Merge pull request #122 from cc0h/master

Merge rm manual of 2024 Engineer.
rm-controls · Oct 4, 2024 · 4663552 · 4663552
2 parents 8509fdb + e0c3a10
commit 4663552
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diff --git a/include/rm_manual/engineer2_manual.h b/include/rm_manual/engineer2_manual.h
@@ -0,0 +1,193 @@
+//
+// Created by qiayuan on 5/23/21.
+//
+
+#pragma once
+
+#include "chassis_gimbal_manual.h"
+
+#include <utility>
+#include <std_srvs/Empty.h>
+#include <actionlib/client/simple_action_client.h>
+#include <rm_common/decision/calibration_queue.h>
+#include <std_msgs/Float64.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <rm_msgs/EngineerAction.h>
+#include <rm_msgs/MultiDofCmd.h>
+#include <rm_msgs/GpioData.h>
+#include <rm_msgs/EngineerUi.h>
+#include <rm_msgs/VisualizeStateData.h>
+#include <stack>
+#include "unordered_map"
+
+namespace rm_manual
+{
+class Engineer2Manual : public ChassisGimbalManual
+{
+public:
+  enum ControlMode
+  {
+    MANUAL,
+    MIDDLEWARE
+  };
+
+  enum JointMode
+  {
+    SERVO,
+    JOINT
+  };
+
+  enum GimbalMode
+  {
+    RATE,
+    DIRECT
+  };
+
+  enum SpeedMode
+  {
+    LOW,
+    NORMAL,
+    FAST,
+    EXCHANGE,
+    BIG_ISLAND_SPEED
+  };
+
+  Engineer2Manual(ros::NodeHandle& nh, ros::NodeHandle& nh_referee);
+  void run() override;
+
+private:
+  void changeSpeedMode(SpeedMode speed_mode);
+  void checkKeyboard(const rm_msgs::DbusData::ConstPtr& dbus_data) override;
+  void updateRc(const rm_msgs::DbusData::ConstPtr& dbus_data) override;
+  void updatePc(const rm_msgs::DbusData::ConstPtr& dbus_data) override;
+  void updateServo(const rm_msgs::DbusData::ConstPtr& dbus_data);
+  void dbusDataCallback(const rm_msgs::DbusData::ConstPtr& data) override;
+  void gpioStateCallback(const rm_msgs::GpioData::ConstPtr& data);
+  void stoneNumCallback(const std_msgs::String ::ConstPtr& data);
+  void sendCommand(const ros::Time& time) override;
+  void runStepQueue(const std::string& step_queue_name);
+  void actionFeedbackCallback(const rm_msgs::EngineerFeedbackConstPtr& feedback);
+  void actionDoneCallback(const actionlib::SimpleClientGoalState& state, const rm_msgs::EngineerResultConstPtr& result);
+
+  void initMode();
+  void enterServo();
+  void actionActiveCallback()
+  {
+    operating_mode_ = MIDDLEWARE;
+  }
+  void remoteControlTurnOff() override;
+  void chassisOutputOn() override;
+  void gimbalOutputOn() override;
+
+  void rightSwitchUpRise() override;
+  void rightSwitchMidRise() override;
+  void rightSwitchDownRise() override;
+  void leftSwitchUpRise() override;
+  void leftSwitchUpFall();
+  void leftSwitchDownRise() override;
+  void leftSwitchDownFall();
+  void ctrlAPress();
+  void ctrlBPress();
+  void ctrlBPressing();
+  void ctrlBRelease();
+  void ctrlCPress();
+  void ctrlDPress();
+  void ctrlEPress();
+  void ctrlFPress();
+  void ctrlGPress();
+  void ctrlQPress();
+  void ctrlRPress();
+  void ctrlSPress();
+  void ctrlVPress();
+  void ctrlVRelease();
+  void ctrlWPress();
+  void ctrlXPress();
+  void ctrlZPress();
+
+  void bPressing();
+  void bRelease();
+  void cPressing();
+  void cRelease();
+  void ePressing();
+  void eRelease();
+  void fPress();
+  void fRelease();
+  void gPress();
+  void gRelease();
+  void qPressing();
+  void qRelease();
+  void rPress();
+  void rRelease();
+  void vPressing();
+  void vRelease();
+  void xPress();
+  void zPressing();
+  void zRelease();
+
+  void shiftPressing();
+  void shiftRelease();
+  void shiftBPress();
+  void shiftBRelease();
+  void shiftCPress();
+  void shiftEPress();
+  void shiftFPress();
+  void shiftGPress();
+  void shiftQPress();
+  void shiftRPress();
+  void shiftRRelease();
+  void shiftVPress();
+  void shiftVRelease();
+  void shiftXPress();
+  void shiftZPress();
+  void shiftZRelease();
+
+  void mouseLeftRelease();
+  void mouseRightRelease();
+
+  // Servo
+
+  bool mouse_left_pressed_{}, mouse_right_pressed_{}, had_ground_stone_{ false }, main_gripper_on_{ false },
+      had_side_gold_{ false }, stone_state_[4]{};
+  double angular_z_scale_{}, gyro_scale_{}, fast_gyro_scale_{}, low_gyro_scale_{}, normal_gyro_scale_{},
+      exchange_gyro_scale_{}, fast_speed_scale_{}, low_speed_scale_{}, normal_speed_scale_{}, exchange_speed_scale_{},
+      big_island_speed_scale_{};
+
+  std::string prefix_{}, root_{}, exchange_direction_{ "left" }, exchange_arm_position_{ "normal" };
+  int operating_mode_{}, servo_mode_{ 1 }, gimbal_mode_{}, gimbal_direction_{ 0 };
+
+  std::stack<std::string> stone_num_{};
+
+  ros::Time last_time_;
+  ros::Subscriber stone_num_sub_, gripper_state_sub_;
+  ros::Publisher engineer_ui_pub_, gripper_ui_pub_;
+
+  rm_msgs::GpioData gpio_state_;
+  rm_msgs::EngineerUi engineer_ui_, old_ui_;
+  rm_msgs::VisualizeStateData gripper_ui_;
+
+  rm_common::Vel3DCommandSender* servo_command_sender_;
+  rm_common::ServiceCallerBase<std_srvs::Empty>* servo_reset_caller_;
+  rm_common::CalibrationQueue* calibration_gather_{};
+
+  actionlib::SimpleActionClient<rm_msgs::EngineerAction> action_client_;
+
+  InputEvent left_switch_up_event_, left_switch_down_event_, ctrl_a_event_, ctrl_b_event_, ctrl_c_event_, ctrl_d_event_,
+      ctrl_e_event_, ctrl_f_event_, ctrl_g_event_, ctrl_q_event_, ctrl_r_event_, ctrl_s_event_, ctrl_v_event_,
+      ctrl_w_event_, ctrl_x_event_, ctrl_z_event_, b_event_, c_event_, e_event_, f_event_, g_event_, q_event_, r_event_,
+      v_event_, x_event_, z_event_, shift_event_, shift_b_event_, shift_c_event_, shift_e_event_, shift_f_event_,
+      shift_g_event_, shift_v_event_, shift_q_event_, shift_r_event_, shift_x_event_, shift_z_event_, mouse_left_event_,
+      mouse_right_event_;
+
+  std::unordered_map<std::string, int> stoneNumMap_ = {
+    { "+g", 0 }, { "+s1", 1 }, { "+s2", 2 }, { "+s3", 3 }, { "-g", 0 }, { "-s1", 1 }, { "-s2", 2 }, { "-s3", 3 },
+  };
+
+  enum UiState
+  {
+    NONE,
+    BIG_ISLAND,
+    SMALL_ISLAND
+  };
+};
+
+}  // namespace rm_manual
diff --git a/include/rm_manual/engineer_manual.h b/include/rm_manual/engineer_manual.h
@@ -16,6 +16,7 @@
 #include <rm_msgs/MultiDofCmd.h>
 #include <rm_msgs/GpioData.h>
 #include <rm_msgs/EngineerUi.h>
+#include <stack>
 
 namespace rm_manual
 {
@@ -48,6 +49,13 @@ class EngineerManual : public ChassisGimbalManual
     EXCHANGE
   };
 
+  enum ServoOrientation
+  {
+    MID,
+    RIGHT,
+    LEFT
+  };
+
   EngineerManual(ros::NodeHandle& nh, ros::NodeHandle& nh_referee);
   void run() override;
 
@@ -122,40 +130,47 @@ class EngineerManual : public ChassisGimbalManual
   void shiftBPress();
   void shiftBRelease();
   void shiftCPress();
+  void shiftEPress();
   void shiftFPress();
   void shiftGPress();
+  void shiftQPress();
   void shiftRPress();
   void shiftRRelease();
   void shiftVPress();
   void shiftVRelease();
   void shiftXPress();
   void shiftZPress();
+  void shiftZRelease();
 
   void mouseLeftRelease();
   void mouseRightRelease();
 
   // Servo
 
-  bool change_flag_{};
+  bool change_flag_{}, ore_rotator_pos_{ false }, shift_z_pressed_{ false }, ore_lifter_on_{ false },
+      v_pressed_{ false };
+
   double angular_z_scale_{}, gyro_scale_{}, fast_gyro_scale_{}, low_gyro_scale_{}, normal_gyro_scale_{},
       exchange_gyro_scale_{}, fast_speed_scale_{}, low_speed_scale_{}, normal_speed_scale_{}, exchange_speed_scale_{};
 
-  std::string prefix_{}, root_{}, reversal_state_{}, drag_state_{ "off" }, gripper_state_{ "off" };
-  int operating_mode_{}, servo_mode_{}, gimbal_mode_{}, stone_num_{ 0 }, gimbal_height_{ 0 };
+  std::string prefix_{}, root_{}, reversal_state_{}, drag_state_{ "off" }, gripper_state_{ "off" }, last_ore_{};
+
+  int operating_mode_{}, servo_mode_{}, servo_orientation_{ 0 }, gimbal_mode_{}, gimbal_height_{ 0 },
+      gimbal_direction_{ 0 }, ore_lifter_pos_{ 0 };
+
+  std::stack<std::string> stone_num_{};
 
   ros::Time last_time_;
   ros::Subscriber stone_num_sub_, gripper_state_sub_;
   ros::Publisher engineer_ui_pub_;
 
   rm_msgs::GpioData gpio_state_;
-  rm_msgs::EngineerUi engineer_ui_;
+  rm_msgs::EngineerUi engineer_ui_, previous_ui_;
 
   rm_common::Vel3DCommandSender* servo_command_sender_;
   rm_common::ServiceCallerBase<std_srvs::Empty>* servo_reset_caller_;
-  rm_common::JointPositionBinaryCommandSender *extend_arm_a_command_sender_, *extend_arm_b_command_sender_;
-  rm_common::JointPointCommandSender *ore_bin_lifter_command_sender_, *ore_bin_rotate_command_sender_,
-      *gimbal_lifter_command_sender_;
-  rm_common::CalibrationQueue *calibration_gather_{}, *pitch_calibration_;
+
+  rm_common::CalibrationQueue *calibration_gather_{}, *pitch_calibration_, *ore_bin_lifter_calibration_{};
 
   actionlib::SimpleActionClient<rm_msgs::EngineerAction> action_client_;
 

diff --git a/include/rm_manual/manual_base.h b/include/rm_manual/manual_base.h
@@ -159,7 +159,7 @@ class ManualBase
   ros::NodeHandle nh_;
 
   ros::Time referee_last_get_stamp_;
-  bool remote_is_open_{}, referee_is_online_ = false;
+  bool remote_is_open_{ false }, referee_is_online_ = false;
   int state_ = PASSIVE;
   int robot_id_, chassis_power_;
   int chassis_output_on_ = 0, gimbal_output_on_ = 0, shooter_output_on_ = 0;

diff --git a/launch/load.launch b/launch/load.launch
@@ -1,5 +1,5 @@
 <launch>
-    <arg name="robot_type" default="$(env ROBOT_TYPE)" doc="Robot type [standard, hero, engineer]"/>
+    <arg name="robot_type" default="$(env ROBOT_TYPE)" doc="Robot type [standard, hero, engineer, engineer2]"/>
 
     <rosparam file="$(find rm_config)/config/rm_controllers/$(arg robot_type).yaml" command="load"/>
     <rosparam file="$(find rm_manual)/config/$(arg robot_type).yaml" command="load"/>

diff --git a/src/chassis_gimbal_manual.cpp b/src/chassis_gimbal_manual.cpp
@@ -72,10 +72,10 @@ void ChassisGimbalManual::checkKeyboard(const rm_msgs::DbusData::ConstPtr& dbus_
   ManualBase::checkKeyboard(dbus_data);
   if (robot_id_ == rm_msgs::GameRobotStatus::RED_ENGINEER || robot_id_ == rm_msgs::GameRobotStatus::BLUE_ENGINEER)
   {
-    w_event_.update((!dbus_data->key_ctrl) && (!dbus_data->key_shift) && dbus_data->key_w);
-    s_event_.update((!dbus_data->key_ctrl) && (!dbus_data->key_shift) && dbus_data->key_s);
-    a_event_.update((!dbus_data->key_ctrl) && (!dbus_data->key_shift) && dbus_data->key_a);
-    d_event_.update((!dbus_data->key_ctrl) && (!dbus_data->key_shift) && dbus_data->key_d);
+    w_event_.update((!dbus_data->key_ctrl) && dbus_data->key_w);
+    s_event_.update((!dbus_data->key_ctrl) && dbus_data->key_s);
+    a_event_.update((!dbus_data->key_ctrl) && dbus_data->key_a);
+    d_event_.update((!dbus_data->key_ctrl) && dbus_data->key_d);
   }
   else
   {