New referee system

src/app/src/debug_task.c

@@ -24,6 +24,7 @@ extern Daemon_Instance_t *g_remote_daemon;
 #ifdef PRINT_RUNTIME_STATS
 char g_debug_buffer[1024*2] = {0};
 #endif
+//#define DEBUG_ENABLED
 
 const char* top_border = "\r\n\r\n\r\n/***** System Info *****/\r\n";
 const char* bottom_border = "/***** End of Info *****/\r\n";

src/app/src/robot.c

@@ -49,7 +49,7 @@ void Robot_Init()
     Remote_Init(&huart3);
     CAN_Service_Init();
     Referee_System_Init(&huart1);
-    Jetson_Orin_Init(&huart6);
+    //Jetson_Orin_Init(&huart6);
     ui_init_indicator_0();
     ui_init_indicator_1();
     //  Initialize all tasks

src/devices/inc/referee_system.h

@@ -88,20 +88,24 @@
 #define V3_HERO_COOLING_INCREMENT 8
 #define V3_HERO_LV10_COOLING_MAX 120
 
-#define REFEREE_BUFFER_LEN 							787u					//Buffer length to receive all data
+
+#define REFEREE_BUFFER_LEN 							273u				//Buffer length to receive all data
 #define REFEREE_FRAME_HEADER_START 					0xA5 				//Frame header
-#define REFEREE_FRAME_HEADER_LEN 					5 						//Frame header length
-#define REFEREE_ID_LEN 								2						//ID length
-#define REFEREE_FRAME_TAIL_LEN 						2 						//Frame tail length
+#define REFEREE_FRAME_HEADER_LEN 					5 					//Frame header length
+#define REFEREE_ID_LEN 								2					//ID length
+#define REFEREE_FRAME_TAIL_LEN 						2 					//Frame tail length
+
 
 #define REFEREE_OFFSET_SOF         					0  					//SOF offset
 #define REFEREE_OFFSET_DATA_LENGTH 					1  					//Data length offset
 #define REFEREE_OFFSET_SEQ         					3  					//SEQ offset
 #define REFEREE_OFFSET_CRC8        					4  					//CRC offset
 
-#define       REFEREE_GAME_STATUS	               0x0001       //Competition status data, transmitted at a fixed frequency of 1 Hz.
-#define       REFEREE_GAME_RESULT              	   0x0002 			//Competition result data, transmitted upon completion of the competition.
-#define       REFEREE_ROBOT_HP                     0x0003 			//Robot health data, transmitted at a fixed frequency of 3 Hz.
+
+#define       REFEREE_GAME_STATUS	               0x0001       		//Competition status data, transmitted at a fixed frequency of 1 Hz.
+#define       REFEREE_GAME_RESULT              	   0x0002 				//Competition result data, transmitted upon completion of the competition.
+#define       REFEREE_ROBOT_HP                     0x0003 				//Robot health data, transmitted at a fixed frequency of 3 Hz.
+
 #define       REFEREE_EVENT_DATA                   0x0101				//Site event data, transmitted at a fixed frequency of 1 Hz
 #define       REFEREE_SUPPLY_STATION               0x0102				//Action identifier data of the Official Projectile Supplier, transmitted when the Official Projectile Supplier releases projectiles.
 #define       REFEREE_REFEREE_WARNING              0x0104				//Referee warning data, transmitted when one's team is issued a penalty/forfeiture and at a fixed frequency of 1 Hz in other cases.
@@ -115,19 +119,6 @@
 #define       REFEREE_SHOOTER_STATE                0x0207				//Real-time launching data, transmitted after a projectile is launched.
 #define       REFEREE_REMAINING_AMMO               0x0208				//Projectile allowance, transmitted at a fixed frequency of 10 Hz.
 #define       REFEREE_ROBOT_RFID                   0x0209				//Robot RFID module status, transmitted at a fixed frequency of 3 Hz.
-#define       REFEREE_DART_CLIENT                  0x020A				//Dart player's client command data, transmitted at a fixed frequency of 3 Hz.
-#define       REFEREE_GROUND_POS                   0x020B				//Ground Robot position data, transmitted at a fixed frequency of 1 Hz.
-#define       REFEREE_RADAR_PROGRESS               0x020C				//Radar-marked progress data, transmitted at a fixed frequency of 1 Hz.
-#define       REFEREE_SENTRY_DECISION              0x020D				//Decision-making data of Sentry Robot, transmitted at a fixed frequency of 1 Hz.
-#define       REFEREE_RADAR_DECISION               0x020E				//Decision-making data of Radar, transmitted at a fixed frequency of 1 Hz.
-#define       REFEREE_ROBOT_COMMUNICATE            0x0301				//Robot interaction data, transmitted at a maximum frequency of 10 Hz when triggered by the sender.
-#define       REFEREE_USER_DEFINED                 0x0302				//Data about the interaction between the Custom Controller and robots, transmitted at a maximum frequency of 30 Hz when triggered by the sender.
-#define       REFEREE_SMALL_MAP_INTERACT           0x0303				//Player client's small map interaction data, transmitted when triggered by the player client.
-#define       REFEREE_KEYBOARD_REMOTE              0x0304				//Keyboard, mouse, and remote control data, transmitted at a fixed frequency of 30 Hz.
-#define       REFEREE_SMALL_MAP_RADAR              0x0305				//Radar data received by player clients' Small Maps, transmitted at a maximum frequency of 10 Hz.
-#define       REFEREE_CUSTOM_CONTROLLER            0x0306				//Data about the interaction between the Custom Controller and player clients, transmitted at a maximum frequency of 30 Hz when triggered by the sender.
-#define       REFEREE_SENTRY_DATA                  0x0307				//Sentry data received by player clients' Small Maps, transmitted at a maximum frequency of 1 Hz.
-#define       REFEREE_CUSTOM_DATA         		   0x0308				//Robot data received by player clients' Small Map, transmitted at a maximum frequency of 3 Hz.
 
 /*Calculation: REFEREE_FRAME_HEADER_LEN(5-byte) + REFEREE_ID_LEN(2-byte) + DATA(n-byte) + REFEREE_FRAME_TAIL_LEN(2-byte,CRC16)*/
 #define       REFEREE_GAME_STATUS_LEN	           20
@@ -146,19 +137,6 @@
 #define       REFEREE_SHOOTER_STATE_LEN            16
 #define       REFEREE_REMAINING_AMMO_LEN           15
 #define       REFEREE_ROBOT_RFID_LEN               13
-#define       REFEREE_DART_CLIENT_LEN              15
-#define       REFEREE_GROUND_POS_LEN               49  	 
-#define       REFEREE_RADAR_PROGRESS_LEN           15    
-#define       REFEREE_SENTRY_DECISION_LEN          13   
-#define       REFEREE_RADAR_DECISION_LEN  		   10
-//#define       REFEREE_ROBOT_COMMUNICATE_LEN        137     			
-#define       REFEREE_USER_DEFINED_LEN             39
-//#define       REFEREE_SMALL_MAP_INTERACT_LEN       24
-//#define       REFEREE_KEYBOARD_REMOTE_LEN          21
-//#define       REFEREE_SMALL_MAP_RADAR_LEN          19
-//#define       REFEREE_CUSTOM_CONTROLLER_LEN        17
-//#define       REFEREE_SENTRY_DATA_LEN              112
-//#define       REFEREE_CUSTOM_DATA_LEN        		 43
 
 typedef struct
 {
@@ -320,48 +298,6 @@ typedef struct
 		uint32_t State;
 	}RFID;
 
-	struct __attribute__ ((__packed__))
-	{
-		uint8_t Dart_Launch_Opening_Status;
-		uint8_t Reserved;
-		uint16_t Target_Change_Time;
-	  uint16_t Latest_Launch_Cmd_Time;
-	}Dart_Client;
-
-	struct __attribute__ ((__packed__))
-	{
-		float hero_x;
-	  float hero_y;
-	  float engineer_x;
-	  float engineer_y;
-	  float standard_3_x;
-	  float standard_3_y;
-	  float standard_4_x;
-	  float standard_4_y;
-	  float standard_5_x;
-	  float standard_5_y;
-	}Ground_Pos;
-
-	struct __attribute__ ((__packed__))
-	{
-		uint8_t Mark_Hero_Progress;
-	  uint8_t Mark_Engineer_Progress;
-	  uint8_t Mark_Standard_3_Progress;
-	  uint8_t Mark_Standard_4_Progress;
-	  uint8_t Mark_Standard_5_Progress;
-	  uint8_t Mark_Sentry_Progress;
-	}Radar_Progress;
-
-	struct __attribute__ ((__packed__))
-	{
-		uint32_t Sentry_Info;
-	}Sentry_Decision;
-
-	struct __attribute__ ((__packed__))
-	{
-		uint8_t Radar_Info;
-	}Radar_Decision;
-
 	uint16_t Info_Update_Frame;
 	uint8_t Offline_Flag;
 } Referee_System_t;

src/devices/src/jetson_orin.c

@@ -104,5 +104,5 @@ void Jetson_Orin_Send_Data(void)
 	g_orin_data.tx_buffer[1] = g_orin_data.sending.enemy_color_flag << 1 | g_orin_data.sending.game_start_flag;
 	memcpy(&g_orin_data.tx_buffer[2],&g_orin_data.sending.float_byte.data_bytes[0], 32*sizeof(uint8_t));
 
-	UART_Transmit(g_orin_uart_instance_ptr, g_orin_data.tx_buffer, sizeof(g_orin_data.tx_buffer), UART_DMA);
+	//UART_Transmit(g_orin_uart_instance_ptr, g_orin_data.tx_buffer, sizeof(g_orin_data.tx_buffer), UART_DMA);
 }

src/ui/inc/ui_interface.h

@@ -8,12 +8,14 @@
 #include <stdio.h>
 #include "ui_types.h"
 #include "bsp_crc.h"
+#include "usart.h"
+#include "bsp_serial.h"
 
 extern int ui_self_id;
 
 void print_message(const uint8_t* message, int length);
 
-#define SEND_MESSAGE(message, length) print_message(message, length)
+#define SEND_MESSAGE(message, length) HAL_UART_Transmit(&huart1,message,length,500) //print_message(message, length)
 
 void ui_proc_1_frame(ui_1_frame_t *msg);
 void ui_proc_2_frame(ui_2_frame_t *msg);

src/ui/src/ui_interface.c

@@ -6,15 +6,96 @@
 #include <string.h>
 
 uint8_t seq = 0;
-int ui_self_id = 1;
+int ui_self_id = 105;
 
 void print_message(const uint8_t *message, const int length) {
     for (int i = 0; i < length; i++) {
-        printf("%02x ", message[i]);
+        DEBUG_PRINTF(&huart6, "%02x", message[i]);
     }
     printf("\n\n");
 }
 
+
+const unsigned char CRC8_TAB1[256] = {
+    0x00, 0x5e, 0xbc, 0xe2, 0x61, 0x3f, 0xdd, 0x83, 0xc2, 0x9c, 0x7e, 0x20, 0xa3, 0xfd, 0x1f, 0x41,
+    0x9d, 0xc3, 0x21, 0x7f, 0xfc, 0xa2, 0x40, 0x1e, 0x5f, 0x01, 0xe3, 0xbd, 0x3e, 0x60, 0x82, 0xdc, 0x23,
+    0x7d, 0x9f, 0xc1, 0x42, 0x1c, 0xfe, 0xa0, 0xe1, 0xbf, 0x5d, 0x03, 0x80, 0xde, 0x3c, 0x62, 0xbe, 0xe0,
+    0x02, 0x5c, 0xdf, 0x81, 0x63, 0x3d, 0x7c, 0x22, 0xc0, 0x9e, 0x1d, 0x43, 0xa1, 0xff, 0x46, 0x18, 0xfa,
+    0xa4, 0x27, 0x79, 0x9b, 0xc5, 0x84, 0xda, 0x38, 0x66, 0xe5, 0xbb, 0x59, 0x07, 0xdb, 0x85, 0x67,
+    0x39, 0xba, 0xe4, 0x06, 0x58, 0x19, 0x47, 0xa5, 0xfb, 0x78, 0x26, 0xc4, 0x9a, 0x65, 0x3b, 0xd9, 0x87,
+    0x04, 0x5a, 0xb8, 0xe6, 0xa7, 0xf9, 0x1b, 0x45, 0xc6, 0x98, 0x7a, 0x24, 0xf8, 0xa6, 0x44, 0x1a, 0x99,
+    0xc7, 0x25, 0x7b, 0x3a, 0x64, 0x86, 0xd8, 0x5b, 0x05, 0xe7, 0xb9,
+    0x8c, 0xd2, 0x30, 0x6e, 0xed, 0xb3, 0x51, 0x0f, 0x4e, 0x10, 0xf2, 0xac, 0x2f, 0x71, 0x93, 0xcd, 0x11,
+    0x4f, 0xad, 0xf3, 0x70, 0x2e, 0xcc, 0x92, 0xd3, 0x8d, 0x6f, 0x31, 0xb2, 0xec, 0x0e, 0x50, 0xaf, 0xf1,
+    0x13, 0x4d, 0xce, 0x90, 0x72, 0x2c, 0x6d, 0x33, 0xd1, 0x8f, 0x0c, 0x52, 0xb0, 0xee, 0x32, 0x6c, 0x8e,
+    0xd0, 0x53, 0x0d, 0xef, 0xb1, 0xf0, 0xae, 0x4c, 0x12, 0x91, 0xcf, 0x2d, 0x73, 0xca, 0x94, 0x76, 0x28,
+    0xab, 0xf5, 0x17, 0x49, 0x08, 0x56, 0xb4, 0xea, 0x69, 0x37, 0xd5, 0x8b, 0x57, 0x09, 0xeb, 0xb5,
+    0x36, 0x68, 0x8a, 0xd4, 0x95, 0xcb, 0x29, 0x77, 0xf4, 0xaa, 0x48, 0x16, 0xe9, 0xb7, 0x55, 0x0b, 0x88,
+    0xd6, 0x34, 0x6a, 0x2b, 0x75, 0x97, 0xc9, 0x4a, 0x14, 0xf6, 0xa8,
+    0x74, 0x2a, 0xc8, 0x96, 0x15, 0x4b, 0xa9, 0xf7, 0xb6, 0xe8, 0x0a, 0x54, 0xd7, 0x89, 0x6b, 0x35,
+};
+
+unsigned char calc_crc8(unsigned char *pchMessage, unsigned int dwLength) {
+    unsigned char ucCRC8 = 0xff;
+    unsigned char ucIndex;
+    while (dwLength--) {
+        ucIndex = ucCRC8 ^ (*pchMessage++);
+        ucCRC8 = CRC8_TAB1[ucIndex];
+    }
+    return (ucCRC8);
+}
+
+const uint16_t wCRC_Table1[256] = {
+    0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf,
+    0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7,
+    0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
+    0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876,
+    0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd,
+    0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
+    0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c,
+    0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974,
+    0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
+    0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3,
+    0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a,
+    0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
+    0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9,
+    0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1,
+    0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
+    0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70,
+    0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7,
+    0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
+    0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036,
+    0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e,
+    0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
+    0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd,
+    0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134,
+    0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
+    0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3,
+    0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb,
+    0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
+    0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a,
+    0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1,
+    0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
+    0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330,
+    0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78
+};
+
+uint16_t calc_crc16(uint8_t *pchMessage, uint32_t dwLength)
+{
+    uint16_t wCRC = 0xffff;
+    uint8_t chData;
+    if (pchMessage == NULL)
+    {
+        return 0xFFFF;
+    }
+    while(dwLength--)
+    {
+        chData = *pchMessage++;
+        (wCRC) = ((uint16_t)(wCRC) >> 8) ^ wCRC_Table1[((uint16_t)(wCRC) ^ (uint16_t)(chData)) & 0x00ff];
+    }
+    return wCRC;
+}
+
 #define DEFINE_FRAME_PROC(num, id)                          \
 void ui_proc_ ## num##_frame(ui_ ## num##_frame_t *msg) {   \
     msg->header.SOF = 0xA5;                                 \