Merge pull request #280 from chen-gr/new_protocol

Update referee protocol code

Author: YoujianWu

rm_msgs/msg/referee/BulletAllowance.msg

@@ -1,5 +1,6 @@
 uint16 bullet_allowance_num_17_mm
 uint16 bullet_allowance_num_42_mm
 uint16 coin_remaining_num
+uint16 projectile_allowance_fortress
 
 time stamp

rm_msgs/msg/referee/EventData.msg

@@ -8,5 +8,6 @@ uint8 trapezoidal_elevated_ground_state
 uint16 be_hit_time
 uint8 be_hit_target
 uint8 central_point_state
+uint8 own_fortress_state
 
 time stamp

rm_msgs/msg/referee/RfidStatus.msg

@@ -22,5 +22,6 @@ bool overlapping_supplier_zone
 bool own_large_resource_island_point
 bool enemy_large_resource_island_point
 bool central_buff_point
+bool enemy_fortress_buff_point
 
 time stamp

rm_referee/include/rm_referee/common/protocol.h

@@ -295,7 +295,8 @@ typedef struct
   uint16_t be_hit_time : 9;
   uint8_t be_hit_target : 3;
   uint8_t central_point_state : 2;
-  uint16_t reserved : 9;
+  uint8_t own_fortress_state : 2;
+  uint8_t reserved : 7;
 } __packed EventData;
 
 typedef struct
@@ -388,6 +389,7 @@ typedef struct
   uint16_t bullet_allowance_num_17_mm;
   uint16_t bullet_allowance_num_42_mm;
   uint16_t coin_remaining_num;
+  uint16_t projectile_allowance_fortress;
 } __packed BulletAllowance;
 
 typedef struct
@@ -416,7 +418,8 @@ typedef struct
   uint8_t own_large_resource_island_point : 1;
   uint8_t enemy_large_resource_island_point : 1;
   uint8_t central_buff_point : 1;
-  uint32_t reversed : 8;
+  uint8_t enemy_fortress_buff_point : 1;
+  uint8_t reversed : 7;
 } __packed RfidStatus;
 
 typedef struct

rm_referee/src/referee.cpp

@@ -204,6 +204,7 @@ int Referee::unpack(uint8_t* rx_data)
           event_data.be_hit_time = event_ref.be_hit_time;
           event_data.be_hit_target = event_ref.be_hit_target;
           event_data.central_point_state = event_ref.central_point_state;
+          event_data.own_fortress_state = event_ref.own_fortress_state;
           event_data.stamp = last_get_data_time_;
 
           event_data_pub_.publish(event_data);
@@ -369,6 +370,7 @@ int Referee::unpack(uint8_t* rx_data)
           bullet_allowance_data.bullet_allowance_num_17_mm = bullet_allowance_ref.bullet_allowance_num_17_mm;
           bullet_allowance_data.bullet_allowance_num_42_mm = bullet_allowance_ref.bullet_allowance_num_42_mm;
           bullet_allowance_data.coin_remaining_num = bullet_allowance_ref.coin_remaining_num;
+          bullet_allowance_data.projectile_allowance_fortress = bullet_allowance_ref.projectile_allowance_fortress;
           bullet_allowance_data.stamp = last_get_data_time_;
           referee_ui_.bulletRemainDataCallBack(bullet_allowance_data, last_get_data_time_);
 
@@ -419,6 +421,7 @@ int Referee::unpack(uint8_t* rx_data)
           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.central_buff_point = rfid_status_ref.central_buff_point;
+          rfid_status_data.enemy_fortress_buff_point = rfid_status_ref.enemy_fortress_buff_point;
           rfid_status_data.stamp = last_get_data_time_;
 
           rfid_status_pub_.publish(rfid_status_data);