/* 裁判系统抽象。 */ #pragma once #ifdef __cplusplus extern "C" { #endif /* Includes ----------------------------------------------------------------- */ #include #include #include "component\cmd.h" #include "component\ui.h" #include "component\user_math.h" #include "device\can.h" #include "device\device.h" /* Exported constants ------------------------------------------------------- */ /* Exported macro ----------------------------------------------------------- */ #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) /* 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 { uint8_t sof; uint16_t data_length; uint8_t seq; uint8_t crc8; } Referee_Header_t; typedef enum { REF_STATUS_OFFLINE = 0, REF_STATUS_RUNNING } Referee_Status_t; typedef enum { 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 { uint8_t game_type : 4; uint8_t game_progress : 4; uint16_t stage_remain_time; uint64_t sync_time_stamp; } Referee_GameStatus_t;/* 0x0001 */ typedef struct __packed { uint8_t winner; } 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 reserved; uint16_t red_7; uint16_t red_outpose; uint16_t red_base; uint16_t blue_1; uint16_t blue_2; uint16_t blue_3; uint16_t blue_4; uint16_t reserved1; uint16_t blue_7; uint16_t blue_outpose; uint16_t blue_base; } Referee_GameRobotHP_t;/* 0x0003 */ typedef struct __packed { uint8_t dart_belong; uint16_t stage_remain_time; } Referee_DartStatus_t; typedef struct __packed { uint8_t f1_status : 1; uint8_t f1_buff_status : 3; uint8_t f2_status : 1; uint8_t f2_buff_status : 3; uint8_t f3_status : 1; uint8_t f3_buff_status : 3; uint8_t f4_status : 1; uint8_t f4_buff_status : 3; uint8_t f5_status : 1; uint8_t f5_buff_status : 3; uint8_t f6_status : 1; uint8_t f6_buff_status : 3; uint16_t red1_bullet_remain; uint16_t red2_bullet_remain; uint16_t blue1_bullet_remain; uint16_t blue2_bullet_remain; } Referee_ICRAZoneStatus_t; typedef struct __packed { 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;/* 0x0102 */ typedef struct __packed { uint8_t place_holder; /* TODO */ } Referee_RequestSupply_t;/* 0x0103 */ typedef struct __packed { uint8_t level; uint8_t robot_id; uint8_t count; } Referee_Warning_t;/* 0x0104 */ typedef struct __packed { uint8_t countdown; 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 shooter_cooling_value; uint16_t shooter_heat_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; /* 0x0201 */ typedef struct __packed { uint16_t chassis_volt; uint16_t chassis_amp; float chassis_watt; uint16_t chassis_pwr_buff; uint16_t shoot_id1_17_heat; uint16_t shoot_id2_17_heat; uint16_t shoot_42_heat; } Referee_PowerHeat_t; /* 0x0202 */ typedef struct __packed { float x; float y; float z; float yaw; } Referee_RobotPos_t; /* 0x0203 */ typedef struct __packed { uint8_t healing_buff; uint8_t cooling_acc; uint8_t defense_buff; uint8_t vulnerability_buff; uint16_t attack_buff; uint8_t remaining_energy; } Referee_RobotBuff_t; /* 0x0204 */ typedef struct __packed { uint8_t attack_countdown; } Referee_DroneEnergy_t; /* 0x0205 *///删 typedef struct __packed { uint8_t armor_id : 4; uint8_t damage_type : 4; } Referee_RobotDamage_t; /* 0x0206 */ typedef struct __packed { uint8_t bullet_type; uint8_t shooter_id; uint8_t bullet_freq; float bullet_speed; } Referee_ShootData_t;/* 0x0207 */ typedef struct __packed { uint16_t bullet_17_remain; uint16_t bullet_42_remain; uint16_t coin_remain; } Referee_BulletRemain_t;/* 0x0208 */ typedef struct __packed { 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_status; uint8_t target; uint16_t target_changable_countdown; uint16_t operator_cmd_launch_time; } 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; uint8_t commd_keyboard; uint8_t robot_id; uint8_t cmd_source; } Referee_ClientMap_t;/* 0x0303 */ typedef struct __packed { int16_t mouse_x; int16_t mouse_y; int16_t mouse_wheel; int8_t button_l; int8_t button_r; uint16_t keyboard_value; uint16_t res; } 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, 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_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, 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_DART = 108, REF_BOT_BLU_RADER = 109, 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, 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, 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, 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, REF_STDNT_CMD_ID_SENTRY_CMD = 0X0120, REF_STDNT_CMD_ID_RADAR_CMD = 0X0121, } Referee_StudentCMDID_t; typedef struct __packed { Referee_StudentCMDID_t data_cmd_id; uint16_t id_sender; uint16_t id_receiver; uint8_t *data; } Referee_InterStudent_t; typedef struct __packed { uint8_t place_holder; } Referee_InterStudent_Custom_t; typedef struct { Referee_Status_t ref_status; 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; } Referee_t; typedef struct { CMD_ChassisMode_t mode; float angle; } Referee_ChassisUI_t; typedef struct { float percentage; CAN_CapStatus_t status; } Referee_CapUI_t; typedef struct { CMD_GimbalMode_t mode; } Referee_GimbalUI_t; typedef struct { CMD_ShootMode_t mode; CMD_FireMode_t fire; } Referee_ShootUI_t; typedef struct __packed { /* UI缓冲数据 */ UI_Ele_t grapic[REF_UI_MAX_GRAPIC_NUM]; UI_Drawcharacter_t character_data[REF_UI_MAX_STRING_NUM]; UI_Del_t del[REF_UI_MAX_DEL_NUM]; /* 待发送数量 */ uint8_t grapic_counter; uint8_t character_counter; uint8_t del_counter; /* UI所需信息 */ Referee_CapUI_t cap_ui; Referee_ChassisUI_t chassis_ui; Referee_ShootUI_t shoot_ui; Referee_GimbalUI_t gimbal_ui; bool cmd_pc; /* 屏幕分辨率 */ const CMD_Screen_t *screen; } Referee_UI_t; typedef struct __packed { uint16_t data_cmd_id; uint16_t sender_ID; uint16_t receiver_ID; } Referee_Interactive_Header_t; typedef struct __packed { Referee_Header_t header; uint16_t cmd_id; Referee_Interactive_Header_t IA_header; UI_Drawgrapic_1_t data; uint16_t crc16; } Referee_UI_Drawgrapic_1_t; typedef struct __packed { Referee_Header_t header; uint16_t cmd_id; Referee_Interactive_Header_t IA_header; UI_Drawgrapic_2_t data; uint16_t crc16; } Referee_UI_Drawgrapic_2_t; typedef struct __packed { Referee_Header_t header; uint16_t cmd_id; Referee_Interactive_Header_t IA_header; UI_Drawgrapic_5_t data; uint16_t crc16; } Referee_UI_Drawgrapic_5_t; typedef struct __packed { Referee_Header_t header; uint16_t cmd_id; Referee_Interactive_Header_t IA_header; UI_Drawgrapic_7_t data; uint16_t crc16; } Referee_UI_Drawgrapic_7_t; typedef struct __packed { Referee_Header_t header; uint16_t cmd_id; Referee_Interactive_Header_t IA_header; UI_Drawcharacter_t data; uint16_t crc16; } Referee_UI_Drawcharacter_t; typedef struct __packed { Referee_Header_t header; uint16_t cmd_id; Referee_Interactive_Header_t IA_header; UI_Del_t data; uint16_t crc16; } Referee_UI_Del_t; typedef struct { Referee_Status_t ref_status; float chassis_watt; float chassis_power_limit; float chassis_pwr_buff; } Referee_ForCap_t; typedef struct { Referee_Status_t ref_status; uint16_t remain_hp; uint8_t game_progress : 4; uint16_t stage_remain_time; } Referee_ForAI_t; typedef struct { Referee_Status_t ref_status; float chassis_power_limit; float chassis_pwr_buff; } Referee_ForChassis_t; typedef struct { Referee_Status_t ref_status; Referee_PowerHeat_t power_heat; Referee_RobotStatus_t robot_status; Referee_ShootData_t shoot_data; } Referee_ForShoot_t; /* Exported functions prototypes -------------------------------------------- */ int8_t Referee_Init(Referee_t *ref, Referee_UI_t *ui, const CMD_Screen_t *screen); int8_t Referee_Restart(void); int8_t Referee_StartReceiving(Referee_t *ref); int8_t Referee_Parse(Referee_t *ref); void Referee_HandleOffline(Referee_t *referee); int8_t Referee_SetHeader(Referee_Interactive_Header_t *header, Referee_StudentCMDID_t cmd_id, uint8_t sender_id); int8_t Referee_StartSend(uint8_t *data, uint32_t len); int8_t Referee_MoveData(void *data, void *tmp, uint32_t len); int8_t Referee_PackUI(Referee_UI_t *ui, Referee_t *ref); UI_Ele_t *Referee_GetGrapicAdd(Referee_UI_t *ref_ui); UI_Drawcharacter_t *Referee_GetCharacterAdd(Referee_UI_t *ref_ui); uint8_t Referee_PraseCmd(Referee_UI_t *ref_ui, CMD_UI_t cmd); uint8_t Referee_PackCap(Referee_ForCap_t *cap, const Referee_t *ref); uint8_t Referee_PackShoot(Referee_ForShoot_t *ai, Referee_t *ref); uint8_t Referee_PackChassis(Referee_ForChassis_t *chassis, const Referee_t *ref); uint8_t Referee_PackAI(Referee_ForAI_t *shoot, const Referee_t *ref); uint8_t Referee_UIRefresh(Referee_UI_t *ui); #ifdef __cplusplus } #endif