[Controller] add needReport

Robocup-ssl-China · May 15, 2024 · 178f020 · 178f020
1 parent 49b7a5d
commit 178f020
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Showing 5 changed files with 95 additions and 70 deletions.
diff --git a/Controller/src/qml/main.qml b/Controller/src/qml/main.qml
@@ -7,16 +7,9 @@ import QtGamepad 1.0
 import Client.Component 1.0 as Client
 ApplicationWindow{
     visible:true;
-    width:580;
+    width:650;
     height:700;
     color: "#333"
-    /*
-    //固定窗口大小
-    minimumHeight: height;
-    minimumWidth: width;
-    maximumHeight: height;
-    maximumWidth: width;
-    */
     id:window;
     Client.Serial { id : serial; }
     Client.Translator{ id : translator; }
@@ -156,7 +149,8 @@ ApplicationWindow{
                         property int velYStep : 20;//VyStep
                         property int velRStep : 20;//VrStep
                         property bool mode : false;//KickMode
-                        property int dribbleLevel : 2;//DribLevel
+                        property bool needReport : false;
+                        property int dribbleLevel : 3;//DribLevel
                         property int rushSpeed : 20;//RushSpeed
 
                         property int m_VEL : 255//MaxVel
@@ -170,15 +164,25 @@ ApplicationWindow{
                         property int itemWidth : (width-columnSpacing*(columns-1))/columns;
 
                         ZText{ text:qsTr("Robot") + translator.emptyString }
-                        //最多12辆车
                         SpinBox{ minimumValue:0; maximumValue:15; value:parent.robotID; width:parent.itemWidth
                             onEditingFinished:{parent.robotID = value}}
                         ZText{ text:"Stop" }
-                        //有用吗？
-                        Button{ text:qsTr("[Space]") + translator.emptyString;width:parent.itemWidth
+                        Button{ text:qsTr("[Space]") + translator.emptyString;width:parent.itemWidth;
+                            onClicked: { crazyShow.updateStop(); }
+                        }
+                        ZText{ text:"Report [R]" }
+                        Button{ 
+                            text: crazyShow.needReport ? qsTr("True") : qsTr("False") + translator.emptyString;width:parent.itemWidth;
+                            onClicked: {
+                                crazyShow.needReport = !crazyShow.needReport;
+                            }
+                            style: ButtonStyle{
+                                background: Rectangle{
+                                    radius: 2
+                                    color: crazyShow.needReport ? "#9BF80C" : "lightgrey";
+                                }
+                            }
                         }
-                        ZText{ text:" " }
-                        ZText{ text:" " }
                         ZText{ text:qsTr("Vx [W/S]") + translator.emptyString }
                         //Vx:(-m_VEL, m_VEL)
                         SpinBox{ minimumValue:-crazyShow.m_VEL; maximumValue:crazyShow.m_VEL; value:parent.velX;width:parent.itemWidth
@@ -214,14 +218,20 @@ ApplicationWindow{
                         SpinBox{ minimumValue:1; maximumValue:crazyShow.velocityRMax; value:parent.m_VELR;width:parent.itemWidth
                             onEditingFinished:{parent.m_VELR = value;}}
                         ZText{ text:qsTr("Shoot [E]") + translator.emptyString}
-                        Button{ text:(parent.shoot? qsTr("true") : qsTr("false")) + translator.emptyString;width:parent.itemWidth
+                        Button{ text:(parent.shoot? qsTr("True") : qsTr("False")) + translator.emptyString;width:parent.itemWidth
                             onClicked: {
                                 parent.shoot = !parent.shoot;
                             }
+                            style: ButtonStyle{
+                                background: Rectangle{
+                                    radius: 2
+                                    color: crazyShow.shoot ? "#9BF80C" : "lightgrey";
+                                }
+                            }
                         }
 
                         ZText{ text:qsTr("KickMode [Up]")  + translator.emptyString}
-                        Button{ text:(parent.mode?qsTr("chip"):qsTr("flat")) + translator.emptyString;width:parent.itemWidth
+                        Button{ text:(parent.mode?qsTr("Chip"):qsTr("Flat")) + translator.emptyString;width:parent.itemWidth
                             onClicked: {
                                 parent.mode = !parent.mode
                             }
@@ -231,31 +241,37 @@ ApplicationWindow{
                         SpinBox{ minimumValue:0; maximumValue:parent.kickPowerMax; value:parent.power;width:parent.itemWidth
                             onEditingFinished:{parent.power = value;}}
                         ZText{ text:qsTr("Dribb [Q]") + translator.emptyString }
-                        Button{ text:(parent.dribble ? qsTr("true") : qsTr("false")) +translator.emptyString;width:parent.itemWidth
+                        Button{ text:(parent.dribble ? qsTr("True") : qsTr("False")) +translator.emptyString;width:parent.itemWidth
                             onClicked: {
                                 parent.dribble = !parent.dribble;
                             }
+                            style: ButtonStyle{
+                                background: Rectangle{
+                                    radius: 2
+                                    color: crazyShow.dribble ? "#9BF80C" : "lightgrey";
+                                }
+                            }
                         }
                         ZText{ text:qsTr("DribLevel")  + translator.emptyString}
                         //DribLevel:(0, dribbleMaxLevel)
                         SpinBox{ minimumValue:0; maximumValue:crazyShow.dribbleMaxLevel; value:parent.dribbleLevel;width:parent.itemWidth
                             onEditingFinished:{parent.dribbleLevel = value;}}
-                        ZText{ text:" " }
-                        ZText{ text:" " }
-                        ZText{ text:qsTr("Rush [G]") + translator.emptyString }
-                        Button{ text:(parent.rush ? qsTr("true") : qsTr("false")) +translator.emptyString;width:parent.itemWidth;
-                            onClicked: {
-                                parent.rush = !parent.rush;
-                                crazyShow.updateRush();
-                            }
-                        }
-                        ZText{ text:qsTr("RushSpeed")  + translator.emptyString}
-                        //RushSpeed:(0, m_VEL)
-                        SpinBox{ minimumValue:0; maximumValue:crazyShow.m_VEL; value:parent.rushSpeed;width:parent.itemWidth
-                            onEditingFinished:{parent.rushSpeed = value;}}
+                        ZText{ text:"Shooting" }
                         Rectangle{
-                            width:parent.itemWidth; height:20; color:parent.shoot ? "red" : "lightgrey";
-                        }
+                            width:parent.itemWidth; height:24;radius:3; color:parent.shoot ? "#d9534f" : "lightgrey";
+                        }
+                        // ZText{ text:qsTr("Rush [G]") + translator.emptyString }
+                        // Button{ text:(parent.rush ? qsTr("True") : qsTr("False")) +translator.emptyString;width:parent.itemWidth;
+                        //     onClicked: {
+                        //         parent.rush = !parent.rush;
+                        //         crazyShow.updateRush();
+                        //     }
+                        // }
+                        // ZText{ text:qsTr("RushSpeed")  + translator.emptyString}
+                        // //RushSpeed:(0, m_VEL)
+                        // SpinBox{ minimumValue:0; maximumValue:crazyShow.m_VEL; value:parent.rushSpeed;width:parent.itemWidth
+                        //     onEditingFinished:{parent.rushSpeed = value;}}
+
 
                         //键盘响应实现
                         Keys.onPressed:getFocus(event);
@@ -293,6 +309,7 @@ ApplicationWindow{
                         }
                         function handleKeyboardEvent(e){
                             switch(e){
+                            case 'r':{crazyShow.needReport = !crazyShow.needReport;break;}
                             case 'U':{crazyShow.mode = !crazyShow.mode;break;}
                             case 'a':{crazyShow.velY = crazyShow.limitVel(crazyShow.velY-crazyShow.velYStep,-crazyShow.m_VEL,crazyShow.m_VEL);
                                 break;}
@@ -322,7 +339,7 @@ ApplicationWindow{
                         }
                         //serial.updateCommandParams在C++中实现
                         function updateCommand(){
-                            serial.updateCommandParams(crazyShow.robotID,crazyShow.velX,crazyShow.velY,crazyShow.velR,crazyShow.dribble,crazyShow.dribbleLevel,crazyShow.mode,crazyShow.shoot,crazyShow.power);
+                            serial.updateCommandParams(crazyShow.robotID,crazyShow.velX,crazyShow.velY,crazyShow.velR,crazyShow.dribble,crazyShow.dribbleLevel,crazyShow.mode,crazyShow.shoot,crazyShow.power,crazyShow.needReport);
                         }
                         function updateFromGamepad(){
                             crazyShow.velX = -parseInt(gamepad.axisLeftY*10)/10.0*crazyShow.m_VEL;
@@ -358,9 +375,13 @@ ApplicationWindow{
                             if(vel<minValue) return minValue;
                             return vel;
                         }
+                        // Shortcut{
+                        //     sequence:"G";
+                        //     onActivated:crazyShow.handleKeyboardEvent('g');
+                        // }
                         Shortcut{
-                            sequence:"G";
-                            onActivated:crazyShow.handleKeyboardEvent('g');
+                            sequence:"R";
+                            onActivated:crazyShow.handleKeyboardEvent('r');
                         }
                         Shortcut{
                             sequence:"A";

diff --git a/Controller/src/radiopacket.cpp b/Controller/src/radiopacket.cpp
@@ -3,6 +3,7 @@
 #include <QSerialPort>
 #include <QElapsedTimer>
 #include <cstdio>
+#include <thread>
 namespace  {
     struct NJ_Command{
         float power;
@@ -13,6 +14,7 @@ namespace  {
         int id;
         bool valid;
         bool kick_mode;
+        bool need_report;
     };
     void encodeLegacy(const NJ_Command& command,QByteArray& tx,int num);
 }
@@ -74,19 +76,27 @@ bool RadioPacket::sendCommand(){
     static QElapsedTimer timer;
     if(times == 0) timer.start();
     if(serialPtr != NULL){
-        encode();
-//        qDebug() << "0x" << transmitPacket.toHex();
-        //transmitPacket是包含命令的包
-        transmitPacket.data();
+        encode(true);
+        // //transmitPacket是包含命令的包
         serialPtr->write((transmitPacket.data()),TRANSMIT_PACKET_SIZE);
+        // // qDebug() << "sent 0x" << transmitPacket.toHex(); 
+        serialPtr->flush();
+        std::this_thread::sleep_for(std::chrono::milliseconds(4));
+        // serialPtr->write((transmitPacket.data()),TRANSMIT_PACKET_SIZE);
+        // // qDebug() << "sent 0x" << transmitPacket.toHex(); 
+        // serialPtr->flush();
+        encode(false);
+        std::this_thread::sleep_for(std::chrono::milliseconds(4));
+        serialPtr->write((transmitPacket.data()),TRANSMIT_PACKET_SIZE);
+        // qDebug() << "sent 0x" << transmitPacket.toHex(); 
         serialPtr->flush();
 //        sendSocket.writeDatagram(transmitPacket.data(), 25 ,QHostAddress("10.12.225.78"),1030);
         return true;
     }
     return false;
 }
 
-bool RadioPacket::encode(){
+bool RadioPacket::encode(bool fake){
     NJ_Command NJ_CMD;
 
     NJ_CMD.valid = true;
@@ -97,38 +107,30 @@ bool RadioPacket::encode(){
     NJ_CMD.dribble = this->ctrl ? this->ctrlPowerLevel : 0;
     NJ_CMD.power = this->shoot ? this->shootPowerLevel : 0;
     NJ_CMD.kick_mode = this->shootMode;
+    NJ_CMD.need_report = this->needReport;
 
     auto& tx = transmitPacket;
     int count = 0;
     tx.fill(0x00);
     tx[0] = 0xff;
     tx[21] = ((this->frequency&0x0f)<<4) | 0x07;
 
-    encodeLegacy(NJ_CMD,tx,0);
+    if(fake){
+        // NJ_CMD.id = 0;
+        // encodeLegacy(NJ_CMD,tx,0);
+        // NJ_CMD.id = 1;
+        // encodeLegacy(NJ_CMD,tx,1);
+        // NJ_CMD.id = 2;
+        // encodeLegacy(NJ_CMD,tx,2);
+    }else{
+        // NJ_CMD.id = 3;
+        encodeLegacy(NJ_CMD,tx,0);
+        // NJ_CMD.id = 4;
+        // encodeLegacy(NJ_CMD,tx,1);
+        // NJ_CMD.id = 5;
+        // encodeLegacy(NJ_CMD,tx,2);
+    }
 
-//    transmitPacket[0] = packageType | gameStatus;
-//    //RobotID
-//    transmitPacket[1] = (robotID) & 0x0f;
-//    transmitPacket[0] = transmitPacket[0] | 0x08;
-//    //Robot1 Config
-//    //shoot or chip
-//    transmitPacket[1] = transmitPacket[1] | (shootMode << 6 );
-//    //power level
-//    transmitPacket[1] = transmitPacket[1] | (ctrl ? (ctrlPowerLevel << 4):0);
-//    //速度的低位
-//    transmitPacket[2] = ((velX >= 0)?0:0x80) | (abs(velX) & 0x7f);
-//    transmitPacket[3] = ((velY >= 0)?0:0x80) | (abs(velY) & 0x7f);
-//    transmitPacket[4] = ((velR >= 0)?0:0x80) | (abs(velR) & 0x7f);
-//    //Don't understand !
-//    if(transmitPacket[2] == char(0xff)) transmitPacket[4] = 0xfe;
-//    if(transmitPacket[3] == char(0xff)) transmitPacket[5] = 0xfe;
-//    if(transmitPacket[4] == char(0xff)) transmitPacket[6] = 0xfe;
-//    //clear Byte[17-24]
-//    transmitPacket[17] = transmitPacket[18] = transmitPacket[19] = transmitPacket[20] = transmitPacket[21] = transmitPacket[22] = transmitPacket[23] = transmitPacket[24] = 0;
-//    //速度的高位
-//    transmitPacket[17] = ((abs(velX) & 0x180) >> 1) | ((abs(velY) & 0x180) >> 3) | ((abs(velR) & 0x780) >> 7);
-//    //shoot power
-//    transmitPacket[21] = (shoot ? shootPowerLevel:0) & 0x7f;
     return true;
 }
 namespace{
@@ -155,7 +157,7 @@ void encodeLegacy(const NJ_Command& command,QByteArray& tx,int num){
 
     TXBuff[2] =  TXBuff[2] | 0x01 << real_num;
     // dribble & kick_mode
-    TXBuff[6*i + 3] = 0x01 | ((((kick_mode?0x01:0x00)<<2)|(0x03 & dribble))<<4);
+    TXBuff[6*i + 3] = (command.need_report?0x08:0x00) | 0x01 | ((((kick_mode?0x01:0x00)<<2)|(0x03 & dribble))<<4);
 
     // velx
     if(vx < 0) TXBuff[6*i + 4] = TXBuff[6*i + 4] | (0x20);

diff --git a/Controller/src/radiopacket.h b/Controller/src/radiopacket.h
@@ -10,12 +10,13 @@ class RadioPacket
     explicit RadioPacket(QSerialPort* serialPtr);
     bool sendStartPacket();
     bool sendCommand();
-    void updateCommandParams(int robotID,int velX,int velY,int velR,bool ctrl,int ctrlLevel,bool mode,bool shoot,int power){
+    void updateCommandParams(int robotID,int velX,int velY,int velR,bool ctrl,int ctrlLevel,bool mode,bool shoot,int power,bool needReport){
         this->robotID = robotID;
         this->velX = velX; this->velY = velY; this->velR = velR;
         this->ctrl = ctrl;
         this->shootMode = mode;this->shoot = shoot; this->shootPowerLevel = power;
         this->ctrlPowerLevel = ctrlLevel;
+        this->needReport = needReport;
     }
     void updateFrequency(int);
 private:
@@ -26,7 +27,7 @@ class RadioPacket
     QByteArray transmitPacket;
     QSerialPort* serialPtr;
     int frequency;
-    bool encode();
+    bool encode(bool fake=false);
 private:
     QUdpSocket sendSocket;
     bool shoot;
@@ -42,6 +43,7 @@ class RadioPacket
     qint16 velR;
     quint16 ctrlPowerLevel;
     quint16 shootPowerLevel;
+    bool needReport;
 };
 
 #endif // RADIOPACKET_H
diff --git a/Controller/src/serialobject.h b/Controller/src/serialobject.h
@@ -20,8 +20,8 @@ class SerialObject : public QObject
     Q_INVOKABLE void closeSerialPort();
     Q_INVOKABLE void sendStartPacket();
     Q_INVOKABLE void sendCommand(){radioPacket.sendCommand();}
-    Q_INVOKABLE void updateCommandParams(int robotID,int velX,int velY,int velR,bool dribble,int dribbleLevel,bool mode,bool shoot,int power){
-        radioPacket.updateCommandParams(robotID,velX,velY,velR,dribble,dribbleLevel,mode,shoot,power);
+    Q_INVOKABLE void updateCommandParams(int robotID,int velX,int velY,int velR,bool dribble,int dribbleLevel,bool mode,bool shoot,int power,bool needReport){
+        radioPacket.updateCommandParams(robotID,velX,velY,velR,dribble,dribbleLevel,mode,shoot,power,needReport);
     }
     void readData();
 private:

diff --git a/doc/posts/1_rocos_basic/1_0.md b/doc/posts/1_rocos_basic/1_0.md
@@ -1,7 +1,7 @@
 (1_0_compile)=
 # 编译&运行
 
-## 在Ubuntu 22.04下编译Rocos
+## 在Ubuntu 22.04 & 24.04下编译Rocos
 * 在安装好系统后，配置源，可以参考[清华源](https://mirrors.tuna.tsinghua.edu.cn/help/ubuntu/)，选择对应版本后更改**软件源配置文件**`/etc/apt/sources.list`。
 
 * 更新源并安装Rocos所需要的依赖