From 0168afd2665e469345b2caac1608bf4ee13fed39 Mon Sep 17 00:00:00 2001 From: cc0h <7921166012@qq.com> Date: Sat, 27 Apr 2024 22:20:43 +0800 Subject: [PATCH 1/3] Add ExchangerMsg.msg. --- rm_msgs/CMakeLists.txt | 1 + rm_msgs/msg/ExchangerMsg.msg | 4 ++++ 2 files changed, 5 insertions(+) create mode 100644 rm_msgs/msg/ExchangerMsg.msg diff --git a/rm_msgs/CMakeLists.txt b/rm_msgs/CMakeLists.txt index e0b80be3..88b85c64 100644 --- a/rm_msgs/CMakeLists.txt +++ b/rm_msgs/CMakeLists.txt @@ -14,6 +14,7 @@ add_message_files( ActuatorState.msg BalanceState.msg DbusData.msg + ExchangerMsg.msg ChassisCmd.msg ShootCmd.msg ShootState.msg diff --git a/rm_msgs/msg/ExchangerMsg.msg b/rm_msgs/msg/ExchangerMsg.msg new file mode 100644 index 00000000..b7707004 --- /dev/null +++ b/rm_msgs/msg/ExchangerMsg.msg @@ -0,0 +1,4 @@ +uint8 flag +uint8 shape +geometry_msgs/Point middle_point +geometry_msgs/Pose pose \ No newline at end of file From c9e9f3ad0271c1d3496ea937ffb64b8465597986 Mon Sep 17 00:00:00 2001 From: cc0h <7921166012@qq.com> Date: Tue, 7 May 2024 18:23:07 +0800 Subject: [PATCH 2/3] add engineer ui. --- rm_referee/include/rm_referee/referee_base.h | 6 ++--- rm_referee/src/referee_base.cpp | 28 +++++++++++--------- 2 files changed, 18 insertions(+), 16 deletions(-) diff --git a/rm_referee/include/rm_referee/referee_base.h b/rm_referee/include/rm_referee/referee_base.h index ece8bafd..c48cfc9f 100644 --- a/rm_referee/include/rm_referee/referee_base.h +++ b/rm_referee/include/rm_referee/referee_base.h @@ -106,9 +106,9 @@ class RefereeBase JointPositionTimeChangeUi *engineer_joint1_time_change_ui{}, *engineer_joint2_time_change_ui{}, *engineer_joint3_time_change_ui{}; TargetDistanceTimeChangeUi* target_distance_time_change_ui_{}; - StringTriggerChangeUi *step_name_trigger_change_ui_{}, *servo_mode_trigger_change_ui_{}, - *reversal_state_trigger_change_ui_{}, *stone_num_trigger_change_ui_{}, *joint_temperature_trigger_change_ui_{}, - *drag_state_trigger_change_ui_{}, *gripper_state_trigger_change_ui_{}; + StringTriggerChangeUi *servo_mode_trigger_change_ui_{}, + *stone_num_trigger_change_ui_{}, *joint_temperature_trigger_change_ui_{}, + *gripper_state_trigger_change_ui_{}; FixedUi* fixed_ui_{}; diff --git a/rm_referee/src/referee_base.cpp b/rm_referee/src/referee_base.cpp index 9bed0804..a00b3b7c 100644 --- a/rm_referee/src/referee_base.cpp +++ b/rm_referee/src/referee_base.cpp @@ -70,22 +70,16 @@ RefereeBase::RefereeBase(ros::NodeHandle& nh, Base& base) : base_(base), nh_(nh) new TargetViewAngleTriggerChangeUi(rpc_value[i], base_, &graph_queue_, &character_queue_); if (rpc_value[i]["name"] == "camera") camera_trigger_change_ui_ = new CameraTriggerChangeUi(rpc_value[i], base_, &graph_queue_, &character_queue_); - // if (rpc_value[i]["name"] == "drag") - // drag_state_trigger_change_ui_ = - // new StringTriggerChangeUi(rpc_value[i], base_, &graph_queue_, &character_queue_, "drag"); if (rpc_value[i]["name"] == "gripper") gripper_state_trigger_change_ui_ = new StringTriggerChangeUi(rpc_value[i], base_, "gripper", &graph_queue_, &character_queue_); - // if (rpc_value[i]["name"] == "step") - // step_name_trigger_change_ui_ = new StringTriggerChangeUi(rpc_value[i], base_, "step"); - // if (rpc_value[i]["name"] == "reversal") - // reversal_state_trigger_change_ui_ = new StringTriggerChangeUi(rpc_value[i], base_, "reversal"); - // if (rpc_value[i]["name"] == "stone") - // stone_num_trigger_change_ui_ = new StringTriggerChangeUi(rpc_value[i], base_, "stone"); - // if (rpc_value[i]["name"] == "temperature") - // joint_temperature_trigger_change_ui_ = new StringTriggerChangeUi(rpc_value[i], base_, "temperature"); - // if (rpc_value[i]["name"] == "servo_mode") - // servo_mode_trigger_change_ui_ = new StringTriggerChangeUi(rpc_value[i], base_, "mode"); + if (rpc_value[i]["name"] == "servo_mode") + servo_mode_trigger_change_ui_ = + new StringTriggerChangeUi(rpc_value[i], base_, "servo_mode", &graph_queue_, &character_queue_); + if (rpc_value[i]["name"] == "stone") + stone_num_trigger_change_ui_ = + new StringTriggerChangeUi(rpc_value[i], base_, "stone_num", &graph_queue_, &character_queue_); + } ui_nh.getParam("time_change", rpc_value); @@ -213,6 +207,10 @@ void RefereeBase::addUi() // drag_state_trigger_change_ui_->addForQueue(); if (gripper_state_trigger_change_ui_) gripper_state_trigger_change_ui_->addForQueue(); + if (stone_num_trigger_change_ui_) + stone_num_trigger_change_ui_->addForQueue(); + if(servo_mode_trigger_change_ui_) + servo_mode_trigger_change_ui_->addForQueue(); if (bullet_time_change_ui_) { bullet_time_change_ui_->reset(); @@ -429,6 +427,10 @@ void RefereeBase::engineerUiDataCallback(const rm_msgs::EngineerUi::ConstPtr& da drag_state_trigger_change_ui_->updateStringUiData(data->drag_state);*/ if (gripper_state_trigger_change_ui_ && !is_adding_) gripper_state_trigger_change_ui_->updateStringUiData(data->gripper_state); + if (stone_num_trigger_change_ui_ && !is_adding_) + stone_num_trigger_change_ui_->updateStringUiData(std::to_string(data->stone_num)); + if(servo_mode_trigger_change_ui_ && !is_adding_) + servo_mode_trigger_change_ui_->updateStringUiData(data->control_mode); } void RefereeBase::manualDataCallBack(const rm_msgs::ManualToReferee::ConstPtr& data) { From 12070fe3e2ef8f3a38e4b06ad32da16a1a2ae8e1 Mon Sep 17 00:00:00 2001 From: cc0h <7921166012@qq.com> Date: Tue, 7 May 2024 18:31:16 +0800 Subject: [PATCH 3/3] modify format. --- rm_msgs/msg/ExchangerMsg.msg | 2 +- rm_referee/include/rm_referee/referee_base.h | 5 ++--- rm_referee/src/referee_base.cpp | 5 ++--- 3 files changed, 5 insertions(+), 7 deletions(-) diff --git a/rm_msgs/msg/ExchangerMsg.msg b/rm_msgs/msg/ExchangerMsg.msg index b7707004..34362a49 100644 --- a/rm_msgs/msg/ExchangerMsg.msg +++ b/rm_msgs/msg/ExchangerMsg.msg @@ -1,4 +1,4 @@ uint8 flag uint8 shape geometry_msgs/Point middle_point -geometry_msgs/Pose pose \ No newline at end of file +geometry_msgs/Pose pose diff --git a/rm_referee/include/rm_referee/referee_base.h b/rm_referee/include/rm_referee/referee_base.h index c48cfc9f..111a0290 100644 --- a/rm_referee/include/rm_referee/referee_base.h +++ b/rm_referee/include/rm_referee/referee_base.h @@ -106,9 +106,8 @@ class RefereeBase JointPositionTimeChangeUi *engineer_joint1_time_change_ui{}, *engineer_joint2_time_change_ui{}, *engineer_joint3_time_change_ui{}; TargetDistanceTimeChangeUi* target_distance_time_change_ui_{}; - StringTriggerChangeUi *servo_mode_trigger_change_ui_{}, - *stone_num_trigger_change_ui_{}, *joint_temperature_trigger_change_ui_{}, - *gripper_state_trigger_change_ui_{}; + StringTriggerChangeUi *servo_mode_trigger_change_ui_{}, *stone_num_trigger_change_ui_{}, + *joint_temperature_trigger_change_ui_{}, *gripper_state_trigger_change_ui_{}; FixedUi* fixed_ui_{}; diff --git a/rm_referee/src/referee_base.cpp b/rm_referee/src/referee_base.cpp index a00b3b7c..c5a4277d 100644 --- a/rm_referee/src/referee_base.cpp +++ b/rm_referee/src/referee_base.cpp @@ -79,7 +79,6 @@ RefereeBase::RefereeBase(ros::NodeHandle& nh, Base& base) : base_(base), nh_(nh) if (rpc_value[i]["name"] == "stone") stone_num_trigger_change_ui_ = new StringTriggerChangeUi(rpc_value[i], base_, "stone_num", &graph_queue_, &character_queue_); - } ui_nh.getParam("time_change", rpc_value); @@ -209,7 +208,7 @@ void RefereeBase::addUi() gripper_state_trigger_change_ui_->addForQueue(); if (stone_num_trigger_change_ui_) stone_num_trigger_change_ui_->addForQueue(); - if(servo_mode_trigger_change_ui_) + if (servo_mode_trigger_change_ui_) servo_mode_trigger_change_ui_->addForQueue(); if (bullet_time_change_ui_) { @@ -429,7 +428,7 @@ void RefereeBase::engineerUiDataCallback(const rm_msgs::EngineerUi::ConstPtr& da gripper_state_trigger_change_ui_->updateStringUiData(data->gripper_state); if (stone_num_trigger_change_ui_ && !is_adding_) stone_num_trigger_change_ui_->updateStringUiData(std::to_string(data->stone_num)); - if(servo_mode_trigger_change_ui_ && !is_adding_) + if (servo_mode_trigger_change_ui_ && !is_adding_) servo_mode_trigger_change_ui_->updateStringUiData(data->control_mode); } void RefereeBase::manualDataCallBack(const rm_msgs::ManualToReferee::ConstPtr& data)