228 lines
5.8 KiB
C
228 lines
5.8 KiB
C
/**
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* @file referee_def.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_DEF_H
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#define REFEREE_DEF_H
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#include "stdint.h"
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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****************************/
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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;
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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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} JudgeFrameLength;
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/****************************帧头****************************/
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/****************************帧头****************************/
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#define JUDGE_FRAME_HEADER (0xA5) // 起始字节,协议固定为0xA5
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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;
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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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/* 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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} CmdID;
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/* 命令码数据段长,根据官方协议来定义长度 */
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typedef enum
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{
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LEN_game_state = 3, // 0x0001
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LEN_game_result = 1, // 0x0002
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LEN_game_robot_HP = 2, // 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 = 27, // 0x0201
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LEN_power_heat_data = 14, // 0x0202
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LEN_game_robot_pos = 16, // 0x0203
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LEN_buff_musk = 1, // 0x0204
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LEN_aerial_robot_energy = 1, // 0x0205
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LEN_robot_hurt = 1, // 0x0206
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LEN_shoot_data = 7, // 0x0207
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} JudgeDataLength;
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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: 3 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: 27 机器人状态数据 */
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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 remain_HP;
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uint16_t max_HP;
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uint16_t shooter_id1_17mm_cooling_rate;
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uint16_t shooter_id1_17mm_cooling_limit;
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uint16_t shooter_id1_17mm_speed_limit;
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uint16_t shooter_id2_17mm_cooling_rate;
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uint16_t shooter_id2_17mm_cooling_limit;
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uint16_t shooter_id2_17mm_speed_limit;
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uint16_t shooter_id1_42mm_cooling_rate;
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uint16_t shooter_id1_42mm_cooling_limit;
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uint16_t shooter_id1_42mm_speed_limit;
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uint16_t chassis_power_limit;
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uint8_t mains_power_gimbal_output : 1;
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uint8_t mains_power_chassis_output : 1;
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uint8_t mains_power_shooter_output : 1;
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} ext_game_robot_state_t;
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/* ID: 0X0202 Byte: 14 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_volt;
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uint16_t chassis_current;
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float chassis_power; // 瞬时功率
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uint16_t chassis_power_buffer; // 60焦耳缓冲能量
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uint16_t shooter_heat0; // 17mm
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uint16_t shooter_heat1;
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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: 1 机器人增益数据 */
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typedef struct
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{
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uint8_t power_rune_buff;
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} ext_buff_musk_t;
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/* ID: 0x0205 Byte: 1 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 attack_time;
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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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#pragma pack()
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#endif
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