TuxMonkey/half-steering-basic-framework
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赛场_v1.2

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guoxy06
2026-04-03 05:06:57 +08:00
parent 36ebd87045
commit c471f1b196
6 changed files with 39 additions and 29 deletions
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44
modules/referee/referee_task.c
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@@ -57,7 +57,7 @@ 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 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 uint32_t shoot_line_location[10] = {525, 950, 490, 515, 565};
void MyUIInit()
{
@@ -73,12 +73,12 @@ void MyUIInit()
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[3], "sl3", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 860, 475, 1060, 475);
UILineDraw(&UI_shoot_line[4], "sl4", UI_Graph_ADD, 7, UI_Color_Yellow, 2, 810, shoot_line_location[4], 1110, shoot_line_location[4]);
UIGraphRefresh(&referee_recv_info->referee_id, 5, UI_shoot_line[0], UI_shoot_line[1], UI_shoot_line[2], UI_shoot_line[3], UI_shoot_line[4]);
// 绘制车辆状态标志指示
UICharDraw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 150, 750, "chassis:");
UICharDraw(&UI_State_sta[0], "ss0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 150, 750, "level:");
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, "gimbal:");
UICharRefresh(&referee_recv_info->referee_id, UI_State_sta[1]);
@@ -91,7 +91,7 @@ void MyUIInit()
// 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");
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_ADD, 8, UI_Color_Main, 15, 2, 270, 750, "1");
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[0]);
UICharDraw(&UI_State_dyn[1], "sd1", UI_Graph_ADD, 8, UI_Color_Yellow, 15, 2, 270, 700, "zeroforce");
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[1]);
@@ -116,7 +116,7 @@ void MyUIInit()
UIGraphRefresh(&referee_recv_info->referee_id, 2, UI_Energy[1], UI_Energy[2]);
}
// 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
// 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
@@ -176,27 +176,15 @@ static void RobotModeTest(Referee_Interactive_info_t *_Interactive_data) // 测
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)
// robot level
if (_Interactive_data->Referee_Interactive_Flag.robot_level_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_NO_FOLLOW:
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, "nofollow ");
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;
}
char level_str[2];
level_str[0] = '0' + _Interactive_data->robot_level;
level_str[1] = '\0';
UICharDraw(&UI_State_dyn[0], "sd0", UI_Graph_Change, 8, UI_Color_Main, 15, 2, 270, 750, level_str);
UICharRefresh(&referee_recv_info->referee_id, UI_State_dyn[0]);
_Interactive_data->Referee_Interactive_Flag.chassis_flag = 0;
_Interactive_data->Referee_Interactive_Flag.robot_level_flag = 0;
}
// gimbal
if (_Interactive_data->Referee_Interactive_Flag.gimbal_flag == 1)
@@ -261,6 +249,12 @@ static void MyUIRefresh(referee_info_t *referee_recv_info, Referee_Interactive_i
*/
static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data)
{
if (_Interactive_data->robot_level != _Interactive_data->robot_last_level)
{
_Interactive_data->Referee_Interactive_Flag.robot_level_flag = 1;
_Interactive_data->robot_last_level = _Interactive_data->robot_level;
}
if (_Interactive_data->chassis_mode != _Interactive_data->chassis_last_mode)
{
_Interactive_data->Referee_Interactive_Flag.chassis_flag = 1;
@@ -296,4 +290,4 @@ static void UIChangeCheck(Referee_Interactive_info_t *_Interactive_data)
_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;
}
}
}