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Update new referee protocol unpack code #249

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Merged
merged 4 commits into from
Feb 22, 2025
Merged

Update new referee protocol unpack code #249

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2a7f2f1
Update the referee code to adapt protocol.
chen-gr Jan 18, 2025
d1932b8
Merge branch 'rm-controls:master' into new_referee
chen-gr Jan 18, 2025
290c0c1
Merge branch 'rm-controls:master' into new_referee
chen-gr Jan 19, 2025
5ebc825
Merge branch 'rm-controls:master' into new_referee
chen-gr Feb 22, 2025
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2 changes: 1 addition & 1 deletion rm_msgs/CMakeLists.txt
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Expand Up @@ -68,7 +68,7 @@ add_message_files(
DartStatus.msg
IcraBuffDebuffZoneStatus.msg
SupplyProjectileAction.msg
DartRemainingTime.msg
DartInfo.msg
RobotHurt.msg
SentryAttackingTarget.msg
ShootData.msg
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1 change: 1 addition & 0 deletions rm_msgs/msg/referee/Buff.msg
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Expand Up @@ -3,3 +3,4 @@ uint8 cooling_buff
uint8 defence_buff
uint8 vulnerability_buff
uint16 attack_buff
uint8 remaining_energy
6 changes: 6 additions & 0 deletions rm_msgs/msg/referee/DartInfo.msg
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@@ -0,0 +1,6 @@
uint8 dart_remaining_time
uint8 dart_last_aim_state
uint8 enemy_total_hit_received
uint8 dart_current_target

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4 changes: 0 additions & 4 deletions rm_msgs/msg/referee/DartRemainingTime.msg
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This file was deleted.

11 changes: 4 additions & 7 deletions rm_msgs/msg/referee/EventData.msg
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@@ -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
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2 changes: 0 additions & 2 deletions rm_msgs/msg/referee/GameRobotHp.msg
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Expand Up @@ -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
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3 changes: 0 additions & 3 deletions rm_msgs/msg/referee/PowerHeatData.msg
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@@ -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
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11 changes: 5 additions & 6 deletions rm_msgs/msg/referee/RadarMarkData.msg
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@@ -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

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34 changes: 19 additions & 15 deletions rm_msgs/msg/referee/RfidStatus.msg
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@@ -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

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2 changes: 0 additions & 2 deletions rm_msgs/msg/referee/RobotsPositionData.msg
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Expand Up @@ -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

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2 changes: 1 addition & 1 deletion rm_referee/include/rm_referee/common/data.h
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Expand Up @@ -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>
Expand Down
85 changes: 46 additions & 39 deletions rm_referee/include/rm_referee/common/protocol.h
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Expand Up @@ -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,
Expand All @@ -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,
Expand Down Expand Up @@ -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;
Expand Down Expand Up @@ -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
Expand All @@ -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
{
Expand All @@ -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;
Expand All @@ -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
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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
Expand Down
4 changes: 2 additions & 2 deletions rm_referee/include/rm_referee/referee.h
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Expand Up @@ -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);
Expand Down Expand Up @@ -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_;
Expand Down
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