/** * @file referee.h * @author kidneygood (you@domain.com) * @brief * @version 0.1 * @date 2022-11-18 * * @copyright Copyright (c) 2022 * */ #ifndef REFEREE_H #define REFEREE_H #include "bsp_usart.h" #include "usart.h" #include "referee_def.h" #define FALSE 0 #define TRUE 1 #define JUDGE_DATA_ERROR 0 #define JUDGE_DATA_CORRECT 1 #define LEN_HEADER 5 // 帧头长 #define LEN_CMDID 2 // 命令码长度 #define LEN_TAIL 2 // 帧尾CRC16 // 起始字节,协议固定为0xA5 #define JUDGE_FRAME_HEADER (0xA5) #pragma pack(1) /* 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; // 裁判系统接收数据整合进一个结构体 typedef struct { xFrameHeader FrameHeader; // 接收到的帧头信息 uint16_t CmdID; ext_game_state_t GameState; // 0x0001 ext_game_result_t GameResult; // 0x0002 ext_game_robot_HP_t GameRobotHP; // 0x0003 ext_event_data_t EventData; // 0x0101 ext_supply_projectile_action_t SupplyProjectileAction; // 0x0102 ext_game_robot_state_t GameRobotStat; // 0x0201 ext_power_heat_data_t PowerHeatData; // 0x0202 ext_game_robot_pos_t GameRobotPos; // 0x0203 ext_buff_musk_t BuffMusk; // 0x0204 aerial_robot_energy_t AerialRobotEnergy; // 0x0205 ext_robot_hurt_t RobotHurt; // 0x0206 ext_shoot_data_t ShootData; // 0x0207 // ext_SendClientData_t ShowData; // 客户端信息 // ext_CommunatianData_t CommuData; // 队友通信信息 } referee_info_t; #pragma pack() /** * @brief 初始化裁判系统,返回接收数据指针 * * @param referee_usart_handle * @return referee_info_t* */ referee_info_t* RefereeInit(UART_HandleTypeDef *referee_usart_handle); #endif // !REFEREE_H