Merge pull request #257 from chen-gr/new_referee

Update referee protocol

Author: YoujianWu

rm_msgs/msg/referee/DartClientCmd.msg

@@ -1,11 +1,6 @@
 uint8 dart_launch_opening_status
 uint16 target_change_time
-uint8 first_dart_speed
-uint8 second_dart_speed
-uint8 third_dart_speed
-uint8 fourth_dart_speed
-uint16 last_dart_launch_time
-uint16 operate_launch_cmd_time
+uint16 latest_launch_cmd_time
 
 uint8 CLOSED = 1
 uint8 OPENING_OR_CLOSING = 2

rm_msgs/msg/referee/RfidStatus.msg

@@ -21,7 +21,6 @@ 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
 
 time stamp

rm_referee/include/rm_referee/common/protocol.h

@@ -285,15 +285,15 @@ typedef struct
 
 typedef struct
 {
-  uint8_t overlapping_supply_station_state : 1;
   uint8_t nan_overlapping_supply_station_state : 1;
+  uint8_t overlapping_supply_station_state : 1;
   uint8_t supplier_zone_state : 1;
   uint8_t small_power_rune_state : 1;
   uint8_t large_power_rune_state : 1;
   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 be_hit_target : 3;
   uint8_t central_point_state : 2;
   uint16_t reserved : 9;
 } __packed EventData;
@@ -318,7 +318,7 @@ typedef struct
   uint8_t dart_remaining_time;
   uint8_t dart_last_aim_state : 3;
   uint8_t enemy_total_hit_received : 3;
-  uint8_t dart_current_target : 3;
+  uint8_t dart_current_target : 2;
   uint8_t reserved;
 } __packed DartInfo;
 
@@ -415,22 +415,16 @@ typedef struct
   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 reversed : 8;
 } __packed RfidStatus;
 
 typedef struct
 {
   uint8_t dart_launch_opening_status;
-  //  uint8_t dart_attack_target;
+  uint8_t reversed;
   uint16_t target_change_time;
-  uint8_t first_dart_speed;
-  uint8_t second_dart_speed;
-  uint8_t third_dart_speed;
-  uint8_t fourth_dart_speed;
-  uint16_t last_dart_launch_time;
-  uint16_t operate_launch_cmd_time;
+  uint16_t latest_launch_cmd_time;
 } __packed DartClientCmd;
 
 /*********************** Interactive data between robots----0x0301 ********************/

rm_referee/src/referee.cpp

@@ -418,7 +418,6 @@ int Referee::unpack(uint8_t* rx_data)
           rfid_status_data.overlapping_supplier_zone = rfid_status_ref.overlapping_supplier_zone;
           rfid_status_data.own_large_resource_island_point = rfid_status_ref.own_large_resource_island_point;
           rfid_status_data.enemy_large_resource_island_point = rfid_status_ref.enemy_large_resource_island_point;
-          rfid_status_data.own_exchange_zone = rfid_status_ref.own_exchange_zone;
           rfid_status_data.central_buff_point = rfid_status_ref.central_buff_point;
           rfid_status_data.stamp = last_get_data_time_;
 
@@ -430,16 +429,9 @@ int Referee::unpack(uint8_t* rx_data)
           rm_referee::DartClientCmd dart_client_cmd_ref;
           rm_msgs::DartClientCmd dart_client_cmd_data;
           memcpy(&dart_client_cmd_ref, rx_data + 7, sizeof(rm_referee::DartClientCmd));
-
-          //          dart_client_cmd_data.dart_attack_target = dart_client_cmd_ref.dart_attack_target;
           dart_client_cmd_data.dart_launch_opening_status = dart_client_cmd_ref.dart_launch_opening_status;
-          dart_client_cmd_data.first_dart_speed = dart_client_cmd_ref.first_dart_speed;
-          dart_client_cmd_data.second_dart_speed = dart_client_cmd_ref.second_dart_speed;
-          dart_client_cmd_data.third_dart_speed = dart_client_cmd_ref.third_dart_speed;
-          dart_client_cmd_data.fourth_dart_speed = dart_client_cmd_ref.fourth_dart_speed;
-          dart_client_cmd_data.last_dart_launch_time = dart_client_cmd_ref.last_dart_launch_time;
-          dart_client_cmd_data.operate_launch_cmd_time = dart_client_cmd_ref.operate_launch_cmd_time;
           dart_client_cmd_data.target_change_time = dart_client_cmd_ref.target_change_time;
+          dart_client_cmd_data.latest_launch_cmd_time = dart_client_cmd_ref.latest_launch_cmd_time;
           dart_client_cmd_data.stamp = last_get_data_time_;
 
           dart_client_cmd_pub_.publish(dart_client_cmd_data);