sentry_chassis_hzz/modules/referee/referee_protocol.h

/**
 * @file referee_protocol.h
 * @author kidneygood (you@domain.com)
 * @version 0.1
 * @date 2022-12-02
 *
 * @copyright Copyright (c) HNU YueLu EC 2022 all rights reserved
 *
 */

#ifndef referee_protocol_H
#define referee_protocol_H

#include "stdint.h"

/****************************宏定义部分****************************/

#define REFEREE_SOF 0xA5 // 起始字节,协议固定为0xA5
#define Robot_Red 0
#define Robot_Blue 1
#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

#pragma pack(1)

/****************************通信协议格式****************************/

/* 通信协议格式偏移，枚举类型,代替#define声明 */
typedef enum
{
	FRAME_HEADER_Offset = 0,
	CMD_ID_Offset = 5,
	DATA_Offset = 7,
} JudgeFrameOffset_e;

/* 通信协议长度 */
typedef enum
{
	LEN_HEADER = 5, // 帧头长
	LEN_CMDID = 2,	// 命令码长度
	LEN_TAIL = 2,	// 帧尾CRC16

	LEN_CRC8 = 4, // 帧头CRC8校验长度=帧头+数据长+包序号
} JudgeFrameLength_e;

/****************************帧头****************************/
/****************************帧头****************************/

/* 帧头偏移 */
typedef enum
{
	SOF = 0,		 // 起始位
	DATA_LENGTH = 1, // 帧内数据长度,根据这个来获取数据长度
	SEQ = 3,		 // 包序号
	CRC8 = 4		 // CRC8
} FrameHeaderOffset_e;

/* 帧头定义 */
typedef struct
{
	uint8_t SOF;
	uint16_t DataLength;
	uint8_t Seq;
	uint8_t CRC8;
} xFrameHeader;

/****************************cmd_id命令码说明****************************/
/****************************cmd_id命令码说明****************************/

/* 命令码ID,用来判断接收的是什么数据 */
typedef enum
{
	ID_game_state = 0x0001,				   // 比赛状态数据
	ID_game_result = 0x0002,			   // 比赛结果数据
	ID_game_robot_survivors = 0x0003,	   // 比赛机器人血量数据
	ID_event_data = 0x0101,				   // 场地事件数据
	ID_supply_projectile_action = 0x0102,  // 场地补给站动作标识数据
	ID_supply_projectile_booking = 0x0103, // 场地补给站预约子弹数据
	ID_game_robot_state = 0x0201,		   // 机器人状态数据
	ID_power_heat_data = 0x0202,		   // 实时功率热量数据
	ID_game_robot_pos = 0x0203,			   // 机器人位置数据
	ID_buff_musk = 0x0204,				   // 机器人增益数据
	ID_aerial_robot_energy = 0x0205,	   // 空中机器人能量状态数据
	ID_robot_hurt = 0x0206,				   // 伤害状态数据
	ID_shoot_data = 0x0207,				   // 实时射击数据
	ID_student_interactive = 0x0301,	   // 机器人间交互数据
} CmdID_e;

/* 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 */
typedef enum
{
	LEN_game_state = 3,							 // 0x0001
	LEN_game_result = 1,						 // 0x0002
	LEN_game_robot_HP = 2,						 // 0x0003
	LEN_event_data = 4,							 // 0x0101
	LEN_supply_projectile_action = 4,			 // 0x0102
	LEN_game_robot_state = 27,					 // 0x0201
	LEN_power_heat_data = 14,					 // 0x0202
	LEN_game_robot_pos = 16,					 // 0x0203
	LEN_buff_musk = 1,							 // 0x0204
	LEN_aerial_robot_energy = 1,				 // 0x0205
	LEN_robot_hurt = 1,							 // 0x0206
	LEN_shoot_data = 7,							 // 0x0207
	LEN_receive_data = 6 + Communicate_Data_LEN, // 0x0301

} JudgeDataLength_e;

/****************************接收数据的详细说明****************************/
/****************************接收数据的详细说明****************************/

/* ID: 0x0001  Byte:  3    比赛状态数据 */
typedef struct
{
	uint8_t game_type : 4;
	uint8_t game_progress : 4;
	uint16_t stage_remain_time;
} ext_game_state_t;

/* ID: 0x0002  Byte:  1    比赛结果数据 */
typedef struct
{
	uint8_t winner;
} ext_game_result_t;

/* ID: 0x0003  Byte:  32    比赛机器人血量数据 */
typedef struct
{
	uint16_t red_1_robot_HP;
	uint16_t red_2_robot_HP;
	uint16_t red_3_robot_HP;
	uint16_t red_4_robot_HP;
	uint16_t red_5_robot_HP;
	uint16_t red_7_robot_HP;
	uint16_t red_outpost_HP;
	uint16_t red_base_HP;
	uint16_t blue_1_robot_HP;
	uint16_t blue_2_robot_HP;
	uint16_t blue_3_robot_HP;
	uint16_t blue_4_robot_HP;
	uint16_t blue_5_robot_HP;
	uint16_t blue_7_robot_HP;
	uint16_t blue_outpost_HP;
	uint16_t blue_base_HP;
} ext_game_robot_HP_t;

/* ID: 0x0101  Byte:  4    场地事件数据 */
typedef struct
{
	uint32_t event_type;
} ext_event_data_t;

/* ID: 0x0102  Byte:  3    场地补给站动作标识数据 */
typedef struct
{
	uint8_t supply_projectile_id;
	uint8_t supply_robot_id;
	uint8_t supply_projectile_step;
	uint8_t supply_projectile_num;
} ext_supply_projectile_action_t;

/* ID: 0X0201  Byte: 27    机器人状态数据 */
typedef struct
{
	uint8_t robot_id;
	uint8_t robot_level;
	uint16_t remain_HP;
	uint16_t max_HP;
	uint16_t shooter_id1_17mm_cooling_rate;
	uint16_t shooter_id1_17mm_cooling_limit;
	uint16_t shooter_id1_17mm_speed_limit;
	uint16_t shooter_id2_17mm_cooling_rate;
	uint16_t shooter_id2_17mm_cooling_limit;
	uint16_t shooter_id2_17mm_speed_limit;
	uint16_t shooter_id1_42mm_cooling_rate;
	uint16_t shooter_id1_42mm_cooling_limit;
	uint16_t shooter_id1_42mm_speed_limit;
	uint16_t chassis_power_limit;
	uint8_t mains_power_gimbal_output : 1;
	uint8_t mains_power_chassis_output : 1;
	uint8_t mains_power_shooter_output : 1;
} ext_game_robot_state_t;

/* ID: 0X0202  Byte: 14    实时功率热量数据 */
typedef struct
{
	uint16_t chassis_volt;
	uint16_t chassis_current;
	float chassis_power;		   // 瞬时功率
	uint16_t chassis_power_buffer; // 60焦耳缓冲能量
	uint16_t shooter_heat0;		   // 17mm
	uint16_t shooter_heat1;
} ext_power_heat_data_t;

/* ID: 0x0203  Byte: 16    机器人位置数据 */
typedef struct
{
	float x;
	float y;
	float z;
	float yaw;
} ext_game_robot_pos_t;

/* ID: 0x0204  Byte:  1    机器人增益数据 */
typedef struct
{
	uint8_t power_rune_buff;
} ext_buff_musk_t;

/* ID: 0x0205  Byte:  1    空中机器人能量状态数据 */
typedef struct
{
	uint8_t attack_time;
} aerial_robot_energy_t;

/* ID: 0x0206  Byte:  1    伤害状态数据 */
typedef struct
{
	uint8_t armor_id : 4;
	uint8_t hurt_type : 4;
} ext_robot_hurt_t;

/* ID: 0x0207  Byte:  7    实时射击数据 */
typedef struct
{
	uint8_t bullet_type;
	uint8_t shooter_id;
	uint8_t bullet_freq;
	float bullet_speed;
} ext_shoot_data_t;

/****************************机器人交互数据****************************/
/****************************机器人交互数据****************************/
/* 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*/
/* 交互数据头结构 */
typedef struct
{
	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
	uint16_t sender_ID;
	uint16_t receiver_ID;
} ext_student_interactive_header_data_t;

/* 机器人id */
typedef enum
{
	// 红方机器人ID
	RobotID_RHero = 1,
	RobotID_REngineer = 2,
	RobotID_RStandard1 = 3,
	RobotID_RStandard2 = 4,
	RobotID_RStandard3 = 5,
	RobotID_RAerial = 6,
	RobotID_RSentry = 7,
	RobotID_RRadar = 9,
	// 蓝方机器人ID
	RobotID_BHero = 101,
	RobotID_BEngineer = 102,
	RobotID_BStandard1 = 103,
	RobotID_BStandard2 = 104,
	RobotID_BStandard3 = 105,
	RobotID_BAerial = 106,
	RobotID_BSentry = 107,
	RobotID_BRadar = 109,
} Robot_ID_e;

/* 交互数据ID */
typedef enum
{
	UI_Data_ID_Del = 0x100,
	UI_Data_ID_Draw1 = 0x101,
	UI_Data_ID_Draw2 = 0x102,
	UI_Data_ID_Draw5 = 0x103,
	UI_Data_ID_Draw7 = 0x104,
	UI_Data_ID_DrawChar = 0x110,

	/* 自定义交互数据部分 */
	Communicate_Data_ID = 0x0200,

} Interactive_Data_ID_e;
/* 交互数据长度 */
typedef enum
{
	Interactive_Data_LEN_Head = 6,
	UI_Operate_LEN_Del = 2,
	UI_Operate_LEN_PerDraw = 15,
	UI_Operate_LEN_DrawChar = 15 + 30,

	/* 自定义交互数据部分 */
	// Communicate_Data_LEN = 5,

} Interactive_Data_Length_e;

/****************************自定义交互数据****************************/
/*
	学生机器人间通信 cmd_id 0x0301，内容 ID:0x0200~0x02FF
	自定义交互数据 机器人间通信：0x0301。
	发送频率：上限 10Hz
*/
// 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
typedef struct
{
	uint8_t data[Communicate_Data_LEN]; // 数据段,n需要小于113
} robot_interactive_data_t;

// 机器人交互信息_发送
typedef struct
{
	xFrameHeader FrameHeader;
	uint16_t CmdID;
	ext_student_interactive_header_data_t datahead;
	robot_interactive_data_t Data; // 数据段
	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