From 6029d10698962cec0a3afefd55201831e4cd4e88 Mon Sep 17 00:00:00 2001 From: kai <1797003616@qq.com> Date: Mon, 29 Apr 2024 11:41:49 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E8=A3=81=E5=88=A4=E7=B3=BB?= =?UTF-8?q?=E7=BB=9F=E7=BB=93=E6=9E=84=E4=BD=93?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- modules/referee/referee_protocol.h | 82 +++++++++++++++--------------- 1 file changed, 41 insertions(+), 41 deletions(-) diff --git a/modules/referee/referee_protocol.h b/modules/referee/referee_protocol.h index 22416b3..3d7e908 100644 --- a/modules/referee/referee_protocol.h +++ b/modules/referee/referee_protocol.h @@ -88,16 +88,16 @@ typedef enum /* 命令码数据段长,根据官方协议来定义长度，还有自定义数据长度 */ typedef enum { - LEN_game_state = 3, // 0x0001 + LEN_game_state = 11, // 0x0001 LEN_game_result = 1, // 0x0002 - LEN_game_robot_HP = 2, // 0x0003 + LEN_game_robot_HP = 32, // 0x0003 LEN_event_data = 4, // 0x0101 LEN_supply_projectile_action = 4, // 0x0102 - LEN_game_robot_state = 27, // 0x0201 - LEN_power_heat_data = 14, // 0x0202 + LEN_game_robot_state = 13, // 0x0201 + LEN_power_heat_data = 16, // 0x0202 LEN_game_robot_pos = 16, // 0x0203 - LEN_buff_musk = 1, // 0x0204 - LEN_aerial_robot_energy = 1, // 0x0205 + LEN_buff_musk = 6, // 0x0204 + LEN_aerial_robot_energy = 2, // 0x0205 LEN_robot_hurt = 1, // 0x0206 LEN_shoot_data = 7, // 0x0207 LEN_receive_data = 6 + Communicate_Data_LEN, // 0x0301 @@ -107,12 +107,13 @@ typedef enum /****************************接收数据的详细说明****************************/ /****************************接收数据的详细说明****************************/ -/* ID: 0x0001 Byte: 3 比赛状态数据 */ -typedef struct -{ - uint8_t game_type : 4; - uint8_t game_progress : 4; - uint16_t stage_remain_time; +/* ID: 0x0001 Byte: 11 比赛状态数据 */ +typedef struct +{ + uint8_t game_type : 4; + uint8_t game_progress : 4; + uint16_t stage_remain_time; + uint64_t SyncTimeStamp; } ext_game_state_t; /* ID: 0x0002 Byte: 1 比赛结果数据 */ @@ -157,37 +158,31 @@ typedef struct uint8_t supply_projectile_num; } ext_supply_projectile_action_t; -/* ID: 0X0201 Byte: 27 机器人状态数据 */ +/* ID: 0X0201 Byte: 13 机器人状态数据 */ typedef struct { - uint8_t robot_id; - uint8_t robot_level; - 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 chassis_power_limit; - uint8_t mains_power_gimbal_output : 1; - uint8_t mains_power_chassis_output : 1; - uint8_t mains_power_shooter_output : 1; + uint8_t robot_id; + uint8_t robot_level; + uint16_t current_HP; + uint16_t maximum_HP; + uint16_t shooter_barrel_cooling_value; + uint16_t shooter_barrel_heat_limit; + uint16_t chassis_power_limit; + uint8_t power_management_gimbal_output : 1; + uint8_t power_management_chassis_output : 1; + uint8_t power_management_shooter_output : 1; } ext_game_robot_state_t; -/* ID: 0X0202 Byte: 14 实时功率热量数据 */ +/* ID: 0X0202 Byte: 16 实时功率热量数据 */ typedef struct { - uint16_t chassis_volt; - uint16_t chassis_current; - float chassis_power; // 瞬时功率 - uint16_t chassis_power_buffer; // 60焦耳缓冲能量 - uint16_t shooter_heat0; // 17mm - uint16_t shooter_heat1; + uint16_t chassis_voltage; + uint16_t chassis_current; + float chassis_power; + uint16_t buffer_energy; + uint16_t shooter_17mm_1_barrel_heat; + uint16_t shooter_17mm_2_barrel_heat; + uint16_t shooter_42mm_barrel_heat; } ext_power_heat_data_t; /* ID: 0x0203 Byte: 16 机器人位置数据 */ @@ -199,16 +194,21 @@ typedef struct float yaw; } ext_game_robot_pos_t; -/* ID: 0x0204 Byte: 1 机器人增益数据 */ +/* ID: 0x0204 Byte: 6 机器人增益数据 */ 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; } ext_buff_musk_t; -/* ID: 0x0205 Byte: 1 空中机器人能量状态数据 */ +/* ID: 0x0205 Byte: 2 空中机器人能量状态数据 */ typedef struct { - uint8_t attack_time; + uint8_t airforce_status; + uint8_t time_remain; } aerial_robot_energy_t; /* ID: 0x0206 Byte: 1 伤害状态数据 */