tap::communication::serial::RefSerialData::Rx Class Reference

#include <ref_serial_data.hpp>

Classes
struct	AirSupportData
struct	ChassisData
struct	DamageEvent
struct	DartInfo
struct	DartStationInfo
struct	EventData
struct	GameData
struct	GroundRobotPositions
struct	RadarInfo
struct	RadarMarkProgress
struct	RefereeWarningData
struct	RobotBuffStatus
struct	RobotData
struct	RobotHpData
struct	RobotPosition
struct	SentryInfo
struct	SupplierAction
struct	TurretData

Public Types
enum class	GameType : uint8_t {   UNKNOWN = 0 , ROBOMASTER_RMUC = 1 , ROBOMASTER_RMUTC = 2 , ROBOMASTER_AI_CHALLENGE = 3 ,   ROBOMASTER_RMUL_3V3 = 4 , ROBOMASTER_RMUL_1V1 = 5 }
	The type of game the robot is competing in. More...
enum class	GameStage : uint8_t {   PREMATCH = 0 , SETUP = 1 , INITIALIZATION = 2 , COUNTDOWN = 3 ,   IN_GAME = 4 , END_GAME = 5 }
enum class	GameWinner : uint8_t { DRAW = 0 , RED = 1 , BLUE = 2 }
enum class	SiteDartHit : uint8_t {   NONE = 0 , OUTPOST = 1 , BASE_FIXED = 2 , BASE_RANDOM_FIXED = 3 ,   BASE_RANDOM_MOVING = 4 }
enum class	SupplierOutletStatus : uint8_t { CLOSED = 0 , PREPARING = 1 , RELEASING = 2 }
enum class	DartTarget : uint8_t { NONE_OR_OUTPOST = 0 , BASE_FIXED = 1 , BASE_RANDOM = 2 }
enum class	ArmorId : uint8_t {   FRONT = 0 , LEFT = 1 , REAR = 2 , RIGHT = 3 ,   TOP = 4 }
enum class	DamageType : uint8_t {   ARMOR_DAMAGE = 0 , MODULE_OFFLINE = 1 , BARREL_OVER_SPEED = 2 , BARREL_OVERHEAT = 3 ,   CHASSIS_POWER_OVERRUN = 4 , COLLISION = 5 }
enum class	SiteData : uint32_t {   RESUPPLY_OUTSIDE_EXCHANGE_OCCUPIED = modm::Bit0 , RESUPPLY_INSIDE_EXCHANGE_OCCUPIED = modm::Bit1 , SUPPLIER_OCCUPIED = modm::Bit2 , SMALL_POWER_RUNE_ACTIVATED = modm::Bit3 ,   LARGER_POWER_RUNE_ACTIVIATED = modm::Bit4 , CENTRAL_ELEVATED_GROUND_OCCUPIED_TEAM = modm::Bit5 , CENTRAL_ELEVATED_GROUND_OCCUPIED_OPPONENT = modm::Bit6 , TRAPEZOID_OCCUPIED_TEAM = modm::Bit7 ,   CENTRAL_BUFF_OCCUPIED_TEAM = modm::Bit21 , CENTRAL_BUFF_OCCUPIED_OPPONENT = modm::Bit22 }
enum class	RobotPower : uint8_t { GIMBAL_HAS_POWER = modm::Bit0 , CHASSIS_HAS_POWER = modm::Bit1 , SHOOTER_HAS_POWER = modm::Bit2 }
enum class	RobotEnergyLevel : uint8_t {   ABOVE_50_PERCENT = 0x32 , ABOVE_30_PERCENT = 0b11110 , ABOVE_15_PERCENT = 0b11100 , ABOVE_5_PERCENT = 0b11000 ,   ABOVE_1_PERCENT = 0b10000 , BELOW_1_PERCENT = 0b00000 }
enum class	RFIDActivationStatus : uint32_t {   BASE_BUFF = modm::Bit0 , CENTRAL_ELEVATED_GROUND_OWN = modm::Bit1 , CENTRAL_ELEVATED_GROUND_OPPONENT = modm::Bit2 , TRAPEZOID_OWN = modm::Bit3 ,   TRAPEZOID_OPPONENT = modm::Bit4 , LAUNCH_RAMP_FRONT_OWN = modm::Bit5 , LAUNCH_RAMP_BACK_OWN = modm::Bit6 , LAUNCH_RAMP_FRONT_OPPONENT = modm::Bit7 ,   LAUNCH_RAMP_BACK_OPPONENT = modm::Bit8 , TERRAIN_CROSSING_OFF_CENTRAL_OWN = modm::Bit9 , TERRAIN_CROSSING_ON_CENTRAL_OWN = modm::Bit10 , TERRAIN_CROSSING_OFF_CENTRAL_OPPONENT = modm::Bit11 ,   TERRAIN_CROSSING_ON_CENTRAL_OPPONENT = modm::Bit12 , TERRAIN_CROSSING_OFF_ROAD_OWN = modm::Bit13 , TERRAIN_CROSSING_ON_ROAD_OWN = modm::Bit14 , TERRAIN_CROSSING_OFF_ROAD_OPPONENT = modm::Bit15 ,   TERRAIN_CROSSING_ON_ROAD_OPPONENT = modm::Bit16 , FORTRESS_BUFF_OWN = modm::Bit17 , OUTPOST_BUFF_OWN = modm::Bit18 , RESUPPLY_ZONE_OUTSIDE_EXCHANGE = modm::Bit19 ,   RESUPPLY_ZONE_INSIDE_EXCHANGE = modm::Bit20 , LARGE_RESOURCE_ISLAND_OWN = modm::Bit21 , LARGE_RESOURCE_ISLAND_OPPONENT = modm::Bit22 , CENTRAL_BUFF = modm::Bit23 }
	Activation status flags for the RFID module (for RMUC only). More...
enum	BulletType { AMMO_17 = 1 , AMMO_42 = 2 }
enum	MechanismID { TURRET_17MM_1 = 1 , TURRET_17MM_2 = 2 , TURRET_42MM = 3 }
enum	AirSupportState : uint8_t { COOLING = 0 , COOLED = 1 , IN_AIR = 2 }
enum	DartStationState : uint8_t { OPEN = 0 , CLOSED = 1 , TRANSITION = 2 }

Public Member Functions
	MODM_FLAGS32 (SiteData)
	MODM_FLAGS8 (RobotPower)
	MODM_FLAGS32 (RFIDActivationStatus)

Static Public Attributes
static constexpr int	MAX_LAUNCH_SPEED_17MM = 25
static constexpr int	MAX_LAUNCH_SPEED_42MM = 16

Detailed Description

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

Member Enumeration Documentation

AirSupportState

enum tap::communication::serial::RefSerialData::Rx::AirSupportState : uint8_t

Enumerator
COOLING	The air support is cooling down.
COOLED	The air support has cooled down.
IN_AIR	The air support is in the air.

ArmorId

enum class tap::communication::serial::RefSerialData::Rx::ArmorId : uint8_t

strong

Enumerator
FRONT	armor #0 (front).
LEFT	armor #1 (left).
REAR	armor #2 (rear).
RIGHT	armor #3 (right).
TOP	armor #4 (top).

BulletType

enum tap::communication::serial::RefSerialData::Rx::BulletType

Enumerator
AMMO_17	17 mm projectile ammo.
AMMO_42	42 mm projectile ammo.

DamageType

enum class tap::communication::serial::RefSerialData::Rx::DamageType : uint8_t

strong

Enumerator
ARMOR_DAMAGE	Armor damage.
MODULE_OFFLINE	Module offline.
BARREL_OVER_SPEED	Firing speed too high.
BARREL_OVERHEAT	Barrel overheat.
CHASSIS_POWER_OVERRUN	Chassis power overrun.
COLLISION	Armor plate collision.

DartStationState

enum tap::communication::serial::RefSerialData::Rx::DartStationState : uint8_t

Enumerator
OPEN	The dart station is open.
CLOSED	The dart station is closed.
TRANSITION	The dart station is opening or closing.

DartTarget

enum class tap::communication::serial::RefSerialData::Rx::DartTarget : uint8_t

strong

Enumerator
NONE_OR_OUTPOST	No target or outpost selected.
BASE_FIXED	A fixed target selected.
BASE_RANDOM	A random target selected.

GameStage

enum class tap::communication::serial::RefSerialData::Rx::GameStage : uint8_t

strong

Enumerator
PREMATCH	Pre-competition. stage.
SETUP	Setup stage.
INITIALIZATION	Initialization stage.
COUNTDOWN	5-second countdown.
IN_GAME	In middle of the game.
END_GAME	Calculating competition results.

GameType

enum class tap::communication::serial::RefSerialData::Rx::GameType : uint8_t

strong

The type of game the robot is competing in.

Enumerator
UNKNOWN	Unknown competition type (most likely disconnected from server).
ROBOMASTER_RMUC	RoboMaster Univeristy Challenge.
ROBOMASTER_RMUTC	RoboMaster Technical Challenge.
ROBOMASTER_AI_CHALLENGE	RobomMaster AI challenge.
ROBOMASTER_RMUL_3V3	RoboMaster RMUL 3v3 competition.
ROBOMASTER_RMUL_1V1	RoboMaster RMUL 1v1 competition.

GameWinner

enum class tap::communication::serial::RefSerialData::Rx::GameWinner : uint8_t

strong

Enumerator
DRAW	Match was a draw.
RED	Red team won the match.
BLUE	Blue team won the match.

MechanismID

enum tap::communication::serial::RefSerialData::Rx::MechanismID

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

Enumerator
TURRET_17MM_1	17mm barrel ID 1
TURRET_17MM_2	17mm barrel ID 2
TURRET_42MM	42mm barrel

RFIDActivationStatus

enum class tap::communication::serial::RefSerialData::Rx::RFIDActivationStatus : uint32_t

strong

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

Enumerator
BASE_BUFF
CENTRAL_ELEVATED_GROUND_OWN
CENTRAL_ELEVATED_GROUND_OPPONENT
TRAPEZOID_OWN
TRAPEZOID_OPPONENT
LAUNCH_RAMP_FRONT_OWN
LAUNCH_RAMP_BACK_OWN
LAUNCH_RAMP_FRONT_OPPONENT
LAUNCH_RAMP_BACK_OPPONENT
TERRAIN_CROSSING_OFF_CENTRAL_OWN
TERRAIN_CROSSING_ON_CENTRAL_OWN
TERRAIN_CROSSING_OFF_CENTRAL_OPPONENT
TERRAIN_CROSSING_ON_CENTRAL_OPPONENT
TERRAIN_CROSSING_OFF_ROAD_OWN
TERRAIN_CROSSING_ON_ROAD_OWN
TERRAIN_CROSSING_OFF_ROAD_OPPONENT
TERRAIN_CROSSING_ON_ROAD_OPPONENT
FORTRESS_BUFF_OWN
OUTPOST_BUFF_OWN
RESUPPLY_ZONE_OUTSIDE_EXCHANGE
RESUPPLY_ZONE_INSIDE_EXCHANGE
LARGE_RESOURCE_ISLAND_OWN
LARGE_RESOURCE_ISLAND_OPPONENT
CENTRAL_BUFF

RobotEnergyLevel

enum class tap::communication::serial::RefSerialData::Rx::RobotEnergyLevel : uint8_t

strong

Enumerator
ABOVE_50_PERCENT
ABOVE_30_PERCENT
ABOVE_15_PERCENT
ABOVE_5_PERCENT
ABOVE_1_PERCENT
BELOW_1_PERCENT

RobotPower

enum class tap::communication::serial::RefSerialData::Rx::RobotPower : uint8_t

strong

Enumerator
GIMBAL_HAS_POWER	1 if there is 24V output to gimbal, 0 for 0V.
CHASSIS_HAS_POWER	1 if there is 24V output to chassis, 0 for 0V.
SHOOTER_HAS_POWER	1 if there is 24V output to shooter, 0 for 0V.

SiteDartHit

enum class tap::communication::serial::RefSerialData::Rx::SiteDartHit : uint8_t

strong

Enumerator
NONE	No hit target.
OUTPOST	Outpost hit.
BASE_FIXED	Fixed target hit.
BASE_RANDOM_FIXED	Fixed target hit after random movement.
BASE_RANDOM_MOVING	Random moving target hit.

SiteData

enum class tap::communication::serial::RefSerialData::Rx::SiteData : uint32_t

strong

Enumerator
RESUPPLY_OUTSIDE_EXCHANGE_OCCUPIED
RESUPPLY_INSIDE_EXCHANGE_OCCUPIED
SUPPLIER_OCCUPIED
SMALL_POWER_RUNE_ACTIVATED
LARGER_POWER_RUNE_ACTIVIATED
CENTRAL_ELEVATED_GROUND_OCCUPIED_TEAM
CENTRAL_ELEVATED_GROUND_OCCUPIED_OPPONENT
TRAPEZOID_OCCUPIED_TEAM
CENTRAL_BUFF_OCCUPIED_TEAM
CENTRAL_BUFF_OCCUPIED_OPPONENT

SupplierOutletStatus

enum class tap::communication::serial::RefSerialData::Rx::SupplierOutletStatus : uint8_t

strong

Enumerator
CLOSED	The outlet is closed.
PREPARING	The outlet is preparing projectiles.
RELEASING	The outlet is releasing projectiles.

Member Function Documentation

MODM_FLAGS32() [1/2]

tap::communication::serial::RefSerialData::Rx::MODM_FLAGS32

(

RFIDActivationStatus

)

MODM_FLAGS32() [2/2]

tap::communication::serial::RefSerialData::Rx::MODM_FLAGS32

(

SiteData

)

MODM_FLAGS8()

tap::communication::serial::RefSerialData::Rx::MODM_FLAGS8

(

RobotPower

)

Member Data Documentation

MAX_LAUNCH_SPEED_17MM

constexpr int tap::communication::serial::RefSerialData::Rx::MAX_LAUNCH_SPEED_17MM = 25

staticconstexpr

The Maximum launch speed for a 17mm barrel in m/s.

MAX_LAUNCH_SPEED_42MM

constexpr int tap::communication::serial::RefSerialData::Rx::MAX_LAUNCH_SPEED_42MM = 16

staticconstexpr

The Maximum launch speed for a 42mm barrel in m/s.

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The documentation for this class was generated from the following file:

• fang-mcb-project/taproot/src/tap/communication/serial/ref_serial_data.hpp