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自瞄上下位机通信协议

本协议适用于基于rm_serial_driver开发的上位机

接收数据包（ReceivePacket），下位机发给上位机

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struct ReceivePacket
{
  uint8_t header = 0x5A;
  uint8_t detect_color : 1;  // 目标颜色（0-red 1-blue）
  uint8_t task_mode : 2;     // 任务模式 0-根据比赛时长自动判断 1-指定自瞄 2-指定打符
  bool reset_tracker : 1;    // 复位
  uint8_t is_play : 1;       // 开启/关闭消息录制
  bool change_target : 1;    // 切换目标
  uint8_t reserved : 2;      // 保留位
  float roll;                // 当前云台姿态
  float pitch;
  float yaw;
  float aim_x;               // 当前云台瞄准位置（用于发布marker）
  float aim_y;
  float aim_z;
  uint16_t game_time;  // (s) game time [0, 450]
  uint32_t timestamp;  // (ms) board time
  uint16_t checksum = 0;
} __attribute__((packed));

发送数据包（SendPacket），上位机发给下位机

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struct SendPacket
{
  uint8_t header = 0xA5;
  uint8_t state : 2;       // 0-untracking 1-tracking-aim 2-tracking-buff
  uint8_t id : 3;          // aim: 0-outpost 6-guard 7-base
  uint8_t armors_num : 3;  // 2-balance 3-outpost 4-normal
  float x;                 // aim: robot-center || buff: rune-center
  float y;                 // aim: robot-center || buff: rune-center
  float z;                 // aim: robot-center || buff: rune-center
  float yaw;               // aim: robot-yaw || buff: rune-theta
  // spd = a*sin(w*t)+b || spd > 0 ==> clockwise
  float vx;  // aim: robot-vx || buff: rune spin speed param - a
  float vy;  // aim: robot-vy || buff: rune spin speed param - b
  float vz;  // aim: robot-vz || buff: rune spin speed param - w
  float v_yaw;
  float r1;
  float r2;
  float dz;
  uint32_t cap_timestamp;  // (ms) frame capture time
  uint16_t t_offset;       // (ms) speed t offset
  uint16_t checksum = 0;
} __attribute__((packed));