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Dev/referee system #34

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d81d8a8
裁判系统通信
ZhangChuqing Dec 15, 2025
29b7f0f
协议更新
ZhangChuqing Jan 6, 2026
b81046e
new file: GSRL/Documentation/Device/REFEREE_DEV_DOC.md
ZhangChuqing Jan 6, 2026
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357 changes: 357 additions & 0 deletions GSRL/Device/inc/dvc_referee.hpp
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Original file line number Diff line number Diff line change
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/**
******************************************************************************
* @file : dvc_referee.hpp
* @brief : 裁判系统解析头文件
******************************************************************************
* @attention
*
* Copyright (c) 2025 GMaster
* All rights reserved.
*
******************************************************************************
*/

/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __DVC_REFEREE_HPP
#define __DVC_REFEREE_HPP

/* Includes ------------------------------------------------------------------*/
#include <cstdint>
#include <cstring>

/* Exported types ------------------------------------------------------------*/
// ================= 协议结构体定义 =================

#pragma pack(push, 1)

// 0x0001 比赛状态
struct GameStatus
{
uint8_t game_type : 4;
uint8_t game_progress : 4;
uint16_t stage_remain_time;
uint64_t sync_timestamp;
};

// 0x0002 比赛结果
struct GameResult
{
uint8_t winner;
};

// 0x0003 比赛机器人血量数据
struct GameRobotHP
{
uint16_t red_1_robot_HP;
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 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 blue_7_robot_HP;
uint16_t blue_outpost_HP;
uint16_t blue_base_HP;
};

// 0x0201 机器人性能体系数据
struct RobotStatus
{
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;
};

// 0x0202 能量 & 热量数据
struct PowerHeatData
{
uint16_t chassis_volt;
uint16_t chassis_current;
float chassis_power;
uint16_t chassis_power_buffer;
uint16_t shooter_17mm_1_barrel_heat;
uint16_t shooter_17mm_2_barrel_heat;
uint16_t shooter_42mm_barrel_heat;
};

// 0x0203 机器人位置
struct RobotPos
{
float x;
float y;
float angle; // 度，正北 = 0
};

// 0x0204 增益 & 能量反馈
struct Buff
{
uint8_t recovery_buff;
uint16_t cooling_buff;
uint8_t defence_buff;
uint8_t vulnerability_buff;
uint16_t attack_buff;
uint8_t remaining_energy;
};

// 0x0206 受伤信息
struct HurtData
{
uint8_t armor_id : 4;
uint8_t HP_deduction_reason : 4;
};

// 0x0207 射击信息
struct ShootData
{
uint8_t bullet_type;
uint8_t shooter_number;
uint8_t launching_frequency;
float initial_speed;
};

// 0x0208 允许发弹量
struct ProjectileAllowance
{
uint16_t projectile_allowance_17mm;
uint16_t projectile_allowance_42mm;
uint16_t remaining_gold_coin;
uint16_t projectile_allowance_fortress;
};

// 0x0209 RFID 状态
struct RfidStatus
{
uint32_t rfid_status;
uint8_t rfid_status_2;
};

// 0x0303 小地图点击
struct MapCommand
{
float target_position_x;
float target_position_y;
uint8_t cmd_keyboard;
uint8_t target_robot_id;
uint16_t cmd_source;
};

// 0x0305 雷达 → 小地图机器人坐标
struct MapRobotData
{
uint16_t hero_position_x;
uint16_t hero_position_y;
uint16_t engineer_position_x;
uint16_t engineer_position_y;
uint16_t infantry_3_position_x;
uint16_t infantry_3_position_y;
uint16_t infantry_4_position_x;
uint16_t infantry_4_position_y;
uint16_t infantry_5_position_x;
uint16_t infantry_5_position_y;
uint16_t sentry_position_x;
uint16_t sentry_position_y;
};

// 0x0307 路径数据
struct MapPathData
{
uint8_t intention;
uint16_t start_position_x;
uint16_t start_position_y;
int8_t delta_x[49];
int8_t delta_y[49];
uint16_t sender_id;
};

// 0x0308 自定义文字
struct CustomInfo
{
uint16_t sender_id;
uint16_t receiver_id;
uint8_t user_data[30]; // UTF-16 原始字节
};

//0x0304 键鼠数据（图传链路）
struct RemoteControl
{
int16_t mouse_x;
int16_t mouse_y;
int16_t mouse_z;
int8_t left_button_down;
int8_t right_button_down;
uint16_t keyboard_value;
uint16_t reserved;
};

// ----------[RM2026 V1.1.0] 新增：雷达无线链路数据结构---------

// 0x0A01 敌方机器人位置坐标
struct RadarEnemyPos
{
float x[7]; // 1~5号步兵 + 工程 + 哨兵
float y[7];
};

// 0x0A02 敌方机器人血量信息
struct RadarEnemyHP
{
uint16_t hp[7];
};

// 0x0A03 敌方机器人剩余发弹量
struct RadarEnemyAmmo
{
uint16_t ammo_17mm[7];
uint16_t ammo_42mm[7];
};

// 0x0A04 敌方队伍宏观状态
struct RadarTeamStatus
{
uint8_t team_level;
uint16_t total_HP;
uint16_t total_ammo;
};

// 0x0A05 敌方机器人增益效果
struct RadarEnemyBuff
{
uint8_t recovery_buff[7];
uint8_t defence_buff[7];
uint8_t attack_buff[7];
};

// 0x0A06 敌方干扰波密钥
struct RadarJammerKey
{
uint8_t key[6];
};

#pragma pack(pop)

// ================= 全部信息聚合 =================

struct RefereeInfo
{
// 比赛 & 队伍
GameStatus gameStatus{};
GameResult gameResult{};
GameRobotHP gameRobotHP{};

// 本机
RobotStatus robotStatus{};
PowerHeatData powerHeat{};
RobotPos robotPos{};
Buff buff{};
HurtData hurt{};
ShootData shoot{};
ProjectileAllowance projectileAllowance{};
RfidStatus rfidStatus{};

// 小地图 / 文本
MapCommand mapCommand{};
MapRobotData mapRobotData{};
MapPathData mapPathData{};
CustomInfo customInfo{};

// 图传键鼠
RemoteControl remoteControl{};

// 简单状态标志
bool hasGameStatus = false;
bool hasRobotStatus = false;
bool hasPowerHeat = false;
bool hasRobotPos = false;
bool hasBuff = false;
bool hasRemoteControl = false;

// 雷达无线链路数据
RadarEnemyPos radarEnemyPos{};
RadarEnemyHP radarEnemyHP{};
RadarEnemyAmmo radarEnemyAmmo{};
RadarTeamStatus radarTeamStatus{};
RadarEnemyBuff radarEnemyBuff{};
RadarJammerKey radarJammerKey{};
bool hasRadarEnemyPos = false;
bool hasRadarEnemyHP = false;
bool hasRadarEnemyAmmo = false;
bool hasRadarTeamStatus = false;
bool hasRadarEnemyBuff = false;
bool hasRadarJammerKey = false;
};

// 链路类型：常规链路 or 图传链路
enum class RefereeLink : uint8_t
{
Main, // 常规链路（电源管理 User 串口）
Vision // 图传链路（图传 UART）
};

// ================= 主解析类 =================

class RefereeParser
{
public:
explicit RefereeParser(RefereeLink link);

// 串口每收到一个字节，就调用一次
void onByteReceived(uint8_t byte);

// 获取解析结果
const RefereeInfo& getInfo() const { return info_; }

// 可选：重置状态机
void reset();

// CRC
uint8_t calcCRC8(const uint8_t* msg, uint32_t len, uint8_t crc) const;
uint16_t calcCRC16(const uint8_t* msg, uint32_t len, uint16_t crc) const;

private:
// 状态机阶段
enum class Step : uint8_t
{
WaitSOF = 0,
ReadHeader,
ReadBody
};

struct Context
{
Step step = Step::WaitSOF;
uint16_t dataLen = 0;
uint16_t index = 0;
uint16_t frameLen = 0;
uint8_t buffer[256] = {0};
};

void parseByte(uint8_t byte);
bool checkHeaderCRC() const;
bool checkFrameCRC() const;
void handleCompleteFrame();

void dispatchCmd(uint16_t cmd_id, const uint8_t* data, uint16_t len);

bool verifyCRC8(const uint8_t* msg, uint32_t len) const;
bool verifyCRC16(const uint8_t* msg, uint32_t len) const;

private:
RefereeLink link_;
Context ctx_;
RefereeInfo info_;
};

#endif /* __DVC_REFEREE_HPP */
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