Class RefSerialData

Defined in File ref_serial_data.hpp

Nested Relationships

Nested Types

Inheritance Relationships

Derived Types

public tap::communication::serial::RefSerial (Class RefSerial)
public tap::communication::serial::RefSerialTransmitter (Class RefSerialTransmitter)

Class Documentation

class RefSerialData

Contains enum and struct definitions used in the RefSerial class.

Subclassed by tap::communication::serial::RefSerial, tap::communication::serial::RefSerialTransmitter

Public Types

enum class RobotId : uint16_t

When receiving data about other robots or sending data to other robots, they are identified by the numbers below

Values:

enumerator INVALID

enumerator RED_HERO

enumerator RED_ENGINEER

enumerator RED_SOLDIER_1

enumerator RED_SOLDIER_2

enumerator RED_SOLDIER_3

enumerator RED_DRONE

enumerator RED_SENTINEL

enumerator RED_DART

enumerator RED_RADAR_STATION

enumerator BLUE_HERO

enumerator BLUE_ENGINEER

enumerator BLUE_SOLDIER_1

enumerator BLUE_SOLDIER_2

enumerator BLUE_SOLDIER_3

enumerator BLUE_DRONE

enumerator BLUE_SENTINEL

enumerator BLUE_DART

enumerator BLUE_RADAR_STATION

Public Static Functions

static inline bool isBlueTeam(RobotId id)

Returns:: true if the specified id is on the blue team, false if on the red team.

class RobotToRobotMessageHandler

Public Functions

inline RobotToRobotMessageHandler()

virtual void operator()(const DJISerial::ReceivedSerialMessage &message) = 0

class Rx

Contains enum and struct definitions specific to receiving data from the referee serial class.

Public Types

enum class GameType : uint8_t

The type of game the robot is competing in.

Values:

enumerator UNKNOWN: Unknown competition type (most likely disconnected from server).

enumerator ROBOMASTER_RMUC: RoboMaster Univeristy Challenge.

enumerator ROBOMASTER_RMUTC: RoboMaster Technical Challenge.

enumerator ROBOMASTER_AI_CHALLENGE: RobomMaster AI challenge.

enumerator ROBOMASTER_RMUL_3V3: RoboMaster RMUL 3v3 competition.

enumerator ROBOMASTER_RMUL_1V1: RoboMaster RMUL 1v1 competition.

enum class GameStage : uint8_t

Values:

enumerator PREMATCH: Pre-competition. stage.

enumerator SETUP: Setup stage.

enumerator INITIALIZATION: Initialization stage.

enumerator COUNTDOWN: 5-second countdown.

enumerator IN_GAME: In middle of the game.

enumerator END_GAME: Calculating competition results.

enum class GameWinner : uint8_t

Values:

enumerator DRAW: Match was a draw.

enumerator RED: Red team won the match.

enumerator BLUE: Blue team won the match.

enum class SiteDartHit : uint8_t

Values:

enumerator NONE: No hit target.

enumerator OUTPOST: Outpost hit.

enumerator BASE_FIXED: Fixed target hit.

enumerator BASE_RANDOM: Random target hit.

enum class SupplierOutletStatus : uint8_t

Values:

enumerator CLOSED: The outlet is closed.

enumerator PREPARING: The outlet is preparing projectiles.

enumerator RELEASING: The outlet is releasing projectiles.

enum class DartTarget : uint8_t

Values:

enumerator NONE_OR_OUTPOST: No target or outpost selected.

enumerator BASE_FIXED: A fixed target selected.

enumerator BASE_RANDOM: A random target selected.

enum class ArmorId : uint8_t

Values:

enumerator FRONT: armor #0 (front).

enumerator LEFT: armor #1 (left).

enumerator REAR: armor #2 (rear).

enumerator RIGHT: armor #3 (right).

enumerator TOP: armor #4 (top).

enum class DamageType : uint8_t

Values:

enumerator ARMOR_DAMAGE: Armor damage.

enumerator MODULE_OFFLINE: Module offline.

enumerator BARREL_OVER_SPEED: Firing speed too high.

enumerator BARREL_OVERHEAT: Barrel overheat.

enumerator CHASSIS_POWER_OVERRUN: Chassis power overrun.

enumerator COLLISION: Armor plate collision.

enum class SiteData : uint32_t

Values:

enumerator RESTORATION_FRONT_OCCUPIED

enumerator RESTORATION_INSIDE_OCCUPIED

enumerator SUPPLIER_OCCUPIED

enumerator POWER_RUNE_OCCUPIED

enumerator SMALL_POWER_RUNE_ACTIVATED

enumerator LARGER_POWER_RUNE_ACTIVIATED

enumerator RING_OCCUPIED_TEAM

enumerator RING_OCCUPIED_OPPONENT

enumerator TRAPEZOID_R3_OCCUPIED_TEAM

enumerator TRAPEZOID_R3_OCCUPIED_OPPONENT

enumerator TRAPEZOID_R4_OCCUPIED_TEAM

enumerator TRAPEZOID_R4_OCCUPIED_OPPONENT

enumerator CENTRAL_BUFF_OCCUPIED_TEAM

enumerator CENTRAL_BUFF_OCCUPIED_OPPONENT

enum class RobotPower : uint8_t

Values:

enumerator GIMBAL_HAS_POWER: 1 if there is 24V output to gimbal, 0 for 0V.

enumerator CHASSIS_HAS_POWER: 1 if there is 24V output to chassis, 0 for 0V.

enumerator SHOOTER_HAS_POWER: 1 if there is 24V output to shooter, 0 for 0V.

enum class RFIDActivationStatus : uint32_t

Activation status flags for the RFID module (for RMUC only).

Values:

enumerator BASE_BUFF

enumerator ELEVATED_RING_OWN

enumerator ELEVATED_RING_OPPONENT

enumerator TRAPEZOID_R3_OWN

enumerator TRAPEZOID_R3_OPPONENT

enumerator TRAPEZOID_R4_OWN

enumerator TRAPEZOID_R4_OPPONENT

enumerator POWER_RUNE_ACTIVATION

enumerator LAUNCH_RAMP_FRONT_OWN

enumerator LAUNCH_RAMP_BACK_OWN

enumerator LAUNCH_RAMP_FRONT_OPPONENT

enumerator LAUNCH_RAMP_BACK_OPPONENT

enumerator OUTPOST_BUFF

enumerator RESTORATION_ZONE

enumerator SENTRY_PATROL_OWN

enumerator SENTRY_PATROL_OPPONENT

enumerator LARGE_ISLAND_OWN

enumerator LARGE_ISLAND_OPPONENT

enumerator EXCHANGE_ZONE

enumerator CENTRAL_BUFF

enum BulletType

Values:

enumerator AMMO_17: 17 mm projectile ammo.

enumerator AMMO_42: 42 mm projectile ammo.

enum MechanismID

Barrel identifier associated with the projectile launch message (which is sent when a projectile has been launched).

Values:

enumerator TURRET_17MM_1: 17mm barrel ID 1

enumerator TURRET_17MM_2: 17mm barrel ID 2

enumerator TURRET_42MM: 42mm barrel

enum AirSupportState

Values:

enumerator COOLING: The air support is cooling down.

enumerator COOLED: The air support has cooled down.

enumerator IN_AIR: The air support is in the air.

enum DartStationState

Values:

enumerator OPEN: The dart station is open.

enumerator CLOSED: The dart station is closed.

enumerator TRANSITION: The dart station is opening or closing.

using SiteData_t = modm::Flags32<SiteData>

using RobotPower_t = modm::Flags8<RobotPower>

using RFIDActivationStatus_t = modm::Flags32<RFIDActivationStatus>

Public Static Attributes

static int MAX_LAUNCH_SPEED_17MM = 30: The Maximum launch speed for a 17mm barrel in m/s.

static int MAX_LAUNCH_SPEED_42MM = 16: The Maximum launch speed for a 42mm barrel in m/s.

struct AirSupportData

Public Members

AirSupportState state: The current state of air support.

uint8_t remainingStateTime: The remaining seconds until the air support moves to the next state.

struct ChassisData

Public Members

uint16_t volt: Output voltage to the chassis (in mV).

uint16_t current: Output current to the chassis (in mA).

float power: Output power to the chassis (in W).

uint16_t powerBuffer: Chassis power buffer (in J).

RobotPosition position: x, y coordinate of the chassis (in m).

uint16_t powerConsumptionLimit: The current chassis power limit (in W).

struct DamageEvent

Public Members

uint16_t damageAmount: Amount of damage received.

uint32_t timestampMs: Time when damage was received (in milliseconds).

struct DartInfo

Information about the dart launcher

Public Members

uint8_t launchCountdown: Seconds until the dart launcher can fire again.

SiteDartHit lastHit: The last target hit by the dart.

uint8_t hits: The number of successful hits by the dart launcher.

DartTarget selectedTarget: The currently selected target.

struct DartStationInfo

Public Members

DartStationState state: Current state of the dart station doors.

uint16_t targetChangedTime: Remaining seconds in the competition when the target was changed.

uint16_t lastLaunchedTime: Remaining seconds in the competition when the dart was launched.

struct EventData

Data about the current state of the event.

Public Members

SiteData_t siteData: Information about occupied zones.

uint8_t virtualShieldRemainingPercent: Remain percent on own base’s virtual shield.

uint8_t timeSinceLastDartHit: Time since the last dart hit own outpost or base.

SiteDartHit lastDartHit: The target hit by the last dart.

struct GameData

Public Members

GameType gameType: Current type of competition the robot is taking part in.

GameStage gameStage: Current stage in the game.

uint16_t stageTimeRemaining: Remaining time in the current stage (in seconds).

uint64_t unixTime: Unix time of the competition server.

GameWinner gameWinner: Results of the match.

EventData eventData: Data about the current event.

SupplierAction supplier: Data about the projectile supplier.

DartInfo dartInfo: Data about the dart launcher.

AirSupportData airSupportData: Information about the air support.

DartStationInfo dartStation: Information about the dart launching station.

GroundRobotPositions positions: Information about the position of ground robots.

RadarMarkProgress radarProgress: Information about the mark progress for the radar station.

SentryInfo sentry: Information about the sentry.

RadarInfo radar: Information about the radar station.

struct GroundRobotPositions

Public Members

RobotPosition hero

RobotPosition engineer

RobotPosition standard3

RobotPosition standard4

RobotPosition standard5

struct RadarInfo

Public Members

uint8_t availableDoubleVulnerablilityEffects: The number of remaining effects.

bool activeDoubleVulnerabilityEffect: True when the effect is active.

struct RadarMarkProgress

Mark progress of different robots. Values range from 0 to 120.

Public Members

uint8_t hero

uint8_t engineer

uint8_t standard3

uint8_t standard4

uint8_t standard5

uint8_t sentry

struct RefereeWarningData

Ref serial warning data. This informational struct is intended to be updated each time a yellow or red card has been received.

When a yellow card is received, the offending Operator will be blocked from seeing anything for 5 seconds, while the operation interfaces of other operators in the offending team will be blocked for 2 seconds.

Public Members

uint8_t level: The level of the wraning. 1: Yellow card 2: Red card 3: Forfeiture

RobotId foulRobotID: The robot that received the referee warning.

uint8_t count: The number of violations triggered by the robot.

uint32_t lastReceivedWarningRobotTime = 0: Last time (in milliseconds) that a warning was received.

Public Static Attributes

static uint32_t OFFENDING_OPERATOR_BLIND_TIME = 5'000: time in ms that the user will be blinded for when the operator is the offender

static uint32_t NONOFFENDING_OPERATOR_BLIND_TIME = 2'000: time in ms that the user will be blinded for when the operator is not the offender

struct RobotBuffStatus

Public Members

uint8_t recoveryBuff: The robot’s recovery buff. Each increment is 1%.

uint8_t coolingBuff: The robot’s barrel cooling rate buff. Each increment is a 1x multiplier.

uint8_t defenseBuff: The robot’s defense buff. Each increment is 1%.

uint8_t vulnerabilityBuff: The robot’s negative defense buff. Each increment is 1%.

uint16_t attackBuff: The robot’s attack buff. Each increment is 1%.

struct RobotData

Public Members

RobotId robotId: Robot type and team.

uint8_t robotLevel: Current level of this robot (1-3).

uint16_t previousHp: Health of this robot before damage was received, used to calculate receivedDps if no damage was received recently, previousHp = currentHp.

uint16_t currentHp: Current health of this robot.

uint16_t maxHp: Max health of this robot.

RobotPower_t robotPower: Flags indicating which parts of the robot have power.

ArmorId damagedArmorId: Armor ID that was damaged.

DamageType damageType: Cause of damage.

float receivedDps: Damage per second received.

ChassisData chassis: Chassis power draw and position data.

TurretData turret: Turret firing and heat data.

RobotHpData allRobotHp: Current HP of all the robots.

uint16_t remainingCoins: Number of remaining coins left to spend.

RobotBuffStatus robotBuffStatus: Status of all buffs on the robot.

RFIDActivationStatus_t rfidStatus: The current status of which RFID zones are being activated by the current robot.

uint32_t robotDataReceivedTimestamp: Most recent time at which data with message id REF_MESSAGE_TYPE_ROBOT_STATUS has been received.

RefereeWarningData refereeWarningData: Referee warning information, updated when a robot receives a penalty

struct RobotHpData

Current HP of all robots

Public Members

RobotHp red

RobotHp blue

struct RobotHp

Public Members

uint16_t hero1

uint16_t engineer2

uint16_t standard3

uint16_t standard4

uint16_t standard5

uint16_t sentry7

uint16_t outpost

uint16_t base

struct RobotPosition

Robot position information.

Public Members

float x: The x location in meters.

float y: The y location in meters.

struct SentryInfo

Public Members

uint16_t projectileAllowance: Allocated projectiles not including remote exchange.

uint8_t remoteProjectileExchanges: The number of remote projectile exchanges taken.

uint8_t remoteHealthExchanges: The number of remote health exchanges taken.

struct SupplierAction

Information about the projectile supplier.

Public Members

RobotId reloadingRobot: The id of the reloading robot.

SupplierOutletStatus outletStatus: The current state of the supplier outlet.

uint8_t suppliedProjectiles: The number of projectiles suppied.

struct TurretData

Public Members

BulletType bulletType: 17mm or 42mm last projectile shot.

MechanismID launchMechanismID: Either 17mm mechanism 1, 3, or 42 mm mechanism.

uint8_t firingFreq: Firing frequency (in Hz).

uint16_t heat17ID1: Current 17mm turret heat, ID1.

uint16_t heat17ID2: Current 17mm turret heat, ID2.

uint16_t heat42: Current 42mm turret heat.

uint16_t heatLimit: Turret heat limit. Shared with all turrets.

uint16_t coolingRate: Turret cooling value per second. Shared with all turrets.

uint16_t bulletsRemaining17: Number of bullets remaining in sentinel and drone only (500 max) if in RMUC, or any robot in RMUL.

uint16_t bulletsRemaining42: Number of bullets remaining in hero if in RMUL or 0 if in RMUC.

float bulletSpeed: Last bullet speed (in m/s).

float yaw: Barrel yaw position (degree).

uint32_t lastReceivedLaunchingInfoTimestamp: Last time in milliseconds that the real-time launching information message was received

class Tx

Contains enum and struct definitions specific to sending data to the referee serial class. Includes structure for sending different types of graphic messages.

Public Types

enum DeleteGraphicOperation

Graphic operations that can be passed to a delete graphic operation. Using this enum you can specify if you would like to delete a graphic layer (multiple graphics can be drawn on one of a number of layers) or delete all the graphics on the screen.

Values:

enumerator DELETE_GRAPHIC_NO_OP: Do nothing, no-op.

enumerator DELETE_GRAPHIC_LAYER: Delete a particular graphic layer (specified later on)

enumerator DELETE_ALL: Delete all graphic in all graphic layers.

enum GraphicOperation

Graphic operations that can be passed in an add graphic operation.

Values:

enumerator GRAPHIC_NO_OP: Do nothing, no-op.

enumerator GRAPHIC_ADD: Add a new graphic. If the graphic has a unique id not already registered with the UI, the graphic will be uniquely added, otherwise the graphic with the same graphic ID will be replaced. If you have a graphic that is already drawn that you want to change, you should use GRAPHIC_MODIFY instead

enumerator GRAPHIC_MODIFY: Modify an existing graphic (by graphic ID). The graphic must already exist for this to work properly.

enumerator GRAPHIC_DELETE: Delete a particular graphic.

enum class GraphicType : uint8_t

The type of graphic being drawn (some geometry, or a string/number)

Values:

enumerator STRAIGHT_LINE

enumerator RECTANGLE

enumerator CIRCLE

enumerator ELLIPSE

enumerator ARC

enumerator FLOATING_NUM

enumerator INTEGER

enumerator CHARACTER

enum class GraphicColor : uint8_t

The color of the graphic being drawn.

Values:

enumerator RED_AND_BLUE

enumerator YELLOW

enumerator GREEN

enumerator ORANGE

enumerator PURPLISH_RED

enumerator PINK

enumerator CYAN

enumerator BLACK

enumerator WHITE

Public Static Functions

template<typename T> static inline uint32_t getWaitTimeAfterGraphicSendMs(T*)

Get the min wait time after which you can send more data to the client. Sending faster than this time may cause dropped packets.

Pass a pointer to some graphic message. For example, if you have a Graphic1Message called msg, you can call getWaitTimeAfterGraphicSendMs(&msg).