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Modify the logic of switch and some names. #176

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merged 10 commits into from
Jul 24, 2023
Merged

Modify the logic of switch and some names. #176

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f5e9f2f
Modify double barrel command sender.
Edwinlinks Jul 6, 2023
fa2af4c
Delete unused header.
Edwinlinks Jul 6, 2023
7dba350
Fix some logic bug about switching barrel.
NaHCO3bc Jul 9, 2023
2c544c2
Solve the bug that the frequency of shooter will not be set before th…
NaHCO3bc Jul 9, 2023
12bd9af
Add setMode
NaHCO3bc Jul 10, 2023
94ba2a1
Parameterize some thresholds.
NaHCO3bc Jul 12, 2023
95c9e88
Move the switchBarrel function into sendcommand.
NaHCO3bc Jul 12, 2023
6773ce0
Change the param name to is_switching and simplify the logic
NaHCO3bc Jul 12, 2023
085a426
Add two duration judgements to optimize the logic.
NaHCO3bc Jul 15, 2023
299d99e
Modify some names of params and add a frequency threshold
NaHCO3bc Jul 19, 2023
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125 changes: 61 additions & 64 deletions rm_common/include/rm_common/decision/command_sender.h
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Original file line number Diff line number Diff line change
Expand Up @@ -699,8 +699,12 @@ class DoubleBarrelCommandSender
barrel_nh.getParam("is_double_barrel", is_double_barrel_);
barrel_nh.getParam("id1_point", id1_point_);
barrel_nh.getParam("id2_point", id2_point_);
barrel_nh.getParam("restart_push_threshold", restart_push_threshold_);
barrel_nh.getParam("cooling_threshold", cooling_threshold_);
barrel_nh.getParam("current_id_frequency_threshold", current_id_fre_threshold_);
barrel_nh.getParam("current_id_frequency_threshold", another_id_fre_threshold_);
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应该一个参数就行了吧？为啥要两个

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应该一个参数就行了吧？为啥要两个

因为叶子哥说频率等于0的条件太苛刻了，要参数化

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应该一个参数就行了吧？为啥要两个

因为叶子哥说频率等于0的条件太苛刻了，要参数化

凯子意思是说你两个变量都读同一个参数，一个变量就够了

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应该一个参数就行了吧？为啥要两个

因为叶子哥说频率等于0的条件太苛刻了，要参数化

凯子意思是说你两个变量都读同一个参数，一个变量就够了

嘶那是我写错了，应该读的是不同的参数

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所以是打算用同一个参数还是怎么样

barrel_nh.getParam("check_launch_threshold", check_launch_threshold_);
barrel_nh.getParam("check_switch_threshold", check_switch_threshold_);
barrel_nh.getParam("ready_duration", ready_duration_);
barrel_nh.getParam("switching_duration", switching_duration_);

joint_state_sub_ = nh.subscribe<sensor_msgs::JointState>("/joint_states", 10,
&DoubleBarrelCommandSender::jointStateCallback, this);
Expand Down Expand Up @@ -741,46 +745,36 @@ class DoubleBarrelCommandSender

void setMode(int mode)
{
shooter_ID1_cmd_sender_->setMode(mode);
shooter_ID2_cmd_sender_->setMode(mode);
getBarrel()->setMode(mode);
}
void setZero()
{
shooter_ID1_cmd_sender_->setZero();
shooter_ID2_cmd_sender_->setZero();
getBarrel()->setZero();
}
void checkError(const ros::Time& time)
{
shooter_ID1_cmd_sender_->checkError(time);
shooter_ID2_cmd_sender_->checkError(time);
getBarrel()->checkError(time);
}
void sendCommand(const ros::Time& time)
{
if (doSwitch())
{
switch_barrel_ = true;
switch_done_ = false;
}
if ((shooter_ID1_cmd_sender_->getMsg()->mode == rm_msgs::ShootCmd::PUSH ||
shooter_ID2_cmd_sender_->getMsg()->mode == rm_msgs::ShootCmd::PUSH) &&
switch_barrel_)
{
setMode(rm_msgs::ShootCmd::READY);
if (!switch_done_)
switchBarrel();
else
doRestartPush();
}
shooter_ID1_cmd_sender_->sendCommand(time);
shooter_ID2_cmd_sender_->sendCommand(time);
if (checkSwitch())
need_switch_ = true;
if (need_switch_)
switchBarrel();
checklaunch();
if (getBarrel()->getMsg()->mode == rm_msgs::ShootCmd::PUSH)
last_push_time_ = time;
getBarrel()->sendCommand(time);
}
int initBarrelId()
void init()
{
ros::Time time = ros::Time::now();
barrel_id_ = 0;
barrel_command_sender_->setPoint(id1_point_);
shooter_ID1_cmd_sender_->setMode(rm_msgs::ShootCmd::STOP);
shooter_ID2_cmd_sender_->setMode(rm_msgs::ShootCmd::STOP);
barrel_command_sender_->sendCommand(time);
return barrel_id_;
shooter_ID1_cmd_sender_->sendCommand(time);
shooter_ID2_cmd_sender_->sendCommand(time);
}
void setArmorType(uint8_t armor_type)
{
Expand All @@ -789,73 +783,74 @@ class DoubleBarrelCommandSender
}
void setShootFrequency(uint8_t mode)
{
shooter_ID1_cmd_sender_->setShootFrequency(mode);
shooter_ID2_cmd_sender_->setShootFrequency(mode);
getBarrel()->setShootFrequency(mode);
}
uint8_t getShootFrequency()
{
return shooter_ID1_cmd_sender_->getShootFrequency();
return getBarrel()->getShootFrequency();
}
double getSpeed()
{
return shooter_ID1_cmd_sender_->getSpeed();
return getBarrel()->getSpeed();
}

private:
int getBarrelId()
ShooterCommandSender* getBarrel()
{
if (barrel_command_sender_->getMsg()->data == id1_point_)
barrel_id_ = 0;
is_id1_ = true;
else
barrel_id_ = 1;
return barrel_id_;
is_id1_ = false;
return is_id1_ ? shooter_ID1_cmd_sender_ : shooter_ID2_cmd_sender_;
}
void switchBarrel()
{
ros::Time time = ros::Time::now();
if (std::fmod(std::abs(trigger_error_), 2. * M_PI) < 0.01)
switch_done_ = true;
if (switch_done_)
bool time_to_switch = (std::fmod(std::abs(trigger_error_), 2. * M_PI) < check_switch_threshold_);
setMode(rm_msgs::ShootCmd::READY);
if (time_to_switch || (time - last_push_time_).toSec() > ready_duration_)
{
barrel_command_sender_->getMsg()->data == id2_point_ ? barrel_command_sender_->setPoint(id1_point_) :
barrel_command_sender_->setPoint(id2_point_);
barrel_command_sender_->sendCommand(time);
last_switch_time_ = time;
need_switch_ = false;
is_switching_ = true;
}
}
void doRestartPush()

void checklaunch()
{
if (std::abs(joint_state_.position[barrel_command_sender_->getIndex()] - barrel_command_sender_->getMsg()->data) <
restart_push_threshold_)
ros::Time time = ros::Time::now();
if (is_switching_)
{
switch_barrel_ = false;
setMode(rm_msgs::ShootCmd::PUSH);
setMode(rm_msgs::ShootCmd::READY);
if ((time - last_switch_time_).toSec() > switching_duration_ ||
(std::abs(joint_state_.position[barrel_command_sender_->getIndex()] -
barrel_command_sender_->getMsg()->data) < check_launch_threshold_))
is_switching_ = false;
}
}

bool doSwitch()
bool checkSwitch()
{
if (!is_double_barrel_)
return false;
int shooter_ID1_cooling_limit = shooter_ID1_cmd_sender_->heat_limit_->getCoolingLimit();
int shooter_ID2_cooling_limit = shooter_ID2_cmd_sender_->heat_limit_->getCoolingLimit();
int shooter_ID1_cooling_heat = shooter_ID1_cmd_sender_->heat_limit_->getCoolingHeat();
int shooter_ID2_cooling_heat = shooter_ID2_cmd_sender_->heat_limit_->getCoolingHeat();

if (shooter_ID1_cooling_limit == 0 || shooter_ID2_cooling_limit == 0)
if (shooter_ID1_cmd_sender_->heat_limit_->getCoolingLimit() == 0 ||
shooter_ID2_cmd_sender_->heat_limit_->getCoolingLimit() == 0)
{
ROS_WARN("Can not get cooling limit");
ROS_WARN_ONCE("Can not get cooling limit");
return false;
}

if (shooter_ID1_cooling_limit - shooter_ID1_cooling_heat < cooling_threshold_[0] ||
shooter_ID2_cooling_limit - shooter_ID2_cooling_heat < cooling_threshold_[0])
if (shooter_ID1_cmd_sender_->heat_limit_->getShootFrequency() < current_id_fre_threshold_ ||
shooter_ID2_cmd_sender_->heat_limit_->getShootFrequency() < current_id_fre_threshold_)
{
if (getBarrelId())
return shooter_ID2_cooling_limit - shooter_ID2_cooling_heat < cooling_threshold_[0] &&
shooter_ID1_cooling_limit - shooter_ID1_cooling_heat > cooling_threshold_[1];
if (getBarrel() == shooter_ID1_cmd_sender_)
return getBarrel()->heat_limit_->getShootFrequency() < current_id_fre_threshold_ &&
shooter_ID2_cmd_sender_->heat_limit_->getShootFrequency() > another_id_fre_threshold_;
else
return shooter_ID1_cooling_limit - shooter_ID1_cooling_heat < cooling_threshold_[0] &&
shooter_ID2_cooling_limit - shooter_ID2_cooling_heat > cooling_threshold_[1];
return getBarrel()->heat_limit_->getShootFrequency() < current_id_fre_threshold_ &&
shooter_ID1_cmd_sender_->heat_limit_->getShootFrequency() > another_id_fre_threshold_;
}
else
return false;
Expand All @@ -874,12 +869,14 @@ class DoubleBarrelCommandSender
ros::Subscriber trigger_state_sub_;
ros::Subscriber joint_state_sub_;
sensor_msgs::JointState joint_state_;
bool is_double_barrel_{ false }, switch_barrel_{ false }, switch_done_{ true };
bool is_double_barrel_{ false }, need_switch_{ false }, is_switching_{ false };
ros::Time last_switch_time_, last_push_time_;
double ready_duration_, switching_duration_;
double trigger_error_;
int barrel_id_;
bool is_id1_{ false };
double id1_point_, id2_point_;
double restart_push_threshold_;
std::vector<int> cooling_threshold_;
double current_id_fre_threshold_, another_id_fre_threshold_;
double check_launch_threshold_, check_switch_threshold_;
};

} // namespace rm_common
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