Class RefSerial

Defined in File ref_serial.hpp

Inheritance Relationships

Base Types

public tap::communication::serial::DJISerial (Class DJISerial)
public tap::communication::serial::RefSerialData (Class RefSerialData)

Class Documentation

class RefSerial : public tap::communication::serial::DJISerial, public tap::communication::serial::RefSerialData 

A class designed to communicate with the 2021 version of the RoboMaster referee system. Supports decoding various referee serial message types. Also supports sending custom UI messages to the referee serial and sending custom robot to robot communication.

For information about the protocol that this serial parser/decoder uses, view RoboMaster’s ref serial website: https://www.robomaster.com/en-US/products/components/referee (in the Document Download tab).

Receive information from the referee serial by continuously calling messageReceiveCallback. Access data sent by the referee serial by calling getRobotData or getGameData.

Note

use the instance stored in the Drivers to interact with this class (you shouldn’t be declaring your own RefSerial object).

Public Types

enum MessageType

RX message type defines, referred to as “Command ID”s in the RoboMaster Ref System Protocol Appendix. Ignored message types commented out because they are not handled by this parser yet. They are values that are used in message headers to indicate the type of message we have received.

Current Ref Serial Version: 1.6.1 Updated April 2024.

Values:

enumerator REF_MESSAGE_TYPE_GAME_STATUS

enumerator REF_MESSAGE_TYPE_GAME_RESULT

enumerator REF_MESSAGE_TYPE_ALL_ROBOT_HP

enumerator REF_MESSAGE_TYPE_SITE_EVENT_DATA

enumerator REF_MESSAGE_TYPE_PROJECTILE_SUPPPLIER_ACTION

enumerator REF_MESSAGE_TYPE_WARNING_DATA

enumerator REF_MESSAGE_TYPE_DART_INFO

enumerator REF_MESSAGE_TYPE_ROBOT_STATUS

enumerator REF_MESSAGE_TYPE_POWER_AND_HEAT

enumerator REF_MESSAGE_TYPE_ROBOT_POSITION

enumerator REF_MESSAGE_TYPE_ROBOT_BUFF_STATUS

enumerator REF_MESSAGE_TYPE_AERIAL_ENERGY_STATUS

enumerator REF_MESSAGE_TYPE_RECEIVE_DAMAGE

enumerator REF_MESSAGE_TYPE_PROJECTILE_LAUNCH

enumerator REF_MESSAGE_TYPE_BULLETS_REMAIN

enumerator REF_MESSAGE_TYPE_RFID_STATUS

enumerator REF_MESSAGE_TYPE_DART_STATION_INFO

enumerator REF_MESSAGE_TYPE_GROUND_ROBOT_POSITION

enumerator REF_MESSAGE_TYPE_RADAR_PROGRESS

enumerator REF_MESSAGE_TYPE_SENTRY_INFO

enumerator REF_MESSAGE_TYPE_RADAR_INFO

enumerator REF_MESSAGE_TYPE_CUSTOM_DATA

Public Functions

RefSerial(Drivers *drivers)

Constructs a RefSerial class connected to bound_ports::REF_SERIAL_UART_PORT with CRC enforcement enabled.