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_FIXED¶: Fixed target hit after random movement.

enumerator BASE_RANDOM_MOVING¶: Random moving 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 RESUPPLY_OUTSIDE_EXCHANGE_OCCUPIED¶

enumerator RESUPPLY_INSIDE_EXCHANGE_OCCUPIED¶

enumerator SUPPLIER_OCCUPIED¶

enumerator SMALL_POWER_RUNE_ACTIVATED¶

enumerator LARGER_POWER_RUNE_ACTIVIATED¶

enumerator CENTRAL_ELEVATED_GROUND_OCCUPIED_TEAM¶

enumerator CENTRAL_ELEVATED_GROUND_OCCUPIED_OPPONENT¶

enumerator TRAPEZOID_OCCUPIED_TEAM¶

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 RobotEnergyLevel : uint8_t¶

Values:

enumerator ABOVE_50_PERCENT¶

enumerator ABOVE_30_PERCENT¶

enumerator ABOVE_15_PERCENT¶

enumerator ABOVE_5_PERCENT¶

enumerator ABOVE_1_PERCENT¶

enumerator BELOW_1_PERCENT¶

enum class RFIDActivationStatus : uint32_t¶

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

Values:

enumerator BASE_BUFF¶

enumerator CENTRAL_ELEVATED_GROUND_OWN¶

enumerator CENTRAL_ELEVATED_GROUND_OPPONENT¶

enumerator TRAPEZOID_OWN¶

enumerator TRAPEZOID_OPPONENT¶

enumerator LAUNCH_RAMP_FRONT_OWN¶

enumerator LAUNCH_RAMP_BACK_OWN¶

enumerator LAUNCH_RAMP_FRONT_OPPONENT¶

enumerator LAUNCH_RAMP_BACK_OPPONENT¶

enumerator TERRAIN_CROSSING_OFF_CENTRAL_OWN¶

enumerator TERRAIN_CROSSING_ON_CENTRAL_OWN¶

enumerator TERRAIN_CROSSING_OFF_CENTRAL_OPPONENT¶

enumerator TERRAIN_CROSSING_ON_CENTRAL_OPPONENT¶

enumerator TERRAIN_CROSSING_OFF_ROAD_OWN¶

enumerator TERRAIN_CROSSING_ON_ROAD_OWN¶

enumerator TERRAIN_CROSSING_OFF_ROAD_OPPONENT¶

enumerator TERRAIN_CROSSING_ON_ROAD_OPPONENT¶

enumerator FORTRESS_BUFF_OWN¶

enumerator OUTPOST_BUFF_OWN¶

enumerator RESUPPLY_ZONE_OUTSIDE_EXCHANGE¶

enumerator RESUPPLY_ZONE_INSIDE_EXCHANGE¶

enumerator LARGE_RESOURCE_ISLAND_OWN¶

enumerator LARGE_RESOURCE_ISLAND_OPPONENT¶

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.

Public Functions

MODM_FLAGS32(SiteData)¶

MODM_FLAGS8(RobotPower)¶

MODM_FLAGS32(RFIDActivationStatus)¶

Public Static Attributes

static constexpr int MAX_LAUNCH_SPEED_17MM = 25¶: The Maximum launch speed for a 17mm barrel in m/s.

static constexpr 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 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 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¶

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 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 constexpr 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 constexpr 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

RobotEnergyLevel robotEnergyRemaining¶: The current energy level of the robot.

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 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 Members

struct tap::communication::serial::RefSerialData::Tx::InteractiveHeader modm_packed¶

struct tap::communication::serial::RefSerialData::Tx::GraphicData modm_packed

struct tap::communication::serial::RefSerialData::Tx::DeleteGraphicLayerMessage modm_packed

struct tap::communication::serial::RefSerialData::Tx::Graphic1Message modm_packed

struct tap::communication::serial::RefSerialData::Tx::RobotToRobotMessage modm_packed

struct tap::communication::serial::RefSerialData::Tx::Graphic2Message modm_packed

struct tap::communication::serial::RefSerialData::Tx::Graphic5Message modm_packed

struct tap::communication::serial::RefSerialData::Tx::Graphic7Message modm_packed

struct tap::communication::serial::RefSerialData::Tx::GraphicCharacterMessage modm_packed

Public Static Functions

template<typename T> static inline constexpr 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).