Ref Update 2026

src/comms/data/comms_ref_data.hpp

@@ -1,7 +1,7 @@
-#pragma once 
+#pragma once
 
-#include "comms/data/comms_data.hpp"            // for CommsData
-#include <stdint.h>                             // uintN_t
+#include "comms/data/comms_data.hpp" // for CommsData
+#include <stdint.h>                  // uintN_t
 
 /// @copydoc GameStatus
 struct GameStatusData {
@@ -24,31 +24,16 @@ struct GameResultData {
 
 /// @copydoc GameRobotHP
 struct RobotHealthData {
-    /// @brief health of the red hero robot
-    uint32_t red_hero_health = 0;
-    /// @brief health of the red engineer robot
-    uint32_t red_engineer_health = 0;
-    /// @brief health of the red standard 3 robot 
-    uint32_t red_standard_3_health = 0;
-    /// @brief health of the red standard 4 robot 
-    uint32_t red_standard_4_health = 0;
-    /// @brief health of the red standard 5 robot
-    uint32_t red_standard_5_health = 0;
-    /// @brief health of the red sentry robot
-    uint32_t red_sentry_health = 0;
-
-    /// @brief health of the blue hero robot
-    uint32_t blue_hero_health = 0;
-    /// @brief health of the blue engineer robot
-    uint32_t blue_engineer_health = 0;
-    /// @brief health of the blue standard 3 robot
-    uint32_t blue_standard_3_health = 0;
-    /// @brief health of the blue standard 4 robot
-    uint32_t blue_standard_4_health = 0;
-    /// @brief health of the blue standard 5 robot
-    uint32_t blue_standard_5_health = 0;
-    /// @brief health of the blue sentry robot
-    uint32_t blue_sentry_health = 0;
+    /// @copydoc GameRobotHP::hero_health
+    uint32_t hero_health = 0;
+    /// @copydoc GameRobotHP::engineer_health
+    uint32_t engineer_health = 0;
+    /// @copydoc GameRobotHP::standard_3_health
+    uint32_t standard_3_health = 0;
+    /// @copydoc GameRobotHP::standard_4_health
+    uint32_t standard_4_health = 0;
+    /// @copydoc GameRobotHP::sentry_health
+    uint32_t sentry_health = 0;
 };
 /// @copydoc EventData
 struct GameEventData {
@@ -82,18 +67,10 @@ struct RobotPerformanceData {
 };
 /// @copydoc RobotPowerHeat
 struct RobotPowerHeatData {
-    /// @copydoc RobotPowerHeat::chassis_voltage_output
-    uint32_t chassis_voltage_output = 0;
-    /// @copydoc RobotPowerHeat::chassis_current_output
-    uint32_t chassis_current_output = 0;
-    /// @copydoc RobotPowerHeat::chassis_power
-    float chassis_power = 0.f;
     /// @copydoc RobotPowerHeat::buffer_energy
     uint32_t buffer_energy = 0;
-    /// @copydoc RobotPowerHeat::barrel_heat_1_17mm
-    uint32_t barrel_heat_1_17mm = 0;
-    /// @copydoc RobotPowerHeat::barrel_heat_2_17mm
-    uint32_t barrel_heat_2_17mm = 0;
+    /// @copydoc RobotPowerHeat::barrel_heat_17mm
+    uint32_t barrel_heat_17mm = 0;
     /// @copydoc RobotPowerHeat::barrel_heat_42mm
     uint32_t barrel_heat_42mm = 0;
 };
@@ -130,7 +107,7 @@ struct ProjectileAllowanceData {
 /// @brief Mega struct fo al of the ref data we want to send over comms
 struct CommsRefData : Comms::CommsData {
     /// @brief default constructor that initializes the CommsData base class with the appropriate type label, physical medium, priority, and size for this struct
-    CommsRefData() : CommsData(Comms::TypeLabel::CommsRefData, Comms::PhysicalMedium::Ethernet, Comms::Priority::High, sizeof(CommsRefData)) { }
+    CommsRefData() : CommsData(Comms::TypeLabel::CommsRefData, Comms::PhysicalMedium::Ethernet, Comms::Priority::High, sizeof(CommsRefData)) {}
     /// @brief status of the current game
     GameStatusData game_status_data;
     /// @brief result of the current game
@@ -151,4 +128,4 @@ struct CommsRefData : Comms::CommsData {
     ProjectileAllowanceData projectile_allowance_data;
     /// @brief padding to ensure proper alignment
     uint32_t _padding = 0;
-};
+};

src/sensors/RefSystem.cpp

@@ -248,9 +248,6 @@ void RefSystem::set_ref_data(Frame& frame, uint8_t raw_buffer[REF_MAX_PACKET_SIZ
     case FrameType::EVENT_DATA:
         ref_data.event_data.set_data(frame.data);
         break;
-    case FrameType::PROJECTILE_SUPPLIER_STATUS:
-        ref_data.projectile_supplier_status.set_data(frame.data);
-        break;
     case FrameType::REFEREE_WARNING:
         ref_data.referee_warning.set_data(frame.data);
         break;
@@ -269,9 +266,6 @@ void RefSystem::set_ref_data(Frame& frame, uint8_t raw_buffer[REF_MAX_PACKET_SIZ
     case FrameType::ROBOT_BUFF:
         ref_data.robot_buff.set_data(frame.data);
         break;
-    case FrameType::AIR_SUPPORT_STATUS:
-        ref_data.air_support_status.set_data(frame.data);
-        break;
     case FrameType::DAMAGE_STATUS:
         ref_data.damage_status.set_data(frame.data);
         damage_status_changed = true;
@@ -310,9 +304,6 @@ void RefSystem::set_ref_data(Frame& frame, uint8_t raw_buffer[REF_MAX_PACKET_SIZ
     case FrameType::SMALL_MAP_COMMAND:
         ref_data.small_map_command.set_data(frame.data);
         break;
-    case FrameType::KBM_INTERACTION:
-        ref_data.kbm_interaction.set_data(frame.data);
-        break;
     case FrameType::SMALL_MAP_RADAR_POSITION:
         ref_data.small_map_radar_position.set_data(frame.data);
         break;
@@ -325,6 +316,16 @@ void RefSystem::set_ref_data(Frame& frame, uint8_t raw_buffer[REF_MAX_PACKET_SIZ
     case FrameType::SMALL_MAP_ROBOT_DATA:
         ref_data.small_map_robot_data.set_data(frame.data);
         break;
+    case FrameType::ROBOT_CUSTOM_CONTROLLER_DATA:
+        ref_data.robot_custom_controller_data.set_data(frame.data);
+        break;
+    case FrameType::ROBOT_CUSTOM_CLIENT_DATA:
+        ref_data.robot_custom_client_data.set_data(frame.data);
+        break;
+    case FrameType::CUSTOM_CLIENT_ROBOT_COMMAND:
+        ref_data.custom_client_robot_command.set_data(frame.data);
+        ref_data.keyboard_mouse_control.set_data(frame.data, frame.header.data_length);
+        break;
     default:
         Serial.println("Ref System::set_ref_data: Unknown Frame Type");
         break;