121 lines
2.9 KiB
C
121 lines
2.9 KiB
C
/*
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视觉与电控通信协议
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*/
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#pragma once
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#include <stdint.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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#define AI_ARM_INFANTRY (1 << 0)
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#define AI_ARM_HERO (1 << 1)
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#define AI_ARM_ENGINEER (1 << 2)
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#define AI_ARM_DRONE (1 << 3)
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#define AI_ARM_SENTRY (1 << 4)
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#define AI_ARM_DART (1 << 5)
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#define AI_ARM_RADAR (1 << 6)
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#define AI_NOTICE_FIRE (1 << 1)
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#define AI_NOTICE_BUFF (1 << 2)
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#define AI_NOTICE_SNIPE (1 << 3)
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#define AI_NOTICE_SLOPE (1 << 4)
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#define AI_NOTICE_OUTPOST (1 << 5)
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#define AI_NOTICE_SENTRY (1 << 6)
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#define AI_NOTICE_BASE (1 << 7)
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#define AI_NOTICE_AUTOATROL (3)
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#define AI_NOTICE_AUTO_AIM (5)
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#define AI_ID_MCU (0xC4)
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#define AI_ID_REF (0xA8)
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#define AI_TEAM_RED (1 << 0)
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#define AI_TEAM_BLUE (1 << 1)
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#define AI_RACE_RMUC (1 << 0)
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#define AI_RACE_RMUT (1 << 1)
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#define AI_RACE_RMUL1 (1 << 2)
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#define AI_RACE_RMUL3 (1 << 3)
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#define AI_RFID_BUFF (1 << 0)
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#define AI_RFID_SNIP (1 << 1)
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typedef uint8_t Protocol_ID_t;
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/* 电控 -> 视觉 MCU数据结构体*/
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typedef struct __attribute__((packed)) {
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struct __attribute__((packed)) {
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float q0;
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float q1;
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float q2;
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float q3;
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} quat; /* 四元数 */
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Protocol_ID_t notice; /* 控制命令 */
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float ball_speed; /* 子弹初速度 */
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float chassis_speed; /* 底盘速度(哨兵) */
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} Protocol_UpDataMCU_t;
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/* 电控 -> 视觉 裁判系统数据结构体*/
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typedef struct __attribute__((packed)) {
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uint16_t team; /* 本身队伍 */
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uint16_t time; /* 比赛开始时间 */
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uint8_t race; /* 比赛类型 */
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uint8_t rfid; /* 增益地点 */
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uint8_t base_hp; /* 基地血量 */
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uint8_t sentry_hp; /* 哨兵血量 */
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uint8_t ballet_remain; /* 剩余弹量 */
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uint8_t arm; /* 兵种信息 */
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} Protocol_UpDataReferee_t;
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/* 视觉 -> 电控 数据结构体*/
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typedef struct __attribute__((packed)) {
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struct __attribute__((packed)) {
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float yaw; /* 偏航角(Yaw angle) */
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float pit; /* 俯仰角(Pitch angle) */
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float rol; /* 翻滚角(Roll angle) */
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} gimbal; /* 欧拉角 */
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Protocol_ID_t notice; /* 控制命令 */
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struct __attribute__((packed)) {
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float vx; /* x轴移动速度 */
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float vy; /* y轴移动速度、哨兵沿轨道方向(正面面向战场，右为正方向) */
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float wz; /* z轴转动速度、哨兵射界(弧度0～pi) */
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} chassis_move_vec; /* 底盘移动向量 */
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struct __attribute__((packed)) {
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float x;
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float y;
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float z;
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float pitch;
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float roll;
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float yaw;
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} extern_channel; /* 额外控制通道 */
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} Protocol_DownData_t;
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typedef struct __attribute__((packed)) {
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Protocol_UpDataMCU_t data;
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uint16_t crc16;
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} Protocol_UpPackageMCU_t;
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typedef struct __attribute__((packed)) {
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Protocol_UpDataReferee_t data;
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uint16_t crc16;
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} Protocol_UpPackageReferee_t;
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typedef struct __attribute__((packed)) {
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Protocol_DownData_t data;
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uint16_t crc16;
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} Protocol_DownPackage_t;
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#ifdef __cplusplus
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}
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#endif
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