#include <ref_serial.hpp>

Inheritance diagram for tap::communication::serial::RefSerial:

[legend]

Collaboration diagram for tap::communication::serial::RefSerial:

[legend]

Public Types
enum	MessageType { REF_MESSAGE_TYPE_GAME_STATUS = 0x1 , REF_MESSAGE_TYPE_GAME_RESULT = 0x2 , REF_MESSAGE_TYPE_ALL_ROBOT_HP = 0x3 , REF_MESSAGE_TYPE_SITE_EVENT_DATA = 0x101 , REF_MESSAGE_TYPE_WARNING_DATA = 0x104 , REF_MESSAGE_TYPE_DART_INFO = 0x105 , REF_MESSAGE_TYPE_ROBOT_STATUS = 0x201 , REF_MESSAGE_TYPE_POWER_AND_HEAT = 0x202 , REF_MESSAGE_TYPE_ROBOT_POSITION = 0x203 , REF_MESSAGE_TYPE_ROBOT_BUFF_STATUS = 0x204 , REF_MESSAGE_TYPE_RECEIVE_DAMAGE = 0x206 , REF_MESSAGE_TYPE_PROJECTILE_LAUNCH = 0x207 , REF_MESSAGE_TYPE_BULLETS_REMAIN = 0x208 , REF_MESSAGE_TYPE_RFID_STATUS = 0x209 , REF_MESSAGE_TYPE_DART_STATION_INFO = 0x20A , REF_MESSAGE_TYPE_GROUND_ROBOT_POSITION = 0x20B , REF_MESSAGE_TYPE_RADAR_PROGRESS = 0x20C , REF_MESSAGE_TYPE_SENTRY_INFO = 0x20D , REF_MESSAGE_TYPE_RADAR_INFO = 0x20E , REF_MESSAGE_TYPE_CUSTOM_DATA = 0x301 }

Public Types inherited from tap::communication::serial::DJISerial
using	ReceivedSerialMessage = SerialMessage< SERIAL_RX_BUFF_SIZE >

Public Types inherited from tap::communication::serial::RefSerialData
enum class	RobotId : uint16_t { INVALID = 0 , RED_HERO = 1 , RED_ENGINEER = 2 , RED_SOLDIER_1 = 3 , RED_SOLDIER_2 = 4 , RED_SOLDIER_3 = 5 , RED_DRONE = 6 , RED_SENTINEL = 7 , RED_DART = 8 , RED_RADAR_STATION = 9 , BLUE_HERO = 101 , BLUE_ENGINEER = 102 , BLUE_SOLDIER_1 = 103 , BLUE_SOLDIER_2 = 104 , BLUE_SOLDIER_3 = 105 , BLUE_DRONE = 106 , BLUE_SENTINEL = 107 , BLUE_DART = 108 , BLUE_RADAR_STATION = 109 }

Public Member Functions
	RefSerial (Drivers *drivers)

mockable	~RefSerial ()=default

void	messageReceiveCallback (const ReceivedSerialMessage &completeMessage) override

mockable bool	getRefSerialReceivingData () const

mockable const Rx::RobotData &	getRobotData () const

mockable const Rx::GameData &	getGameData () const

mockable RobotId	getRobotIdBasedOnCurrentRobotTeam (RobotId id)

mockable void	attachRobotToRobotMessageHandler (uint16_t msgId, RobotToRobotMessageHandler *handler)

mockable bool	acquireTransmissionSemaphore ()

mockable void	releaseTransmissionSemaphore (uint32_t sentMsgLen)

bool	operatorBlinded () const

Public Member Functions inherited from tap::communication::serial::DJISerial
	DJISerial (Drivers *drivers, Uart::UartPort port, bool isRxCRCEnforcementEnabled=true)

mockable	~DJISerial ()=default

mockable void	initialize ()

mockable void	updateSerial ()

Static Public Member Functions
static bool	heatAndLimitValid (uint16_t heat, uint16_t heatLimit)

Static Public Member Functions inherited from tap::communication::serial::RefSerialData
static bool	isBlueTeam (RobotId id)

Additional Inherited Members
Public Attributes inherited from tap::communication::serial::DJISerial
struct tap::communication::serial::DJISerial::FrameHeader	modm_packed

struct tap::communication::serial::DJISerial::SerialMessage	modm_packed

Static Public Attributes inherited from tap::communication::serial::DJISerial
static const uint16_t	SERIAL_RX_BUFF_SIZE = 1024

static const uint16_t	SERIAL_HEAD_BYTE = 0xA5

Protected Attributes inherited from tap::communication::serial::DJISerial
Drivers *	drivers

Detailed Description

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).

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

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

Member Enumeration Documentation

◆ MessageType

enum tap::communication::serial::RefSerial::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: 1.7.0 Updated March 2025.

Enumerator
REF_MESSAGE_TYPE_GAME_STATUS
REF_MESSAGE_TYPE_GAME_RESULT
REF_MESSAGE_TYPE_ALL_ROBOT_HP
REF_MESSAGE_TYPE_SITE_EVENT_DATA
REF_MESSAGE_TYPE_WARNING_DATA
REF_MESSAGE_TYPE_DART_INFO
REF_MESSAGE_TYPE_ROBOT_STATUS
REF_MESSAGE_TYPE_POWER_AND_HEAT
REF_MESSAGE_TYPE_ROBOT_POSITION
REF_MESSAGE_TYPE_ROBOT_BUFF_STATUS
REF_MESSAGE_TYPE_RECEIVE_DAMAGE
REF_MESSAGE_TYPE_PROJECTILE_LAUNCH
REF_MESSAGE_TYPE_BULLETS_REMAIN
REF_MESSAGE_TYPE_RFID_STATUS
REF_MESSAGE_TYPE_DART_STATION_INFO
REF_MESSAGE_TYPE_GROUND_ROBOT_POSITION
REF_MESSAGE_TYPE_RADAR_PROGRESS
REF_MESSAGE_TYPE_SENTRY_INFO
REF_MESSAGE_TYPE_RADAR_INFO
REF_MESSAGE_TYPE_CUSTOM_DATA

Constructor & Destructor Documentation

◆ RefSerial()

tap::communication::serial::RefSerial::RefSerial ( Drivers * drivers )

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

See also: DjiSerial

◆ ~RefSerial()

mockable tap::communication::serial::RefSerial::~RefSerial ( )

default

Member Function Documentation

◆ acquireTransmissionSemaphore()

mockable bool tap::communication::serial::RefSerial::acquireTransmissionSemaphore ( )

inline

Used by RefSerialTransmitter. Attempts to acquire transmission semaphore.

Note: should be called only using RF_WAIT_UNTIL to block until acquiring semaphore.

◆ attachRobotToRobotMessageHandler()

void tap::communication::serial::RefSerial::attachRobotToRobotMessageHandler	(	uint16_t	msgId,
		RobotToRobotMessageHandler *	handler
	)

◆ getGameData()

const RefSerialData::Rx::GameData & tap::communication::serial::RefSerial::getGameData ( ) const

Returns a reference to the most up to date game data struct.

◆ getRefSerialReceivingData()

bool tap::communication::serial::RefSerial::getRefSerialReceivingData ( ) const

◆ getRobotData()

const RefSerialData::Rx::RobotData & tap::communication::serial::RefSerial::getRobotData ( ) const

Returns a reference to the most up to date robot data struct.

◆ getRobotIdBasedOnCurrentRobotTeam()

RefSerial::RobotId tap::communication::serial::RefSerial::getRobotIdBasedOnCurrentRobotTeam ( RobotId id )

Returns a robot id that is of the same color of this robot's ID. This allows you to specify you want to send to one robot and then based on your team it will be sent to the correct robot (your team not the enemy team's robot).

◆ heatAndLimitValid()

static bool tap::communication::serial::RefSerial::heatAndLimitValid	(	uint16_t	heat,
		uint16_t	heatLimit
	)

inlinestatic

Returns: True if the specified heat and heatLimit values are "valid". These values are valid if they aren't 0xffff and if the heatLimit is not 0.

◆ messageReceiveCallback()

void tap::communication::serial::RefSerial::messageReceiveCallback ( const ReceivedSerialMessage & completeMessage )

overridevirtual

Handles the types of messages defined above in the RX message handlers section.

Implements tap::communication::serial::DJISerial.

◆ operatorBlinded()

bool tap::communication::serial::RefSerial::operatorBlinded ( ) const

Returns: True if the robot operator is blinded, false otherwise. Also return false if the referee system is offline.

◆ releaseTransmissionSemaphore()

mockable void tap::communication::serial::RefSerial::releaseTransmissionSemaphore ( uint32_t sentMsgLen )