI_GraphReFresh_data.FrameHeader.SOF = REFEREE_SOF;
|
||||
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);
|
||||
|
||||
UI_GraphReFresh_data.datahead.receiver_ID = _id->Cilent_ID;
|
||||
UI_GraphReFresh_data.datahead.sender_ID = _id->Robot_ID;
|
||||
UI_GraphReFresh_data.CmdID = ID_student_interactive;
|
||||
|
||||
// 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 + Interactive_Data_LEN_Head, 0xFFFF);
|
||||
RefereeLoadToBuffer((uint8_t *)&UI_GraphReFresh_data, LEN_HEADER + LEN_CMDID + Interactive_Data_LEN_Head);
|
||||
switch (cnt)
|
||||
{
|
||||
case 1:
|
||||
UI_GraphReFresh_data.datahead.data_cmd_id = UI_Data_ID_Draw1;
|
||||
break;
|
||||
case 2:
|
||||
UI_GraphReFresh_data.datahead.data_cmd_id = UI_Data_ID_Draw2;
|
||||
break;
|
||||
case 5:
|
||||
UI_GraphReFresh_data.datahead.data_cmd_id = UI_Data_ID_Draw5;
|
||||
break;
|
||||
case 7:
|
||||
UI_GraphReFresh_data.datahead.data_cmd_id = UI_Data_ID_Draw7;
|
||||
break;
|
||||
}
|
||||
|
||||
for (i = 0; i < cnt; i++) // 发送交互数据的数据帧，并计算CRC16校验值
|
||||
{
|
||||
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
|
||||
// 发送并计算CRC16
|
||||
RefereeLoadToBuffer((uint8_t *)&graphData, UI_Operate_LEN_PerDraw);
|
||||
UI_GraphReFresh_data.frametail = Get_CRC16_Check_Sum((uint8_t *)&graphData, UI_Operate_LEN_PerDraw, UI_GraphReFresh_data.frametail);
|
||||
}
|
||||
UI_GraphReFresh_data.datahead.receiver_ID = _id->Cilent_ID;
|
||||
UI_GraphReFresh_data.datahead.sender_ID = _id->Robot_ID;
|
||||
memcpy(buffer, (uint8_t *)&UI_GraphReFresh_data, LEN_HEADER + LEN_CMDID + Interactive_Data_LEN_Head); // 将帧头、命令码、交互数据帧头三部分复制到缓存中
|
||||
|
||||
RefereeLoadToBuffer((uint8_t *)&UI_GraphReFresh_data.frametail, LEN_TAIL); // 发送CRC16校验值
|
||||
for (uint8_t i = 0; i < cnt; i++) // 发送交互数据的数据帧，并计算CRC16校验值
|
||||
{
|
||||
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
|
||||
memcpy(buffer + (LEN_HEADER + LEN_CMDID + Interactive_Data_LEN_Head + UI_Operate_LEN_PerDraw * i), (uint8_t *)&graphData, UI_Operate_LEN_PerDraw);
|
||||
}
|
||||
Append_CRC16_Check_Sum(buffer,temp_datalength);
|
||||
RefereeSend(buffer, temp_datalength); // 发送CRC16校验值
|
||||
|
||||
va_end(ap); // 结束可变参数的获取
|
||||
UI_Seq++; // 包序号+1
|
||||
va_end(ap); // 结束可变参数的获取
|
||||
}
|
||||
|
||||
/************************************************UI推送字符（使更改生效）*********************************/
|
||||
void Char_ReFresh(referee_id_t *_id, String_Data_t string_Data)
|
||||
{
|
||||
UI_CharReFresh_t UI_CharReFresh_data;
|
||||
UI_CharReFresh_t UI_CharReFresh_data;
|
||||
|
||||
uint8_t temp_datalength = Interactive_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;
|
||||
UI_CharReFresh_data.FrameHeader.Seq = UI_Seq;
|
||||
UI_CharReFresh_data.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&UI_CharReFresh_data, LEN_CRC8, 0xFF);
|
||||
UI_CharReFresh_data.FrameHeader.SOF = REFEREE_SOF;
|
||||
UI_CharReFresh_data.FrameHeader.DataLength = temp_datalength;
|
||||
UI_CharReFresh_data.FrameHeader.Seq = UI_Seq;
|
||||
UI_CharReFresh_data.FrameHeader.CRC8 = Get_CRC8_Check_Sum((uint8_t *)&UI_CharReFresh_data, LEN_CRC8, 0xFF);
|
||||
|
||||
UI_CharReFresh_data.CmdID = ID_student_interactive;
|
||||
UI_CharReFresh_data.CmdID = ID_student_interactive;
|
||||
|
||||
UI_CharReFresh_data.datahead.data_cmd_id = UI_Data_ID_DrawChar;
|
||||
UI_CharReFresh_data.datahead.data_cmd_id = UI_Data_ID_DrawChar;
|
||||
|
||||
UI_CharReFresh_data.datahead.receiver_ID = _id->Cilent_ID;
|
||||
UI_CharReFresh_data.datahead.sender_ID = _id->Robot_ID;
|
||||
UI_CharReFresh_data.datahead.receiver_ID = _id->Cilent_ID;
|
||||
UI_CharReFresh_data.datahead.sender_ID = _id->Robot_ID;
|
||||
|
||||
UI_CharReFresh_data.String_Data = string_Data;
|
||||
UI_CharReFresh_data.String_Data = string_Data;
|
||||
|
||||
UI_CharReFresh_data.frametail = Get_CRC16_Check_Sum((uint8_t *)&UI_CharReFresh_data, LEN_HEADER + LEN_CMDID + temp_datalength, 0xFFFF);
|
||||
UI_CharReFresh_data.frametail = Get_CRC16_Check_Sum((uint8_t *)&UI_CharReFresh_data, LEN_HEADER + LEN_CMDID + temp_datalength, 0xFFFF);
|
||||
|
||||
RefereeLoadToBuffer((uint8_t *)&UI_CharReFresh_data, LEN_HEADER + LEN_CMDID + temp_datalength + LEN_TAIL); // 发送
|
||||
RefereeSend((uint8_t *)&UI_CharReFresh_data, LEN_HEADER + LEN_CMDID + temp_datalength + LEN_TAIL); // 发送
|
||||
|
||||
UI_Seq++; // 包序号+1
|
||||
UI_Seq++; // 包序号+1
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user