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move_xrobot/User/device/referee.c
Robofish 76fde06500 初始化
2025-01-14 10:35:04 +08:00

790 lines
29 KiB
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/*
裁判系统抽象。
*/
/* Includes ----------------------------------------------------------------- */
#include "referee.h"
#include <string.h>
#include "bsp\delay.h"
#include "bsp\uart.h"
#include "component\crc16.h"
#include "component\crc8.h"
#include "component\user_math.h"
/* Private define ----------------------------------------------------------- */
#define REF_HEADER_SOF (0xA5)
#define REF_LEN_RX_BUFF (0xFF)
#define REF_UI_FAST_REFRESH_FREQ (50)
#define REF_UI_SLOW_REFRESH_FREQ (0.2f)
#define REF_UI_BOX_UP_OFFSET (4)
#define REF_UI_BOX_BOT_OFFSET (-14)
#define REF_UI_RIGHT_START_POS (0.85f)
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* Private variables -------------------------------------------------------- */
static volatile uint32_t drop_message = 0;
static uint8_t rxbuf[REF_LEN_RX_BUFF];
static osThreadId_t thread_alert;
static bool inited = false;
/* Private function -------------------------------------------------------- */
static void Referee_RxCpltCallback(void) {
osThreadFlagsSet(thread_alert, SIGNAL_REFEREE_RAW_REDY);
}
static void Referee_IdleLineCallback(void) {
HAL_UART_AbortReceive_IT(BSP_UART_GetHandle(BSP_UART_REF));
}
static void Referee_AbortRxCpltCallback(void) {
osThreadFlagsSet(thread_alert, SIGNAL_REFEREE_RAW_REDY);
}
static void RefereeFastRefreshTimerCallback(void *arg) {
(void)arg;
osThreadFlagsSet(thread_alert, SIGNAL_REFEREE_FAST_REFRESH_UI);
}
static void RefereeSlowRefreshTimerCallback(void *arg) {
(void)arg;
osThreadFlagsSet(thread_alert, SIGNAL_REFEREE_SLOW_REFRESH_UI);
}
/* Exported functions ------------------------------------------------------- */
int8_t Referee_Init(Referee_t *ref, Referee_UI_t *ui,
const CMD_Screen_t *screen) {
if (ref == NULL) return DEVICE_ERR_NULL;
if (inited) return DEVICE_ERR_INITED;
if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
ui->screen = screen;
BSP_UART_RegisterCallback(BSP_UART_REF, BSP_UART_RX_CPLT_CB,
Referee_RxCpltCallback);
BSP_UART_RegisterCallback(BSP_UART_REF, BSP_UART_ABORT_RX_CPLT_CB,
Referee_AbortRxCpltCallback);
BSP_UART_RegisterCallback(BSP_UART_REF, BSP_UART_IDLE_LINE_CB,
Referee_IdleLineCallback);
uint32_t fast_period_ms = (uint32_t)(1000.0f / REF_UI_FAST_REFRESH_FREQ);
uint32_t slow_period_ms = (uint32_t)(1000.0f / REF_UI_SLOW_REFRESH_FREQ);
ref->ui_fast_timer_id =
osTimerNew(RefereeFastRefreshTimerCallback, osTimerPeriodic, NULL, NULL);
ref->ui_slow_timer_id =
osTimerNew(RefereeSlowRefreshTimerCallback, osTimerPeriodic, NULL, NULL);
osTimerStart(ref->ui_fast_timer_id, fast_period_ms);
osTimerStart(ref->ui_slow_timer_id, slow_period_ms);
__HAL_UART_ENABLE_IT(BSP_UART_GetHandle(BSP_UART_REF), UART_IT_IDLE);
inited = true;
return 0;
}
int8_t Referee_Restart(void) {
__HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_REF));
__HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_REF));
return 0;
}
int8_t Referee_StartReceiving(Referee_t *ref) {
(void)ref;
if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_REF), rxbuf,
REF_LEN_RX_BUFF) == HAL_OK)
return DEVICE_OK;
return DEVICE_ERR;
}
bool Referee_CheckTXReady() {
return BSP_UART_GetHandle(BSP_UART_REF)->gState == HAL_UART_STATE_READY;
}
void Referee_HandleOffline(Referee_t *referee) {
referee->ref_status = REF_STATUS_OFFLINE;
}
int8_t Referee_Parse(Referee_t *ref) {
REF_SWITCH_STATUS(*ref, REF_STATUS_RUNNING);
uint32_t data_length =
REF_LEN_RX_BUFF -
__HAL_DMA_GET_COUNTER(BSP_UART_GetHandle(BSP_UART_REF)->hdmarx);
uint8_t index = 0;
uint8_t packet_shift;
uint8_t packet_length;
while (index < data_length && rxbuf[index] == REF_HEADER_SOF) {
packet_shift = index;
Referee_Header_t *header = (Referee_Header_t *)(rxbuf + index);
index += sizeof(*header);
if (index - packet_shift >= data_length) goto error;
if (!CRC8_Verify((uint8_t *)header, sizeof(*header))) goto error;
if (header->sof != REF_HEADER_SOF) goto error;
Referee_CMDID_t *cmd_id = (Referee_CMDID_t *)(rxbuf + index);
index += sizeof(*cmd_id);
if (index - packet_shift >= data_length) goto error;
void *target = (rxbuf + index);
void *origin;
size_t size;
switch (*cmd_id) {
case REF_CMD_ID_GAME_STATUS:
origin = &(ref->game_status);
size = sizeof(ref->game_status);
break;
case REF_CMD_ID_GAME_RESULT:
origin = &(ref->game_result);
size = sizeof(ref->game_result);
break;
case REF_CMD_ID_GAME_ROBOT_HP:
origin = &(ref->game_robot_hp);
size = sizeof(ref->game_robot_hp);
break;
case REF_CMD_ID_DART_STATUS:
origin = &(ref->dart_status);
size = sizeof(ref->dart_status);
break;
case REF_CMD_ID_ICRA_ZONE_STATUS:
origin = &(ref->icra_zone);
size = sizeof(ref->icra_zone);
break;
case REF_CMD_ID_FIELD_EVENTS:
origin = &(ref->field_event);
size = sizeof(ref->field_event);
break;
case REF_CMD_ID_SUPPLY_ACTION:
origin = &(ref->supply_action);
size = sizeof(ref->supply_action);
break;
case REF_CMD_ID_REQUEST_SUPPLY:
origin = &(ref->request_supply);
size = sizeof(ref->request_supply);
case REF_CMD_ID_WARNING:
origin = &(ref->warning);
size = sizeof(ref->warning);
break;
case REF_CMD_ID_DART_COUNTDOWN:
origin = &(ref->dart_countdown);
size = sizeof(ref->dart_countdown);
break;
case REF_CMD_ID_ROBOT_STATUS:
origin = &(ref->robot_status);
size = sizeof(ref->robot_status);
break;
case REF_CMD_ID_POWER_HEAT_DATA:
origin = &(ref->power_heat);
size = sizeof(ref->power_heat);
break;
case REF_CMD_ID_ROBOT_POS:
origin = &(ref->robot_pos);
size = sizeof(ref->robot_pos);
break;
case REF_CMD_ID_ROBOT_BUFF:
origin = &(ref->robot_buff);
size = sizeof(ref->robot_buff);
break;
case REF_CMD_ID_DRONE_ENERGY:
origin = &(ref->drone_energy);
size = sizeof(ref->drone_energy);
break;
case REF_CMD_ID_ROBOT_DMG:
origin = &(ref->robot_danage);
size = sizeof(ref->robot_danage);
break;
case REF_CMD_ID_SHOOT_DATA:
origin = &(ref->shoot_data);
size = sizeof(ref->shoot_data);
break;
case REF_CMD_ID_BULLET_REMAINING:
origin = &(ref->bullet_remain);
size = sizeof(ref->bullet_remain);
break;
case REF_CMD_ID_RFID:
origin = &(ref->rfid);
size = sizeof(ref->rfid);
break;
case REF_CMD_ID_DART_CLIENT:
origin = &(ref->dart_client);
size = sizeof(ref->dart_client);
break;
case REF_CMD_ID_INTER_STUDENT_CUSTOM:
origin = &(ref->custom);
size = sizeof(ref->custom);
case REF_CMD_ID_CLIENT_MAP:
origin = &(ref->client_map);
size = sizeof(ref->client_map);
case REF_CMD_ID_KEYBOARD_MOUSE:
origin = &(ref->keyboard_mouse);
size = sizeof(ref->keyboard_mouse);
default:
return DEVICE_ERR;
}
packet_length = sizeof(Referee_Header_t) + sizeof(Referee_CMDID_t) + size +
sizeof(Referee_Tail_t);
index += size;
if (index - packet_shift >= data_length) goto error;
index += sizeof(Referee_Tail_t);
if (index - packet_shift != packet_length) goto error;
if (CRC16_Verify((uint8_t *)(rxbuf + packet_shift), packet_length))
memcpy(origin, target, size);
else
goto error;
}
return DEVICE_OK;
error:
drop_message++;
return DEVICE_ERR;
}
int8_t Referee_StartSend(uint8_t *data, uint32_t len) {
if (HAL_UART_Transmit_DMA(BSP_UART_GetHandle(BSP_UART_REF), data,
(size_t)len) == HAL_OK) {
return DEVICE_OK;
} else
return DEVICE_ERR;
}
int8_t Referee_MoveData(void *data, void *tmp, uint32_t len) {
if (len <= 0 || data == NULL || tmp == NULL) return DEVICE_ERR;
memcpy(tmp, (const void *)data, (size_t)len);
memset(data, 0, (size_t)len);
return DEVICE_OK;
}
int8_t Referee_SetHeader(Referee_Interactive_Header_t *header,
Referee_StudentCMDID_t cmd_id, uint8_t sender_id) {
header->data_cmd_id = cmd_id;
if (sender_id <= REF_BOT_RED_RADER) switch (sender_id) {
case REF_BOT_RED_HERO:
header->sender_ID = REF_BOT_RED_HERO;
header->receiver_ID = REF_CL_RED_HERO;
break;
case REF_BOT_RED_ENGINEER:
header->sender_ID = REF_BOT_RED_ENGINEER;
header->receiver_ID = REF_CL_RED_ENGINEER;
break;
case REF_BOT_RED_INFANTRY_1:
header->sender_ID = REF_BOT_RED_INFANTRY_1;
header->receiver_ID = REF_CL_RED_INFANTRY_1;
break;
case REF_BOT_RED_INFANTRY_2:
header->sender_ID = REF_BOT_RED_INFANTRY_2;
header->receiver_ID = REF_CL_RED_INFANTRY_2;
break;
case REF_BOT_RED_INFANTRY_3:
header->sender_ID = REF_BOT_RED_INFANTRY_3;
header->receiver_ID = REF_CL_RED_INFANTRY_3;
break;
case REF_BOT_RED_DRONE:
header->sender_ID = REF_BOT_RED_DRONE;
header->receiver_ID = REF_CL_RED_DRONE;
break;
case REF_BOT_RED_SENTRY:
header->sender_ID = REF_BOT_RED_SENTRY;
break;
case REF_BOT_RED_RADER:
header->sender_ID = REF_BOT_RED_RADER;
break;
default:
return -1;
}
else
switch (sender_id) {
case REF_BOT_BLU_HERO:
header->sender_ID = REF_BOT_BLU_HERO;
header->receiver_ID = REF_CL_BLU_HERO;
break;
case REF_BOT_BLU_ENGINEER:
header->sender_ID = REF_BOT_BLU_ENGINEER;
header->receiver_ID = REF_CL_BLU_ENGINEER;
break;
case REF_BOT_BLU_INFANTRY_1:
header->sender_ID = REF_BOT_BLU_INFANTRY_1;
header->receiver_ID = REF_CL_BLU_INFANTRY_1;
break;
case REF_BOT_BLU_INFANTRY_2:
header->sender_ID = REF_BOT_BLU_INFANTRY_2;
header->receiver_ID = REF_CL_BLU_INFANTRY_2;
break;
case REF_BOT_BLU_INFANTRY_3:
header->sender_ID = REF_BOT_BLU_INFANTRY_3;
header->receiver_ID = REF_CL_BLU_INFANTRY_3;
break;
case REF_BOT_BLU_DRONE:
header->sender_ID = REF_BOT_BLU_DRONE;
header->receiver_ID = REF_CL_BLU_DRONE;
break;
case REF_BOT_BLU_SENTRY:
header->sender_ID = REF_BOT_BLU_SENTRY;
break;
case REF_BOT_BLU_RADER:
header->sender_ID = REF_BOT_BLU_RADER;
break;
default:
return -1;
}
return 0;
}
int8_t Referee_PackUI(Referee_UI_t *ui, Referee_t *ref) {
if (!Referee_CheckTXReady()) return 0;
if (ui->character_counter == 0 && ui->grapic_counter == 0 &&
ui->del_counter == 0)
return 0;
static uint8_t send_data[sizeof(Referee_UI_Drawgrapic_7_t)] = {0};
uint16_t size;
if (ui->del_counter != 0) {
if (ui->del_counter < 0 || ui->del_counter > REF_UI_MAX_STRING_NUM)
return DEVICE_ERR;
Referee_UI_Del_t *address = (Referee_UI_Del_t *)send_data;
address->header.sof = REF_HEADER_SOF;
address->header.data_length =
sizeof(UI_Del_t) + sizeof(Referee_Interactive_Header_t);
address->header.crc8 =
CRC8_Calc((const uint8_t *)&(address->header),
sizeof(Referee_Header_t) - sizeof(uint8_t), CRC8_INIT);
address->cmd_id = REF_CMD_ID_INTER_STUDENT;
Referee_SetHeader(&(address->IA_header), REF_STDNT_CMD_ID_UI_DEL,
ref->robot_status.robot_id);
Referee_MoveData(&(ui->del[--ui->del_counter]), &(address->data),
sizeof(UI_Del_t));
address->crc16 =
CRC16_Calc((const uint8_t *)address,
sizeof(Referee_UI_Del_t) - sizeof(uint16_t), CRC16_INIT);
size = sizeof(Referee_UI_Del_t);
Referee_StartSend(send_data, size);
return DEVICE_OK;
} else if (ui->grapic_counter != 0) {
switch (ui->grapic_counter) {
case 1:
size = sizeof(Referee_UI_Drawgrapic_1_t);
Referee_UI_Drawgrapic_1_t *address_1 =
(Referee_UI_Drawgrapic_1_t *)send_data;
address_1->header.sof = REF_HEADER_SOF;
address_1->header.data_length =
sizeof(UI_Drawgrapic_1_t) + sizeof(Referee_Interactive_Header_t);
address_1->header.crc8 =
CRC8_Calc((const uint8_t *)&(address_1->header),
sizeof(Referee_Header_t) - sizeof(uint8_t), CRC8_INIT);
address_1->cmd_id = REF_CMD_ID_INTER_STUDENT;
Referee_SetHeader(&(address_1->IA_header), REF_STDNT_CMD_ID_UI_DRAW1,
ref->robot_status.robot_id);
Referee_MoveData(&(ui->grapic), &(address_1->data.grapic),
sizeof(UI_Drawgrapic_1_t));
address_1->crc16 = CRC16_Calc(
(const uint8_t *)address_1,
sizeof(Referee_UI_Drawgrapic_1_t) - sizeof(uint16_t), CRC16_INIT);
break;
case 2:
size = sizeof(Referee_UI_Drawgrapic_2_t);
Referee_UI_Drawgrapic_2_t *address_2 =
(Referee_UI_Drawgrapic_2_t *)send_data;
address_2->header.sof = REF_HEADER_SOF;
address_2->header.data_length =
sizeof(UI_Drawgrapic_2_t) + sizeof(Referee_Interactive_Header_t);
address_2->header.crc8 =
CRC8_Calc((const uint8_t *)&(address_2->header),
sizeof(Referee_Header_t) - sizeof(uint8_t), CRC8_INIT);
address_2->cmd_id = REF_CMD_ID_INTER_STUDENT;
Referee_SetHeader(&(address_2->IA_header), REF_STDNT_CMD_ID_UI_DRAW2,
ref->robot_status.robot_id);
Referee_MoveData(&(ui->grapic), &(address_2->data.grapic),
sizeof(UI_Drawgrapic_2_t));
address_2->crc16 = CRC16_Calc(
(const uint8_t *)address_2,
sizeof(Referee_UI_Drawgrapic_2_t) - sizeof(uint16_t), CRC16_INIT);
break;
case 3:
case 4:
case 5:
size = sizeof(Referee_UI_Drawgrapic_5_t);
Referee_UI_Drawgrapic_5_t *address_5 =
(Referee_UI_Drawgrapic_5_t *)send_data;
address_5->header.sof = REF_HEADER_SOF;
address_5->header.data_length =
sizeof(UI_Drawgrapic_5_t) + sizeof(Referee_Interactive_Header_t);
address_5->header.crc8 =
CRC8_Calc((const uint8_t *)&(address_5->header),
sizeof(Referee_Header_t) - sizeof(uint8_t), CRC8_INIT);
address_5->cmd_id = REF_CMD_ID_INTER_STUDENT;
Referee_SetHeader(&(address_5->IA_header), REF_STDNT_CMD_ID_UI_DRAW5,
ref->robot_status.robot_id);
Referee_MoveData(&(ui->grapic), &(address_5->data.grapic),
sizeof(UI_Drawgrapic_5_t));
address_5->crc16 = CRC16_Calc(
(const uint8_t *)address_5,
sizeof(Referee_UI_Drawgrapic_5_t) - sizeof(uint16_t), CRC16_INIT);
break;
case 6:
case 7:
size = sizeof(Referee_UI_Drawgrapic_7_t);
Referee_UI_Drawgrapic_7_t *address_7 =
(Referee_UI_Drawgrapic_7_t *)send_data;
address_7->header.sof = REF_HEADER_SOF;
address_7->header.data_length =
sizeof(UI_Drawgrapic_7_t) + sizeof(Referee_Interactive_Header_t);
address_7->header.crc8 =
CRC8_Calc((const uint8_t *)&(address_7->header),
sizeof(Referee_Header_t) - sizeof(uint8_t), CRC8_INIT);
address_7->cmd_id = REF_CMD_ID_INTER_STUDENT;
Referee_SetHeader(&(address_7->IA_header), REF_STDNT_CMD_ID_UI_DRAW7,
ref->robot_status.robot_id);
Referee_MoveData(&(ui->grapic), &(address_7->data.grapic),
sizeof(UI_Drawgrapic_7_t));
address_7->crc16 = CRC16_Calc(
(const uint8_t *)address_7,
sizeof(Referee_UI_Drawgrapic_7_t) - sizeof(uint16_t), CRC16_INIT);
break;
default:
return DEVICE_ERR;
}
if (Referee_StartSend(send_data, size) == HAL_OK) {
ui->grapic_counter = 0;
return DEVICE_OK;
}
} else if (ui->character_counter != 0) {
if (ui->character_counter < 0 ||
ui->character_counter > REF_UI_MAX_STRING_NUM)
return DEVICE_ERR;
Referee_UI_Drawcharacter_t *address =
(Referee_UI_Drawcharacter_t *)send_data;
address->header.sof = REF_HEADER_SOF;
address->header.data_length =
sizeof(UI_Drawcharacter_t) + sizeof(Referee_Interactive_Header_t);
address->header.crc8 =
CRC8_Calc((const uint8_t *)&(address->header),
sizeof(Referee_Header_t) - sizeof(uint8_t), CRC8_INIT);
address->cmd_id = REF_CMD_ID_INTER_STUDENT;
Referee_SetHeader(&(address->IA_header), REF_STDNT_CMD_ID_UI_STR,
ref->robot_status.robot_id);
Referee_MoveData(&(ui->character_data[--ui->character_counter]),
&(address->data.grapic), sizeof(UI_Drawcharacter_t));
address->crc16 = CRC16_Calc(
(const uint8_t *)address,
sizeof(Referee_UI_Drawcharacter_t) - sizeof(uint16_t), CRC16_INIT);
size = sizeof(Referee_UI_Drawcharacter_t);
Referee_StartSend(send_data, size);
return DEVICE_OK;
}
return DEVICE_ERR_NULL;
}
UI_Ele_t *Referee_GetGrapicAdd(Referee_UI_t *ref_ui) {
if (ref_ui->grapic_counter >= REF_UI_MAX_GRAPIC_NUM ||
ref_ui->grapic_counter < 0)
return NULL;
else
return &(ref_ui->grapic[ref_ui->grapic_counter++]);
}
UI_Drawcharacter_t *Referee_GetCharacterAdd(Referee_UI_t *ref_ui) {
if (ref_ui->character_counter >= REF_UI_MAX_STRING_NUM ||
ref_ui->character_counter < 0)
return NULL;
else
return &(ref_ui->character_data[ref_ui->character_counter++]);
}
UI_Del_t *Referee_GetDelAdd(Referee_UI_t *ref_ui) {
if (ref_ui->del_counter >= REF_UI_MAX_DEL_NUM || ref_ui->del_counter < 0)
return NULL;
else
return &(ref_ui->del[ref_ui->del_counter++]);
}
uint8_t Referee_PraseCmd(Referee_UI_t *ref_ui, CMD_UI_t cmd) {
switch (cmd) {
/* Demo */
case CMD_UI_NOTHING:
/* 字符 */
UI_DrawCharacter(Referee_GetCharacterAdd(ref_ui), "0",
UI_GRAPIC_OPERATION_ADD, UI_GRAPIC_LAYER_AUTOAIM,
RED_BLUE, UI_DEFAULT_WIDTH, 100, 100, 200, 200, "Demo");
/* 直线 */
UI_DrawLine(Referee_GetGrapicAdd(ref_ui), "2", UI_GRAPIC_OPERATION_ADD,
UI_GRAPIC_LAYER_AUTOAIM, RED_BLUE, UI_DEFAULT_WIDTH, 960, 540,
960, 240);
/* 圆形 */
UI_DrawCycle(Referee_GetGrapicAdd(ref_ui), "1", UI_GRAPIC_OPERATION_ADD,
UI_GRAPIC_LAYER_AUTOAIM, RED_BLUE, UI_DEFAULT_WIDTH, 900,
500, 10);
/* 删除 */
UI_DelLayer(Referee_GetDelAdd(ref_ui), UI_DEL_OPERATION_DEL,
UI_GRAPIC_LAYER_AUTOAIM);
break;
case CMD_UI_AUTO_AIM_START:
UI_DrawCharacter(Referee_GetCharacterAdd(ref_ui), "1",
UI_GRAPIC_OPERATION_ADD, UI_GRAPIC_LAYER_AUTOAIM,
RED_BLUE, UI_DEFAULT_WIDTH * 10, 50, UI_DEFAULT_WIDTH,
ref_ui->screen->width * 0.8,
ref_ui->screen->height * 0.5, "AUTO");
break;
case CMD_UI_AUTO_AIM_STOP:
UI_DelLayer(Referee_GetDelAdd(ref_ui), UI_DEL_OPERATION_DEL,
UI_GRAPIC_LAYER_AUTOAIM);
default:
return -1;
}
return 0;
}
uint8_t Referee_PackCap(Referee_ForCap_t *cap, const Referee_t *ref) {
cap->chassis_power_limit = ref->robot_status.chassis_power_limit;
cap->chassis_pwr_buff = ref->power_heat.chassis_pwr_buff;
cap->chassis_watt = ref->power_heat.chassis_watt;
cap->ref_status = ref->ref_status;
return 0;
}
uint8_t Referee_PackAI(Referee_ForAI_t *ai, const Referee_t *ref) {
ai->ref_status = ref->ref_status;
return 0;
}
uint8_t Referee_PackChassis(Referee_ForChassis_t *chassis,
const Referee_t *ref) {
chassis->chassis_power_limit = ref->robot_status.chassis_power_limit;
chassis->chassis_pwr_buff = ref->power_heat.chassis_pwr_buff;
chassis->ref_status = ref->ref_status;
return 0;
}
uint8_t Referee_PackShoot(Referee_ForShoot_t *shoot, Referee_t *ref) {
memcpy(&(shoot->power_heat), &(ref->power_heat), sizeof(shoot->power_heat));
memcpy(&(shoot->robot_status), &(ref->robot_status),
sizeof(shoot->robot_status));
memcpy(&(shoot->shoot_data), &(ref->shoot_data), sizeof(shoot->shoot_data));
shoot->ref_status = ref->ref_status;
return 0;
}
uint8_t Referee_UIRefresh(Referee_UI_t *ui) {
static uint8_t fsm = 0;
if (osThreadFlagsGet() & SIGNAL_REFEREE_FAST_REFRESH_UI) {
osThreadFlagsClear(SIGNAL_REFEREE_FAST_REFRESH_UI);
switch (fsm) {
case 0: {
fsm++;
UI_DelLayer(Referee_GetDelAdd(ui), UI_DEL_OPERATION_DEL,
UI_GRAPIC_LAYER_CHASSIS);
UI_DrawLine(Referee_GetGrapicAdd(ui), "6", UI_GRAPIC_OPERATION_ADD,
UI_GRAPIC_LAYER_CHASSIS, GREEN, UI_DEFAULT_WIDTH * 12,
ui->screen->width * 0.4, ui->screen->height * 0.2,
ui->screen->width * 0.4 + sin(ui->chassis_ui.angle) * 46,
ui->screen->height * 0.2 + cos(ui->chassis_ui.angle) * 46);
float start_pos_h = 0.0f;
switch (ui->chassis_ui.mode) {
case CHASSIS_MODE_FOLLOW_GIMBAL:
start_pos_h = 0.68f;
break;
case CHASSIS_MODE_FOLLOW_GIMBAL_35:
start_pos_h = 0.66f;
break;
case CHASSIS_MODE_ROTOR:
start_pos_h = 0.64f;
break;
default:
break;
}
if (start_pos_h != 0.0f)
UI_DrawRectangle(
Referee_GetGrapicAdd(ui), "8", UI_GRAPIC_OPERATION_ADD,
UI_GRAPIC_LAYER_CHASSIS, GREEN, UI_DEFAULT_WIDTH,
ui->screen->width * REF_UI_RIGHT_START_POS - 6,
ui->screen->height * start_pos_h + REF_UI_BOX_UP_OFFSET,
ui->screen->width * REF_UI_RIGHT_START_POS + 44,
ui->screen->height * start_pos_h + REF_UI_BOX_BOT_OFFSET);
break;
}
case 1:
fsm++;
UI_DelLayer(Referee_GetDelAdd(ui), UI_DEL_OPERATION_DEL,
UI_GRAPIC_LAYER_CAP);
switch (ui->cap_ui.status) {
case CAN_CAP_STATUS_OFFLINE:
UI_DrawArc(Referee_GetGrapicAdd(ui), "9", UI_GRAPIC_OPERATION_ADD,
UI_GRAPIC_LAYER_CAP, YELLOW, 0, 360,
UI_DEFAULT_WIDTH * 5, ui->screen->width * 0.6,
ui->screen->height * 0.2, 50, 50);
break;
break;
case CAN_CAP_STATUS_RUNNING:
UI_DrawArc(Referee_GetGrapicAdd(ui), "9", UI_GRAPIC_OPERATION_ADD,
UI_GRAPIC_LAYER_CAP, GREEN, 0,
ui->cap_ui.percentage * 360, UI_DEFAULT_WIDTH * 5,
ui->screen->width * 0.6, ui->screen->height * 0.2, 50,
50);
break;
}
break;
case 2: {
fsm++;
UI_DelLayer(Referee_GetDelAdd(ui), UI_DEL_OPERATION_DEL,
UI_GRAPIC_LAYER_GIMBAL);
float start_pos_h = 0.0f;
switch (ui->gimbal_ui.mode) {
case GIMBAL_MODE_RELAX:
start_pos_h = 0.68f;
break;
case GIMBAL_MODE_RELATIVE:
start_pos_h = 0.66f;
break;
case GIMBAL_MODE_ABSOLUTE:
start_pos_h = 0.64f;
break;
default:
break;
}
UI_DrawRectangle(
Referee_GetGrapicAdd(ui), "a", UI_GRAPIC_OPERATION_ADD,
UI_GRAPIC_LAYER_GIMBAL, GREEN, UI_DEFAULT_WIDTH,
ui->screen->width * REF_UI_RIGHT_START_POS + 54,
ui->screen->height * start_pos_h + REF_UI_BOX_UP_OFFSET,
ui->screen->width * REF_UI_RIGHT_START_POS + 102,
ui->screen->height * start_pos_h + REF_UI_BOX_BOT_OFFSET);
break;
}
case 3: {
fsm++;
UI_DelLayer(Referee_GetDelAdd(ui), UI_DEL_OPERATION_DEL,
UI_GRAPIC_LAYER_SHOOT);
float start_pos_h = 0.0f;
switch (ui->shoot_ui.mode) {
case SHOOT_MODE_RELAX:
start_pos_h = 0.68f;
break;
case SHOOT_MODE_SAFE:
start_pos_h = 0.66f;
break;
case SHOOT_MODE_LOADED:
start_pos_h = 0.64f;
break;
default:
break;
}
UI_DrawRectangle(
Referee_GetGrapicAdd(ui), "b", UI_GRAPIC_OPERATION_ADD,
UI_GRAPIC_LAYER_SHOOT, GREEN, UI_DEFAULT_WIDTH,
ui->screen->width * REF_UI_RIGHT_START_POS + 114,
ui->screen->height * start_pos_h + REF_UI_BOX_UP_OFFSET,
ui->screen->width * REF_UI_RIGHT_START_POS + 162,
ui->screen->height * start_pos_h + REF_UI_BOX_BOT_OFFSET);
switch (ui->shoot_ui.fire) {
case FIRE_MODE_SINGLE:
start_pos_h = 0.68f;
break;
case FIRE_MODE_BURST:
start_pos_h = 0.66f;
break;
case FIRE_MODE_CONT:
start_pos_h = 0.64f;
default:
break;
}
UI_DrawRectangle(
Referee_GetGrapicAdd(ui), "f", UI_GRAPIC_OPERATION_ADD,
UI_GRAPIC_LAYER_SHOOT, GREEN, UI_DEFAULT_WIDTH,
ui->screen->width * REF_UI_RIGHT_START_POS + 174,
ui->screen->height * start_pos_h + REF_UI_BOX_UP_OFFSET,
ui->screen->width * REF_UI_RIGHT_START_POS + 222,
ui->screen->height * start_pos_h + REF_UI_BOX_BOT_OFFSET);
break;
}
case 4:
fsm++;
UI_DelLayer(Referee_GetDelAdd(ui), UI_DEL_OPERATION_DEL,
UI_GRAPIC_LAYER_CMD);
if (ui->cmd_pc) {
UI_DrawRectangle(Referee_GetGrapicAdd(ui), "c",
UI_GRAPIC_OPERATION_ADD, UI_GRAPIC_LAYER_CMD, GREEN,
UI_DEFAULT_WIDTH,
ui->screen->width * REF_UI_RIGHT_START_POS + 96,
ui->screen->height * 0.4 + REF_UI_BOX_UP_OFFSET,
ui->screen->width * REF_UI_RIGHT_START_POS + 120,
ui->screen->height * 0.4 + REF_UI_BOX_BOT_OFFSET);
} else {
UI_DrawRectangle(Referee_GetGrapicAdd(ui), "c",
UI_GRAPIC_OPERATION_ADD, UI_GRAPIC_LAYER_CMD, GREEN,
UI_DEFAULT_WIDTH,
ui->screen->width * REF_UI_RIGHT_START_POS + 56,
ui->screen->height * 0.4 + REF_UI_BOX_UP_OFFSET,
ui->screen->width * REF_UI_RIGHT_START_POS + 80,
ui->screen->height * 0.4 + REF_UI_BOX_BOT_OFFSET);
}
break;
default:
fsm = 0;
if (ui->del_counter >= REF_UI_MAX_DEL_NUM ||
ui->character_counter > REF_UI_MAX_STRING_NUM ||
ui->grapic_counter > REF_UI_MAX_GRAPIC_NUM)
BSP_UART_GetHandle(BSP_UART_REF)->gState = HAL_UART_STATE_READY;
}
}
if (osThreadFlagsGet() & SIGNAL_REFEREE_SLOW_REFRESH_UI) {
osThreadFlagsClear(SIGNAL_REFEREE_SLOW_REFRESH_UI);
UI_DelLayer(Referee_GetDelAdd(ui), UI_DEL_OPERATION_DEL,
UI_GRAPIC_LAYER_CONST);
UI_DrawCharacter(Referee_GetCharacterAdd(ui), "1", UI_GRAPIC_OPERATION_ADD,
UI_GRAPIC_LAYER_CONST, GREEN, UI_DEFAULT_WIDTH * 10, 80,
UI_CHAR_DEFAULT_WIDTH,
ui->screen->width * REF_UI_RIGHT_START_POS,
ui->screen->height * 0.7, "CHAS GMBL SHOT FIRE");
UI_DrawCharacter(Referee_GetCharacterAdd(ui), "2", UI_GRAPIC_OPERATION_ADD,
UI_GRAPIC_LAYER_CONST, GREEN, UI_DEFAULT_WIDTH * 10, 80,
UI_CHAR_DEFAULT_WIDTH,
ui->screen->width * REF_UI_RIGHT_START_POS,
ui->screen->height * 0.68, "FLLW RELX RELX SNGL");
UI_DrawCharacter(Referee_GetCharacterAdd(ui), "3", UI_GRAPIC_OPERATION_ADD,
UI_GRAPIC_LAYER_CONST, GREEN, UI_DEFAULT_WIDTH * 10, 80,
UI_CHAR_DEFAULT_WIDTH,
ui->screen->width * REF_UI_RIGHT_START_POS,
ui->screen->height * 0.66, "FL35 ABSL SAFE BRST");
UI_DrawCharacter(Referee_GetCharacterAdd(ui), "4", UI_GRAPIC_OPERATION_ADD,
UI_GRAPIC_LAYER_CONST, GREEN, UI_DEFAULT_WIDTH * 10, 80,
UI_CHAR_DEFAULT_WIDTH,
ui->screen->width * REF_UI_RIGHT_START_POS,
ui->screen->height * 0.64, "ROTR RLTV LOAD CONT");
UI_DrawLine(Referee_GetGrapicAdd(ui), "5", UI_GRAPIC_OPERATION_ADD,
UI_GRAPIC_LAYER_CONST, GREEN, UI_DEFAULT_WIDTH * 3,
ui->screen->width * 0.4, ui->screen->height * 0.2,
ui->screen->width * 0.4, ui->screen->height * 0.2 + 50);
UI_DrawCharacter(Referee_GetCharacterAdd(ui), "d", UI_GRAPIC_OPERATION_ADD,
UI_GRAPIC_LAYER_CONST, GREEN, UI_DEFAULT_WIDTH * 10, 80,
UI_CHAR_DEFAULT_WIDTH,
ui->screen->width * REF_UI_RIGHT_START_POS,
ui->screen->height * 0.4, "CTRL RC PC");
UI_DrawCharacter(Referee_GetCharacterAdd(ui), "e", UI_GRAPIC_OPERATION_ADD,
UI_GRAPIC_LAYER_CONST, GREEN, UI_DEFAULT_WIDTH * 20, 80,
UI_CHAR_DEFAULT_WIDTH * 2, ui->screen->width * 0.6 - 26,
ui->screen->height * 0.2 + 10, "CAP");
}
return 0;
}
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