508 lines
13 KiB
C
508 lines
13 KiB
C
/*
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裁判系统抽象。
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*/
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#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ----------------------------------------------------------------- */
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#include <cmsis_os2.h>
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#include <stdbool.h>
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#include "component\cmd.h"
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#include "component\ui.h"
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#include "component\user_math.h"
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#include "device\can.h"
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#include "device\device.h"
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/* Exported constants ------------------------------------------------------- */
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/* Exported macro ----------------------------------------------------------- */
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#define REF_SWITCH_STATUS(ref, stat) ((ref).ref_status = (stat))
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#define CHASSIS_POWER_MAX_WITHOUT_REF 2000.0f /* 裁判系统离线底盘最大功率 */
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#define REF_UI_MAX_GRAPIC_NUM (7) /* 最大图形数量 */
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#define REF_UI_MAX_STRING_NUM (7) /* 最大字符串数量 */
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#define REF_UI_MAX_DEL_NUM (3) /* 最大删除数量 */
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/* Exported types ----------------------------------------------------------- */
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typedef struct __packed {
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uint8_t sof;
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uint16_t data_length;
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uint8_t seq;
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uint8_t crc8;
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} Referee_Header_t;
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typedef enum { REF_STATUS_OFFLINE = 0, REF_STATUS_RUNNING } Referee_Status_t;
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typedef enum {
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REF_CMD_ID_GAME_STATUS = 0x0001,
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REF_CMD_ID_GAME_RESULT = 0x0002,
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REF_CMD_ID_GAME_ROBOT_HP = 0x0003,
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REF_CMD_ID_DART_STATUS = 0x0004,
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REF_CMD_ID_ICRA_ZONE_STATUS = 0x0005,
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REF_CMD_ID_FIELD_EVENTS = 0x0101,
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REF_CMD_ID_SUPPLY_ACTION = 0x0102,
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REF_CMD_ID_REQUEST_SUPPLY = 0x0103,
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REF_CMD_ID_WARNING = 0x0104,
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REF_CMD_ID_DART_COUNTDOWN = 0x0105,
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REF_CMD_ID_ROBOT_STATUS = 0x0201,
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REF_CMD_ID_POWER_HEAT_DATA = 0x0202,
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REF_CMD_ID_ROBOT_POS = 0x0203,
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REF_CMD_ID_ROBOT_BUFF = 0x0204,
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REF_CMD_ID_DRONE_ENERGY = 0x0205,
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REF_CMD_ID_ROBOT_DMG = 0x0206,
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REF_CMD_ID_SHOOT_DATA = 0x0207,
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REF_CMD_ID_BULLET_REMAINING = 0x0208,
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REF_CMD_ID_RFID = 0x0209,
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REF_CMD_ID_DART_CLIENT = 0x020A,
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REF_CMD_ID_INTER_STUDENT = 0x0301,
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REF_CMD_ID_INTER_STUDENT_CUSTOM = 0x0302,
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REF_CMD_ID_CLIENT_MAP = 0x0303,
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REF_CMD_ID_KEYBOARD_MOUSE = 0x0304,
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} Referee_CMDID_t;
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typedef struct __packed {
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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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uint64_t sync_time_stamp;
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} Referee_GameStatus_t;
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typedef struct __packed {
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uint8_t winner;
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} Referee_GameResult_t;
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typedef struct __packed {
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uint16_t red_1;
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uint16_t red_2;
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uint16_t red_3;
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uint16_t red_4;
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uint16_t red_5;
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uint16_t red_6;
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uint16_t red_7;
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uint16_t red_outpose;
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uint16_t red_base;
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uint16_t blue_1;
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uint16_t blue_2;
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uint16_t blue_3;
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uint16_t blue_4;
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uint16_t blue_5;
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uint16_t blue_6;
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uint16_t blue_7;
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uint16_t blue_outpose;
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uint16_t blue_base;
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} Referee_GameRobotHP_t;
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typedef struct __packed {
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uint8_t dart_belong;
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uint16_t stage_remain_time;
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} Referee_DartStatus_t;
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typedef struct __packed {
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uint8_t f1_status : 1;
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uint8_t f1_buff_status : 3;
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uint8_t f2_status : 1;
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uint8_t f2_buff_status : 3;
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uint8_t f3_status : 1;
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uint8_t f3_buff_status : 3;
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uint8_t f4_status : 1;
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uint8_t f4_buff_status : 3;
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uint8_t f5_status : 1;
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uint8_t f5_buff_status : 3;
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uint8_t f6_status : 1;
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uint8_t f6_buff_status : 3;
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uint16_t red1_bullet_remain;
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uint16_t red2_bullet_remain;
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uint16_t blue1_bullet_remain;
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uint16_t blue2_bullet_remain;
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} Referee_ICRAZoneStatus_t;
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typedef struct __packed {
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uint8_t copter_pad : 2;
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uint8_t energy_mech : 2;
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uint8_t virtual_shield : 1;
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uint32_t res : 27;
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} Referee_FieldEvents_t;
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typedef struct __packed {
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uint8_t supply_id;
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uint8_t robot_id;
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uint8_t supply_step;
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uint8_t supply_sum;
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} Referee_SupplyAction_t;
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typedef struct __packed {
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uint8_t place_holder; /* TODO */
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} Referee_RequestSupply_t;
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typedef struct __packed {
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uint8_t level;
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uint8_t robot_id;
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} Referee_Warning_t;
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typedef struct __packed {
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uint8_t countdown;
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} Referee_DartCountdown_t;
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// typedef struct __packed {
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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 shoot_id1_17_cooling_rate;
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// uint16_t shoot_id1_17_heat_limit;
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// uint16_t shoot_id1_17_speed_limit;
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// uint16_t shoot_id2_17_cooling_rate;
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// uint16_t shoot_id2_17_heat_limit;
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// uint16_t shoot_id2_17_speed_limit;
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// uint16_t shoot_42_cooling_rate;
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// uint16_t shoot_42_heat_limit;
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// uint16_t shoot_42_speed_limit;
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// uint16_t chassis_power_limit;
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// uint8_t power_gimbal_output : 1;
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// uint8_t power_chassis_output : 1;
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// uint8_t power_shoot_output : 1;
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// } Referee_RobotStatus_t;
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typedef struct __packed {
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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_cooling_value;
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uint16_t shooter_heat_limit;
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uint16_t chassis_power_limit;
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uint8_t power_gimbal_output : 1;
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uint8_t power_chassis_output : 1;
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uint8_t power_shoot_output : 1;
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} Referee_RobotStatus_t; /* 0x0201 */
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typedef struct __packed {
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uint16_t chassis_volt;
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uint16_t chassis_amp;
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float chassis_watt;
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uint16_t chassis_pwr_buff;
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uint16_t shoot_id1_17_heat;
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uint16_t shoot_id2_17_heat;
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uint16_t shoot_42_heat;
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} Referee_PowerHeat_t;
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typedef struct __packed {
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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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} Referee_RobotPos_t;
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// typedef struct __packed {
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// uint8_t healing : 1;
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// uint8_t cooling_acc : 1;
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// uint8_t defense_buff : 1;
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// uint8_t attack_buff : 1;
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// uint8_t res : 4;
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// } Referee_RobotBuff_t;
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typedef struct __packed {
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uint8_t healing_buff;
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uint8_t cooling_acc;
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uint8_t defense_buff;
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uint8_t vulnerability_buff;
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uint16_t attack_buff;
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} Referee_RobotBuff_t;
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typedef struct __packed {
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uint8_t attack_countdown;
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} Referee_DroneEnergy_t;
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typedef struct __packed {
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uint8_t armor_id : 4;
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uint8_t damage_type : 4;
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} Referee_RobotDamage_t;
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typedef struct __packed {
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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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} Referee_ShootData_t;/* 0x0207 */
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typedef struct __packed {
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uint16_t bullet_17_remain;
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uint16_t bullet_42_remain;
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uint16_t coin_remain;
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} Referee_BulletRemain_t;
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typedef struct __packed {
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uint8_t base : 1;
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uint8_t high_ground : 1;
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uint8_t energy_mech : 1;
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uint8_t slope : 1;
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uint8_t outpose : 1;
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uint8_t resource : 1;
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uint8_t healing_card : 1;
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uint32_t res : 24;
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} Referee_RFID_t;
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typedef struct __packed {
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uint8_t opening;
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uint8_t target;
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uint8_t target_changable_countdown;
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uint8_t dart1_speed;
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uint8_t dart2_speed;
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uint8_t dart3_speed;
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uint8_t dart4_speed;
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uint16_t last_dart_launch_time;
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uint16_t operator_cmd_launch_time;
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} Referee_DartClient_t;
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typedef struct __packed {
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float position_x;
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float position_y;
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float position_z;
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uint8_t commd_keyboard;
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uint16_t robot_id;
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} Referee_ClientMap_t;
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typedef struct __packed {
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int16_t mouse_x;
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int16_t mouse_y;
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int16_t mouse_wheel;
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int8_t button_l;
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int8_t button_r;
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uint16_t keyboard_value;
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uint16_t res;
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} Referee_KeyboardMouse_t;
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typedef uint16_t Referee_Tail_t;
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typedef enum {
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REF_BOT_RED_HERO = 1,
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REF_BOT_RED_ENGINEER = 2,
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REF_BOT_RED_INFANTRY_1 = 3,
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REF_BOT_RED_INFANTRY_2 = 4,
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REF_BOT_RED_INFANTRY_3 = 5,
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REF_BOT_RED_DRONE = 6,
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REF_BOT_RED_SENTRY = 7,
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REF_BOT_RED_RADER = 9,
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REF_BOT_BLU_HERO = 101,
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REF_BOT_BLU_ENGINEER = 102,
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REF_BOT_BLU_INFANTRY_1 = 103,
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REF_BOT_BLU_INFANTRY_2 = 104,
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REF_BOT_BLU_INFANTRY_3 = 105,
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REF_BOT_BLU_DRONE = 106,
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REF_BOT_BLU_SENTRY = 107,
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REF_BOT_BLU_RADER = 109,
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} Referee_RobotID_t;
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typedef enum {
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REF_CL_RED_HERO = 0x0101,
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REF_CL_RED_ENGINEER = 0x0102,
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REF_CL_RED_INFANTRY_1 = 0x0103,
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REF_CL_RED_INFANTRY_2 = 0x0104,
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REF_CL_RED_INFANTRY_3 = 0x0105,
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REF_CL_RED_DRONE = 0x0106,
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REF_CL_BLU_HERO = 0x0165,
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REF_CL_BLU_ENGINEER = 0x0166,
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REF_CL_BLU_INFANTRY_1 = 0x0167,
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REF_CL_BLU_INFANTRY_2 = 0x0168,
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REF_CL_BLU_INFANTRY_3 = 0x0169,
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REF_CL_BLU_DRONE = 0x016A,
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} Referee_ClientID_t;
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typedef enum {
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REF_STDNT_CMD_ID_UI_DEL = 0x0100,
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REF_STDNT_CMD_ID_UI_DRAW1 = 0x0101,
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REF_STDNT_CMD_ID_UI_DRAW2 = 0x0102,
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REF_STDNT_CMD_ID_UI_DRAW5 = 0x0103,
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REF_STDNT_CMD_ID_UI_DRAW7 = 0x0104,
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REF_STDNT_CMD_ID_UI_STR = 0x0110,
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REF_STDNT_CMD_ID_CUSTOM = 0x0200,
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} Referee_StudentCMDID_t;
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typedef struct __packed {
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Referee_StudentCMDID_t data_cmd_id;
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uint16_t id_sender;
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uint16_t id_receiver;
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uint8_t *data;
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} Referee_InterStudent_t;
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typedef struct __packed {
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uint8_t place_holder;
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} Referee_InterStudent_Custom_t;
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typedef struct {
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Referee_Status_t ref_status;
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Referee_GameStatus_t game_status;
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Referee_GameResult_t game_result;
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Referee_GameRobotHP_t game_robot_hp;
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Referee_DartStatus_t dart_status;
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Referee_ICRAZoneStatus_t icra_zone;
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Referee_FieldEvents_t field_event;
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Referee_SupplyAction_t supply_action;
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Referee_RequestSupply_t request_supply;
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Referee_Warning_t warning;
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Referee_DartCountdown_t dart_countdown;
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Referee_RobotStatus_t robot_status;
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Referee_PowerHeat_t power_heat;
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Referee_RobotPos_t robot_pos;
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Referee_RobotBuff_t robot_buff;
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Referee_DroneEnergy_t drone_energy;
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Referee_RobotDamage_t robot_danage;
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Referee_ShootData_t shoot_data;
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Referee_BulletRemain_t bullet_remain;
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Referee_RFID_t rfid;
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Referee_DartClient_t dart_client;
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Referee_InterStudent_Custom_t custom;
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Referee_ClientMap_t client_map;
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Referee_KeyboardMouse_t keyboard_mouse;
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osTimerId_t ui_fast_timer_id;
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osTimerId_t ui_slow_timer_id;
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} Referee_t;
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typedef struct {
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CMD_ChassisMode_t mode;
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float angle;
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} Referee_ChassisUI_t;
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typedef struct {
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float percentage;
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CAN_CapStatus_t status;
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} Referee_CapUI_t;
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typedef struct {
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CMD_GimbalMode_t mode;
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} Referee_GimbalUI_t;
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typedef struct {
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CMD_ShootMode_t mode;
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CMD_FireMode_t fire;
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} Referee_ShootUI_t;
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typedef struct __packed {
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/* UI缓冲数据 */
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UI_Ele_t grapic[REF_UI_MAX_GRAPIC_NUM];
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UI_Drawcharacter_t character_data[REF_UI_MAX_STRING_NUM];
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UI_Del_t del[REF_UI_MAX_DEL_NUM];
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/* 待发送数量 */
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uint8_t grapic_counter;
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uint8_t character_counter;
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uint8_t del_counter;
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/* UI所需信息 */
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Referee_CapUI_t cap_ui;
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Referee_ChassisUI_t chassis_ui;
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Referee_ShootUI_t shoot_ui;
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Referee_GimbalUI_t gimbal_ui;
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bool cmd_pc;
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/* 屏幕分辨率 */
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const CMD_Screen_t *screen;
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} Referee_UI_t;
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typedef struct __packed {
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uint16_t data_cmd_id;
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uint16_t sender_ID;
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uint16_t receiver_ID;
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} Referee_Interactive_Header_t;
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typedef struct __packed {
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Referee_Header_t header;
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uint16_t cmd_id;
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Referee_Interactive_Header_t IA_header;
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UI_Drawgrapic_1_t data;
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uint16_t crc16;
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} Referee_UI_Drawgrapic_1_t;
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typedef struct __packed {
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Referee_Header_t header;
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uint16_t cmd_id;
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Referee_Interactive_Header_t IA_header;
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UI_Drawgrapic_2_t data;
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uint16_t crc16;
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} Referee_UI_Drawgrapic_2_t;
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typedef struct __packed {
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Referee_Header_t header;
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uint16_t cmd_id;
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Referee_Interactive_Header_t IA_header;
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UI_Drawgrapic_5_t data;
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uint16_t crc16;
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} Referee_UI_Drawgrapic_5_t;
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typedef struct __packed {
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Referee_Header_t header;
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uint16_t cmd_id;
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Referee_Interactive_Header_t IA_header;
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UI_Drawgrapic_7_t data;
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uint16_t crc16;
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} Referee_UI_Drawgrapic_7_t;
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typedef struct __packed {
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Referee_Header_t header;
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uint16_t cmd_id;
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Referee_Interactive_Header_t IA_header;
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UI_Drawcharacter_t data;
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uint16_t crc16;
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} Referee_UI_Drawcharacter_t;
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typedef struct __packed {
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Referee_Header_t header;
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uint16_t cmd_id;
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Referee_Interactive_Header_t IA_header;
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UI_Del_t data;
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uint16_t crc16;
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} Referee_UI_Del_t;
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typedef struct {
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Referee_Status_t ref_status;
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float chassis_watt;
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float chassis_power_limit;
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float chassis_pwr_buff;
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} Referee_ForCap_t;
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typedef struct {
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Referee_Status_t ref_status;
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} Referee_ForAI_t;
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typedef struct {
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Referee_Status_t ref_status;
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float chassis_power_limit;
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float chassis_pwr_buff;
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} Referee_ForChassis_t;
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typedef struct {
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Referee_Status_t ref_status;
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Referee_PowerHeat_t power_heat;
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Referee_RobotStatus_t robot_status;
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Referee_ShootData_t shoot_data;
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} Referee_ForShoot_t;
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/* Exported functions prototypes -------------------------------------------- */
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int8_t Referee_Init(Referee_t *ref, Referee_UI_t *ui,
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const CMD_Screen_t *screen);
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int8_t Referee_Restart(void);
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int8_t Referee_StartReceiving(Referee_t *ref);
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int8_t Referee_Parse(Referee_t *ref);
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void Referee_HandleOffline(Referee_t *referee);
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int8_t Referee_SetHeader(Referee_Interactive_Header_t *header,
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Referee_StudentCMDID_t cmd_id, uint8_t sender_id);
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int8_t Referee_StartSend(uint8_t *data, uint32_t len);
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int8_t Referee_MoveData(void *data, void *tmp, uint32_t len);
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int8_t Referee_PackUI(Referee_UI_t *ui, Referee_t *ref);
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UI_Ele_t *Referee_GetGrapicAdd(Referee_UI_t *ref_ui);
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UI_Drawcharacter_t *Referee_GetCharacterAdd(Referee_UI_t *ref_ui);
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uint8_t Referee_PraseCmd(Referee_UI_t *ref_ui, CMD_UI_t cmd);
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uint8_t Referee_PackCap(Referee_ForCap_t *cap, const Referee_t *ref);
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uint8_t Referee_PackShoot(Referee_ForShoot_t *ai, Referee_t *ref);
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uint8_t Referee_PackChassis(Referee_ForChassis_t *chassis,
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const Referee_t *ref);
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uint8_t Referee_PackAI(Referee_ForAI_t *shoot, const Referee_t *ref);
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uint8_t Referee_UIRefresh(Referee_UI_t *ui);
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#ifdef __cplusplus
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}
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#endif
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