/* 裁判系统抽象。 */ #pragma once #ifdef __cplusplus extern "C" { #endif /* Includes ----------------------------------------------------------------- */ #include #include #include "component\ui.h" #include "component\user_math.h" #include "device\device.h" #include "device\referee_proto_types.h" #include "device\supercap.h" #include "module\balance_chassis.h" #include "module\gimbal.h" #include "module\shoot.h" /* Exported constants ------------------------------------------------------- */ /* Exported macro ----------------------------------------------------------- */ #define REF_SWITCH_STATUS(ref, stat) ((ref).ref_status = (stat)) #define CHASSIS_POWER_MAX_WITHOUT_REF 50.0f /* 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_USER_DATA_MAX_LEN 112 /* Exported types ----------------------------------------------------------- */ typedef struct __packed { uint8_t sof; uint16_t data_length; uint8_t seq; uint8_t crc8; } Referee_Header_t; /* 分辨率配置 */ /* Referee_Status_t, PowerHeat_t, RobotStatus_t, ShootData_t, ForCap/AI/Chassis/Shoot_t, Screen_t, UI_CMD_t 均定义在 device/referee_proto_types.h（已在上方 include）*/ 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_FIELD_EVENTS = 0x0101, 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_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_GROUND_ROBOT_POS = 0x020B, REF_CMD_ID_RADAR_MASK_PROC = 0x020C, REF_CMD_ID_SENTRY_AUTO_DEC = 0x020D, REF_CMD_ID_RADAR_AUTO_DEC = 0x020E, 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_CLIENT_MAP_REC_RADAR = 0x0305, REF_CMD_ID_CUSTOMER_CONTROLLER_CLIENT_INTERACT = 0x0306, REF_CMD_ID_CLIENT_MAP_REC_ROUTE = 0x0307, REF_CMD_ID_CLIENT_MAP_REC_ROBOT = 0x0308, REF_CMD_ID_CUSTOMER_CONTROLLER_CLIENT_REC_ROBOT = 0x0309, REF_CMD_ID_ROBOT_TO_CUSTOMER_CONTROLLER_CLIENT_REC = 0x0310, REF_CMD_ID_SET_PICTURE_CHANNEL = 0x0F01, REF_CMD_ID_QUERY_PICTURE_CHANNEL = 0x0F02, REF_CMD_ID_OPPSITE_ROBOT_POS = 0x0A01, REF_CMD_ID_OPPSITE_ROBOT_HP = 0x0A02, REF_CMD_ID_OPPSITE_ROBOT_BULLET_REMAINING = 0x0A03, REF_CMD_ID_OPPSITE_ROBOT_STATUs = 0x0A04, REF_CMD_ID_OPPSITE_ROBOT_BUFF= 0x0A05, REF_CMD_ID_OPPSITE_ROBOT_INTERF_WAVE_SRCRET_KEY= 0x0A06, } 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; typedef struct __packed { uint8_t winner; } Referee_GameResult_t; typedef struct __packed { uint16_t ally_1_robot_HP; uint16_t ally_2_robot_HP; uint16_t ally_3_robot_HP; uint16_t ally_4_robot_HP; uint16_t reserved; uint16_t ally_7_robot_HP; uint16_t ally_outpost_HP; uint16_t ally_base_HP; } Referee_GameRobotHP_t; typedef struct __packed { uint32_t event_data; } Referee_Event_t; typedef struct __packed { uint8_t level; uint8_t offending_robot_id; uint8_t count; } Referee_Warning_t; typedef struct __packed { uint8_t dart_remaining_time; uint16_t dart_info; } Referee_DartInfo_t; typedef struct __packed { float x; float y; float angle; } Referee_RobotPos_t; typedef struct { uint8_t recovery_buff; uint16_t cooling_buff; uint8_t defence_buff; uint8_t vulnerability_buff; uint16_t attack_buff; uint8_t remaining_energy; } Referee_RobotBuff_t; typedef struct __packed { uint8_t armor_id : 4; uint8_t damage_type : 4; } Referee_RobotDamage_t; typedef struct __packed { uint16_t bullet_17_remain; uint16_t bullet_42_remain; uint16_t coin_remain; uint16_t fortress_remain; }Referee_BulletRemain_t; typedef struct { uint32_t rfid_status; uint8_t rfid_status_2; }Referee_RFID_t; typedef struct __packed { uint8_t dart_launch_opening_status; uint8_t reserved; uint16_t target_change_time; uint16_t latest_launch_cmd_time; }Referee_DartClient_t; typedef struct { 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_1; float reserved_2; } Referee_GroundRobotPos_t; typedef struct __packed { uint16_t mark_progress; } Referee_RadarMark_t; typedef struct __packed { uint32_t sentry_info; uint16_t sentry_info_2; } Referee_SentryInfo_t; typedef struct __packed { uint8_t radar_info; } Referee_RadarInfo_t; typedef struct __packed { uint16_t data_cmd_id; uint16_t sender_id; uint16_t receiver_id; uint8_t user_data[REF_USER_DATA_MAX_LEN]; } Referee_RobotInteraction_t; typedef struct __packed { uint8_t delete_type; uint8_t layer; }Referee_RobotInteractionLayerDelete_t; typedef struct __packed { uint8_t figure_name[3]; uint32_t operate_type:3; uint32_t figure_type:3; uint32_t layer:4; uint32_t color:4; uint32_t details_a:9; uint32_t details_b:9; uint32_t width:10; uint32_t start_x:11; uint32_t start_y:11; uint32_t details_c:10; uint32_t details_d:11; uint32_t details_e:11; } Referee_InteractionFigure_t; typedef struct __packed { Referee_InteractionFigure_t interaction_figure[2]; } Referee_InteractionFigure2_t; typedef struct __packed { Referee_InteractionFigure_t interaction_figure[5]; } Referee_InteractionFigure3_t; typedef struct __packed { Referee_InteractionFigure_t interaction_figure[7]; } Referee_InteractionFigure4_t; typedef struct __packed { //graphic_data_struct_t grapic_data_struct; uint8_t data[30]; }Referee_ExtClientCustomCharacter_t; typedef struct __packed { uint32_t sentry_cmd; } Referee_SentryCmd_t; typedef struct __packed { uint8_t radar_cmd; uint8_t password_cmd; uint8_t password_1; uint8_t password_2; uint8_t password_3; uint8_t password_4; uint8_t password_5; uint8_t password_6; } Referee_RadarCmd_t; typedef struct __packed { float target_position_x; float target_position_y; uint8_t cmd_keyboard; uint8_t target_robot_id; uint16_t cmd_source; }Referee_MapCommand_t; 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; int16_t sentry_position_y; } Referee_MapRobotData_t; typedef struct { 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_MapData_t; typedef struct { uint16_t sender_id; uint16_t receiver_id; uint8_t user_data[30]; }Referee_CustomInfo_t; typedef struct { uint8_t data[30]; }Referee_CustomRobot_t; typedef struct { uint8_t data[30]; }Referee_RobotCustom_t; typedef struct { uint8_t data[30]; }Referee_RobotCustom2_t; /* 适配 V1.2.0: 0x0311 新增指令 */ typedef struct __packed { uint8_t data[30]; } Referee_RobotCustom3_t; 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; typedef struct { 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 reserved; }Referee_CustomClient_t; typedef struct __packed { uint8_t place_holder; } Referee_InterStudent_Custom_t; typedef struct __packed { uint16_t ally_1_robot_HP; uint16_t ally_2_robot_HP; uint16_t ally_3_robot_HP; uint16_t ally_4_robot_HP; uint16_t reserved; uint16_t ally_7_robot_HP; } Referee_OppisiteGameRobotHP_t; typedef struct __packed { uint16_t hero_bullet; uint16_t infantry3_bullet; uint16_t infantry4_bullet; uint16_t drone_bullet; uint16_t sentry_bullet; } Referee_OppsiteBulletRemain_t; typedef struct __packed { uint16_t remain_coins; uint16_t total_coins; uint32_t macro_status; } Referee_OppsiteRobotState_t; typedef struct __packed { uint8_t data[36]; } Referee_OppsiteRobotBuff_t; typedef struct __packed { uint8_t data[6]; } Referee_OppsiteDisturbingWaveKey_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 { uint8_t copter_pad : 2; uint8_t energy_mech : 2; uint8_t virtual_shield : 1; uint32_t res : 27; } Referee_FieldEvents_t; typedef struct __packed { uint8_t supply_id; uint8_t robot_id; uint8_t supply_step; uint8_t supply_sum; } Referee_SupplyAction_t; typedef struct __packed { uint8_t place_holder; /* TODO */ } Referee_RequestSupply_t; typedef struct __packed { uint8_t countdown; } Referee_DartCountdown_t; typedef struct __packed { uint8_t attack_countdown; } Referee_DroneEnergy_t; /*typedef struct __packed { uint8_t opening; 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 operator_cmd_launch_time; } Referee_DartClient_t;*/ typedef struct __packed { float position_x; float position_y; float position_z; uint8_t commd_keyboard; uint16_t robot_id; } Referee_ClientMap_t; 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_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_RADER = 109, REF_BOT_BUL_OUTPOST=110, REF_BOT_BUL_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; 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 struct __packed { Referee_StudentCMDID_t data_cmd_id; uint16_t id_sender; uint16_t id_receiver; uint8_t *data; } Referee_InterStudent_t; typedef struct { Referee_Status_t ref_status; Referee_GameStatus_t game_status; Referee_GameResult_t game_result; Referee_GameRobotHP_t game_robot_hp; Referee_Event_t event; Referee_Warning_t warning; Referee_DartInfo_t dartinfo; Referee_RobotStatus_t robot_status; Referee_PowerHeat_t power_heat; Referee_RobotPos_t robot_pos; Referee_RobotBuff_t robot_buff; 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_GroundRobotPos_t ground_robot_pos; Referee_RadarMark_t radar_mark; Referee_SentryInfo_t sentry_info; Referee_RadarInfo_t radar_info; Referee_RobotInteraction_t robot_interaction; Referee_RobotInteractionLayerDelete_t robot_interaction_layer_delete; Referee_InteractionFigure_t interaction_figure; Referee_InteractionFigure2_t interaction_figure2; Referee_InteractionFigure3_t interaction_figure3; Referee_InteractionFigure4_t interaction_figure4; Referee_ExtClientCustomCharacter_t ext_client_custom_character; Referee_SentryCmd_t sentry_cmd; Referee_RadarCmd_t radar_cmd; Referee_MapCommand_t map_command; Referee_MapRobotData_t map_robot_data; Referee_MapData_t map_data; Referee_CustomInfo_t custom_info; Referee_CustomRobot_t custom_robot; Referee_RobotCustom_t robot_custom; Referee_RobotCustom2_t robot_custom2; Referee_KeyboardMouse_t keyboard_mouse_t; Referee_CustomClient_t custom_client; Referee_MapRobotData_t map_oppsite_robot_data; Referee_OppisiteGameRobotHP_t oppsite_robotHP; Referee_OppsiteBulletRemain_t oppsite_bullet_remain; Referee_OppsiteRobotState_t oppsite_robot_satate; Referee_OppsiteRobotBuff_t oppsite_robot_buff; Referee_OppsiteDisturbingWaveKey_t opsite_DisturbingWave_key; Referee_ICRAZoneStatus_t icra_zone; Referee_FieldEvents_t field_event; Referee_SupplyAction_t supply_action; Referee_RequestSupply_t request_supply; Referee_DartCountdown_t dart_countdown; Referee_DroneEnergy_t drone_energy; Referee_InterStudent_Custom_t custom; Referee_ClientMap_t client_map; osTimerId_t ui_fast_timer_id; osTimerId_t ui_slow_timer_id; } Referee_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 */ Cap_RefereeUI_t cap_ui; Chassis_RefereeUI_t chassis_ui; Shoot_RefereeUI_t shoot_ui; Gimbal_RefereeUI_t gimbal_ui; bool cmd_pc; /* 屏幕分辨率 */ const Referee_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; /* Exported functions prototypes -------------------------------------------- */ int8_t Referee_Init(Referee_t *ref, Referee_UI_t *ui, const Referee_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, Referee_UI_CMD_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