protocol.h

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/*******************************************************************************
 * BSD 3-Clause License
 *
 * Copyright (c) 2021, Qiayuan Liao
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * * Redistributions of source code must retain the above copyright notice, this
 *   list of conditions and the following disclaimer.
 *
 * * Redistributions in binary form must reproduce the above copyright notice,
 *   this list of conditions and the following disclaimer in the documentation
 *   and/or other materials provided with the distribution.
 *
 * * Neither the name of the copyright holder nor the names of its
 *   contributors may be used to endorse or promote products derived from
 *   this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *******************************************************************************/
 
//
// Created by peter on 2021/5/17.
//
 
#pragma once
#define __packed __attribute__((packed))
 
#include <cstdint>
 
namespace rm_referee
{
typedef enum
{
  GAME_STATUS_CMD = 0x0001,
  GAME_RESULT_CMD = 0x0002,
  GAME_ROBOT_HP_CMD = 0x0003,
  FIELD_EVENTS_CMD = 0x0101,
  SUPPLY_PROJECTILE_ACTION_CMD = 0x0102,
  REFEREE_WARNING_CMD = 0x0104,
  DART_INFO_CMD = 0x0105,
  ROBOT_STATUS_CMD = 0x0201,
  POWER_HEAT_DATA_CMD = 0x0202,
  ROBOT_POS_CMD = 0x0203,
  BUFF_CMD = 0x0204,
  ROBOT_HURT_CMD = 0x0206,
  SHOOT_DATA_CMD = 0x0207,
  BULLET_REMAINING_CMD = 0x0208,
  ROBOT_RFID_STATUS_CMD = 0x0209,
  DART_CLIENT_CMD = 0x020A,
  ROBOTS_POS_CMD = 0X020B,
  RADAR_MARK_CMD = 0X020C,
  SENTRY_INFO_CMD = 0x020D,
  RADAR_INFO_CMD = 0x020E,
  RADAR_WIRELESS_ENEMY_ROBOT_POS_CMD = 0x0A01,
  RADAR_WIRELESS_ENEMY_ROBOT_HP_CMD = 0x0A02,
  RADAR_WIRELESS_ENEMY_PROJECTILE_ALLOWANCE_CMD = 0x0A03,
  RADAR_WIRELESS_ENEMY_COIN_AND_FIELD_STATUS_CMD = 0x0A04,
  RADAR_WIRELESS_ENEMY_ROBOT_BUFF_CMD = 0x0A05,
  RADAR_WIRELESS_ENEMY_CALL_SIGN_CMD = 0x0A06,
  INTERACTIVE_DATA_CMD = 0x0301,
  CUSTOM_CONTROLLER_CMD = 0x0302,  // controller
  TARGET_POS_CMD = 0x0303,
  CLIENT_MAP_CMD = 0x0305,
  KEYBOARD_MOUSE_CMD = 0x0306,             // 2026 table 1-42
  CUSTOM_CLIENT_CMD = KEYBOARD_MOUSE_CMD,  // legacy alias
  MAP_SENTRY_CMD = 0x0307,                 // send sentry->aerial
  CUSTOM_INFO_CMD = 0x0308,                // robot -> custom controller text/info
  ROBOT_TO_CUSTOM_CONTROLLER_CMD = 0x0309,
  ROBOT_TO_CUSTOM_CLIENT_CMD = 0x0310,
  CUSTOM_CLIENT_TO_ROBOT_CMD = 0x0311,
  CUSTOM_TO_ROBOT_CMD = CUSTOM_INFO_CMD,                 // legacy misnomer alias kept for compatibility
  ROBOT_TO_CUSTOM_CMD = ROBOT_TO_CUSTOM_CONTROLLER_CMD,  // legacy alias
  ROBOT_TO_CUSTOM_CMD_2 = ROBOT_TO_CUSTOM_CLIENT_CMD,    // legacy alias
  POWER_MANAGEMENT_SAMPLE_AND_STATUS_DATA_CMD = 0X8301,
  POWER_MANAGEMENT_INITIALIZATION_EXCEPTION_CMD = 0X8302,
  POWER_MANAGEMENT_SYSTEM_EXCEPTION_CMD = 0X8303,
  POWER_MANAGEMENT_PROCESS_STACK_OVERFLOW_CMD = 0X8304,
  POWER_MANAGEMENT_UNKNOWN_EXCEPTION_CMD = 0X8305
} RefereeCmdId;
 
typedef enum
{
  ROBOT_INTERACTIVE_CMD_MIN = 0x0200,
  ROBOT_INTERACTIVE_CMD_MAX = 0x02FF,
  CLIENT_GRAPH_DELETE_CMD = 0x0100,
  CLIENT_GRAPH_SINGLE_CMD = 0x0101,
  CLIENT_GRAPH_DOUBLE_CMD = 0x0102,
  CLIENT_GRAPH_FIVE_CMD = 0x0103,
  CLIENT_GRAPH_SEVEN_CMD = 0x0104,
  CLIENT_CHARACTER_CMD = 0x0110,
  SENTRY_CMD = 0x0120,
  RADAR_CMD = 0x0121,
  BULLET_NUM_SHARE_CMD = 0x0200,  // send robot->aerial
  SENTRY_TO_RADAR_CMD = 0x0201,   // send sentry->radar
  RADAR_TO_SENTRY_CMD = 0x0202    // send radar->sentry
} DataCmdId;
 
typedef enum
{
  RED_HERO = 1,
  RED_ENGINEER = 2,
  RED_STANDARD_3 = 3,
  RED_STANDARD_4 = 4,
  RED_STANDARD_5 = 5,
  RED_AERIAL = 6,
  RED_SENTRY = 7,
  RED_RADAR = 9,
  RED_OUTPOST = 10,
  RED_BASE = 11,
  BLUE_HERO = 101,
  BLUE_ENGINEER = 102,
  BLUE_STANDARD_3 = 103,
  BLUE_STANDARD_4 = 104,
  BLUE_STANDARD_5 = 105,
  BLUE_AERIAL = 106,
  BLUE_SENTRY = 107,
  BLUE_RADAR = 109,
  BLUE_OUTPOST = 110,
  BLUE_BASE = 111
} RobotId;
 
typedef enum
{
  RED_HERO_CLIENT = 0x0101,
  RED_ENGINEER_CLIENT = 0x0102,
  RED_STANDARD_3_CLIENT = 0x0103,
  RED_STANDARD_4_CLIENT = 0x0104,
  RED_STANDARD_5_CLIENT = 0x0105,
  RED_AERIAL_CLIENT = 0x0106,
  BLUE_HERO_CLIENT = 0x0165,
  BLUE_ENGINEER_CLIENT = 0x0166,
  BLUE_STANDARD_3_CLIENT = 0x0167,
  BLUE_STANDARD_4_CLIENT = 0x0168,
  BLUE_STANDARD_5_CLIENT = 0x0169,
  BLUE_AERIAL_CLIENT = 0x016A,
  REFEREE_SERVER = 0x8080
} ClientId;
 
typedef enum
{
  ADD = 1,
  UPDATE = 2,
  DELETE = 3
} GraphOperation;
 
typedef enum
{
  MAIN_COLOR = 0,
  YELLOW = 1,
  GREEN = 2,
  ORANGE = 3,
  PURPLE = 4,
  PINK = 5,
  CYAN = 6,
  BLACK = 7,
  WHITE = 8
} GraphColor;
 
typedef enum
{
  LINE,
  RECTANGLE,
  CIRCLE,
  ELLIPSE,
  ARC,
  FLOAT_NUM,
  INT_NUM,
  STRING
} GraphType;
 
typedef enum
{
  ATTACK_IN = 1,
  DEFEND_IN = 2,
  MOVE_TO = 3
} SentryIntention;
 
typedef enum
{
  CHARGE = 0,
  BOOST = 1,
  NORMAL = 2,
  ALL_OFF = 3
} PowerManagementStateMachine;
 
typedef enum
{
  NO_PROBLEM = 0,
  HIGH_CURRENT = 1,
  REFEREE_POWER_DOWN = 2,
  REFEREE_DISCONNECT = 3
} PowerManagementProtectionInfo;
 
typedef enum
{
  POWER_ON = 1,
  EXTERNAL_BUTTON = 2,
  SOFT = 3,
  INDEPENDENT_WATCHDOG = 4,
  WINDOW_WATCHDOG = 5,
  LOW_VOLTAGE = 6,
  UNKNOWN = 7
} PowerManagementResetReason;
 
typedef enum
{
  PASS_THROUGH = 0,
  CHARGE_AND_BOOST = 1,
  SWITCHES_ALL_OFF = 2
} PowerManagementTopology;
 
/*****************************/
 
typedef struct
{
  uint8_t sof;
  uint16_t data_length;
  uint8_t seq;
  uint8_t crc_8;
} __packed FrameHeader;
 
typedef struct
{
  uint8_t game_type : 4;
  uint8_t game_progress : 4;
  uint16_t stage_remain_time;
  uint64_t sync_time_stamp;
} __packed GameStatus;
 
typedef struct
{
  uint8_t winner;
} __packed GameResult;
 
typedef struct
{
  uint16_t ally_1_robot_hp;
  uint16_t ally_2_robot_hp;
  uint16_t ally_3_robot_hp;
  uint16_t ally_4_robot_hp;
  uint16_t reserved;
  uint16_t ally_7_robot_hp;
  uint16_t ally_outpost_hp;
  uint16_t ally_base_hp;
} __packed GameRobotHp;
 
typedef struct
{
  uint8_t dart_belong;
  uint16_t stage_remaining_time;
} __packed DartStatus;
 
typedef struct
{
  uint8_t f_1_zone_status : 1;
  uint8_t f_1_zone_buff_debuff_status : 3;
  uint8_t f_2_zone_status : 1;
  uint8_t f_2_zone_buff_debuff_status : 3;
  uint8_t f_3_zone_status : 1;
  uint8_t f_3_zone_buff_debuff_status : 3;
  uint8_t f_4_zone_status : 1;
  uint8_t f_4_zone_buff_debuff_status : 3;
  uint8_t f_5_zone_status : 1;
  uint8_t f_5_zone_buff_debuff_status : 3;
  uint8_t f_6_zone_status : 1;
  uint8_t f_6_zone_buff_debuff_status : 3;
  uint16_t red_1_bullet_left;
  uint16_t red_2_bullet_left;
  uint16_t blue_1_bullet_left;
  uint16_t blue_2_bullet_left;
} __packed IcraBuffDebuffZoneStatus;
 
typedef union
{
  uint32_t event_data;
  struct
  {
    uint32_t supply_zone_state : 1;
    uint32_t reserved_1 : 1;
    uint32_t supply_zone_state_rmul : 1;
    uint32_t small_power_rune_state : 2;
    uint32_t large_power_rune_state : 2;
    uint32_t central_elevated_ground_state : 2;
    uint32_t trapezoidal_elevated_ground_state : 2;
    uint32_t be_hit_time : 9;
    uint32_t be_hit_target : 3;
    uint32_t central_point_state : 2;
    uint32_t fortress_point_state : 2;
    uint32_t outpost_point_state : 2;
    uint32_t base_point_state : 1;
    uint32_t reserved_2 : 2;
  };
} __packed EventData;
 
typedef struct
{
  uint8_t reserved;
  uint8_t supply_robot_id;
  uint8_t supply_projectile_step;
  uint8_t supply_projectile_num;
} __packed SupplyProjectileAction;
 
typedef struct
{
  uint8_t level;
  uint8_t foul_robot_id;
  uint8_t count;
} __packed RefereeWarning;
 
typedef struct
{
  uint8_t dart_remaining_time;
  uint8_t dart_last_aim_state : 3;
  uint8_t enemy_total_hit_received : 3;
  uint8_t dart_current_target : 2;
  uint8_t reserved;
} __packed DartInfo;
 
typedef struct
{
  uint8_t robot_id;
  uint8_t robot_level;
  uint16_t remain_hp;
  uint16_t max_hp;
  uint16_t shooter_cooling_rate;
  uint16_t shooter_cooling_limit;
  uint16_t chassis_power_limit;
  uint8_t mains_power_gimbal_output : 1;
  uint8_t mains_power_chassis_output : 1;
  uint8_t mains_power_shooter_output : 1;
} __packed GameRobotStatus;
 
typedef struct
{
  uint16_t reserved_1;
  uint16_t reserved_2;
  float reserved_3;
  uint16_t chassis_power_buffer;
  uint16_t shooter_id_1_17_mm_cooling_heat;
  uint16_t shooter_id_1_42_mm_cooling_heat;
} __packed PowerHeatData;
 
typedef struct
{
  float x;
  float y;
  float yaw;
} __packed GameRobotPos;
 
typedef struct
{
  uint8_t recovery_buff;
  uint16_t cooling_buff;
  uint8_t defence_buff;
  uint8_t vulnerability_buff;
  uint16_t attack_buff;
  uint8_t remaining_energy;
} __packed Buff;
 
typedef struct
{
  uint8_t attack_time;
} __packed AerialRobotEnergy;
 
typedef struct
{
  uint8_t armor_id : 4;
  uint8_t hurt_type : 4;
} __packed RobotHurt;
 
typedef struct
{
  uint8_t bullet_type;
  uint8_t shooter_id;
  uint8_t bullet_freq;
  float bullet_speed;
} __packed ShootData;
 
typedef struct
{
  uint16_t bullet_allowance_num_17_mm;
  uint16_t bullet_allowance_num_42_mm;
  uint16_t coin_remaining_num;
  uint16_t projectile_allowance_fortress;
} __packed BulletAllowance;
 
typedef struct
{
  uint32_t rfid_status;
  uint8_t rfid_status_2;
} __packed RfidStatus;
 
typedef struct
{
  uint8_t dart_launch_opening_status;
  uint8_t reserved;
  uint16_t target_change_time;
  uint16_t latest_launch_cmd_time;
} __packed DartClientCmd;
 
/*********************** Interactive data between robots----0x0301 ********************/
typedef struct
{
  uint16_t data_cmd_id;
  uint16_t sender_id;
  uint16_t receiver_id;
} __packed InteractiveDataHeader;
 
struct GraphConfig
{
  uint8_t graphic_id[3];
  uint32_t operate_type : 3;
  uint32_t graphic_type : 3;
  uint32_t layer : 4;
  uint32_t color : 4;
  uint32_t start_angle : 9;
  uint32_t end_angle : 9;
  uint32_t width : 10;
  uint32_t start_x : 11;
  uint32_t start_y : 11;
  uint32_t radius : 10;
  uint32_t end_x : 11;
  uint32_t end_y : 11;
  bool operator==(const GraphConfig& config)
  {
    return (graphic_id[0] == (uint32_t)config.graphic_id[0] && graphic_id[1] == (uint32_t)config.graphic_id[1] &&
            graphic_id[2] == (uint32_t)config.graphic_id[2] && operate_type == (uint32_t)config.operate_type &&
            graphic_type == (uint32_t)config.graphic_type && layer == (uint32_t)config.layer &&
            color == (uint32_t)config.color && start_angle == (uint32_t)config.start_angle &&
            end_angle == (uint32_t)config.end_angle && width == (uint32_t)config.width &&
            start_x == (uint32_t)config.start_x && start_y == (uint32_t)config.start_y &&
            radius == (uint32_t)config.radius && end_x == (uint32_t)config.end_x && end_y == (uint32_t)config.end_y);
  }
  GraphConfig& operator=(const GraphConfig& config)
  {
    graphic_id[0] = (uint32_t)config.graphic_id[0];
    graphic_id[1] = (uint32_t)config.graphic_id[1];
    graphic_id[2] = (uint32_t)config.graphic_id[2];
    operate_type = (uint32_t)config.operate_type;
    graphic_type = (uint32_t)config.graphic_type;
    layer = (uint32_t)config.layer;
    color = (uint32_t)config.color;
    start_angle = (uint32_t)config.start_angle;
    end_angle = (uint32_t)config.end_angle;
    width = (uint32_t)config.width;
    start_x = (uint32_t)config.start_x;
    start_y = (uint32_t)config.start_y;
    radius = (uint32_t)config.radius;
    end_x = (uint32_t)config.end_x;
    end_y = (uint32_t)config.end_y;
    return *this;
  }
} __packed;
 
typedef struct
{
  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 reserved_1;
  float reserved_2;
} __packed RobotsPositionData;
 
typedef union
{
  uint16_t mark_progress;
  struct
  {
    uint16_t enemy_hero_vulnerable : 1;
    uint16_t enemy_engineer_vulnerable : 1;
    uint16_t enemy_standard_3_vulnerable : 1;
    uint16_t enemy_standard_4_vulnerable : 1;
    uint16_t enemy_aerial_special_mark : 1;
    uint16_t enemy_sentry_vulnerable : 1;
    uint16_t own_hero_special_mark : 1;
    uint16_t own_engineer_special_mark : 1;
    uint16_t own_standard_3_special_mark : 1;
    uint16_t own_standard_4_special_mark : 1;
    uint16_t own_aerial_special_mark : 1;
    uint16_t own_sentry_special_mark : 1;
    uint16_t reserved : 4;
  };
} __packed RadarMarkData;
 
typedef struct
{
  InteractiveDataHeader header;
  GraphConfig config;
  uint8_t content[30];
} __packed CharacterData;
 
typedef struct
{
  InteractiveDataHeader header;
  GraphConfig config;
} __packed SingleGraphData;
 
typedef struct
{
  InteractiveDataHeader header;
  GraphConfig config[2];
} __packed DoubleGraphData;
 
typedef struct
{
  InteractiveDataHeader header;
  GraphConfig config[5];
} __packed FiveGraphData;
 
typedef struct
{
  InteractiveDataHeader header;
  GraphConfig config[7];
} __packed SevenGraphData;
 
typedef struct
{
  InteractiveDataHeader header_data;
  uint8_t data;
} __packed InteractiveData;
 
typedef union
{
  uint32_t sentry_cmd;
  struct
  {
    uint32_t confirm_respawn : 1;
    uint32_t confirm_instant_respawn : 1;
    uint32_t bullet_exchange_target : 11;
    uint32_t remote_bullet_exchange_req_cnt : 4;
    uint32_t remote_hp_exchange_req_cnt : 4;
    uint32_t posture_cmd : 2;
    uint32_t confirm_rune_activating : 1;
    uint32_t reserved : 8;
  };
} __packed SentryCmd;
 
typedef struct
{
  InteractiveDataHeader header;
  SentryCmd sentry_cmd;
} __packed SentryCmdInteractiveData;
 
typedef union
{
  uint8_t radar_info;
  struct
  {
    uint8_t double_vulnerability_chances : 2;
    uint8_t enemy_in_double_vulnerability : 1;
    uint8_t own_encryption_level : 2;
    uint8_t can_modify_key : 1;
    uint8_t reserved : 2;
  };
} __packed RadarInfo;
 
typedef struct
{
  InteractiveDataHeader header;
  RadarInfo radar_info;
} __packed RadarInfoInteractiveData;
 
typedef struct
{
  uint8_t radar_cmd;
  uint8_t password_cmd;
  uint8_t password_1;
  uint8_t password_2;
  uint8_t password_3;
  uint8_t password_4;
  uint8_t password_5;
  uint8_t password_6;
} __packed RadarCmd;
 
typedef struct
{
  InteractiveDataHeader header;
  RadarCmd radar_cmd;
} __packed RadarCmdInteractiveData;
 
typedef struct
{
  uint8_t data[30];
} __packed CustomControllerData;
 
typedef struct
{
  union
  {
    uint32_t sentry_info;
    struct
    {
      uint32_t exchanged_bullet_allowance : 11;
      uint32_t remote_bullet_exchange_success_cnt : 4;
      uint32_t remote_hp_exchange_success_cnt : 4;
      uint32_t can_confirm_free_respawn : 1;
      uint32_t can_exchange_instant_respawn : 1;
      uint32_t instant_respawn_cost : 10;
      uint32_t reserved : 1;
    };
  };
  union
  {
    uint16_t sentry_info_2;
    struct
    {
      uint16_t is_out_of_war : 1;
      uint16_t remaining_bullets_can_supply : 11;
      uint16_t sentry_mode : 2;
      uint16_t can_activate_energy_mechanism : 1;
      uint16_t reserved_1 : 1;
    };
  };
} __packed SentryInfo;
 
typedef struct
{
  float target_position_x;
  float target_position_y;
  uint8_t command_keyboard;
  uint8_t target_robot_ID;
  uint16_t cmd_source;
} __packed ClientMapSendData;
 
typedef struct
{
  uint16_t opponent_hero_position_x;
  uint16_t opponent_hero_position_y;
  uint16_t opponent_engineer_position_x;
  uint16_t opponent_engineer_position_y;
  uint16_t opponent_infantry_3_position_x;
  uint16_t opponent_infantry_3_position_y;
  uint16_t opponent_infantry_4_position_x;
  uint16_t opponent_infantry_4_position_y;
  uint16_t opponent_aerial_position_x;
  uint16_t opponent_aerial_position_y;
  uint16_t opponent_sentry_position_x;
  uint16_t opponent_sentry_position_y;
  uint16_t ally_hero_position_x;
  uint16_t ally_hero_position_y;
  uint16_t ally_engineer_position_x;
  uint16_t ally_engineer_position_y;
  uint16_t ally_infantry_3_position_x;
  uint16_t ally_infantry_3_position_y;
  uint16_t ally_infantry_4_position_x;
  uint16_t ally_infantry_4_position_y;
  uint16_t ally_aerial_position_x;
  uint16_t ally_aerial_position_y;
  uint16_t ally_sentry_position_x;
  uint16_t ally_sentry_position_y;
} __packed ClientMapReceiveData;
 
typedef struct
{
  uint16_t hero_position_x;
  uint16_t hero_position_y;
  uint16_t engineer_position_x;
  uint16_t engineer_position_y;
  uint16_t infantry_3_position_x;
  uint16_t infantry_3_position_y;
  uint16_t infantry_4_position_x;
  uint16_t infantry_4_position_y;
  uint16_t aerial_position_x;
  uint16_t aerial_position_y;
  uint16_t sentry_position_x;
  uint16_t sentry_position_y;
} __packed RadarWirelessEnemyRobotPos;
 
typedef struct
{
  uint16_t hero_hp;
  uint16_t engineer_hp;
  uint16_t infantry_3_hp;
  uint16_t infantry_4_hp;
  uint16_t reserved;
  uint16_t sentry_hp;
} __packed RadarWirelessEnemyRobotHp;
 
typedef struct
{
  uint16_t hero_projectile_allowance;
  uint16_t infantry_3_projectile_allowance;
  uint16_t infantry_4_projectile_allowance;
  uint16_t aerial_projectile_allowance;
  uint16_t sentry_projectile_allowance;
} __packed RadarWirelessEnemyProjectileAllowance;
 
typedef struct
{
  uint16_t remaining_coin;
  uint16_t total_coin;
  uint32_t field_status;
} __packed RadarWirelessEnemyCoinAndFieldStatus;
 
typedef struct
{
  uint8_t hero_recovery_buff;
  uint16_t hero_cooling_buff;
  uint8_t hero_defense_buff;
  uint8_t hero_negative_defense_buff;
  uint16_t hero_attack_buff;
  uint8_t engineer_recovery_buff;
  uint16_t engineer_cooling_buff;
  uint8_t engineer_defense_buff;
  uint8_t engineer_negative_defense_buff;
  uint16_t engineer_attack_buff;
  uint8_t infantry_3_recovery_buff;
  uint16_t infantry_3_cooling_buff;
  uint8_t infantry_3_defense_buff;
  uint8_t infantry_3_negative_defense_buff;
  uint16_t infantry_3_attack_buff;
  uint8_t infantry_4_recovery_buff;
  uint16_t infantry_4_cooling_buff;
  uint8_t infantry_4_defense_buff;
  uint8_t infantry_4_negative_defense_buff;
  uint16_t infantry_4_attack_buff;
  uint8_t sentry_recovery_buff;
  uint16_t sentry_cooling_buff;
  uint8_t sentry_defense_buff;
  uint8_t sentry_negative_defense_buff;
  uint16_t sentry_attack_buff;
  uint8_t sentry_posture;
} __packed RadarWirelessEnemyRobotBuff;
 
typedef struct
{
  uint8_t ascii_data[6];
} __packed RadarWirelessEnemyCallSign;
 
typedef struct
{
  InteractiveDataHeader header_data;
  uint8_t target_robot_ID;
  float target_position_x;
  float target_position_y;
} __packed SentryAttackingTargetData;
 
typedef struct
{
  InteractiveDataHeader header_data;
  uint8_t robot_ID;
  float position_x;
  float position_y;
  bool engineer_marked;
} __packed RadarToSentryData;
 
typedef struct
{
  int16_t mouse_x;
  int16_t mouse_y;
  int16_t mouse_z;
  int8_t left_button_down;
  int8_t right_button_down;
  uint16_t keyboard_value;
  uint16_t reserved;
} __packed RobotCommandData;
 
typedef struct
{
  uint8_t intention;
  uint16_t start_position_x;
  uint16_t start_position_y;
  int8_t delta_x[49];
  int8_t delta_y[49];
  uint16_t sender_id;
} __packed MapSentryData;
 
typedef struct
{
  InteractiveDataHeader header_data;
  uint8_t bullet_42_mm_num;
  uint8_t bullet_17_mm_num;
} __packed BulletNumData;
 
typedef struct
{
  uint16_t sender_id;
  uint16_t receiver_id;
  uint8_t user_data[30];
} __packed CustomInfo;
 
typedef struct
{
  uint8_t chassis_power_high_8_bit;
  uint8_t chassis_power_low_8_bit;
  uint8_t chassis_expect_power_high_8_bit;
  uint8_t chassis_expect_power_low_8_bit;
  uint8_t capacity_recent_charge_power_high_8_bit;
  uint8_t capacity_recent_charge_power_low_8_bit;
  uint8_t capacity_remain_charge_high_8_bit;
  uint8_t capacity_remain_charge_low_8_bit;
  uint8_t capacity_expect_charge_power;
  uint8_t power_management_topology : 2;
  uint8_t power_management_protection_info : 2;
  uint8_t state_machine_running_state : 4;
} __packed PowerManagementSampleAndStatusData;
 
typedef struct
{
  int8_t error_code;
  char string[31];
} __packed PowerManagementInitializationExceptionData;
 
typedef struct
{
  uint32_t r_0;
  uint32_t r_1;
  uint32_t r_2;
  uint32_t r_3;
  uint32_t r_12;
  uint32_t LR;
  uint32_t PC;
  uint32_t PSR;
} __packed PowerManagementSystemExceptionData;
 
typedef struct
{
  char process_name[32];
} __packed PowerManagementProcessStackOverflowData;
 
typedef struct
{
  uint8_t abnormal_reset_reason;
  uint8_t power_management_before_reset_topology : 4;
  uint8_t state_machine_before_reset_mode : 4;
} __packed PowerManagementUnknownExceptionData;
 
/***********************Frame tail(CRC8_CRC16)********************************************/
const uint8_t kCrc8Init = 0xff;
const uint8_t kCrc8Table[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,
};
const uint16_t kCrc16Init = 0xffff;
const uint16_t wCRC_table[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
};
}  // namespace rm_referee