Merge pull request #212 from GuraMumei/add_battlefield_info_sender

Modify ui
rm-controls · Apr 2, 2024 · 4860ed7 · 4860ed7
2 parents 855ed0f + 46f9ba0
commit 4860ed7
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Showing 2 changed files with 15 additions and 9 deletions.
diff --git a/rm_referee/src/referee.cpp b/rm_referee/src/referee.cpp
@@ -140,7 +140,7 @@ int Referee::unpack(uint8_t* rx_data)
           game_robot_hp_data.red_base_hp = game_robot_hp_ref.red_base_hp;
           game_robot_hp_data.stamp = last_get_data_time_;
 
-          referee_ui_.updateEnemyHeroState(game_robot_hp_data, last_get_data_time_);
+          //          referee_ui_.updateEnemyHeroState(game_robot_hp_data, last_get_data_time_);
           referee_ui_.updateHeroStateDataCallBack(game_robot_hp_data, last_get_data_time_);
           game_robot_hp_pub_.publish(game_robot_hp_data);
           break;

diff --git a/rm_referee/src/ui/time_change_ui.cpp b/rm_referee/src/ui/time_change_ui.cpp
@@ -214,12 +214,12 @@ void LaneLineTimeChangeGroupUi::updateConfig()
 
 void LaneLineTimeChangeGroupUi::updateJointStateData(const sensor_msgs::JointState::ConstPtr data, const ros::Time& time)
 {
-  if (!tf_buffer_.canTransform(reference_frame_, "yaw", ros::Time(0)))
+  if (!tf_buffer_.canTransform("yaw", reference_frame_, ros::Time(0)))
     return;
   try
   {
     double roll, pitch, yaw;
-    quatToRPY(tf_buffer_.lookupTransform(reference_frame_, "yaw", ros::Time(0)).transform.rotation, roll, pitch, yaw);
+    quatToRPY(tf_buffer_.lookupTransform("yaw", reference_frame_, ros::Time(0)).transform.rotation, roll, pitch, yaw);
     pitch_angle_ = pitch;
   }
   catch (tf2::TransformException& ex)
@@ -324,12 +324,18 @@ void JointPositionTimeChangeUi::updateJointStateData(const sensor_msgs::JointSta
 
 void BulletTimeChangeUi::updateBulletData(const rm_msgs::BulletAllowance& data, const ros::Time& time)
 {
-  if (bullet_allowance_num_17_mm_ > data.bullet_allowance_num_17_mm && data.bullet_allowance_num_17_mm >= 0)
-    bullet_num_17_mm_ += (bullet_allowance_num_17_mm_ - data.bullet_allowance_num_17_mm);
-  if (bullet_allowance_num_42_mm_ > data.bullet_allowance_num_42_mm && data.bullet_allowance_num_42_mm >= 0)
-    bullet_num_42_mm_ += (bullet_allowance_num_42_mm_ - data.bullet_allowance_num_42_mm);
-  bullet_allowance_num_17_mm_ = data.bullet_allowance_num_17_mm;
-  bullet_allowance_num_42_mm_ = data.bullet_allowance_num_42_mm;
+  if (data.bullet_allowance_num_17_mm >= 0 && data.bullet_allowance_num_17_mm < 1000)
+  {
+    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)
+  {
+    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();
 }