Modify code for engineer ui.

rm-controls · Nov 26, 2023 · 2b3c02a · 2b3c02a
1 parent b887c72
commit 2b3c02a
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Showing 3 changed files with 4 additions and 16 deletions.
diff --git a/rm_referee/include/rm_referee/ui/ui_base.h b/rm_referee/include/rm_referee/ui/ui_base.h
@@ -42,8 +42,8 @@ class UiBase
   void sendCharacter(const ros::Time& time, Graph* graph);
   void sendSingleGraph(const ros::Time& time, Graph* graph);
   void sendInteractiveData(int data_cmd_id, int receiver_id, unsigned char data);
-  void sendRadarInteractiveData(rm_referee::ClientMapReceiveData& data);
-  void sendMapSentryData(const rm_msgs::MapSentryDataConstPtr& data);
+  void sendRadarInteractiveData(const rm_referee::ClientMapReceiveData& data);
+  void sendMapSentryData(const rm_referee::MapSentryData& data);
   void sendCurrentSentryData(const rm_msgs::CurrentSentryPosDataConstPtr& data);
 
   void sendSerial(const ros::Time& time, int data_len);

diff --git a/rm_referee/src/referee.cpp b/rm_referee/src/referee.cpp
@@ -473,18 +473,6 @@ int Referee::unpack(uint8_t* rx_data)
           client_map_send_data_pub_.publish(client_map_send_data);
           break;
         }
-        /*
-         m_msgs::GameRobotPos game_robot_pos_data;
-  memcpy(&game_robot_pos_ref, rx_data + 7, sizeof(rm_referee::GameRobotPos));
-
-game_robot_pos_data.x = game_robot_pos_ref.x;
-game_robot_pos_data.y = game_robot_pos_ref.y;
-game_robot_pos_data.z = game_robot_pos_ref.z;
-game_robot_pos_data.yaw = game_robot_pos_ref.yaw;
-
-game_robot_pos_pub_.publish(game_robot_pos_data);
-
-         */
         case rm_referee::POWER_MANAGEMENT_SAMPLE_AND_STATUS_DATA_CMD:
         {
           rm_msgs::PowerManagementSampleAndStatusData sample_and_status_pub_data;

diff --git a/rm_referee/src/ui/ui_base.cpp b/rm_referee/src/ui/ui_base.cpp
@@ -192,7 +192,7 @@ void UiBase::sendUi(const ros::Time& time)
     sendSingleGraph(time, graph_);
 }
 
-void UiBase::sendMapSentryData(rm_referee::MapSentryData& data)
+void UiBase::sendMapSentryData(const rm_referee::MapSentryData& data)
 {
   uint8_t tx_data[sizeof(rm_referee::MapSentryData)] = { 0 };
   auto map_sentry_data = (rm_referee::MapSentryData*)tx_data;
@@ -221,7 +221,7 @@ void UiBase::sendMapSentryData(rm_referee::MapSentryData& data)
   clearTxBuffer();
 }
 
-void UiBase::sendRadarInteractiveData(rm_referee::ClientMapReceiveData& data)
+void UiBase::sendRadarInteractiveData(const rm_referee::ClientMapReceiveData& data)
 {
   uint8_t tx_data[sizeof(rm_referee::ClientMapReceiveData)] = { 0 };
   auto radar_interactive_data = (rm_referee::ClientMapReceiveData*)tx_data;