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重新组织了裁判系统相关模块的结构

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This commit is contained in:
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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116
modules/referee/rm_referee.c
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@@ -13,50 +13,71 @@
#include "string.h"
#include "crc_ref.h"
#include "bsp_usart.h"
#include "task.h"
#define RE_RX_BUFFER_SIZE 200
static USARTInstance *referee_usart_instance;
static referee_tx_buffer_t referee_tx_buffer={{0},0};
static referee_info_t referee_info;
static void JudgeReadData(uint8_t *ReadFromUsart);
static USARTInstance *referee_usart_instance; // 裁判系统串口实例
static referee_info_t referee_info; // 裁判系统数据
static Referee_Interactive_info_t *UI_tmp; // UI绘制需要的机器人状态数据
static void RefereeRxCallback();
static void JudgeReadData(uint8_t *buff);
uint8_t UI_Seq = 0; // 包序号，供整个referee文件使用
/* 裁判系统通信初始化 */
referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle)
referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle, Referee_Interactive_info_t *UI_data)
{
USART_Init_Config_s conf;
conf.module_callback = RefereeRxCallback;
conf.usart_handle = referee_usart_handle;
conf.recv_buff_size = RE_RX_BUFFER_SIZE;
referee_usart_instance = USARTRegister(&conf);
UI_tmp = UI_data;
return &referee_info;
}
/**
* @brief 载入缓存区函数
* @param send 待载入的数据
*/
void RefereeLoadToBuffer(uint8_t *send, uint16_t tx_len)
void RefereeGetUIData(referee_info_t **recv_info_pp, Referee_Interactive_info_t **UI_data_pp)
{
memcpy((uint8_t *)(&referee_tx_buffer.buffer)+referee_tx_buffer.pos,send,tx_len);
referee_tx_buffer.pos+=tx_len;
*recv_info_pp = &referee_info;
*UI_data_pp = UI_tmp;
}
/**
* @brief 发送函数
* @param
*/
void RefereeSend()
void CommBetweenRobotSend(referee_id_t *_id, robot_interactive_data_t *_data)
{
USARTSend(referee_usart_instance, (uint8_t *)(&referee_tx_buffer.buffer), referee_tx_buffer.pos,USART_TRANSFER_DMA);
referee_tx_buffer.pos=0;
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);
SendData.CmdID = ID_student_interactive;
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
}
/**
* @brief 裁判系统数据发送函数,由于使用
* @param
*/
void RefereeSend(uint8_t *send, uint16_t tx_len)
{
static TickType_t xLastWakeTime;
USARTSend(referee_usart_instance, send, tx_len, USART_TRANSFER_DMA);
vTaskDelayUntil(&xLastWakeTime, 120);
}
/*裁判系统串口接收回调函数,解析数据 */
static void RefereeRxCallback()
@@ -66,83 +87,82 @@ static void RefereeRxCallback()
/**
* @brief 读取裁判数据,中断中读取保证速度
* @param ReadFromUsart: 读取到的裁判系统原始数据
* @param buff: 读取到的裁判系统原始数据
* @retval 是否对正误判断做处理
* @attention 在此判断帧头和CRC校验,无误再写入数据，不重复判断帧头
*/
static void JudgeReadData(uint8_t *ReadFromUsart)
static void JudgeReadData(uint8_t *buff)
{
uint16_t judge_length; // 统计一帧数据长度
if (ReadFromUsart == NULL) // 空数据包，则不作任何处理
uint16_t judge_length; // 统计一帧数据长度
if (buff == NULL) // 空数据包，则不作任何处理
return;
// 写入帧头数据(5-byte),用于判断是否开始存储裁判数据
memcpy(&referee_info.FrameHeader, ReadFromUsart, LEN_HEADER);
memcpy(&referee_info.FrameHeader, buff, LEN_HEADER);
// 判断帧头数据(0)是否为0xA5
if (ReadFromUsart[SOF] == REFEREE_SOF)
if (buff[SOF] == REFEREE_SOF)
{
// 帧头CRC8校验
if (Verify_CRC8_Check_Sum(ReadFromUsart, LEN_HEADER) == TRUE)
if (Verify_CRC8_Check_Sum(buff, LEN_HEADER) == TRUE)
{
// 统计一帧数据长度(byte),用于CR16校验
judge_length = ReadFromUsart[DATA_LENGTH] + LEN_HEADER + LEN_CMDID + LEN_TAIL;
judge_length = buff[DATA_LENGTH] + LEN_HEADER + LEN_CMDID + LEN_TAIL;
// 帧尾CRC16校验
if (Verify_CRC16_Check_Sum(ReadFromUsart, judge_length) == TRUE)
if (Verify_CRC16_Check_Sum(buff, judge_length) == TRUE)
{
// 2个8位拼成16位int
referee_info.CmdID = (ReadFromUsart[6] << 8 | ReadFromUsart[5]);
referee_info.CmdID = (buff[6] << 8 | buff[5]);
// 解析数据命令码,将数据拷贝到相应结构体中(注意拷贝数据的长度)
// 第8个字节开始才是数据 data=7
switch (referee_info.CmdID)
{
case ID_game_state: // 0x0001
memcpy(&referee_info.GameState, (ReadFromUsart + DATA_Offset), LEN_game_state);
memcpy(&referee_info.GameState, (buff + DATA_Offset), LEN_game_state);
break;
case ID_game_result: // 0x0002
memcpy(&referee_info.GameResult, (ReadFromUsart + DATA_Offset), LEN_game_result);
memcpy(&referee_info.GameResult, (buff + DATA_Offset), LEN_game_result);
break;
case ID_game_robot_survivors: // 0x0003
memcpy(&referee_info.GameRobotHP, (ReadFromUsart + DATA_Offset), LEN_game_robot_HP);
memcpy(&referee_info.GameRobotHP, (buff + DATA_Offset), LEN_game_robot_HP);
break;
case ID_event_data: // 0x0101
memcpy(&referee_info.EventData, (ReadFromUsart + DATA_Offset), LEN_event_data);
memcpy(&referee_info.EventData, (buff + DATA_Offset), LEN_event_data);
break;
case ID_supply_projectile_action: // 0x0102
memcpy(&referee_info.SupplyProjectileAction, (ReadFromUsart + DATA_Offset), LEN_supply_projectile_action);
memcpy(&referee_info.SupplyProjectileAction, (buff + DATA_Offset), LEN_supply_projectile_action);
break;
case ID_game_robot_state: // 0x0201
memcpy(&referee_info.GameRobotState, (ReadFromUsart + DATA_Offset), LEN_game_robot_state);
memcpy(&referee_info.GameRobotState, (buff + DATA_Offset), LEN_game_robot_state);
break;
case ID_power_heat_data: // 0x0202
memcpy(&referee_info.PowerHeatData, (ReadFromUsart + DATA_Offset), LEN_power_heat_data);
memcpy(&referee_info.PowerHeatData, (buff + DATA_Offset), LEN_power_heat_data);
break;
case ID_game_robot_pos: // 0x0203
memcpy(&referee_info.GameRobotPos, (ReadFromUsart + DATA_Offset), LEN_game_robot_pos);
memcpy(&referee_info.GameRobotPos, (buff + DATA_Offset), LEN_game_robot_pos);
break;
case ID_buff_musk: // 0x0204
memcpy(&referee_info.BuffMusk, (ReadFromUsart + DATA_Offset), LEN_buff_musk);
memcpy(&referee_info.BuffMusk, (buff + DATA_Offset), LEN_buff_musk);
break;
case ID_aerial_robot_energy: // 0x0205
memcpy(&referee_info.AerialRobotEnergy, (ReadFromUsart + DATA_Offset), LEN_aerial_robot_energy);
memcpy(&referee_info.AerialRobotEnergy, (buff + DATA_Offset), LEN_aerial_robot_energy);
break;
case ID_robot_hurt: // 0x0206
memcpy(&referee_info.RobotHurt, (ReadFromUsart + DATA_Offset), LEN_robot_hurt);
memcpy(&referee_info.RobotHurt, (buff + DATA_Offset), LEN_robot_hurt);
break;
case ID_shoot_data: // 0x0207
memcpy(&referee_info.ShootData, (ReadFromUsart + DATA_Offset), LEN_shoot_data);
memcpy(&referee_info.ShootData, (buff + DATA_Offset), LEN_shoot_data);
break;
case ID_student_interactive: // 0x0301 syhtodo接收代码未测试
memcpy(&referee_info.ReceiveData, (ReadFromUsart + DATA_Offset), LEN_receive_data);
memcpy(&referee_info.ReceiveData, (buff + DATA_Offset), LEN_receive_data);
break;
}
}
}
// 首地址加帧长度,指向CRC16下一字节,用来判断是否为0xA5,从而判断一个数据包是否有多帧数据
if (*(ReadFromUsart + sizeof(xFrameHeader) + LEN_CMDID + referee_info.FrameHeader.DataLength + LEN_TAIL) == 0xA5)
{
// 如果一个数据包出现了多帧数据,则再次调用解析函数,直到所有数据包解析完毕
JudgeReadData(ReadFromUsart + sizeof(xFrameHeader) + LEN_CMDID + referee_info.FrameHeader.DataLength + LEN_TAIL);
if (*(buff + sizeof(xFrameHeader) + LEN_CMDID + referee_info.FrameHeader.DataLength + LEN_TAIL) == 0xA5)
{ // 如果一个数据包出现了多帧数据,则再次调用解析函数,直到所有数据包解析完毕
JudgeReadData(buff + sizeof(xFrameHeader) + LEN_CMDID + referee_info.FrameHeader.DataLength + LEN_TAIL);
}
}
}