412 lines
11 KiB
C
412 lines
11 KiB
C
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/**
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* @file referee_protocol.h
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* @author kidneygood (you@domain.com)
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* @version 0.1
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* @date 2022-12-02
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*
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* @copyright Copyright (c) HNU YueLu EC 2022 all rights reserved
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*
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*/
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#ifndef referee_protocol_H
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#define referee_protocol_H
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#include "stdint.h"
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/****************************宏定义部分****************************/
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#define REFEREE_SOF 0xA5 // 起始字节,协议固定为0xA5
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#define Robot_Red 0
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#define Robot_Blue 1
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#define Communicate_Data_LEN 5 // 自定义交互数据长度，该长度决定了我方发送和他方接收，自定义交互数据协议更改时只需要更改此宏定义即可
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#pragma pack(1)
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/****************************通信协议格式****************************/
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/* 通信协议格式偏移，枚举类型,代替#define声明 */
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typedef enum
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{
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FRAME_HEADER_Offset = 0,
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CMD_ID_Offset = 5,
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DATA_Offset = 7,
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} JudgeFrameOffset_e;
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/* 通信协议长度 */
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typedef enum
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{
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LEN_HEADER = 5, // 帧头长
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LEN_CMDID = 2, // 命令码长度
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LEN_TAIL = 2, // 帧尾CRC16
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LEN_CRC8 = 4, // 帧头CRC8校验长度=帧头+数据长+包序号
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} JudgeFrameLength_e;
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/****************************帧头****************************/
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/****************************帧头****************************/
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/* 帧头偏移 */
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typedef enum
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{
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SOF = 0, // 起始位
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DATA_LENGTH = 1, // 帧内数据长度,根据这个来获取数据长度
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SEQ = 3, // 包序号
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CRC8 = 4 // CRC8
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} FrameHeaderOffset_e;
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/* 帧头定义 */
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typedef struct
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{
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uint8_t SOF;
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uint16_t DataLength;
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uint8_t Seq;
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uint8_t CRC8;
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} xFrameHeader;
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/****************************cmd_id命令码说明****************************/
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/****************************cmd_id命令码说明****************************/
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// V1.6.1 裁判系统串口协议
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/* 命令码ID,用来判断接收的是什么数据 */
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typedef enum
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{
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ID_game_state = 0x0001, // 比赛状态数据
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ID_game_result = 0x0002, // 比赛结果数据
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ID_game_robot_survivors = 0x0003, // 比赛机器人血量数据
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ID_event_data = 0x0101, // 场地事件数据
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ID_supply_projectile_action = 0x0102, // 场地补给站动作标识数据
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ID_supply_projectile_booking = 0x0103, // 场地补给站预约子弹数据
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ID_game_robot_state = 0x0201, // 机器人状态数据
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ID_power_heat_data = 0x0202, // 实时功率热量数据
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ID_game_robot_pos = 0x0203, // 机器人位置数据
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ID_buff_musk = 0x0204, // 机器人增益数据
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ID_aerial_robot_energy = 0x0205, // 空中机器人能量状态数据
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ID_robot_hurt = 0x0206, // 伤害状态数据
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ID_shoot_data = 0x0207, // 实时射击数据
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ID_student_interactive = 0x0301, // 机器人间交互数据
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ID_custom_robot = 0x302, // 自定义控制器数据（图传链路）
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ID_remote_control = 0x304, // 键鼠遥控数据（图传链路）
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} CmdID_e;
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/* 命令码数据段长,根据官方协议来定义长度，还有自定义数据长度 */
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typedef enum
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{
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LEN_game_state = 11, // 0x0001
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LEN_game_result = 1, // 0x0002
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LEN_game_robot_HP = 32, // 0x0003
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LEN_event_data = 4, // 0x0101
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LEN_supply_projectile_action = 4, // 0x0102
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LEN_game_robot_state = 13, // 0x0201
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LEN_power_heat_data = 16, // 0x0202
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LEN_game_robot_pos = 16, // 0x0203
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LEN_buff_musk = 6, // 0x0204
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LEN_aerial_robot_energy = 2, // 0x0205
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LEN_robot_hurt = 1, // 0x0206
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LEN_shoot_data = 7, // 0x0207
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LEN_receive_data = 6 + Communicate_Data_LEN, // 0x0301
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LEN__custom_robot = 30, // 0x0302
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LEN_remote_control = 12, // 0x0304
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} JudgeDataLength_e;
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/****************************接收数据的详细说明****************************/
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/****************************接收数据的详细说明****************************/
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/* ID: 0x0001 Byte: 3 比赛状态数据 */
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typedef struct
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{
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uint8_t game_type : 4;
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uint8_t game_progress : 4;
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uint16_t stage_remain_time;
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} ext_game_state_t;
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/* ID: 0x0002 Byte: 1 比赛结果数据 */
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typedef struct
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{
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uint8_t winner;
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} ext_game_result_t;
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/* ID: 0x0003 Byte: 32 比赛机器人血量数据 */
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typedef struct
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{
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uint16_t red_1_robot_HP;
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uint16_t red_2_robot_HP;
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uint16_t red_3_robot_HP;
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uint16_t red_4_robot_HP;
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uint16_t red_5_robot_HP;
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uint16_t red_7_robot_HP;
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uint16_t red_outpost_HP;
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uint16_t red_base_HP;
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uint16_t blue_1_robot_HP;
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uint16_t blue_2_robot_HP;
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uint16_t blue_3_robot_HP;
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uint16_t blue_4_robot_HP;
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uint16_t blue_5_robot_HP;
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uint16_t blue_7_robot_HP;
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uint16_t blue_outpost_HP;
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uint16_t blue_base_HP;
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}ext_game_robot_HP_t;
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/* ID: 0x0101 Byte: 4 场地事件数据 */
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typedef struct
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{
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uint32_t event_type;
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} ext_event_data_t;
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/* ID: 0x0102 Byte: 4 场地补给站动作标识数据 */
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typedef struct
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{
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uint8_t supply_projectile_id;
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uint8_t supply_robot_id;
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uint8_t supply_projectile_step;
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uint8_t supply_projectile_num;
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} ext_supply_projectile_action_t;
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/* ID: 0X0201 Byte: 13 机器人性能体系数据 */
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typedef struct
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{
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uint8_t robot_id;
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uint8_t robot_level;
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uint16_t current_HP;
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uint16_t maximum_HP;
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uint16_t shooter_barrel_cooling_value;
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uint16_t shooter_barrel_heat_limit;
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uint16_t chassis_power_limit;
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uint8_t power_management_gimbal_output : 1;
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uint8_t power_management_chassis_output : 1;
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uint8_t power_management_shooter_output : 1;
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} ext_game_robot_state_t;
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/* ID: 0X0202 Byte: 16 实时功率热量数据 */
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typedef struct
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{
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uint16_t chassis_voltage;
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uint16_t chassis_current;
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float chassis_power;
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uint16_t buffer_energy;
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uint16_t shooter_17mm_1_barrel_heat;
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uint16_t shooter_17mm_2_barrel_heat;
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uint16_t shooter_42mm_barrel_heat;
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} ext_power_heat_data_t;
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/* ID: 0x0203 Byte: 16 机器人位置数据 */
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typedef struct
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{
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float x;
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float y;
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float z;
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float yaw;
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} ext_game_robot_pos_t;
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/* ID: 0x0204 Byte: 6 机器人增益数据 */
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typedef struct
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{
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uint8_t recovery_buff;
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uint8_t cooling_buff;
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uint8_t defence_buff;
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uint8_t vulnerability_buff;
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uint16_t attack_buff;
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uint8_t power_rune_buff;
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} ext_buff_musk_t;
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/* ID: 0x0205 Byte: 2 空中机器人能量状态数据 */
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typedef struct
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{
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uint8_t airforce_status;
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uint8_t time_remain;
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} aerial_robot_energy_t;
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/* ID: 0x0206 Byte: 1 伤害状态数据 */
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typedef struct
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{
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uint8_t armor_id : 4;
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uint8_t hurt_type : 4;
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} ext_robot_hurt_t;
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/* ID: 0x0207 Byte: 7 实时射击数据 */
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typedef struct
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{
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uint8_t bullet_type;
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uint8_t shooter_id;
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uint8_t bullet_freq;
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float bullet_speed;
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} ext_shoot_data_t;
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/****************************图传链路数据****************************/
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/* ID: 0x0304 Byte: 12 图传链路键鼠遥控数据 */
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typedef struct
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{
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int16_t mouse_x;
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int16_t mouse_y;
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int16_t mouse_z;
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int8_t left_button_down;
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int8_t right_button_down;
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uint16_t keyboard_value;
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uint16_t reserved;
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}vision_transfer_t;
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/****************************图传链路数据****************************/
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/****************************机器人交互数据****************************/
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/****************************机器人交互数据****************************/
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/* 发送的内容数据段最大为 113 检测是否超出大小限制?实际上图形段不会超，数据段最多30个，也不会超*/
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/* 交互数据头结构 */
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typedef struct
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{
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uint16_t data_cmd_id; // 由于存在多个内容 ID，但整个cmd_id 上行频率最大为 10Hz，请合理安排带宽。注意交互部分的上行频率
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uint16_t sender_ID;
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uint16_t receiver_ID;
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} ext_student_interactive_header_data_t;
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/* 机器人id */
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typedef enum
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{
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// 红方机器人ID
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RobotID_RHero = 1,
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RobotID_REngineer = 2,
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RobotID_RStandard1 = 3,
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RobotID_RStandard2 = 4,
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RobotID_RStandard3 = 5,
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RobotID_RAerial = 6,
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RobotID_RSentry = 7,
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RobotID_RRadar = 9,
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// 蓝方机器人ID
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RobotID_BHero = 101,
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RobotID_BEngineer = 102,
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RobotID_BStandard1 = 103,
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RobotID_BStandard2 = 104,
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RobotID_BStandard3 = 105,
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RobotID_BAerial = 106,
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RobotID_BSentry = 107,
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RobotID_BRadar = 109,
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} Robot_ID_e;
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/* 交互数据ID */
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typedef enum
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{
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UI_Data_ID_Del = 0x100,
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UI_Data_ID_Draw1 = 0x101,
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UI_Data_ID_Draw2 = 0x102,
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UI_Data_ID_Draw5 = 0x103,
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UI_Data_ID_Draw7 = 0x104,
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UI_Data_ID_DrawChar = 0x110,
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/* 自定义交互数据部分 */
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Communicate_Data_ID = 0x0200,
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} Interactive_Data_ID_e;
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/* 交互数据长度 */
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typedef enum
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{
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Interactive_Data_LEN_Head = 6,
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UI_Operate_LEN_Del = 2,
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UI_Operate_LEN_PerDraw = 15,
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UI_Operate_LEN_DrawChar = 15 + 30,
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/* 自定义交互数据部分 */
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// Communicate_Data_LEN = 5,
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} Interactive_Data_Length_e;
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/****************************自定义交互数据****************************/
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/*
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学生机器人间通信 cmd_id 0x0301，内容 ID:0x0200~0x02FF
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自定义交互数据 机器人间通信：0x0301。
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发送频率：上限 10Hz
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*/
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// 自定义交互数据协议，可更改，更改后需要修改最上方宏定义数据长度的值
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typedef struct
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{
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uint8_t data[Communicate_Data_LEN]; // 数据段,n需要小于113
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} robot_interactive_data_t;
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// 机器人交互信息_发送
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typedef struct
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{
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xFrameHeader FrameHeader;
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uint16_t CmdID;
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ext_student_interactive_header_data_t datahead;
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robot_interactive_data_t Data; // 数据段
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uint16_t frametail;
|
|||
|
|
} Communicate_SendData_t;
|
|||
|
|
// 机器人交互信息_接收
|
|||
|
|
typedef struct
|
|||
|
|
{
|
|||
|
|
ext_student_interactive_header_data_t datahead;
|
|||
|
|
robot_interactive_data_t Data; // 数据段
|
|||
|
|
} Communicate_ReceiveData_t;
|
|||
|
|
|
|||
|
|
/****************************UI交互数据****************************/
|
|||
|
|
|
|||
|
|
/* 图形数据 */
|
|||
|
|
typedef struct
|
|||
|
|
{
|
|||
|
|
uint8_t graphic_name[3];
|
|||
|
|
uint32_t operate_tpye : 3;
|
|||
|
|
uint32_t graphic_tpye : 3;
|
|||
|
|
uint32_t layer : 4;
|
|||
|
|
uint32_t color : 4;
|
|||
|
|
uint32_t start_angle : 9;
|
|||
|
|
uint32_t end_angle : 9;
|
|||
|
|
uint32_t width : 10;
|
|||
|
|
uint32_t start_x : 11;
|
|||
|
|
uint32_t start_y : 11;
|
|||
|
|
uint32_t radius : 10;
|
|||
|
|
uint32_t end_x : 11;
|
|||
|
|
uint32_t end_y : 11;
|
|||
|
|
} Graph_Data_t;
|
|||
|
|
|
|||
|
|
typedef struct
|
|||
|
|
{
|
|||
|
|
Graph_Data_t Graph_Control;
|
|||
|
|
uint8_t show_Data[30];
|
|||
|
|
} String_Data_t; // 打印字符串数据
|
|||
|
|
|
|||
|
|
/* 删除操作 */
|
|||
|
|
typedef enum
|
|||
|
|
{
|
|||
|
|
UI_Data_Del_NoOperate = 0,
|
|||
|
|
UI_Data_Del_Layer = 1,
|
|||
|
|
UI_Data_Del_ALL = 2, // 删除全部图层，后面的参数已经不重要了。
|
|||
|
|
} UI_Delete_Operate_e;
|
|||
|
|
|
|||
|
|
/* 图形配置参数__图形操作 */
|
|||
|
|
typedef enum
|
|||
|
|
{
|
|||
|
|
UI_Graph_ADD = 1,
|
|||
|
|
UI_Graph_Change = 2,
|
|||
|
|
UI_Graph_Del = 3,
|
|||
|
|
} UI_Graph_Operate_e;
|
|||
|
|
|
|||
|
|
/* 图形配置参数__图形类型 */
|
|||
|
|
typedef enum
|
|||
|
|
{
|
|||
|
|
UI_Graph_Line = 0, // 直线
|
|||
|
|
UI_Graph_Rectangle = 1, // 矩形
|
|||
|
|
UI_Graph_Circle = 2, // 整圆
|
|||
|
|
UI_Graph_Ellipse = 3, // 椭圆
|
|||
|
|
UI_Graph_Arc = 4, // 圆弧
|
|||
|
|
UI_Graph_Float = 5, // 浮点型
|
|||
|
|
UI_Graph_Int = 6, // 整形
|
|||
|
|
UI_Graph_Char = 7, // 字符型
|
|||
|
|
|
|||
|
|
} UI_Graph_Type_e;
|
|||
|
|
|
|||
|
|
/* 图形配置参数__图形颜色 */
|
|||
|
|
typedef enum
|
|||
|
|
{
|
|||
|
|
UI_Color_Main = 0, // 红蓝主色
|
|||
|
|
UI_Color_Yellow = 1,
|
|||
|
|
UI_Color_Green = 2,
|
|||
|
|
UI_Color_Orange = 3,
|
|||
|
|
UI_Color_Purplish_red = 4, // 紫红色
|
|||
|
|
UI_Color_Pink = 5,
|
|||
|
|
UI_Color_Cyan = 6, // 青色
|
|||
|
|
UI_Color_Black = 7,
|
|||
|
|
UI_Color_White = 8,
|
|||
|
|
|
|||
|
|
} UI_Graph_Color_e;
|
|||
|
|
|
|||
|
|
#pragma pack()
|
|||
|
|
|
|||
|
|
#endif
|