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update referee system protocol to 1.6.4 #76

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Aug 1, 2024
Merged

update referee system protocol to 1.6.4 #76

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d07a487
update referee system protocol to 1.6.4
rickxu2 Jul 28, 2024
bded598
update protocol in fortress and steering, need to update firmware of …
rickxu2 Jul 28, 2024
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1 change: 1 addition & 0 deletions examples/referee/main.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
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13 changes: 13 additions & 0 deletions shared/libraries/protocol.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
}
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74 changes: 60 additions & 14 deletions shared/libraries/protocol.h
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Expand Up @@ -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 ===== */
Expand Down Expand Up @@ -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 ===== */
Expand All @@ -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;
Expand All @@ -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 ===== */
Expand Down Expand Up @@ -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;
Expand Down Expand Up @@ -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{};
Expand Down
12 changes: 6 additions & 6 deletions vehicles/Fortress/main.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -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 {
Expand Down Expand Up @@ -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");
}
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11 changes: 2 additions & 9 deletions vehicles/Steering/chassis.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
Expand Down
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