Update rm_referee for engineer, radar and sentry.

rm_referee/include/rm_referee/common/protocol.h

@@ -134,7 +134,8 @@ typedef enum
   BLUE_STANDARD_3_CLIENT = 0x0167,
   BLUE_STANDARD_4_CLIENT = 0x0168,
   BLUE_STANDARD_5_CLIENT = 0x0169,
-  BLUE_AERIAL_CLIENT = 0x016A
+  BLUE_AERIAL_CLIENT = 0x016A,
+  REFEREE_SERVER = 0x8080
 } ClientId;
 
 typedef enum

rm_referee/include/rm_referee/referee_base.h

@@ -105,6 +105,9 @@ class RefereeBase
   PitchAngleTimeChangeUi* pitch_angle_time_change_ui_{};
   JointPositionTimeChangeUi *engineer_joint1_time_change_ui{}, *engineer_joint2_time_change_ui{},
       *engineer_joint3_time_change_ui{};
+  StringTriggerChangeUi *step_name_trigger_change_ui_{}, *servo_mode_trigger_change_ui_{},
+      *reversal_state_trigger_change_ui_{}, *stone_num_trigger_change_ui_{}, *joint_temperature_trigger_change_ui_{},
+      *drag_state_trigger_change_ui_{}, *gripper_state_trigger_change_ui_{};
 
   FixedUi* fixed_ui_{};
 

rm_referee/include/rm_referee/ui/trigger_change_ui.h

@@ -226,4 +226,16 @@ class CameraTriggerChangeUi : public TriggerChangeUi
   std::string current_camera_{}, camera1_name_{}, camera2_name_{};
 };
 
+class StringTriggerChangeUi : public TriggerChangeUi
+{
+public:
+  explicit StringTriggerChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, const std::string& name,
+                                 std::deque<Graph>* graph_queue, std::deque<Graph>* character_queue)
+    : TriggerChangeUi(rpc_value, base, name, graph_queue, character_queue){};
+  void updateStringUiData(const std::string& data);
+
+private:
+  void update() override;
+  std::string data_;
+};
 }  // namespace rm_referee

rm_referee/src/referee_base.cpp

@@ -68,6 +68,22 @@ RefereeBase::RefereeBase(ros::NodeHandle& nh, Base& base) : base_(base), nh_(nh)
             new TargetViewAngleTriggerChangeUi(rpc_value[i], base_, &graph_queue_, &character_queue_);
       if (rpc_value[i]["name"] == "camera")
         camera_trigger_change_ui_ = new CameraTriggerChangeUi(rpc_value[i], base_, &graph_queue_, &character_queue_);
+      //      if (rpc_value[i]["name"] == "drag")
+      //        drag_state_trigger_change_ui_ =
+      //            new StringTriggerChangeUi(rpc_value[i], base_, &graph_queue_, &character_queue_, "drag");
+      if (rpc_value[i]["name"] == "gripper")
+        gripper_state_trigger_change_ui_ =
+            new StringTriggerChangeUi(rpc_value[i], base_, "gripper", &graph_queue_, &character_queue_);
+      //      if (rpc_value[i]["name"] == "step")
+      //        step_name_trigger_change_ui_ = new StringTriggerChangeUi(rpc_value[i], base_, "step");
+      //      if (rpc_value[i]["name"] == "reversal")
+      //        reversal_state_trigger_change_ui_ = new StringTriggerChangeUi(rpc_value[i], base_, "reversal");
+      //      if (rpc_value[i]["name"] == "stone")
+      //        stone_num_trigger_change_ui_ = new StringTriggerChangeUi(rpc_value[i], base_, "stone");
+      //      if (rpc_value[i]["name"] == "temperature")
+      //        joint_temperature_trigger_change_ui_ = new StringTriggerChangeUi(rpc_value[i], base_, "temperature");
+      //      if (rpc_value[i]["name"] == "servo_mode")
+      //        servo_mode_trigger_change_ui_ = new StringTriggerChangeUi(rpc_value[i], base_, "mode");
     }
 
     ui_nh.getParam("time_change", rpc_value);
@@ -177,6 +193,10 @@ void RefereeBase::addUi()
     engineer_joint2_time_change_ui->addForQueue();
   if (engineer_joint3_time_change_ui)
     engineer_joint3_time_change_ui->addForQueue();
+  if (drag_state_trigger_change_ui_)
+    drag_state_trigger_change_ui_->addForQueue();
+  if (gripper_state_trigger_change_ui_)
+    gripper_state_trigger_change_ui_->addForQueue();
   if (bullet_time_change_ui_)
   {
     bullet_time_change_ui_->reset();
@@ -387,6 +407,10 @@ void RefereeBase::engineerUiDataCallback(const rm_msgs::EngineerUi::ConstPtr& da
 {
   /*if (progress_time_change_ui_ && !is_adding_)
     progress_time_change_ui_->updateEngineerUiData(data, ros::Time::now());*/
+  /*  if (drag_state_trigger_change_ui_ && !is_adding_)
+      drag_state_trigger_change_ui_->updateStringUiData(data->drag_state);*/
+  if (gripper_state_trigger_change_ui_ && !is_adding_)
+    gripper_state_trigger_change_ui_->updateStringUiData(data->gripper_state);
 }
 void RefereeBase::manualDataCallBack(const rm_msgs::ManualToReferee::ConstPtr& data)
 {

rm_referee/src/ui/trigger_change_ui.cpp

@@ -422,4 +422,18 @@ void CameraTriggerChangeUi::update()
   graph_->setOperation(rm_referee::GraphOperation::UPDATE);
   updateForQueue(true);
 }
+
+void StringTriggerChangeUi::updateStringUiData(const std::string& data)
+{
+  data_ = data;
+  update();
+}
+
+void StringTriggerChangeUi::update()
+{
+  graph_->setContent(data_);
+  graph_->setColor(rm_referee::GraphColor::GREEN);
+  graph_->setOperation(rm_referee::GraphOperation::UPDATE);
+  updateForQueue(true);
+}
 }  // namespace rm_referee

rm_referee/src/ui/ui_base.cpp

@@ -327,7 +327,7 @@ void UiBase::sendSentryCmdData(const rm_msgs::SentryInfoConstPtr& data)
   data_len = static_cast<int>(sizeof(rm_referee::SentryInfo));
 
   tx_data.header.sender_id = base_.robot_id_;
-  tx_data.header.receiver_id = base_.client_id_;
+  tx_data.header.receiver_id = REFEREE_SERVER;
   tx_data.sentry_info = data->sentry_info;
 
   tx_data.header.data_cmd_id = rm_referee::DataCmdId::SENTRY_CMD;
@@ -342,7 +342,7 @@ void UiBase::sendRadarCmdData(const rm_msgs::RadarInfoConstPtr& data)
   data_len = static_cast<int>(sizeof(rm_referee::RadarInfo));
 
   tx_data.header.sender_id = base_.robot_id_;
-  tx_data.header.receiver_id = base_.client_id_;
+  tx_data.header.receiver_id = REFEREE_SERVER;
   tx_data.radar_info = data->radar_info;
 
   tx_data.header.data_cmd_id = rm_referee::DataCmdId::RADAR_CMD;