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Update hero ui #228

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merged 6 commits into from
Jul 1, 2024
Merged

Update hero ui #228

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1454a78
Add wheel speed ui and fix bug.
GuraMumei May 29, 2024
b92c524
Merge branch 'master' of github.com:GuraMumei/rm_control
GuraMumei May 29, 2024
f486623
Update referee_base.cpp
GuraMumei May 29, 2024
b10f38e
Merge branch 'rm-controls:master' into master
GuraMumei Jun 12, 2024
3ccc86d
Update hero ui.
GuraMumei Jun 12, 2024
478afbe
Merge branch 'master' of github.com:GuraMumei/rm_control
GuraMumei Jun 12, 2024
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3 changes: 3 additions & 0 deletions rm_referee/include/rm_referee/referee_base.h
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Original file line number Diff line number Diff line change
Expand Up @@ -62,6 +62,7 @@ class RefereeBase
virtual void sendRadarCmdCallback(const rm_msgs::RadarInfoConstPtr& data);
virtual void sendSentryStateCallback(const std_msgs::StringConstPtr& data);
virtual void dronePoseCallBack(const geometry_msgs::PoseStampedConstPtr& data);
virtual void shootCmdCallBack(const rm_msgs::ShootCmdConstPtr& data);

// send ui
void sendSerialDataCallback();
Expand Down Expand Up @@ -90,13 +91,15 @@ class RefereeBase
ros::Subscriber radar_cmd_sub_;
ros::Subscriber sentry_state_sub_;
ros::Subscriber drone_pose_sub_;
ros::Subscriber shoot_cmd_sub_;

ChassisTriggerChangeUi* chassis_trigger_change_ui_{};
ShooterTriggerChangeUi* shooter_trigger_change_ui_{};
GimbalTriggerChangeUi* gimbal_trigger_change_ui_{};
TargetTriggerChangeUi* target_trigger_change_ui_{};
TargetViewAngleTriggerChangeUi* target_view_angle_trigger_change_ui_{};
CameraTriggerChangeUi* camera_trigger_change_ui_{};
FrictionSpeedTriggerChangeUi* friction_speed_trigger_change_ui_{};

BulletTimeChangeUi* bullet_time_change_ui_{};
CapacitorTimeChangeUi* capacitor_time_change_ui_{};
Expand Down
13 changes: 13 additions & 0 deletions rm_referee/include/rm_referee/ui/trigger_change_ui.h
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Expand Up @@ -239,4 +239,17 @@ class StringTriggerChangeUi : public TriggerChangeUi
std::string data_;
};

class FrictionSpeedTriggerChangeUi : public TriggerChangeUi
{
public:
explicit FrictionSpeedTriggerChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::deque<Graph>* graph_queue,
std::deque<Graph>* character_queue)
: TriggerChangeUi(rpc_value, base, "friction_speed", graph_queue, character_queue){};
void updateFrictionSpeedUiData(const rm_msgs::ShootCmdConstPtr& data);

private:
void update() override;
double wheel_speed_;
};

} // namespace rm_referee
15 changes: 13 additions & 2 deletions rm_referee/src/referee_base.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,8 @@ RefereeBase::RefereeBase(ros::NodeHandle& nh, Base& base) : base_(base), nh_(nh)
nh.subscribe<std_msgs::String>("/sentry_state", 1, &RefereeBase::sendSentryStateCallback, this);
RefereeBase::drone_pose_sub_ =
nh.subscribe<geometry_msgs::PoseStamped>("/mavros/vision_pose/pose", 1, &RefereeBase::dronePoseCallBack, this);
RefereeBase::shoot_cmd_sub_ = nh.subscribe<rm_msgs::ShootCmd>("/controllers/shooter_controller/command", 1,
&RefereeBase::shootCmdCallBack, this);

XmlRpc::XmlRpcValue rpc_value;
send_ui_queue_delay_ = getParam(nh, "send_ui_queue_delay", 0.15);
Expand All @@ -72,6 +74,9 @@ 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"] == "friction_speed")
friction_speed_trigger_change_ui_ =
new FrictionSpeedTriggerChangeUi(rpc_value[i], base_, &graph_queue_, &character_queue_);
if (rpc_value[i]["name"] == "gripper")
gripper_state_trigger_change_ui_ =
new StringTriggerChangeUi(rpc_value[i], base_, "gripper", &graph_queue_, &character_queue_);
Expand Down Expand Up @@ -212,14 +217,14 @@ void RefereeBase::addUi()
engineer_joint3_time_change_ui->addForQueue();
if (drone_towards_time_change_group_ui_)
drone_towards_time_change_group_ui_->addForQueue();
// if (drag_state_trigger_change_ui_)
// 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 (friction_speed_trigger_change_ui_)
friction_speed_trigger_change_ui_->addForQueue();
if (bullet_time_change_ui_)
{
bullet_time_change_ui_->reset();
Expand Down Expand Up @@ -560,4 +565,10 @@ void RefereeBase::updateShootDataDataCallBack(const rm_msgs::ShootData& msg)
exceed_bullet_speed_flash_ui_->updateShootData(msg);
}

void RefereeBase::shootCmdCallBack(const rm_msgs::ShootCmdConstPtr& data)
{
if (friction_speed_trigger_change_ui_ && !is_adding_)
friction_speed_trigger_change_ui_->updateFrictionSpeedUiData(data);
}

} // namespace rm_referee
16 changes: 8 additions & 8 deletions rm_referee/src/ui/flash_ui.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -10,21 +10,23 @@ void FlashUi::updateFlashUiForQueue(const ros::Time& time, bool state, bool once
{
if (once)
{
// ROS_INFO("test");
if (state)
graph_->setOperation(rm_referee::GraphOperation::ADD);
else
graph_->setOperation(rm_referee::GraphOperation::DELETE);
}
else if (time - last_send_ > delay_)
{
ROS_INFO("%f %.3f", last_send_.toSec(), delay_.toSec());
// ROS_INFO("%f %.3f", last_send_.toSec(), delay_.toSec());
if (state)
graph_->setOperation(rm_referee::GraphOperation::ADD);
else
graph_->setOperation(rm_referee::GraphOperation::DELETE);
// graph_->setOperation(graph_->getOperation() == rm_referee::GraphOperation::ADD ?
// rm_referee::GraphOperation::DELETE :
// rm_referee::GraphOperation::ADD);
// ROS_INFO("delay");
}
if (graph_->isRepeated())
return;
Expand Down Expand Up @@ -65,25 +67,23 @@ void HeroHitFlashUi::updateHittingConfig(const rm_msgs::GameRobotHp& msg)
if (base_.robot_id_ > 100)
{
hitted_ =
(last_hp_msg_.red_outpost_hp - msg.red_outpost_hp > 175 || last_hp_msg_.red_base_hp - msg.red_base_hp > 175);
(last_hp_msg_.red_outpost_hp - msg.red_outpost_hp > 190 || last_hp_msg_.red_base_hp - msg.red_base_hp > 190);
}
else
{
hitted_ = (last_hp_msg_.blue_outpost_hp - msg.blue_outpost_hp > 175 ||
last_hp_msg_.blue_base_hp - msg.blue_base_hp > 175);
hitted_ = (last_hp_msg_.blue_outpost_hp - msg.blue_outpost_hp > 190 ||
last_hp_msg_.blue_base_hp - msg.blue_base_hp > 190);
}
last_hp_msg_ = msg;
display(ros::Time::now());
}

void HeroHitFlashUi::display(const ros::Time& time)
{
if (hitted_)
{
graph_->setOperation(rm_referee::GraphOperation::ADD);
FlashUi::updateFlashUiForQueue(time, true, true);
}
else
FlashUi::updateFlashUiForQueue(time, hitted_, false);
FlashUi::updateFlashUiForQueue(time, false, false);
}

void ExceedBulletSpeedFlashUi::display(const ros::Time& time)
Expand Down
6 changes: 4 additions & 2 deletions rm_referee/src/ui/time_change_ui.cpp
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Expand Up @@ -326,12 +326,14 @@ void BulletTimeChangeUi::updateBulletData(const rm_msgs::BulletAllowance& data,
{
if (data.bullet_allowance_num_17_mm >= 0 && data.bullet_allowance_num_17_mm < 1000)
{
bullet_num_17_mm_ += (bullet_allowance_num_17_mm_ - data.bullet_allowance_num_17_mm);
if (bullet_allowance_num_17_mm_ > data.bullet_allowance_num_17_mm)
bullet_num_17_mm_ += (bullet_allowance_num_17_mm_ - data.bullet_allowance_num_17_mm);
bullet_allowance_num_17_mm_ = data.bullet_allowance_num_17_mm;
}
if (data.bullet_allowance_num_42_mm >= 0 && data.bullet_allowance_num_42_mm < 1000)
{
bullet_num_42_mm_ += (bullet_allowance_num_42_mm_ - data.bullet_allowance_num_42_mm);
if (bullet_allowance_num_42_mm_ > data.bullet_allowance_num_42_mm)
bullet_num_42_mm_ += (bullet_allowance_num_42_mm_ - data.bullet_allowance_num_42_mm);
bullet_allowance_num_42_mm_ = data.bullet_allowance_num_42_mm;
}
updateForQueue();
Expand Down
13 changes: 13 additions & 0 deletions rm_referee/src/ui/trigger_change_ui.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -437,4 +437,17 @@ void StringTriggerChangeUi::update()
updateForQueue(true);
}

void FrictionSpeedTriggerChangeUi::updateFrictionSpeedUiData(const rm_msgs::ShootCmdConstPtr& data)
{
wheel_speed_ = data->wheel_speed;
update();
}

void FrictionSpeedTriggerChangeUi::update()
{
graph_->setRadius(std::floor(wheel_speed_));
graph_->setOperation(rm_referee::GraphOperation::UPDATE);
updateForQueue(true);
}

} // namespace rm_referee
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