/** * @file referee.C * @author kidneygood (you@domain.com) * @brief * @version 0.1 * @date 2022-11-18 * * @copyright Copyright (c) 2022 * */ #include "referee_task.h" #include "robot_def.h" #include "rm_referee.h" #include "referee_UI.h" #include "string.h" #include "cmsis_os.h" #include "balance.h" static Referee_Interactive_info_t *Interactive_data; // UI绘制需要的机器人状态数据 static referee_info_t *referee_recv_info; // 接收到的裁判系统数据 uint8_t UI_Seq; // 包序号，供整个referee文件使用 // @todo 不应该使用全局变量 /** * @brief 判断各种ID，选择客户端ID * @param referee_info_t *referee_recv_info * @retval none * @attention */ static void DeterminRobotID() { // 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_recv_info->referee_id.Robot_Color = referee_recv_info->GameRobotState.robot_id > 7 ? Robot_Blue : Robot_Red; referee_recv_info->referee_id.Robot_ID = referee_recv_info->GameRobotState.robot_id; referee_recv_info->referee_id.Cilent_ID = 0x0100 + referee_recv_info->referee_id.Robot_ID; // 计算客户端ID referee_recv_info->referee_id.Receiver_Robot_ID = 0; } static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_info_t *_Interactive_data); static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data); // 模式切换检测 static void RobotModeTest(Referee_Interactive_info_t *_Interactive_data); // 测试用函数，实现模式自动变化 referee_info_t *UITaskInit(UART_HandleTypeDef *referee_usart_handle, Referee_Interactive_info_t *UI_data) { referee_recv_info = RefereeInit(referee_usart_handle); // 初始化裁判系统的串口,并返回裁判系统反馈数据指针 Interactive_data = UI_data; // 获取UI绘制需要的机器人状态数据 referee_recv_info->init_flag = 1; return referee_recv_info; } void UITask() { // RobotModeTest(Interactive_data); // 测试用函数，实现模式自动变化,用于检查该任务和裁判系统是否连接正常 MyUIRefresh(referee_recv_info, Interactive_data); } static Graph_Data_t UI_shoot_line[10]; // 射击准线 static Graph_Data_t UI_Energy[3]; // 电容能量条 static Graph_Data_t UI_Vision[3]; // 视觉标识框 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, 600, 460, 420, 350}; #define Leg_X_Offset 1650 #define Leg_Y_Offset 500 #define Leg_Gain 500 static Graph_Data_t Leg_Graph_sta[2]; static Graph_Data_t Leg_Graph_dyn[6]; static uint32_t Processed_coord[6] = {1605, 455, 1695, 410, 1785, 455}; // Y坐标取反，放大，平移后的 void MyUIInit() { if (!referee_recv_info->init_flag) vTaskDelete(NULL); // 如果没有初始化裁判系统则直接删除ui任务 if (Interactive_data->ui_mode == UI_KEEP) return; while (referee_recv_info->GameRobotState.robot_id == 0) osDelay(100); // 若还未收到裁判系统数据,等待一段时间后再检查 DeterminRobotID(); // 确定ui要发送到的目标客户端 UIDelete(&referee_recv_info->referee_id, UI_Data_Del_ALL, 0); // 清空UI // 绘制发射基准线 UILineDraw(&UI_shoot_line[0], "sl0", UI_Graph_ADD, 7, UI_Color_White, 3, 710, shoot_line_location[0], 1210, shoot_line_location[0]); UILineDraw(&UI_shoot_line[1], "sl1", UI_Graph_ADD, 7, UI_Color_White, 3, shoot_line_location[1], 340, shoot_line_location[1], 740); UILineDraw(&UI_shoot_line[2], "sl2", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[2], 1110, shoot_line_location[2]); UILineDraw(&UI_shoot_line[3], "sl3", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[3], 1110, shoot_line_location[3]); UILineDraw(&UI_shoot_line[4], "sl4", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[4], 1110, shoot_line_location[4]); UILineDraw(&UI_shoot_line[5], "sl5", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[5], 1110, shoot_line_location[5]); UIGraphRefresh(&referee_recv_info->referee_id, 7, UI_shoot_line[0], UI_shoot_line[1], UI_shoot_line[2], UI_shoot_line[3], UI_shoot_line[4], UI_shoot_line[5], UI_shoot_line[6]); // 绘制车辆状态标志指示 UICharDraw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 150, 750, "chassis:"); UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[0]); UICharDraw(&UI_State_sta[1], "ss1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 150, 700, "frict:"); UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[1]); UICharDraw(&UI_State_sta[2], "ss2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 150, 650, "vision:"); UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[2]); UICharDraw(&UI_State_sta[4], "ss4", UI_Graph_ADD, 8, UI_Color_Cyan, 15, 2, 150, 600, "loader:"); UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[4]); // 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 UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 270, 750, "zeroforce"); UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[0]); UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_ADD, 8, UI_Color_Pink, 15, 2, 270, 700, "off"); UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[1]); UICharDraw(&UI_State_dyn[2], "sd2", UI_Graph_ADD, 8, UI_Color_Orange, 15, 2, 270, 650, "unlock"); UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[2]); UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_ADD, 8, UI_Color_Cyan, 15, 2, 270, 600, "stop"); UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]); // 绘制视觉标识框 UIRectangleDraw(&UI_Vision[0], "sd3", UI_Graph_ADD, 9, UI_Color_Green, 2, 650, 700, 1270, 380); UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Vision[0]); // 底盘功率显示，静态 UICharDraw(&UI_State_sta[5], "ss5", UI_Graph_ADD, 7, UI_Color_Green, 18, 2, 620, 230, "Power:"); UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[5]); // 能量条框 UIRectangleDraw(&UI_Energy[0], "ss6", UI_Graph_ADD, 7, UI_Color_Green, 2, 720, 140, 1420, 180); UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Energy[0]); // 底盘功率显示,动态 UIFloatDraw(&UI_Energy[1], "sd5", UI_Graph_ADD, 8, UI_Color_Green, 18, 2, 2, 750, 230, 24000); // 能量条初始状态 UILineDraw(&UI_Energy[2], "sd6", UI_Graph_ADD, 8, UI_Color_Pink, 30, 720, 160, 1020, 160); UIGraphRefresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]); // 底盘方向--指示云台方向 UILineDraw(&Leg_Graph_sta[0], "ws0", UI_Graph_ADD, 9, UI_Color_Purplish_red, 4, 1700, 600, 1700, 705); UIGraphRefresh(&referee_recv_info->referee_id, 1, Leg_Graph_sta[0]); // 腿部运动，五连杆 UILineDraw(&Leg_Graph_dyn[1], "wd1", UI_Graph_ADD, 7, UI_Color_Yellow, 5, 0 + Leg_X_Offset, 0 + Leg_Y_Offset, (uint32_t)(JOINT_DISTANCE * Leg_Gain + Leg_X_Offset), 0 + Leg_Y_Offset); // 水平线 UILineDraw(&Leg_Graph_dyn[2], "wd2", UI_Graph_ADD, 7, UI_Color_Green, 5, 0 + Leg_X_Offset, 0 + Leg_Y_Offset, Processed_coord[0], Processed_coord[1]); // 左大腿 UILineDraw(&Leg_Graph_dyn[3], "wd3", UI_Graph_ADD, 7, UI_Color_Green, 5, Processed_coord[0], Processed_coord[1], Processed_coord[2], Processed_coord[3]); // 左小腿 UILineDraw(&Leg_Graph_dyn[4], "wd4", UI_Graph_ADD, 7, UI_Color_Purplish_red, 5, (uint32_t)(JOINT_DISTANCE * Leg_Gain + Leg_X_Offset), 0 + Leg_Y_Offset, Processed_coord[4], Processed_coord[5]); // 右大腿 UILineDraw(&Leg_Graph_dyn[5], "wd5", UI_Graph_ADD, 7, UI_Color_Purplish_red, 5, Processed_coord[2], Processed_coord[3], Processed_coord[4], Processed_coord[5]); // 右小腿 UIGraphRefresh(&referee_recv_info->referee_id, 5, Leg_Graph_dyn[1], Leg_Graph_dyn[2], Leg_Graph_dyn[3], Leg_Graph_dyn[4], Leg_Graph_dyn[5]); } // 测试用函数，实现模式自动变化,用于检查该任务和裁判系统是否连接正常 static uint8_t count = 0; static uint16_t count1 = 0; static void RobotModeTest(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; _Interactive_data->Chassis_Power_Data.chassis_power_mx += 3.5; if (_Interactive_data->Chassis_Power_Data.chassis_power_mx >= 18) _Interactive_data->Chassis_Power_Data.chassis_power_mx = 0; 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_RESET; _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 MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_info_t *_Interactive_data) { UIChangeCheck(_Interactive_data); // chassis if (_Interactive_data->Referee_Interactive_Flag.chassis_flag == 1) { switch (_Interactive_data->chassis_mode) { case CHASSIS_ZERO_FORCE: UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "zeroforce"); break; case CHASSIS_ROTATE: UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "rotate "); // 此处注意字数对齐问题，字数相同才能覆盖掉 break; case CHASSIS_RESET: UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "reset "); break; case CHASSIS_FOLLOW_GIMBAL_YAW: UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "follow "); break; } UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[0]); _Interactive_data->Referee_Interactive_Flag.chassis_flag = 0; } // friction if (_Interactive_data->Referee_Interactive_Flag.friction_flag == 1) { UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_Change, 8, UI_Color_Pink, 15, 2, 270, 700, _Interactive_data->friction_mode == FRICTION_ON ? "on " : "off"); UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[1]); _Interactive_data->Referee_Interactive_Flag.friction_flag = 0; } // vision if (_Interactive_data->Referee_Interactive_Flag.vision_flag == 1) { switch (_Interactive_data->vision_mode) { case UNLOCK: UICharDraw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Orange, 15, 2, 270, 650, "unlock "); UIRectangleDraw(&UI_Vision[0], "sd3", UI_Graph_Change, 9, UI_Color_Green, 2, 650, 700, 1270, 380); break; case CONVERGE: UICharDraw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Orange, 15, 2, 270, 650, "converge"); UIRectangleDraw(&UI_Vision[0], "sd3", UI_Graph_Change, 9, UI_Color_Purplish_red, 2, 650, 700, 1270, 380); break; case LOCK: UICharDraw(&UI_State_dyn[2], "sd2", UI_Graph_Change, 8, UI_Color_Orange, 15, 2, 270, 650, "lock "); UIRectangleDraw(&UI_Vision[0], "sd3", UI_Graph_Change, 9, UI_Color_Purplish_red, 2, 650, 700, 1270, 380); break; } UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[2]); UIGraphRefresh(&referee_recv_info->referee_id, 1, UI_Vision[0]); _Interactive_data->Referee_Interactive_Flag.vision_flag = 0; } // loader if (_Interactive_data->Referee_Interactive_Flag.loader_flag == 1) { switch (_Interactive_data->loader_mode) { case LOAD_1_BULLET: UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Cyan, 15, 2, 270, 600, "1 bull"); break; case LOAD_3_BULLET: UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Purplish_red, 15, 2, 270, 600, "3 bull"); break; case LOAD_BURSTFIRE: UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Purplish_red, 15, 2, 270, 600, "burst "); break; case LOAD_STOP: UICharDraw(&UI_State_dyn[4], "sd4", UI_Graph_Change, 8, UI_Color_Purplish_red, 15, 2, 270, 600, "stop "); break; } UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[4]); _Interactive_data->Referee_Interactive_Flag.loader_flag = 0; } // power if (_Interactive_data->Referee_Interactive_Flag.Power_flag == 1) { UIFloatDraw(&UI_Energy[1], "sd5", UI_Graph_Change, 8, UI_Color_Green, 18, 2, 2, 750, 230, _Interactive_data->Chassis_Power_Data.chassis_power_mx * 1000); UILineDraw(&UI_Energy[2], "sd6", UI_Graph_Change, 8, UI_Color_Pink, 30, 720, 160, (uint32_t)750 + _Interactive_data->Chassis_Power_Data.chassis_power_mx * 30, 160); UIGraphRefresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]); _Interactive_data->Referee_Interactive_Flag.Power_flag = 0; } // 底盘方向 if (_Interactive_data->Referee_Interactive_Flag.direction_flag == 1) { switch (_Interactive_data->direction) { case CHASSIS_SIDLE: { UILineDraw(&Leg_Graph_dyn[0], "wd0", UI_Graph_Change, 9, UI_Color_Green, 7, 1700, 600, 1700, 700); break; } case CHASSIS_ALIGN: { UILineDraw(&Leg_Graph_dyn[0], "wd0", UI_Graph_Change, 9, UI_Color_Green, 7, 1650, 600, 1750, 600); break; } } UIGraphRefresh(&referee_recv_info->referee_id, 1, Leg_Graph_dyn[0]); _Interactive_data->Referee_Interactive_Flag.direction_flag = 0; } if (Processed_coord[0] != (uint32_t)(_Interactive_data->coord[0] * Leg_Gain + Leg_X_Offset)) { Processed_coord[0] = (uint32_t)(_Interactive_data->coord[0] * Leg_Gain + Leg_X_Offset); Processed_coord[1] = (uint32_t)(_Interactive_data->coord[1] * -Leg_Gain + Leg_Y_Offset); Processed_coord[2] = (uint32_t)(_Interactive_data->coord[2] * Leg_Gain + Leg_X_Offset); Processed_coord[3] = (uint32_t)(_Interactive_data->coord[3] * -Leg_Gain + Leg_Y_Offset); Processed_coord[4] = (uint32_t)(_Interactive_data->coord[4] * Leg_Gain + Leg_X_Offset); Processed_coord[5] = (uint32_t)(_Interactive_data->coord[5] * -Leg_Gain + Leg_Y_Offset); // 腿部运动，五连杆，不需要检测变更，实时显示变化 UILineDraw(&Leg_Graph_dyn[2], "wd2", UI_Graph_Change, 7, UI_Color_Green, 5, 0 + Leg_X_Offset, 0 + Leg_Y_Offset, Processed_coord[0], Processed_coord[1]); // 左大腿 UILineDraw(&Leg_Graph_dyn[3], "wd3", UI_Graph_Change, 7, UI_Color_Green, 5, Processed_coord[0], Processed_coord[1], Processed_coord[2], Processed_coord[3]); // 左小腿 UILineDraw(&Leg_Graph_dyn[4], "wd4", UI_Graph_Change, 7, UI_Color_Purplish_red, 5, (uint32_t)(JOINT_DISTANCE * Leg_Gain + Leg_X_Offset), 0 + Leg_Y_Offset, Processed_coord[4], Processed_coord[5]); // 右大腿 UILineDraw(&Leg_Graph_dyn[5], "wd5", UI_Graph_Change, 7, UI_Color_Purplish_red, 5, Processed_coord[2], Processed_coord[3], Processed_coord[4], Processed_coord[5]); // 右小腿 UIGraphRefresh(&referee_recv_info->referee_id, 5, Leg_Graph_dyn[1], Leg_Graph_dyn[2], Leg_Graph_dyn[3], Leg_Graph_dyn[4], Leg_Graph_dyn[5]); } } /** * @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 UIChangeCheck(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; } if (_Interactive_data->Chassis_Power_Data.chassis_power_mx != _Interactive_data->Chassis_last_Power_Data.chassis_power_mx) { _Interactive_data->Referee_Interactive_Flag.Power_flag = 1; _Interactive_data->Chassis_last_Power_Data.chassis_power_mx = _Interactive_data->Chassis_Power_Data.chassis_power_mx; } if(_Interactive_data->vision_mode != _Interactive_data->vision_last_mode) { _Interactive_data->Referee_Interactive_Flag.vision_flag = 1; _Interactive_data->vision_last_mode = _Interactive_data->vision_mode; } if (_Interactive_data->loader_mode != _Interactive_data->loader_last_mode) { _Interactive_data->Referee_Interactive_Flag.loader_flag = 1; _Interactive_data->loader_last_mode = _Interactive_data->loader_mode; } if (_Interactive_data->direction != _Interactive_data->last_direction) { _Interactive_data->Referee_Interactive_Flag.direction_flag = 1; _Interactive_data->last_direction = _Interactive_data->direction; } }