Merge pull request #74 from 1moule/modify_key

Modify some key logic and add function of adjusting friction wheel speed by key
rm-controls · Aug 2, 2023 · 467958a · 467958a
2 parents e6c208a + 2449f61
commit 467958a
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Showing 3 changed files with 30 additions and 21 deletions.
diff --git a/include/rm_manual/balance_manual.h b/include/rm_manual/balance_manual.h
@@ -27,13 +27,13 @@ class BalanceManual : public ChassisGimbalShooterCoverManual
   void sPressing() override;
   void dPressing() override;
   void bPress() override;
+  void vPress() override;
   void ctrlZPress() override;
   void rightSwitchDownRise() override;
   void rightSwitchMidRise() override;
 
   void sendCommand(const ros::Time& time) override;
   void checkKeyboard(const rm_msgs::DbusData::ConstPtr& dbus_data) override;
-  void vPress();
   void ctrlXPress();
   void modeFallen(ros::Duration duration);
   void modeNormalize();

diff --git a/include/rm_manual/chassis_gimbal_shooter_manual.h b/include/rm_manual/chassis_gimbal_shooter_manual.h
@@ -76,10 +76,11 @@ class ChassisGimbalShooterManual : public ChassisGimbalManual
   void aRelease() override;
   void sRelease() override;
   void dRelease() override;
-
   virtual void gPress();
+  virtual void vPress();
   virtual void xPress();
   virtual void ePress();
+  virtual void eRelease();
   virtual void cPress();
   virtual void bPress();
   virtual void rPress();
@@ -88,10 +89,11 @@ class ChassisGimbalShooterManual : public ChassisGimbalManual
   virtual void shiftRelease();
   void qPress()
   {
-    if (shooter_cmd_sender_->getShootFrequency() != rm_common::HeatLimit::LOW)
-      shooter_cmd_sender_->setShootFrequency(rm_common::HeatLimit::LOW);
-    else
-      shooter_cmd_sender_->setShootFrequency(rm_common::HeatLimit::BURST);
+    shooter_cmd_sender_->setShootFrequency(rm_common::HeatLimit::BURST);
+  }
+  void qRelease()
+  {
+    shooter_cmd_sender_->setShootFrequency(rm_common::HeatLimit::LOW);
   }
   void fPress()
   {
@@ -103,8 +105,8 @@ class ChassisGimbalShooterManual : public ChassisGimbalManual
   virtual void ctrlQPress();
 
   InputEvent self_inspection_event_, game_start_event_, e_event_, c_event_, g_event_, q_event_, f_event_, b_event_,
-      x_event_, r_event_, ctrl_v_event_, ctrl_b_event_, ctrl_q_event_, ctrl_r_event_, shift_event_, ctrl_shift_b_event_,
-      mouse_left_event_, mouse_right_event_;
+      x_event_, r_event_, v_event_, ctrl_v_event_, ctrl_b_event_, ctrl_q_event_, ctrl_r_event_, shift_event_,
+      ctrl_shift_b_event_, mouse_left_event_, mouse_right_event_;
   rm_common::ShooterCommandSender* shooter_cmd_sender_{};
   rm_common::CameraSwitchCommandSender* camera_switch_cmd_sender_{};
   rm_common::JointPositionBinaryCommandSender* scope_cmd_sender_{};
@@ -116,8 +118,6 @@ class ChassisGimbalShooterManual : public ChassisGimbalManual
 
   geometry_msgs::PointStamped point_out_;
 
-  uint8_t last_det_color_{};
-
   bool prepare_shoot_ = false, turn_flag_ = false, is_balance_ = false, use_scope_ = false,
        adjust_image_transmission_ = false;
   double yaw_current_{};

diff --git a/src/chassis_gimbal_shooter_manual.cpp b/src/chassis_gimbal_shooter_manual.cpp
@@ -41,15 +41,18 @@ ChassisGimbalShooterManual::ChassisGimbalShooterManual(ros::NodeHandle& nh, ros:
   game_start_event_.setRising(boost::bind(&ChassisGimbalShooterManual::gameStart, this));
   left_switch_up_event_.setActiveHigh(boost::bind(&ChassisGimbalShooterManual::leftSwitchUpOn, this, _1));
   left_switch_mid_event_.setActiveHigh(boost::bind(&ChassisGimbalShooterManual::leftSwitchMidOn, this, _1));
-  e_event_.setRising(boost::bind(&ChassisGimbalShooterManual::ePress, this));
+  e_event_.setEdge(boost::bind(&ChassisGimbalShooterManual::ePress, this),
+                   boost::bind(&ChassisGimbalShooterManual::eRelease, this));
   c_event_.setRising(boost::bind(&ChassisGimbalShooterManual::cPress, this));
-  q_event_.setRising(boost::bind(&ChassisGimbalShooterManual::qPress, this));
+  q_event_.setEdge(boost::bind(&ChassisGimbalShooterManual::qPress, this),
+                   boost::bind(&ChassisGimbalShooterManual::qRelease, this));
   f_event_.setRising(boost::bind(&ChassisGimbalShooterManual::fPress, this));
   b_event_.setRising(boost::bind(&ChassisGimbalShooterManual::bPress, this));
   x_event_.setRising(boost::bind(&ChassisGimbalShooterManual::xPress, this));
   x_event_.setActiveLow(boost::bind(&ChassisGimbalShooterManual::xReleasing, this));
   r_event_.setRising(boost::bind(&ChassisGimbalShooterManual::rPress, this));
   g_event_.setRising(boost::bind(&ChassisGimbalShooterManual::gPress, this));
+  v_event_.setRising(boost::bind(&ChassisGimbalShooterManual::vPress, this));
   ctrl_v_event_.setRising(boost::bind(&ChassisGimbalShooterManual::ctrlVPress, this));
   ctrl_b_event_.setRising(boost::bind(&ChassisGimbalShooterManual::ctrlBPress, this));
   ctrl_q_event_.setRising(boost::bind(&ChassisGimbalShooterManual::ctrlQPress, this));
@@ -92,6 +95,7 @@ void ChassisGimbalShooterManual::checkKeyboard(const rm_msgs::DbusData::ConstPtr
   b_event_.update((!dbus_data->key_ctrl && !dbus_data->key_shift) & dbus_data->key_b);
   x_event_.update(dbus_data->key_x & !dbus_data->key_ctrl);
   r_event_.update((!dbus_data->key_ctrl) & dbus_data->key_r);
+  v_event_.update((!dbus_data->key_ctrl) & dbus_data->key_v);
   ctrl_v_event_.update(dbus_data->key_ctrl & dbus_data->key_v);
   ctrl_b_event_.update(dbus_data->key_ctrl & dbus_data->key_b & !dbus_data->key_shift);
   ctrl_q_event_.update(dbus_data->key_ctrl & dbus_data->key_q);
@@ -358,7 +362,14 @@ void ChassisGimbalShooterManual::mouseRightPress()
 
 void ChassisGimbalShooterManual::ePress()
 {
-  switch_armor_target_srv_->switchArmorTargetType();
+  switch_armor_target_srv_->setArmorTargetType(rm_msgs::StatusChangeRequest::ARMOR_OUTPOST_BASE);
+  switch_armor_target_srv_->callService();
+  shooter_cmd_sender_->setArmorType(switch_armor_target_srv_->getArmorTarget());
+}
+
+void ChassisGimbalShooterManual::eRelease()
+{
+  switch_armor_target_srv_->setArmorTargetType(rm_msgs::StatusChangeRequest::ARMOR_ALL);
   switch_armor_target_srv_->callService();
   shooter_cmd_sender_->setArmorType(switch_armor_target_srv_->getArmorTarget());
 }
@@ -407,14 +418,7 @@ void ChassisGimbalShooterManual::rPress()
 
 void ChassisGimbalShooterManual::gPress()
 {
-  if (switch_detection_srv_->getColor() != rm_msgs::StatusChangeRequest::PURPLE)
-  {
-    last_det_color_ = switch_detection_srv_->getColor();
-    switch_detection_srv_->setColor(rm_msgs::StatusChangeRequest::PURPLE);
-  }
-  else
-    switch_detection_srv_->setColor(last_det_color_);
-  switch_detection_srv_->callService();
+  shooter_cmd_sender_->dropSpeed();
 }
 
 void ChassisGimbalShooterManual::wPress()
@@ -550,6 +554,11 @@ void ChassisGimbalShooterManual::xReleasing()
   }
 }
 
+void ChassisGimbalShooterManual::vPress()
+{
+  shooter_cmd_sender_->raiseSpeed();
+}
+
 void ChassisGimbalShooterManual::shiftPress()
 {
   chassis_cmd_sender_->power_limit_->updateState(rm_common::PowerLimit::BURST);