Merge pull request #249 from chen-gr/new_referee

YoujianWu · web-flow · commit 7deca436c8cf · 2025-02-22T10:57:38.000+08:00
Update new referee protocol unpack code
diff --git a/rm_msgs/CMakeLists.txt b/rm_msgs/CMakeLists.txt
@@ -68,7 +68,7 @@ add_message_files(
         DartStatus.msg
         IcraBuffDebuffZoneStatus.msg
         SupplyProjectileAction.msg
-        DartRemainingTime.msg
+        DartInfo.msg
         RobotHurt.msg
         SentryAttackingTarget.msg
         ShootData.msg
diff --git a/rm_msgs/msg/referee/Buff.msg b/rm_msgs/msg/referee/Buff.msg
@@ -3,3 +3,4 @@ uint8 cooling_buff
 uint8 defence_buff
 uint8 vulnerability_buff
 uint16 attack_buff
+uint8 remaining_energy
diff --git a/rm_msgs/msg/referee/DartInfo.msg b/rm_msgs/msg/referee/DartInfo.msg
@@ -0,0 +1,6 @@
+uint8 dart_remaining_time
+uint8 dart_last_aim_state
+uint8 enemy_total_hit_received
+uint8 dart_current_target
+
+time stamp
diff --git a/rm_msgs/msg/referee/DartRemainingTime.msg b/rm_msgs/msg/referee/DartRemainingTime.msg
diff --git a/rm_msgs/msg/referee/EventData.msg b/rm_msgs/msg/referee/EventData.msg
@@ -1,13 +1,10 @@
-bool forward_supply_station_state
-bool inside_supply_station_state
+bool overlapping_supply_station_state
+bool nan_overlapping_supply_station_state
 bool supplier_zone_state
-bool power_rune_activation_point_state
 bool small_power_rune_state
 bool large_power_rune_state
-uint8 ring_elevated_ground_state
-uint8 r3_state
-uint8 r4_state
-uint8 base_shield_value
+uint8 central_elevated_ground_state
+uint8 trapezoidal_elevated_ground_state
 uint16 be_hit_time
 uint8 be_hit_target
 uint8 central_point_state
diff --git a/rm_msgs/msg/referee/GameRobotHp.msg b/rm_msgs/msg/referee/GameRobotHp.msg
@@ -2,15 +2,13 @@ uint16 red_1_robot_hp
 uint16 red_2_robot_hp
 uint16 red_3_robot_hp
 uint16 red_4_robot_hp
-uint16 red_5_robot_hp
 uint16 red_7_robot_hp
 uint16 red_outpost_hp
 uint16 red_base_hp
 uint16 blue_1_robot_hp
 uint16 blue_2_robot_hp
 uint16 blue_3_robot_hp
 uint16 blue_4_robot_hp
-uint16 blue_5_robot_hp
 uint16 blue_7_robot_hp
 uint16 blue_outpost_hp
 uint16 blue_base_hp
diff --git a/rm_msgs/msg/referee/PowerHeatData.msg b/rm_msgs/msg/referee/PowerHeatData.msg
@@ -1,6 +1,3 @@
-float32 chassis_volt
-float32 chassis_current
-float32 chassis_power
 uint16 chassis_power_buffer
 uint16 shooter_id_1_17_mm_cooling_heat
 uint16 shooter_id_2_17_mm_cooling_heat
diff --git a/rm_msgs/msg/referee/RadarMarkData.msg b/rm_msgs/msg/referee/RadarMarkData.msg
@@ -1,8 +1,7 @@
-uint8 mark_hero_progress
-uint8 mark_engineer_progress
-uint8 mark_standard_3_progress
-uint8 mark_standard_4_progress
-uint8 mark_standard_5_progress
-uint8 mark_sentry_progress
+bool mark_hero_progress
+bool mark_engineer_progress
+bool mark_standard_3_progress
+bool mark_standard_4_progress
+bool mark_sentry_progress
 
 time stamp
diff --git a/rm_msgs/msg/referee/RfidStatus.msg b/rm_msgs/msg/referee/RfidStatus.msg
@@ -1,23 +1,27 @@
 bool base_buff_point_state
-bool own_ring_elevated_ground_state
-bool enemy_ring_elevated_ground_state
-bool own_r3_state
-bool enemy_r3_state
-bool own_r4_state
-bool enemy_r4_state
-bool power_rune_activation_point_state
-bool forward_own_launch_ramp_buff_point_state
-bool behind_own_launch_ramp_buff_point_state
-bool forward_enemy_launch_ramp_buff_point_state
-bool behind_enemy_launch_ramp_buff_point_state
+bool own_central_elevated_ground_state
+bool enemy_central_elevated_ground_state
+bool own_trapezoidal_elevated_ground_state
+bool enemy_trapezoidal_elevated_ground_state
+bool forward_own_terrain_span_buff_point_state
+bool behind_own_terrain_span_buff_point_state
+bool forward_enemy_terrain_span_buff_point_state
+bool behind_enemy_terrain_span_buff_point_state
+bool below_central_own_terrain_span_buff_point_state
+bool upper_central_own_terrain_span_buff_point_state
+bool below_central_enemy_terrain_span_buff_point_state
+bool upper_central_enemy_terrain_span_buff_point_state
+bool below_road_own_terrain_span_buff_point_state
+bool upper_road_own_terrain_span_buff_point_state
+bool below_road_enemy_terrain_span_buff_point_state
+bool upper_road_enemy_terrain_span_buff_point_state
+bool own_fort_buff_point
 bool own_outpost_buff_point
-bool own_side_restoration_zone
-bool own_sentry_patrol_zones
-bool enemy_sentry_patrol_zones
+bool nan_overlapping_supplier_zone
+bool overlapping_supplier_zone
 bool own_large_resource_island_point
 bool enemy_large_resource_island_point
 bool own_exchange_zone
 bool central_buff_point
-uint32 reverse
 
 time stamp
diff --git a/rm_msgs/msg/referee/RobotsPositionData.msg b/rm_msgs/msg/referee/RobotsPositionData.msg
@@ -6,7 +6,5 @@ float32 standard_3_x
 float32 standard_3_y
 float32 standard_4_x
 float32 standard_4_y
-float32 standard_5_x
-float32 standard_5_y
 
 time stamp
diff --git a/rm_referee/include/rm_referee/common/data.h b/rm_referee/include/rm_referee/common/data.h
@@ -78,7 +78,7 @@
 #include <rm_msgs/ManualToReferee.h>
 #include <rm_msgs/ClientMapSendData.h>
 #include <rm_msgs/RobotsPositionData.h>
-#include <rm_msgs/DartRemainingTime.h>
+#include <rm_msgs/DartInfo.h>
 #include <rm_msgs/StatusChangeRequest.h>
 #include <rm_msgs/ClientMapReceiveData.h>
 #include <rm_msgs/SupplyProjectileAction.h>
diff --git a/rm_referee/include/rm_referee/common/protocol.h b/rm_referee/include/rm_referee/common/protocol.h
@@ -52,7 +52,7 @@ typedef enum
   FIELD_EVENTS_CMD = 0x0101,
   SUPPLY_PROJECTILE_ACTION_CMD = 0x0102,
   REFEREE_WARNING_CMD = 0x0104,
-  DART_REMAINING_CMD = 0x0105,
+  DART_INFO_CMD = 0x0105,
   ROBOT_STATUS_CMD = 0x0201,
   POWER_HEAT_DATA_CMD = 0x0202,
   ROBOT_POS_CMD = 0x0203,
@@ -74,7 +74,8 @@ typedef enum
   CLIENT_MAP_CMD = 0x0305,
   CUSTOM_CLIENT_CMD = 0x0306,  // controller
   MAP_SENTRY_CMD = 0x0307,     // send sentry->aerial
-  CUSTOM_INFO_CMD = 0x0308,
+  CUSTOM_TO_ROBOT_CMD = 0x0308,
+  ROBOT_TO_CUSTOM_CMD = 0x0309,
   POWER_MANAGEMENT_SAMPLE_AND_STATUS_DATA_CMD = 0X8301,
   POWER_MANAGEMENT_INITIALIZATION_EXCEPTION_CMD = 0X8302,
   POWER_MANAGEMENT_SYSTEM_EXCEPTION_CMD = 0X8303,
@@ -242,15 +243,15 @@ typedef struct
   uint16_t red_2_robot_hp;
   uint16_t red_3_robot_hp;
   uint16_t red_4_robot_hp;
-  uint16_t red_5_robot_hp;
+  uint16_t reserved_1;
   uint16_t red_7_robot_hp;
   uint16_t red_outpost_hp;
   uint16_t red_base_hp;
   uint16_t blue_1_robot_hp;
   uint16_t blue_2_robot_hp;
   uint16_t blue_3_robot_hp;
   uint16_t blue_4_robot_hp;
-  uint16_t blue_5_robot_hp;
+  uint16_t reserved_2;
   uint16_t blue_7_robot_hp;
   uint16_t blue_outpost_hp;
   uint16_t blue_base_hp;
@@ -284,19 +285,17 @@ typedef struct
 
 typedef struct
 {
-  uint8_t forward_supply_station_state : 1;
-  uint8_t inside_supply_station_state : 1;
+  uint8_t overlapping_supply_station_state : 1;
+  uint8_t nan_overlapping_supply_station_state : 1;
   uint8_t supplier_zone_state : 1;
-  uint8_t power_rune_activation_point_state : 1;
   uint8_t small_power_rune_state : 1;
   uint8_t large_power_rune_state : 1;
-  uint8_t ring_elevated_ground_state : 2;
-  uint8_t r3_state : 2;
-  uint8_t r4_state : 2;
-  uint16_t base_shield_value : 7;
+  uint8_t central_elevated_ground_state : 2;
+  uint8_t trapezoidal_elevated_ground_state : 2;
   uint16_t be_hit_time : 9;
   uint8_t be_hit_target : 2;
   uint8_t central_point_state : 2;
+  uint16_t reserved : 9;
 } __packed EventData;
 
 typedef struct
@@ -317,8 +316,11 @@ typedef struct
 typedef struct
 {
   uint8_t dart_remaining_time;
-  uint8_t dart_aim_state;
-} __packed DartRemainingTime;
+  uint8_t dart_last_aim_state : 3;
+  uint8_t enemy_total_hit_received : 3;
+  uint8_t dart_current_target : 3;
+  uint8_t reserved;
+} __packed DartInfo;
 
 typedef struct
 {
@@ -336,9 +338,9 @@ typedef struct
 
 typedef struct
 {
-  uint16_t chassis_volt;
-  uint16_t chassis_current;
-  float chassis_power;
+  uint16_t reserved_1;
+  uint16_t reserved_2;
+  float reserved_3;
   uint16_t chassis_power_buffer;
   uint16_t shooter_id_1_17_mm_cooling_heat;
   uint16_t shooter_id_2_17_mm_cooling_heat;
@@ -359,6 +361,7 @@ typedef struct
   uint8_t defence_buff;
   uint8_t vulnerability_buff;
   uint16_t attack_buff;
+  uint8_t remaining_energy;
 } __packed Buff;
 
 typedef struct
@@ -390,26 +393,31 @@ typedef struct
 typedef struct
 {
   uint8_t base_buff_point_state : 1;
-  uint8_t own_ring_elevated_ground_state : 1;
-  uint8_t enemy_ring_elevated_ground_state : 1;
-  uint8_t own_r3_state : 1;
-  uint8_t enemy_r3_state : 1;
-  uint8_t own_r4_state : 1;
-  uint8_t enemy_r4_state : 1;
-  uint8_t power_rune_activation_point_state : 1;
-  uint8_t forward_own_launch_ramp_buff_point_state : 1;
-  uint8_t behind_own_launch_ramp_buff_point_state : 1;
-  uint8_t forward_enemy_launch_ramp_buff_point_state : 1;
-  uint8_t behind_enemy_launch_ramp_buff_point_state : 1;
+  uint8_t own_central_elevated_ground_state : 1;
+  uint8_t enemy_central_elevated_ground_state : 1;
+  uint8_t own_trapezoidal_elevated_ground_state : 1;
+  uint8_t enemy_trapezoidal_elevated_ground_state : 1;
+  uint8_t forward_own_terrain_span_buff_point_state : 1;
+  uint8_t behind_own_terrain_span_buff_point_state : 1;
+  uint8_t forward_enemy_terrain_span_buff_point_state : 1;
+  uint8_t behind_enemy_terrain_span_buff_point_state : 1;
+  uint8_t below_central_own_terrain_span_buff_point_state : 1;
+  uint8_t upper_central_own_terrain_span_buff_point_state : 1;
+  uint8_t below_central_enemy_terrain_span_buff_point_state : 1;
+  uint8_t upper_central_enemy_terrain_span_buff_point_state : 1;
+  uint8_t below_road_own_terrain_span_buff_point_state : 1;
+  uint8_t upper_road_own_terrain_span_buff_point_state : 1;
+  uint8_t below_road_enemy_terrain_span_buff_point_state : 1;
+  uint8_t upper_road_enemy_terrain_span_buff_point_state : 1;
+  uint8_t own_fort_buff_point : 1;
   uint8_t own_outpost_buff_point : 1;
-  uint8_t own_side_restoration_zone : 1;
-  uint8_t own_sentry_patrol_zones : 1;
-  uint8_t enemy_sentry_patrol_zones : 1;
+  uint8_t nan_overlapping_supplier_zone : 1;
+  uint8_t overlapping_supplier_zone : 1;
   uint8_t own_large_resource_island_point : 1;
   uint8_t enemy_large_resource_island_point : 1;
   uint8_t own_exchange_zone : 1;
   uint8_t central_buff_point : 1;
-  uint32_t reverse : 12;
+  uint32_t reversed : 8;
 } __packed RfidStatus;
 
 typedef struct
@@ -489,18 +497,17 @@ typedef struct
   float standard_3_y;
   float standard_4_x;
   float standard_4_y;
-  float standard_5_x;
-  float standard_5_y;
+  float reserved_1;
+  float reserved_2;
 } __packed RobotsPositionData;
 
 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;
+  uint8_t mark_hero_progress : 1;
+  uint8_t mark_engineer_progress : 1;
+  uint8_t mark_standard_3_progress : 1;
+  uint8_t mark_standard_4_progress : 1;
+  uint8_t mark_sentry_progress : 1;
 } __packed RadarMarkData;
 
 typedef struct
diff --git a/rm_referee/include/rm_referee/referee.h b/rm_referee/include/rm_referee/referee.h
@@ -61,7 +61,7 @@ class Referee
     icra_buff_debuff_zone_status_pub_ =
         nh.advertise<rm_msgs::IcraBuffDebuffZoneStatus>("icra_buff_debuff_zone_status_data", 1);
     supply_projectile_action_pub_ = nh.advertise<rm_msgs::SupplyProjectileAction>("supply_projectile_action_data", 1);
-    dart_remaining_time_pub_ = nh.advertise<rm_msgs::DartRemainingTime>("dart_remaining_time_data", 1);
+    dart_info_pub_ = nh.advertise<rm_msgs::DartInfo>("dart_info_data", 1);
     robot_hurt_pub_ = nh.advertise<rm_msgs::RobotHurt>("robot_hurt_data", 1);
     shoot_data_pub_ = nh.advertise<rm_msgs::ShootData>("shoot_data", 1);
     bullet_allowance_pub_ = nh.advertise<rm_msgs::BulletAllowance>("bullet_allowance_data", 1);
@@ -109,7 +109,7 @@ class Referee
   ros::Publisher buff_pub_;
   ros::Publisher icra_buff_debuff_zone_status_pub_;
   ros::Publisher supply_projectile_action_pub_;
-  ros::Publisher dart_remaining_time_pub_;
+  ros::Publisher dart_info_pub_;
   ros::Publisher robot_hurt_pub_;
   ros::Publisher shoot_data_pub_;
   ros::Publisher bullet_allowance_pub_;
diff --git a/rm_referee/src/referee.cpp b/rm_referee/src/referee.cpp
diff --git a/rm_referee/src/ui/interactive_data.cpp b/rm_referee/src/ui/interactive_data.cpp
