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Update referee, optimize hero hit ui.
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@GuraMumei
GuraMumei committed Jul 29, 2024
1 parent 7a077ab commit 7858905
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Showing 7 changed files with 102 additions and 45 deletions.
6 changes: 2 additions & 4 deletions rm_referee/include/rm_referee/referee_base.h
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,6 @@ class RefereeBase
// unpack call back
virtual void robotStatusDataCallBack(const rm_msgs::GameRobotStatus& game_robot_status_data,
const ros::Time& last_get_data_time);
virtual void updateEnemyHeroState(const rm_msgs::GameRobotHp& game_robot_hp_data, const ros::Time& last_get_data_time);
virtual void gameStatusDataCallBack(const rm_msgs::GameStatus& game_status_data, const ros::Time& last_get_data_time);
virtual void capacityDataCallBack(const rm_msgs::PowerManagementSampleAndStatusData& data,
ros::Time& last_get_data_time);
Expand Down Expand Up @@ -61,7 +60,7 @@ class RefereeBase
virtual void sentryAttackingTargetCallback(const rm_msgs::SentryAttackingTargetConstPtr& data);
virtual void sendSentryCmdCallback(const rm_msgs::SentryCmdConstPtr& data);
virtual void sendRadarCmdCallback(const rm_msgs::RadarInfoConstPtr& data);
virtual void sendSentryStateCallback(const std_msgs::StringConstPtr& data);
virtual void sendCustomInfoCallback(const std_msgs::StringConstPtr& data);
virtual void dronePoseCallBack(const geometry_msgs::PoseStampedConstPtr& data);
virtual void shootCmdCallBack(const rm_msgs::ShootCmdConstPtr& data);
virtual void radarToRefereeCallBack(const rm_msgs::RadarToSentryConstPtr& data);
Expand Down Expand Up @@ -131,8 +130,7 @@ class RefereeBase
EngineerActionFlashUi* engineer_action_flash_ui_{};

InteractiveSender* interactive_data_sender_{};
// CustomInfoSender* enemy_hero_state_sender_{};
CustomInfoSender* sentry_state_sender_{};
CustomInfoSender* custom_info_sender{};
BulletNumShare* bullet_num_share_{};
SentryToRadar* sentry_to_radar_{};
RadarToSentry* radar_to_sentry_{};
Expand Down
24 changes: 22 additions & 2 deletions rm_referee/include/rm_referee/ui/flash_ui.h
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,7 @@ class FlashGroupUi : public GroupUiBase
}
virtual void display(const ros::Time& time){};
virtual void updateConfig(){};
void updateFlashUiForQueue(const ros::Time& time, bool state, bool once);
void updateFlashUiForQueue(const ros::Time& time, bool state, bool once, Graph* graph);

protected:
Expand Down Expand Up @@ -90,13 +91,32 @@ class SpinFlashUi : public FlashUi
uint8_t chassis_mode_;
};

class HeroHitFlashUi : public FlashUi
class HeroHitFlashUi : public FlashGroupUi
{
public:
explicit HeroHitFlashUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::deque<Graph>* graph_queue,
std::deque<Graph>* character_queue)
: FlashUi(rpc_value, base, " hero_hit", graph_queue, character_queue)
: FlashGroupUi(rpc_value, base, " hero_hit", graph_queue, character_queue)
{
graph_vector_.insert(std::pair<std::string, Graph*>("1", new Graph(rpc_value["config"], base_, id_++)));
graph_vector_.insert(std::pair<std::string, Graph*>("2", new Graph(rpc_value["config"], base_, id_++)));
for (auto it : graph_vector_)
{
if (it.first == "1")
{
it.second->setStartX(960 + 50);
it.second->setStartY(540 + 50);
it.second->setEndX(960 - 50);
it.second->setEndY(540 - 50);
}
else if (it.first == "2")
{
it.second->setStartX(960 - 50);
it.second->setStartY(540 + 50);
it.second->setEndX(960 + 50);
it.second->setEndY(540 - 50);
}
}
}
void updateHittingConfig(const rm_msgs::GameRobotHp& msg);

Expand Down
6 changes: 3 additions & 3 deletions rm_referee/include/rm_referee/ui/time_change_ui.h
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Original file line number Diff line number Diff line change
Expand Up @@ -347,14 +347,14 @@ class FriendBulletsTimeChangeGroupUi : public TimeChangeGroupUi
graph_vector_.insert(std::pair<std::string, Graph*>("standard3", new Graph(rpc_value["config"], base_, id_++)));
graph_vector_.insert(std::pair<std::string, Graph*>("standard4", new Graph(rpc_value["config"], base_, id_++)));
graph_vector_.insert(std::pair<std::string, Graph*>("standard5", new Graph(rpc_value["config"], base_, id_++)));
int ui_start_y;
int ui_start_y = 0;
for (auto it = graph_vector_.begin(); it != graph_vector_.end(); ++it)
{
if (it == graph_vector_.begin())
ui_start_y = it->second->getConfig().start_y;
else
{
ui_start_y += 40;
ui_start_y -= 40;
it->second->setStartY(ui_start_y);
}
}
Expand All @@ -363,7 +363,7 @@ class FriendBulletsTimeChangeGroupUi : public TimeChangeGroupUi

private:
void updateConfig() override;
int hero_bullets_, standard3_bullets_, standard4_bullets_, standard5_bullets_;
int hero_bullets_{ 1 }, standard3_bullets_{ 3 }, standard4_bullets_{ 4 }, standard5_bullets_{ 5 };
};

} // namespace rm_referee
7 changes: 6 additions & 1 deletion rm_referee/src/referee.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -140,7 +140,6 @@ 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_.updateHeroHitDataCallBack(game_robot_hp_data);
game_robot_hp_pub_.publish(game_robot_hp_data);
break;
Expand Down Expand Up @@ -686,6 +685,12 @@ void Referee::getRobotInfo()
case rm_referee::RobotId::RED_SENTRY:
base_.client_id_ = rm_referee::ClientId::RED_AERIAL_CLIENT;
break;
case rm_referee::RobotId::RED_RADAR:
base_.client_id_ = rm_referee::ClientId::RED_AERIAL_CLIENT;
break;
case rm_referee::RobotId::BLUE_RADAR:
base_.client_id_ = rm_referee::ClientId::BLUE_AERIAL_CLIENT;
break;
}
}
} // namespace rm_referee
39 changes: 6 additions & 33 deletions rm_referee/src/referee_base.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,7 +41,7 @@ RefereeBase::RefereeBase(ros::NodeHandle& nh, Base& base) : base_(base), nh_(nh)
RefereeBase::radar_cmd_sub_ =
nh.subscribe<rm_msgs::RadarInfo>("/radar_cmd", 1, &RefereeBase::sendRadarCmdCallback, this);
RefereeBase::sentry_state_sub_ =
nh.subscribe<std_msgs::String>("/sentry_state", 1, &RefereeBase::sendSentryStateCallback, this);
nh.subscribe<std_msgs::String>("/custom_info", 1, &RefereeBase::sendCustomInfoCallback, this);
RefereeBase::drone_pose_sub_ =
nh.subscribe<geometry_msgs::PoseStamped>("/mavros/vision_pose/pose", 1, &RefereeBase::dronePoseCallBack, this);
RefereeBase::shoot_cmd_sub_ = nh.subscribe<rm_msgs::ShootCmd>("/controllers/shooter_controller/command", 1,
Expand Down Expand Up @@ -159,8 +159,8 @@ RefereeBase::RefereeBase(ros::NodeHandle& nh, Base& base) : base_(base), nh_(nh)
{
// if (rpc_value[i]["name"] == "enemy_hero_state")
// enemy_hero_state_sender_ = new CustomInfoSender(rpc_value[i], base_);
if (rpc_value[i]["name"] == "sentry_state")
sentry_state_sender_ = new CustomInfoSender(rpc_value[i], base_);
if (rpc_value[i]["name"] == "custom_info")
custom_info_sender = new CustomInfoSender(rpc_value[i], base_);
if (rpc_value[i]["name"] == "bullet_num_share")
bullet_num_share_ = new BulletNumShare(rpc_value[i], base_);
if (rpc_value[i]["name"] == "sentry_to_radar")
Expand Down Expand Up @@ -341,29 +341,6 @@ void RefereeBase::robotStatusDataCallBack(const rm_msgs::GameRobotStatus& data,
if (fixed_ui_ && !is_adding_)
fixed_ui_->updateForQueue();
}
void RefereeBase::updateEnemyHeroState(const rm_msgs::GameRobotHp& game_robot_hp_data,
const ros::Time& last_get_data_time)
{
// if (enemy_hero_state_sender_)
// {
// std::wstring data;
// if (base_.robot_id_ < 100)
// {
// if (game_robot_hp_data.blue_1_robot_hp > 0)
// data = L"敌方英雄存活:" + std::to_wstring(game_robot_hp_data.blue_1_robot_hp);
// else
// data = L"敌方英雄死亡";
// }
// else if (base_.robot_id_ >= 100)
// {
// if (game_robot_hp_data.red_1_robot_hp > 0)
// data = L"敌方英雄存活:" + std::to_wstring(game_robot_hp_data.red_1_robot_hp);
// else
// data = L"敌方英雄死亡";
// }
// enemy_hero_state_sender_->sendCustomInfoData(data);
// }
}

void RefereeBase::updateHeroHitDataCallBack(const rm_msgs::GameRobotHp& game_robot_hp_data)
{
Expand Down Expand Up @@ -470,10 +447,6 @@ void RefereeBase::cardCmdDataCallback(const rm_msgs::StateCmd::ConstPtr& data)
}
void RefereeBase::engineerUiDataCallback(const rm_msgs::EngineerUi::ConstPtr& data)
{
/*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);
if (stone_num_trigger_change_ui_ && !is_adding_)
Expand Down Expand Up @@ -571,11 +544,11 @@ void RefereeBase::sendRadarCmdCallback(const rm_msgs::RadarInfoConstPtr& data)
}
}

void RefereeBase::sendSentryStateCallback(const std_msgs::StringConstPtr& data)
void RefereeBase::sendCustomInfoCallback(const std_msgs::StringConstPtr& data)
{
std::wstring_convert<std::codecvt_utf8<wchar_t>> converter;
if (sentry_state_sender_)
sentry_state_sender_->sendCustomInfoData(converter.from_bytes(data->data));
if (custom_info_sender)
custom_info_sender->sendCustomInfoData(converter.from_bytes(data->data));
}

void RefereeBase::supplyBulletDataCallBack(const rm_msgs::SupplyProjectileAction& data)
Expand Down
64 changes: 62 additions & 2 deletions rm_referee/src/ui/flash_ui.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,66 @@ void FlashUi::updateFlashUiForQueue(const ros::Time& time, bool state, bool once
UiBase::updateForQueue();
}

void FlashGroupUi::updateFlashUiForQueue(const ros::Time& time, bool state, bool once)
{
if (once)
{
if (state)
{
for (auto graph : graph_vector_)
graph.second->setOperation(rm_referee::GraphOperation::ADD);
for (auto character : character_vector_)
character.second->setOperation(rm_referee::GraphOperation::ADD);
}
else
{
for (auto graph : graph_vector_)
graph.second->setOperation(rm_referee::GraphOperation::DELETE);
for (auto character : character_vector_)
character.second->setOperation(rm_referee::GraphOperation::DELETE);
}
}
else if (time - last_send_ > delay_)
{
ROS_INFO("%f %.3f", last_send_.toSec(), delay_.toSec());
if (state)
{
for (auto graph : graph_vector_)
graph.second->setOperation(rm_referee::GraphOperation::ADD);
for (auto character : character_vector_)
character.second->setOperation(rm_referee::GraphOperation::ADD);
}
else
{
for (auto graph : graph_vector_)
graph.second->setOperation(rm_referee::GraphOperation::DELETE);
for (auto character : character_vector_)
character.second->setOperation(rm_referee::GraphOperation::DELETE);
}
}

bool is_repeat = true;
for (auto it : graph_vector_)
if (!it.second->isRepeated())
is_repeat = false;
for (auto it : character_vector_)
if (!it.second->isRepeated())
is_repeat = false;
if (is_repeat)
return;

for (auto it : graph_vector_)
it.second->updateLastConfig();
for (auto it : character_vector_)
it.second->updateLastConfig();

last_send_ = time;
for (auto it : character_vector_)
character_queue_->push_back(*it.second);
for (auto it : graph_vector_)
graph_queue_->push_back(*it.second);
}

void FlashGroupUi::updateFlashUiForQueue(const ros::Time& time, bool state, bool once, Graph* graph)
{
if (once)
Expand Down Expand Up @@ -126,9 +186,9 @@ void HeroHitFlashUi::updateHittingConfig(const rm_msgs::GameRobotHp& msg)
void HeroHitFlashUi::display(const ros::Time& time)
{
if (hitted_)
FlashUi::updateFlashUiForQueue(time, true, true);
FlashGroupUi::updateFlashUiForQueue(time, true, true);
else
FlashUi::updateFlashUiForQueue(time, false, false);
FlashGroupUi::updateFlashUiForQueue(time, false, false);
}

void ExceedBulletSpeedFlashUi::display(const ros::Time& time)
Expand Down
1 change: 1 addition & 0 deletions rm_referee/src/ui/time_change_ui.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -482,4 +482,5 @@ void FriendBulletsTimeChangeGroupUi::updateConfig()
it.second->setIntNum(standard5_bullets_);
}
}

} // namespace rm_referee

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