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Update referee protocol code #280

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Merged
YoujianWu merged 2 commits into from
Jul 17, 2025
Merged

Update referee protocol code #280

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9f12685
Update referee protocol code.
chen-gr Jul 7, 2025
d062ff3
Merge branch 'rm-controls:master' into new_protocol
chen-gr Jul 17, 2025
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1 change: 1 addition & 0 deletions rm_msgs/msg/referee/BulletAllowance.msg
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
uint16 bullet_allowance_num_17_mm
uint16 bullet_allowance_num_42_mm
uint16 coin_remaining_num
uint16 projectile_allowance_fortress

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1 change: 1 addition & 0 deletions rm_msgs/msg/referee/EventData.msg
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Original file line number Diff line number Diff line change
Expand Up @@ -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

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1 change: 1 addition & 0 deletions rm_msgs/msg/referee/RfidStatus.msg
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Expand Up @@ -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

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7 changes: 5 additions & 2 deletions rm_referee/include/rm_referee/common/protocol.h
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Expand Up @@ -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
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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
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3 changes: 3 additions & 0 deletions rm_referee/src/referee.cpp
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Expand Up @@ -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);
Expand Down Expand Up @@ -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_);

Expand Down Expand Up @@ -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);
Expand Down
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