update referee system protocol to 1.6.4 (#76)

* update referee system protocol to 1.6.4

* update protocol in fortress and steering, need to update firmware of old vehicle

examples/referee/main.cc

@@ -89,6 +89,7 @@ void RM_RTOS_Default_Task(const void* argument) {
     print("Chassis Volt: %.3f\r\n", referee->power_heat_data.chassis_volt / 1000.0);
     print("Chassis Curr: %.3f\r\n", referee->power_heat_data.chassis_current / 1000.0);
     print("Chassis Power: %.3f\r\n", referee->power_heat_data.chassis_power);
+    print("Chassis Power Limit: %.3f\r\n", (float)(referee->game_robot_status.chassis_power_limit));
     print("\r\n");
     print("Shooter Cooling Heat: %hu\r\n", referee->power_heat_data.shooter_id1_17mm_cooling_heat);
     print("Bullet Frequency: %hhu\r\n", referee->shoot_data.bullet_freq);

shared/libraries/protocol.cc

@@ -134,6 +134,19 @@ bool Referee::ProcessDataRx(int cmd_id, const uint8_t* data, int length) {
     case DART_CLIENT_CMD:
       memcpy(&dart_client_cmd, data, length);
       break;
+    case GROUND_ROBOT_POSITION:
+      memcpy(&ground_robot_position, data, length);
+      break;
+    case RADAR_MARK_PROGRESS:
+      memcpy(&radar_mark_progress, data, length);
+      break;
+    case SENTRY_INFO:
+      memcpy(&sentry_info, data, length);
+      break;
+    case RADAR_INFO:
+      memcpy(&radar_info, data, length);
+      break;
+
     default:
       return false;
   }

shared/libraries/protocol.h

@@ -160,7 +160,12 @@ typedef enum {
   BULLET_REMAINING = 0x0208,
   RFID_STATUS = 0x0209,
   DART_CLIENT_CMD = 0x020A,
+  GROUND_ROBOT_POSITION = 0x020B,
+  RADAR_MARK_PROGRESS = 0x020C,
+  SENTRY_INFO = 0x020D,
+  RADAR_INFO = 0x020E,
   STUDENT_INTERACTIVE = 0x0301,
+
 } referee_cmd;
 
 /* ===== GAME_STATUS 0x0001 1Hz ===== */
@@ -218,11 +223,13 @@ typedef struct {
 typedef struct {
   uint8_t level;
   uint8_t foul_robot_id;
+  uint8_t count;
 } __packed referee_warning_t;
 
 /* ===== DART_REMAINING_TIME 0x0105 1Hz ===== */
 typedef struct {
   uint8_t dart_remaining_time;
+  uint16_t dart_info;
 } __packed dart_remaining_time_t;
 
 /* ===== GAME_ROBOT_STATUS 0x0201 10Hz ===== */
@@ -232,17 +239,8 @@ typedef struct {
   uint16_t remain_HP;
   uint16_t max_HP;
 
-  uint16_t shooter_id1_17mm_cooling_rate;
-  uint16_t shooter_id1_17mm_cooling_limit;
-  uint16_t shooter_id1_17mm_speed_limit;
-
-  uint16_t shooter_id2_17mm_cooling_rate;
-  uint16_t shooter_id2_17mm_cooling_limit;
-  uint16_t shooter_id2_17mm_speed_limit;
-
-  uint16_t shooter_id1_42mm_cooling_rate;
-  uint16_t shooter_id1_42mm_cooling_limit;
-  uint16_t shooter_id1_42mm_speed_limit;
+  uint16_t shooter_barrel_cooling_value;
+  uint16_t shooter_barrel_heat_limit;
 
   uint16_t chassis_power_limit;
   uint8_t mains_power_gimbal_output : 1;
@@ -265,18 +263,22 @@ typedef struct {
 typedef struct {
   float x;
   float y;
-  float z;
   float yaw;
 } __packed game_robot_pos_t;
 
 /* ===== BUFF 0x0204 1Hz ===== */
 typedef struct {
-  uint8_t power_rune_buff;
+  uint8_t recovery_buff;
+  uint8_t cooling_buff;
+  uint8_t defence_buff;
+  uint8_t vulnerability_buff;
+  uint16_t attack_buff;
 } __packed buff_t;
 
 /* ===== AERIAL_ROBOT_ENERGY 0x0205 10Hz ===== */
 typedef struct {
-  uint8_t attack_time;
+  uint8_t airforce_status;
+  uint8_t time_remain;
 } __packed aerial_robot_energy_t;
 
 /* ===== ROBOT_HURT 0x0206 ===== */
@@ -313,6 +315,46 @@ typedef struct {
   uint16_t operate_launch_cmd_time;
 } __packed dart_client_cmd_t;
 
+
+/* ====== GROUND_ROBOT_POSITION 0x020B 1Hz ====== */
+typedef struct {
+  float hero_x;
+  float hero_y;
+  float engiener_x;
+  float engineer_y;
+  float standard_3_x;
+  float standard_3_y;
+  float standard_4_x;
+  float standard_4_y;
+  float standard_5_x;
+  float standard_5_y;
+
+} __packed ground_robot_position_t;
+
+
+/* ====== RADAR_MARK_PROGRESS 0x020C 1Hz ======= */
+typedef struct 
+{ 
+  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_standard_5_progress; 
+  uint8_t mark_sentry_progress; 
+} __packed radar_mark_data_t;
+
+/* ====== SENTRY_INFO 0x020D 1Hz ======= */
+typedef  struct 
+{ 
+  uint32_t sentry_info; 
+  uint16_t sentry_info_2; 
+} __packed sentry_info_t;
+
+/* ====== RADAR_INFO 0x020E 1Hz =======  */
+typedef struct {
+  uint8_t radar_info;
+} __packed radar_info_t;
+
 typedef struct {
   uint16_t data_cmd_id;
   uint16_t sender_ID;
@@ -401,6 +443,10 @@ class Referee : public Protocol {
   bullet_remaining_t bullet_remaining{};
   rfid_status_t rfid_status{};
   dart_client_cmd_t dart_client_cmd{};
+  ground_robot_position_t ground_robot_position{};
+  radar_mark_data_t radar_mark_progress{};
+  sentry_info_t sentry_info{};
+  radar_info_t radar_info{};
 
   graphic_delete_t graphic_delete{};
   graphic_single_t graphic_single{};

vehicles/Fortress/main.cc

@@ -440,17 +440,17 @@ void shooterTask(void* arg) {
 
     if (referee->game_robot_status.mains_power_shooter_output &&
         referee->power_heat_data.shooter_id1_17mm_cooling_heat <
-            referee->game_robot_status.shooter_id1_17mm_cooling_limit - 20 &&
+            referee->game_robot_status.shooter_barrel_cooling_value - 20 &&
         (dbus->mouse.l || dbus->swr == remote::UP))
       shooter->LoadNext();
     if (!referee->game_robot_status.mains_power_shooter_output || dbus->keyboard.bit.Q ||
         dbus->swr == remote::DOWN) {
       flywheelFlag = false;
       shooter->SetFlywheelSpeed(0);
-    } else if (referee->game_robot_status.shooter_id1_17mm_speed_limit == 15) {
+    } else if (referee->game_robot_status.shooter_barrel_heat_limit == 15) {
       flywheelFlag = true;
       shooter->SetFlywheelSpeed(440);  // 445 MAX
-    } else if (referee->game_robot_status.shooter_id1_17mm_speed_limit >= 18) {
+    } else if (referee->game_robot_status.shooter_barrel_heat_limit >= 18) {
       flywheelFlag = true;
       shooter->SetFlywheelSpeed(485);  // 490 MAX
     } else {
@@ -1219,13 +1219,13 @@ void RM_RTOS_Default_Task(const void* arg) {
       print("\r\n");
 
       print("Shooter Heat: %hu / %d\r\n", referee->power_heat_data.shooter_id1_17mm_cooling_heat,
-            referee->game_robot_status.shooter_id1_17mm_cooling_limit);
+            referee->game_robot_status.shooter_barrel_cooling_value);
       print("Bullet Speed: %.3f / %d\r\n", referee->shoot_data.bullet_speed,
-            referee->game_robot_status.shooter_id1_17mm_speed_limit);
+            referee->game_robot_status.shooter_barrel_heat_limit);
       print("Bullet Frequency: %hhu\r\n", referee->shoot_data.bullet_freq);
 
       if (referee->shoot_data.bullet_speed >
-          referee->game_robot_status.shooter_id1_17mm_speed_limit)
+          referee->game_robot_status.shooter_barrel_heat_limit)
         pass = false;
       print("\r\nSpeed Limit Test: %s\r\n", pass ? "PASS" : "FAIL");
     }

vehicles/Steering/chassis.cc

@@ -341,19 +341,12 @@ void chassisTask(void* arg) {
     receive->TransmitOutput();
 
     receive->cmd.id = bsp::COOLING_LIMIT1;
-    receive->cmd.data_float = (float)referee->game_robot_status.shooter_id1_17mm_cooling_limit;
+    receive->cmd.data_float = (float)referee->game_robot_status.shooter_barrel_cooling_value;
     receive->TransmitOutput();
 
-    receive->cmd.id = bsp::COOLING_LIMIT2;
-    receive->cmd.data_float = (float)referee->game_robot_status.shooter_id2_17mm_cooling_limit;
-    receive->TransmitOutput();
 
     receive->cmd.id = bsp::SPEED_LIMIT1;
-    receive->cmd.data_float = (float)referee->game_robot_status.shooter_id1_17mm_speed_limit;
-    receive->TransmitOutput();
-
-    receive->cmd.id = bsp::SPEED_LIMIT2;
-    receive->cmd.data_float = (float)referee->game_robot_status.shooter_id2_17mm_speed_limit;
+    receive->cmd.data_float = (float)referee->game_robot_status.shooter_barrel_heat_limit;
     receive->TransmitOutput();
 
     osDelay(CHASSIS_TASK_DELAY);