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RB 2025-03-18 02:39:30 +08:00
parent 498ee93880
commit 1a57383fcf
26 changed files with 13242 additions and 12947 deletions
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275
MDK-ARM/DevC.uvguix.lvzucheng
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47
MDK-ARM/DevC.uvoptx
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@ -324,6 +324,11 @@
<pMon>BIN\CMSIS_AGDI.dll</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
<Number>0</Number>
<Key>ST-LINKIII-KEIL_SWO</Key>
<Name>-U-O206 -O206 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
<Key>ARMRTXEVENTFLAGS</Key>
@ -360,7 +365,7 @@
<Ww>
<count>0</count>
<WinNumber>1</WinNumber>
<ItemText>chassis</ItemText>
<ItemText>param_default</ItemText>
</Ww>
<Ww>
<count>1</count>
@ -370,54 +375,52 @@
<Ww>
<count>2</count>
<WinNumber>1</WinNumber>
<ItemText>gimbal_out</ItemText>
<ItemText>shoot</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>1</WinNumber>
<ItemText>for_chassis</ItemText>
<ItemText>param_hero</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>1</WinNumber>
<ItemText>task_runtime</ItemText>
<ItemText>ref</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>1</WinNumber>
<ItemText>ref</ItemText>
<ItemText>for_chassis</ItemText>
</Ww>
<Ww>
<count>6</count>
<WinNumber>1</WinNumber>
<ItemText>shoot</ItemText>
<ItemText>cap_out,0x0A</ItemText>
</Ww>
<Ww>
<count>7</count>
<WinNumber>1</WinNumber>
<ItemText>ai</ItemText>
<ItemText>pm01_od,0x0A</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
<ItemText>for_chassis</ItemText>
<ItemText>cap,0x0A</ItemText>
</Ww>
<Ww>
<count>9</count>
<WinNumber>1</WinNumber>
<ItemText>for_shoot</ItemText>
</Ww>
<Ww>
<count>10</count>
<WinNumber>1</WinNumber>
<ItemText>cmd</ItemText>
</Ww>
<Ww>
<count>11</count>
<WinNumber>1</WinNumber>
<ItemText>host</ItemText>
<ItemText>ref</ItemText>
</Ww>
</WatchWindow1>
<MemoryWindow4>
<Mm>
<WinNumber>4</WinNumber>
<SubType>0</SubType>
<ItemText>for_chassis</ItemText>
<AccSizeX>0</AccSizeX>
</Mm>
</MemoryWindow4>
<Tracepoint>
<THDelay>0</THDelay>
</Tracepoint>
@ -1224,7 +1227,7 @@
<Group>
<GroupName>Middlewares/USB_Device_Library</GroupName>
<tvExp>0</tvExp>
<tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1280,7 +1283,7 @@
<Group>
<GroupName>User/bsp</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
@ -1504,7 +1507,7 @@
<Group>
<GroupName>User/component</GroupName>
<tvExp>1</tvExp>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>

2
MDK-ARM/DevC.uvprojx
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@ -2044,7 +2044,7 @@
<uC99>0</uC99>
<uGnu>0</uGnu>
<useXO>0</useXO>
<v6Lang>5</v6Lang>
<v6Lang>6</v6Lang>
<v6LangP>3</v6LangP>
<vShortEn>1</vShortEn>
<vShortWch>1</vShortWch>

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MDK-ARM/DevC/DevC.axf
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MDK-ARM/DevC/DevC.build_log.htm
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@ -22,7 +22,7 @@ Dialog DLL: TCM.DLL V1.48.0.0
<h2>Project:</h2>
C:\Users\lvzucheng\Documents\RMUL2025\MDK-ARM\DevC.uvprojx
Project File Date: 03/11/2025
Project File Date: 03/18/2025
<h2>Output:</h2>
*** Using Compiler 'V6.16', folder: 'C:\Keil_v5\ARM\ARMCLANG\Bin'
@ -37,11 +37,11 @@ Note: source file '..\User\task\ai.c' - object file renamed from 'DevC\ai.o' to
Note: source file '..\User\task\can.c' - object file renamed from 'DevC\can.o' to 'DevC\can_3.o'.
Note: source file '..\User\task\cap.c' - object file renamed from 'DevC\cap.o' to 'DevC\cap_1.o'.
Note: source file '..\User\task\referee.c' - object file renamed from 'DevC\referee.o' to 'DevC\referee_1.o'.
compiling freertos.c...
compiling can.c...
compiling freertos.c...
compiling referee.c...
compiling cap.c...
compiling ai.c...
compiling cap.c...
compiling chassis.c...
compiling config.c...
compiling gimbal.c...
@ -57,12 +57,12 @@ compiling ctrl_gimbal.c...
compiling ctrl_shoot.c...
compiling info.c...
compiling init.c...
compiling monitor.c...
compiling rc.c...
compiling monitor.c...
compiling referee.c...
compiling user_task.c...
linking...
Program Size: Code=148856 RO-data=6908 RW-data=760 ZI-data=43840
Program Size: Code=149000 RO-data=6908 RW-data=760 ZI-data=44208
FromELF: creating hex file...
"DevC\DevC.axf" - 0 Error(s), 0 Warning(s).

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MDK-ARM/DevC/DevC.hex
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MDK-ARM/DevC/DevC.htm
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@ -3,7 +3,7 @@
<title>Static Call Graph - [DevC\DevC.axf]</title></head>
<body><HR>
<H1>Static Call Graph for image DevC\DevC.axf</H1><HR>
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Wed Mar 12 10:05:36 2025
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Tue Mar 18 02:07:16 2025
<BR><P>
<H3>Maximum Stack Usage = 632 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
Call chain for Maximum Stack Depth:</H3>
@ -3537,13 +3537,13 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[261]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Referee_PackUI
</UL>
<P><STRONG><a name="[2a3]"></a>Referee_PackAI</STRONG> (Thumb, 56 bytes, Stack size 8 bytes, referee.o(.text.Referee_PackAI))
<P><STRONG><a name="[2a3]"></a>Referee_PackAI</STRONG> (Thumb, 54 bytes, Stack size 8 bytes, referee.o(.text.Referee_PackAI))
<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = Referee_PackAI
</UL>
<BR>[Called By]<UL><LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_Referee
</UL>
<P><STRONG><a name="[2a2]"></a>Referee_PackCap</STRONG> (Thumb, 68 bytes, Stack size 8 bytes, referee.o(.text.Referee_PackCap))
<P><STRONG><a name="[2a2]"></a>Referee_PackCap</STRONG> (Thumb, 70 bytes, Stack size 8 bytes, referee.o(.text.Referee_PackCap))
<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = Referee_PackCap
</UL>
<BR>[Called By]<UL><LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_Referee
@ -3555,7 +3555,7 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_Referee
</UL>
<P><STRONG><a name="[2a4]"></a>Referee_PackShoot</STRONG> (Thumb, 112 bytes, Stack size 8 bytes, referee.o(.text.Referee_PackShoot))
<P><STRONG><a name="[2a4]"></a>Referee_PackShoot</STRONG> (Thumb, 104 bytes, Stack size 8 bytes, referee.o(.text.Referee_PackShoot))
<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = Referee_PackShoot
</UL>
<BR>[Called By]<UL><LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_Referee
@ -3574,7 +3574,7 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_Referee
</UL>
<P><STRONG><a name="[264]"></a>Referee_Parse</STRONG> (Thumb, 966 bytes, Stack size 56 bytes, referee.o(.text.Referee_Parse))
<P><STRONG><a name="[264]"></a>Referee_Parse</STRONG> (Thumb, 1118 bytes, Stack size 56 bytes, referee.o(.text.Referee_Parse))
<BR><BR>[Stack]<UL><LI>Max Depth = 108<LI>Call Chain = Referee_Parse &rArr; CRC16_Verify &rArr; CRC16_Calc &rArr; CRC16_Byte
</UL>
<BR>[Calls]<UL><LI><a href="#[d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;CRC16_Verify

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MDK-ARM/DevC/DevC.map
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MDK-ARM/DevC/DevC_Debug.dep
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MDK-ARM/DevC/ai.o
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MDK-ARM/DevC/ai_1.o
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MDK-ARM/DevC/cap.o
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MDK-ARM/DevC/cap_1.o
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MDK-ARM/DevC/chassis.o
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MDK-ARM/DevC/cli.o
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MDK-ARM/DevC/config.o
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MDK-ARM/DevC/crc16.o
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MDK-ARM/DevC/ctrl_chassis.o
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MDK-ARM/DevC/ctrl_gimbal.o
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MDK-ARM/DevC/ctrl_shoot.o
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MDK-ARM/DevC/gimbal.o
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MDK-ARM/DevC/referee.o
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MDK-ARM/DevC/referee_1.o
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User/device/referee.c
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User/device/referee.h
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@ -20,12 +20,12 @@ extern "C" {
/* Exported constants ------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
#define REF_SWITCH_STATUS(ref, stat) ((ref).ref_status = (stat))
#define REF_SWITCH_STATUS(ref, stat) ((ref).ref_status = (stat))
#define CHASSIS_POWER_MAX_WITHOUT_REF 2000.0f /* 裁判系统离线底盘最大功率 */
#define REF_UI_MAX_GRAPIC_NUM (7)
#define REF_UI_MAX_STRING_NUM (7)
#define REF_UI_MAX_DEL_NUM (3)
#define REF_UI_MAX_GRAPIC_NUM (7) /* 最大图形数量 */
#define REF_UI_MAX_STRING_NUM (7) /* 最大字符串数量 */
#define REF_UI_MAX_DEL_NUM (3) /* 最大删除数量 */
/* Exported types ----------------------------------------------------------- */
typedef struct __packed {
@ -38,30 +38,39 @@ typedef struct __packed {
typedef enum { REF_STATUS_OFFLINE = 0, REF_STATUS_RUNNING } Referee_Status_t;
typedef enum {
REF_CMD_ID_GAME_STATUS = 0x0001,
REF_CMD_ID_GAME_RESULT = 0x0002,
REF_CMD_ID_GAME_ROBOT_HP = 0x0003,
REF_CMD_ID_DART_STATUS = 0x0004,
REF_CMD_ID_ICRA_ZONE_STATUS = 0x0005,
REF_CMD_ID_FIELD_EVENTS = 0x0101,
REF_CMD_ID_SUPPLY_ACTION = 0x0102,
REF_CMD_ID_REQUEST_SUPPLY = 0x0103,
REF_CMD_ID_WARNING = 0x0104,
REF_CMD_ID_DART_COUNTDOWN = 0x0105,
REF_CMD_ID_ROBOT_STATUS = 0x0201,
REF_CMD_ID_POWER_HEAT_DATA = 0x0202,
REF_CMD_ID_ROBOT_POS = 0x0203,
REF_CMD_ID_ROBOT_BUFF = 0x0204,
REF_CMD_ID_DRONE_ENERGY = 0x0205,
REF_CMD_ID_ROBOT_DMG = 0x0206,
REF_CMD_ID_SHOOT_DATA = 0x0207,
REF_CMD_ID_BULLET_REMAINING = 0x0208,
REF_CMD_ID_RFID = 0x0209,
REF_CMD_ID_DART_CLIENT = 0x020A,
REF_CMD_ID_INTER_STUDENT = 0x0301,
REF_CMD_ID_INTER_STUDENT_CUSTOM = 0x0302,
REF_CMD_ID_CLIENT_MAP = 0x0303,
REF_CMD_ID_KEYBOARD_MOUSE = 0x0304,
REF_CMD_ID_GAME_STATUS = 0x0001, //比赛状态数据，固定以1Hz频率发送
REF_CMD_ID_GAME_RESULT = 0x0002, //比赛结果数据，比赛结束触发发送
REF_CMD_ID_GAME_ROBOT_HP = 0x0003, //机器人血量数据，固定以3Hz频率发送
//REF_CMD_ID_DART_STATUS = 0x0004,
// REF_CMD_ID_ICRA_ZONE_STATUS = 0x0005,
REF_CMD_ID_FIELD_EVENTS = 0x0101, //场地事件数据，固定以1Hz频率发送
//REF_CMD_ID_SUPPLY_ACTION = 0x0102,
//REF_CMD_ID_REQUEST_SUPPLY = 0x0103,
REF_CMD_ID_WARNING = 0x0104, //裁判警告数据
REF_CMD_ID_DART_COUNTDOWN = 0x0105, //飞镖发射相关数据
REF_CMD_ID_ROBOT_STATUS = 0x0201, //机器人性能体系数据
REF_CMD_ID_POWER_HEAT_DATA = 0x0202, //实时底盘缓冲能量和射击热量数据
REF_CMD_ID_ROBOT_POS = 0x0203, //机器人位置数据
REF_CMD_ID_ROBOT_BUFF = 0x0204, //机器人增益和底盘能量数据
//REF_CMD_ID_DRONE_ENERGY = 0x0205,
REF_CMD_ID_ROBOT_DMG = 0x0206, //伤害状态数据
REF_CMD_ID_SHOOT_DATA = 0x0207, //实时射击数据
REF_CMD_ID_BULLET_REMAINING = 0x0208, //允许发弹量
REF_CMD_ID_RFID = 0x0209, //机器人RFID模块状态
REF_CMD_ID_DART_CLIENT = 0x020A, //飞镖选手端指令数据
REF_CMD_ID_ROBOT_POS_TO_SENTRY = 0X020B, //地面机器人位置数据
REF_CMD_ID_RADAR_MARK = 0X020C, //雷达标记进度数据
REF_CMD_ID_SENTRY_DECISION = 0x020D, //哨兵自主决策相关信息同步
REF_CMD_ID_RADAR_DECISION = 0x020E, //雷达自主决策相关信息同步
REF_CMD_ID_INTER_STUDENT = 0x0301, //机器人交互数据
REF_CMD_ID_INTER_STUDENT_CUSTOM = 0x0302, //自定义控制器与机器人交互数据
REF_CMD_ID_CLIENT_MAP = 0x0303, //选手端小地图交互数据
REF_CMD_ID_KEYBOARD_MOUSE = 0x0304, //键鼠遥控数据
REF_CMD_ID_MAP_ROBOT_DATA = 0x0305, //选手端小地图接收雷达数据
REF_CMD_ID_CUSTOM_KEYBOARD_MOUSE = 0X0306, //自定义控制器与选手端交互数据
REF_CMD_ID_SENTRY_POS_DATA = 0x0307, //选手端小地图接收哨兵数据
REF_CMD_ID_ROBOT_POS_DATA = 0x0308, //选手端小地图接受机器人消息
REF_CMD_ID_DATA = 0x0309, //自定义控制器接收机器人数据
} Referee_CMDID_t;
typedef struct __packed {
@ -69,19 +78,18 @@ typedef struct __packed {
uint8_t game_progress : 4;
uint16_t stage_remain_time;
uint64_t sync_time_stamp;
} Referee_GameStatus_t;
} Referee_GameStatus_t;/* 0x0001 */
typedef struct __packed {
uint8_t winner;
} Referee_GameResult_t;
} Referee_GameResult_t;/* 0x0002 */
typedef struct __packed {
uint16_t red_1;
uint16_t red_2;
uint16_t red_3;
uint16_t red_4;
uint16_t red_5;
uint16_t red_6;
uint16_t reserved;
uint16_t red_7;
uint16_t red_outpose;
uint16_t red_base;
@ -89,12 +97,11 @@ typedef struct __packed {
uint16_t blue_2;
uint16_t blue_3;
uint16_t blue_4;
uint16_t blue_5;
uint16_t blue_6;
uint16_t reserved1;
uint16_t blue_7;
uint16_t blue_outpose;
uint16_t blue_base;
} Referee_GameRobotHP_t;
} Referee_GameRobotHP_t;/* 0x0003 */
typedef struct __packed {
uint8_t dart_belong;
@ -121,51 +128,44 @@ typedef struct __packed {
} Referee_ICRAZoneStatus_t;
typedef struct __packed {
uint8_t copter_pad : 2;
uint8_t energy_mech : 2;
uint8_t virtual_shield : 1;
uint32_t res : 27;
} Referee_FieldEvents_t;
uint32_t exchange_nooverlap_status : 1;
uint32_t exchange_overlap_status : 1;
uint32_t supply_status : 1;
uint32_t energy_mech_small_status : 1;
uint32_t energy_mech_big_status : 1;
uint32_t highland_annular : 2;
uint32_t highland_trapezium_1 : 2;
uint32_t last_hit_time : 9;
uint32_t last_hit_target : 3;
uint32_t activation_status : 2;
uint32_t res : 9;
} Referee_FieldEvents_t;/* 0x0101 */
typedef struct __packed {
uint8_t supply_id;
uint8_t robot_id;
uint8_t supply_step;
uint8_t supply_sum;
} Referee_SupplyAction_t;
} Referee_SupplyAction_t;/* 0x0102 */
typedef struct __packed {
uint8_t place_holder; /* TODO */
} Referee_RequestSupply_t;
} Referee_RequestSupply_t;/* 0x0103 */
typedef struct __packed {
uint8_t level;
uint8_t robot_id;
} Referee_Warning_t;
uint8_t count;
} Referee_Warning_t;/* 0x0104 */
typedef struct __packed {
uint8_t countdown;
} Referee_DartCountdown_t;
uint16_t dart_last_target : 3;
uint16_t attack_count : 2;
uint16_t dart_target : 2;
uint16_t res : 8;
} Referee_DartCountdown_t;/* 0x0105 */
// typedef struct __packed {
// uint8_t robot_id;
// uint8_t robot_level;
// uint16_t remain_hp;
// uint16_t max_hp;
// uint16_t shoot_id1_17_cooling_rate;
// uint16_t shoot_id1_17_heat_limit;
// uint16_t shoot_id1_17_speed_limit;
// uint16_t shoot_id2_17_cooling_rate;
// uint16_t shoot_id2_17_heat_limit;
// uint16_t shoot_id2_17_speed_limit;
// uint16_t shoot_42_cooling_rate;
// uint16_t shoot_42_heat_limit;
// uint16_t shoot_42_speed_limit;
// uint16_t chassis_power_limit;
// uint8_t power_gimbal_output : 1;
// uint8_t power_chassis_output : 1;
// uint8_t power_shoot_output : 1;
// } Referee_RobotStatus_t;
typedef struct __packed {
uint8_t robot_id;
@ -188,22 +188,15 @@ typedef struct __packed {
uint16_t shoot_id1_17_heat;
uint16_t shoot_id2_17_heat;
uint16_t shoot_42_heat;
} Referee_PowerHeat_t;
} Referee_PowerHeat_t; /* 0x0202 */
typedef struct __packed {
float x;
float y;
float z;
float yaw;
} Referee_RobotPos_t;
} Referee_RobotPos_t; /* 0x0203 */
// typedef struct __packed {
// uint8_t healing : 1;
// uint8_t cooling_acc : 1;
// uint8_t defense_buff : 1;
// uint8_t attack_buff : 1;
// uint8_t res : 4;
// } Referee_RobotBuff_t;
typedef struct __packed {
uint8_t healing_buff;
@ -211,16 +204,17 @@ typedef struct __packed {
uint8_t defense_buff;
uint8_t vulnerability_buff;
uint16_t attack_buff;
} Referee_RobotBuff_t;
uint8_t remaining_energy;
} Referee_RobotBuff_t; /* 0x0204 */
typedef struct __packed {
uint8_t attack_countdown;
} Referee_DroneEnergy_t;
} Referee_DroneEnergy_t; /* 0x0205 *///删
typedef struct __packed {
uint8_t armor_id : 4;
uint8_t damage_type : 4;
} Referee_RobotDamage_t;
} Referee_RobotDamage_t; /* 0x0206 */
typedef struct __packed {
uint8_t bullet_type;
@ -233,38 +227,106 @@ typedef struct __packed {
uint16_t bullet_17_remain;
uint16_t bullet_42_remain;
uint16_t coin_remain;
} Referee_BulletRemain_t;
} Referee_BulletRemain_t;/* 0x0208 */
typedef struct __packed {
uint8_t base : 1;
uint8_t high_ground : 1;
uint8_t energy_mech : 1;
uint8_t slope : 1;
uint8_t outpose : 1;
uint8_t resource : 1;
uint8_t healing_card : 1;
uint32_t res : 24;
} Referee_RFID_t;
uint32_t own_base : 1; //0
uint32_t own_highland_annular : 1; //1
uint32_t enemy_highland_annular : 1; //2
uint32_t own_trapezium_R3B3 : 1; //3
uint32_t enemy_trapezium_R3B3 : 1; //4
uint32_t own_slope_before : 1; //坡道前5
uint32_t own_slope_after : 1; //坡道后6
uint32_t enemy_slope_before : 1; //坡道前7
uint32_t enemy_slope_after : 1; //坡道后8
uint32_t own_crosses_above : 1; //增益点 上方9
uint32_t own_crosses_below : 1; //增益点 下方10
uint32_t enemy_crosses_above : 1; //增益点 上方11
uint32_t enemy_crosses_below : 1; //增益点 下方12
uint32_t own_highway_above : 1; //公路 上方13
uint32_t own_highway_below : 1; //公路 下方14
uint32_t enemy_highway_above : 1; //公路 上方15
uint32_t enemy_highway_below : 1; //公路 下方16
uint32_t own_fortress : 1; //己方堡垒增益点17
uint32_t own_outpost : 1; //己方前哨站增益点18
uint32_t own_RMUL : 1; //己方RMUL增益点19
uint32_t enemy_RMDL : 1; //敌方RMDL增益点20
uint32_t own_island : 1; //己方资源岛 21
uint32_t enemy_island : 1; //敌方资源岛 22
uint32_t centre : 1; //中心 23
uint32_t res : 8;
} Referee_RFID_t;/* 0x0209 */
typedef struct __packed {
uint8_t opening;
uint8_t opening_status;
uint8_t target;
uint8_t target_changable_countdown;
uint8_t dart1_speed;
uint8_t dart2_speed;
uint8_t dart3_speed;
uint8_t dart4_speed;
uint16_t last_dart_launch_time;
uint16_t target_changable_countdown;
uint16_t operator_cmd_launch_time;
} Referee_DartClient_t;
} Referee_DartClient_t;/* 0x020A */
typedef struct __packed {
float hero_x;
float hero_y;
float engineer_x;
float engineer_y;
float standard_3_x;
float standard_3_y;
float standard_4_x;
float standard_4_y;
float reserved;
float reserved1;
} Referee_Robot_Position_t;/* 0x020B */
typedef struct __packed
{
uint8_t mark_hero_progress;
uint8_t mark_engineer_progress;
uint8_t mark_standard_3_progress;
uint8_t mark_standard_4_progress;
uint8_t mark_sentry_progress;
}Referee_Radar_mark_data_t; /* 0x020C */
typedef struct __packed
{
uint32_t exchanged_bullet_num : 11;
uint32_t exchanged_bullet_times : 4;
uint32_t exchanged_blood_times : 4;
uint32_t Confirmation_resurrection : 1;
uint32_t now_resurrection : 1;
uint32_t money : 10;
uint32_t res : 1;
uint16_t state : 1;
uint16_t quantity : 11;
uint16_t res1 : 4;
} Referee_Sentry_Info_t; /* 0x020D */
typedef struct __packed
{
uint8_t qualification : 2;
uint8_t enemy_status : 1;
uint8_t res : 5;
} Referee_Radar_Info_t; /* 0x020E */
typedef struct __packed
{
uint16_t data_cmd_id; /* 子内容ID */
uint16_t sender_id;
uint16_t receiver_id;
uint8_t user_data[112];
} Referee_Interaction_Data_t; /* 0x0301 */
typedef struct __packed
{
uint8_t data[30];
} Referee_custom_robot_data_t; /* 0x0302 */
typedef struct __packed {
float position_x;
float position_y;
float position_z;
uint8_t commd_keyboard;
uint16_t robot_id;
} Referee_ClientMap_t;
uint8_t robot_id;
uint8_t cmd_source;
} Referee_ClientMap_t;/* 0x0303 */
typedef struct __packed {
int16_t mouse_x;
@ -274,10 +336,74 @@ typedef struct __packed {
int8_t button_r;
uint16_t keyboard_value;
uint16_t res;
} Referee_KeyboardMouse_t;
} Referee_KeyboardMouse_t;/* 0x0304 */
typedef struct __packed {
uint16_t hero_position_x;
uint16_t hero_position_y;
uint16_t engineer_position_x;
uint16_t engineer_position_y;
uint16_t infantry_3_position_x;
uint16_t infantry_3_position_y;
uint16_t infantry_4_position_x;
uint16_t infantry_4_position_y;
uint16_t infantry_5_position_x;
uint16_t infantry_5_position_y;
uint16_t sentry_position_x;
uint16_t sentry_position_y;
} Referee_map_robot_data_t;/* 0x0305 */
typedef struct __packed {
uint16_t key_value;
uint16_t x_position : 12;
uint16_t mouse_left : 4;
uint16_t y_position : 12;
uint16_t mouse_right : 4;
uint16_t res;
} Referee_custom_client_data_t; /* 0x0306 */
typedef struct __packed {
uint8_t intention;
uint16_t start_position_x;
uint16_t start_position_y;
int8_t delta_x[49];
int8_t delta_y[49];
uint16_t sender_id;
} Referee_map_data_t;/* 0x0307 */
typedef struct __packed
{
uint16_t sender_id;
uint16_t receiver_id;
uint8_t user_data[30];
}Referee_custom_info_t; /* 0x0308 */
typedef struct __packed
{
uint8_t data[30];
}Referee_robot_custom_data_t; /* 0x0309*/
typedef uint16_t Referee_Tail_t;
// typedef enum {
// REF_BOT_RED_HERO = 1,
// REF_BOT_RED_ENGINEER = 2,
// REF_BOT_RED_INFANTRY_1 = 3,
// REF_BOT_RED_INFANTRY_2 = 4,
// REF_BOT_RED_INFANTRY_3 = 5,
// REF_BOT_RED_DRONE = 6,
// REF_BOT_RED_SENTRY = 7,
// REF_BOT_RED_RADER = 9,
// REF_BOT_BLU_HERO = 101,
// REF_BOT_BLU_ENGINEER = 102,
// REF_BOT_BLU_INFANTRY_1 = 103,
// REF_BOT_BLU_INFANTRY_2 = 104,
// REF_BOT_BLU_INFANTRY_3 = 105,
// REF_BOT_BLU_DRONE = 106,
// REF_BOT_BLU_SENTRY = 107,
// REF_BOT_BLU_RADER = 109,
// } Referee_RobotID_t;//
typedef enum {
REF_BOT_RED_HERO = 1,
REF_BOT_RED_ENGINEER = 2,
@ -286,7 +412,10 @@ typedef enum {
REF_BOT_RED_INFANTRY_3 = 5,
REF_BOT_RED_DRONE = 6,
REF_BOT_RED_SENTRY = 7,
REF_BOT_RED_DART = 8,
REF_BOT_RED_RADER = 9,
REF_BOT_RED_OUTPOST = 10,
REF_BOT_RED_BASE = 11,
REF_BOT_BLU_HERO = 101,
REF_BOT_BLU_ENGINEER = 102,
REF_BOT_BLU_INFANTRY_1 = 103,
@ -294,9 +423,27 @@ typedef enum {
REF_BOT_BLU_INFANTRY_3 = 105,
REF_BOT_BLU_DRONE = 106,
REF_BOT_BLU_SENTRY = 107,
REF_BOT_BLU_DART = 108,
REF_BOT_BLU_RADER = 109,
} Referee_RobotID_t;
REF_BOT_BLU_OUTPOST = 110,
REF_BOT_BLU_BASE = 111,
} Referee_RobotID_t;//
// typedef enum {
// REF_CL_RED_HERO = 0x0101,
// REF_CL_RED_ENGINEER = 0x0102,
// REF_CL_RED_INFANTRY_1 = 0x0103,
// REF_CL_RED_INFANTRY_2 = 0x0104,
// REF_CL_RED_INFANTRY_3 = 0x0105,
// REF_CL_RED_DRONE = 0x0106,
// REF_CL_BLU_HERO = 0x0165,
// REF_CL_BLU_ENGINEER = 0x0166,
// REF_CL_BLU_INFANTRY_1 = 0x0167,
// REF_CL_BLU_INFANTRY_2 = 0x0168,
// REF_CL_BLU_INFANTRY_3 = 0x0169,
// REF_CL_BLU_DRONE = 0x016A,
// } Referee_ClientID_t;//选手端ID
typedef enum {
REF_CL_RED_HERO = 0x0101,
REF_CL_RED_ENGINEER = 0x0102,
@ -310,8 +457,20 @@ typedef enum {
REF_CL_BLU_INFANTRY_2 = 0x0168,
REF_CL_BLU_INFANTRY_3 = 0x0169,
REF_CL_BLU_DRONE = 0x016A,
} Referee_ClientID_t;
REF_CL_REFEREE_SERVER = 0x8080, /* 裁判系统服务器，用于哨兵和雷达自主决策 */
} Referee_ClientID_t;//选手端ID
// typedef enum {
// REF_STDNT_CMD_ID_UI_DEL = 0x0100,
// REF_STDNT_CMD_ID_UI_DRAW1 = 0x0101,
// REF_STDNT_CMD_ID_UI_DRAW2 = 0x0102,
// REF_STDNT_CMD_ID_UI_DRAW5 = 0x0103,
// REF_STDNT_CMD_ID_UI_DRAW7 = 0x0104,
// REF_STDNT_CMD_ID_UI_STR = 0x0110,
// REF_STDNT_CMD_ID_CUSTOM = 0x0200,
// } Referee_StudentCMDID_t;
typedef enum {
REF_STDNT_CMD_ID_UI_DEL = 0x0100,
REF_STDNT_CMD_ID_UI_DRAW1 = 0x0101,
@ -319,8 +478,9 @@ typedef enum {
REF_STDNT_CMD_ID_UI_DRAW5 = 0x0103,
REF_STDNT_CMD_ID_UI_DRAW7 = 0x0104,
REF_STDNT_CMD_ID_UI_STR = 0x0110,
REF_STDNT_CMD_ID_CUSTOM = 0x0200,
REF_STDNT_CMD_ID_SENTRY_CMD = 0X0120,
REF_STDNT_CMD_ID_RADAR_CMD = 0X0121,
} Referee_StudentCMDID_t;
typedef struct __packed {
@ -336,29 +496,40 @@ typedef struct __packed {
typedef struct {
Referee_Status_t ref_status;
Referee_GameStatus_t game_status;
Referee_GameResult_t game_result;
Referee_GameRobotHP_t game_robot_hp;
Referee_DartStatus_t dart_status;
Referee_ICRAZoneStatus_t icra_zone;
Referee_FieldEvents_t field_event;
Referee_SupplyAction_t supply_action;
Referee_RequestSupply_t request_supply;
Referee_Warning_t warning;
Referee_DartCountdown_t dart_countdown;
Referee_RobotStatus_t robot_status;
Referee_PowerHeat_t power_heat;
Referee_RobotPos_t robot_pos;
Referee_RobotBuff_t robot_buff;
Referee_DroneEnergy_t drone_energy;
Referee_RobotDamage_t robot_danage;
Referee_ShootData_t shoot_data;
Referee_BulletRemain_t bullet_remain;
Referee_RFID_t rfid;
Referee_DartClient_t dart_client;
Referee_InterStudent_Custom_t custom;
Referee_ClientMap_t client_map;
Referee_KeyboardMouse_t keyboard_mouse;
Referee_GameStatus_t game_status; /* 0x0001 */
Referee_GameResult_t game_result; /* 0x0002 */
Referee_GameRobotHP_t game_robot_hp; /* 0x0003 */
// Referee_DartStatus_t dart_status;
// Referee_ICRAZoneStatus_t icra_zone;
Referee_FieldEvents_t field_event; /* 0x0101 */
//Referee_SupplyAction_t supply_action; /* 0x0102 */
Referee_RequestSupply_t request_supply; /* 0x0103 */
Referee_Warning_t warning; /* 0x0104 */
Referee_DartCountdown_t dart_countdown; /* 0x0105 */
Referee_RobotStatus_t robot_status; /* 0x0201 */
Referee_PowerHeat_t power_heat; /* 0x0202 */
Referee_RobotPos_t robot_pos; /* 0x0203 */
Referee_RobotBuff_t robot_buff; /* 0x0204 */
//Referee_DroneEnergy_t drone_energy; /* 0x0205 */
Referee_RobotDamage_t robot_danage; /* 0x0206 */
Referee_ShootData_t shoot_data; /* 0x0207 */
Referee_BulletRemain_t bullet_remain; /* 0x0208 */
Referee_RFID_t rfid; /* 0x0209 */
Referee_DartClient_t dart_client; /* 0x020A */
Referee_Robot_Position_t pos_sentry; /* 0x020B */
Referee_Radar_mark_data_t radar_mark; /* 0x020C */
Referee_Sentry_Info_t sentry_decision; /* 0x020D */
Referee_Radar_Info_t radar_decision; /* 0x020E */
// Referee_InterStudent_Custom_t custom;
Referee_Interaction_Data_t interactive_data; /* 0x0301 */
Referee_custom_robot_data_t custom_robot_data; /* 0x0302 */
Referee_ClientMap_t client_map; /* 0x0303 */
Referee_KeyboardMouse_t keyboard_mouse; /* 0x0304 */
Referee_map_robot_data_t map_robot_data; /* 0x0305 */
Referee_custom_client_data_t custom_keyboard_mouse; /* 0x0306 */
Referee_map_data_t sentry_pos_data; /* 0x0307 */
Referee_custom_info_t custom_info; /* 0x0308 */
Referee_robot_custom_data_t custom_data; /* 0x0309*/
osTimerId_t ui_fast_timer_id;
osTimerId_t ui_slow_timer_id;