Merge pull request #239 from GuraMumei/master

Update referee and optimize hero hit ui

rm_msgs/CMakeLists.txt

@@ -86,6 +86,7 @@ add_message_files(
         RadarInfo.msg
         Buff.msg
         RadarToSentry.msg
+        SentryCmd.msg
         PowerManagementSampleAndStatusData.msg
         PowerManagementInitializationExceptionData.msg
         PowerManagementProcessStackOverflowData.msg

rm_msgs/msg/referee/ClientMapSendData.msg

@@ -1,20 +1,30 @@
-uint8 KEY_A = 65
+uint8 KEY_Q = 81
+uint8 KEY_W = 87
 uint8 KEY_E = 69
+uint8 KEY_R = 82
+uint8 KEY_T = 84
+uint8 KEY_Y = 89
+uint8 KEY_U = 85
+uint8 KEY_O = 79
+
+uint8 KEY_A = 65
+uint8 KEY_S = 83
+uint8 KEY_D = 68
+uint8 KEY_F = 70
+uint8 KEY_G = 71
 uint8 KEY_H = 72
+uint8 KEY_J = 74
 uint8 KEY_K = 75
 uint8 KEY_L = 76
-uint8 KEY_N = 78
-uint8 KEY_O = 79
-uint8 KEY_Q = 81
-uint8 KEY_R = 82
-uint8 KEY_W = 87
-uint8 KEY_U = 85
 
+uint8 KEY_Z = 90
+uint8 KEY_X = 88
+uint8 KEY_C = 67
+uint8 KEY_V = 86
+uint8 KEY_N = 78
 
 float32 target_position_x
 float32 target_position_y
 uint8 command_keyboard
 uint8 target_robot_ID
 uint8 cmd_source
-
-time stamp

rm_msgs/msg/referee/SentryCmd.msg

@@ -0,0 +1 @@
+uint32 sentry_info

rm_msgs/msg/referee/SentryInfo.msg

@@ -1,2 +1,3 @@
 uint32 sentry_info
-uint16 sentry_info_2
+bool is_out_of_war
+uint16 remaining_bullets_can_supply

rm_referee/include/rm_referee/common/data.h

@@ -83,6 +83,7 @@
 #include <rm_msgs/IcraBuffDebuffZoneStatus.h>
 #include <rm_msgs/GameRobotPosData.h>
 #include "rm_msgs/SentryInfo.h"
+#include "rm_msgs/SentryCmd.h"
 #include "rm_msgs/RadarInfo.h"
 #include "rm_msgs/Buff.h"
 #include "rm_msgs/TrackData.h"

rm_referee/include/rm_referee/common/protocol.h

@@ -69,8 +69,8 @@ typedef enum
   RADAR_INFO_CMD = 0x020E,
   INTERACTIVE_DATA_CMD = 0x0301,
   CUSTOM_CONTROLLER_CMD = 0x0302,  // controller
-  TARGET_POS_CMD = 0x0303,         // send aerial->server
-  ROBOT_COMMAND_CMD = 0x0304,      // controller
+  TARGET_POS_CMD = 0x0303,
+  ROBOT_COMMAND_CMD = 0x0304,  // controller
   CLIENT_MAP_CMD = 0x0305,
   CUSTOM_CLIENT_CMD = 0x0306,  // controller
   MAP_SENTRY_CMD = 0x0307,     // send sentry->aerial
@@ -293,7 +293,7 @@ typedef struct
   uint8_t ring_elevated_ground_state : 2;
   uint8_t r3_state : 2;
   uint8_t r4_state : 2;
-  uint8_t base_shield_value : 7;
+  uint16_t base_shield_value : 7;
   uint16_t be_hit_time : 9;
   uint8_t be_hit_target : 2;
   uint8_t central_point_state : 2;
@@ -544,8 +544,7 @@ typedef struct
 {
   InteractiveDataHeader header;
   uint32_t sentry_info;
-  uint16_t sentry_info_2;
-} __packed SentryInfo;
+} __packed SentryCmd;
 
 typedef struct
 {
@@ -558,6 +557,14 @@ typedef struct
   uint8_t data[30];
 } __packed CustomControllerData;
 
+typedef struct
+{
+  uint32_t sentry_info;
+  uint16_t is_out_of_war : 1;
+  uint16_t remaining_bullets_can_supply : 11;
+  uint16_t reverse : 4;
+} __packed SentryInfo;
+
 typedef struct
 {
   float target_position_x;

rm_referee/include/rm_referee/referee_base.h

@@ -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);
@@ -59,9 +58,9 @@ class RefereeBase
   virtual void radarReceiveCallback(const rm_msgs::ClientMapReceiveData::ConstPtr& data);
   virtual void mapSentryCallback(const rm_msgs::MapSentryDataConstPtr& data);
   virtual void sentryAttackingTargetCallback(const rm_msgs::SentryAttackingTargetConstPtr& data);
-  virtual void sendSentryCmdCallback(const rm_msgs::SentryInfoConstPtr& 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);
@@ -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_{};

rm_referee/include/rm_referee/ui/flash_ui.h

@@ -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:
@@ -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);
 

rm_referee/include/rm_referee/ui/interactive_data.h

@@ -18,7 +18,7 @@ class InteractiveSender : public UiBase
   void sendInteractiveData(int data_cmd_id, int receiver_id, unsigned char data);
   void sendRadarInteractiveData(const rm_msgs::ClientMapReceiveData::ConstPtr& data);
   void sendMapSentryData(const rm_referee::MapSentryData& data);
-  void sendSentryCmdData(const rm_msgs::SentryInfoConstPtr& data);
+  void sendSentryCmdData(const rm_msgs::SentryCmdConstPtr& data);
   void sendRadarCmdData(const rm_msgs::RadarInfoConstPtr& data);
   virtual bool needSendInteractiveData();
   ros::Time last_send_time_;
@@ -44,7 +44,7 @@ class BulletNumShare : public InteractiveSender
     : InteractiveSender(rpc_value, base, graph_queue, character_queue){};
   void sendBulletData();
   void updateBulletRemainData(const rm_msgs::BulletAllowance& data);
-  int bullet_42_mm_num_, bullet_17_mm_num_, count_receive_time_;
+  int bullet_42_mm_num_, bullet_17_mm_num_, count_receive_time_{ 0 };
 };
 
 class SentryToRadar : public InteractiveSender

rm_referee/include/rm_referee/ui/time_change_ui.h

@@ -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);
       }
     }
@@ -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

rm_referee/src/referee.cpp

@@ -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;
@@ -520,15 +519,17 @@ int Referee::unpack(uint8_t* rx_data)
           client_map_send_data.command_keyboard = client_map_send_data_ref.command_keyboard;
           client_map_send_data.target_robot_ID = client_map_send_data_ref.target_robot_ID;
           client_map_send_data.cmd_source = client_map_send_data_ref.cmd_source;
-          client_map_send_data.stamp = last_get_data_time_;
-
           client_map_send_data_pub_.publish(client_map_send_data);
           break;
         }
         case rm_referee::SENTRY_INFO_CMD:
         {
+          rm_referee::SentryInfo sentry_info_ref;
           rm_msgs::SentryInfo sentry_info;
-          memcpy(&sentry_info, rx_data + 7, sizeof(rm_msgs::SentryInfo));
+          memcpy(&sentry_info_ref, rx_data + 7, sizeof(rm_referee::SentryInfo));
+          sentry_info.sentry_info = sentry_info_ref.sentry_info;
+          sentry_info.is_out_of_war = sentry_info_ref.is_out_of_war;
+          sentry_info.remaining_bullets_can_supply = sentry_info_ref.remaining_bullets_can_supply;
           sentry_info_pub_.publish(sentry_info);
           break;
         }
@@ -684,6 +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

rm_referee/src/referee_base.cpp

@@ -37,11 +37,11 @@ RefereeBase::RefereeBase(ros::NodeHandle& nh, Base& base) : base_(base), nh_(nh)
   RefereeBase::radar_receive_sub_ =
       nh.subscribe<rm_msgs::ClientMapReceiveData>("/rm_radar", 10, &RefereeBase::radarReceiveCallback, this);
   RefereeBase::sentry_cmd_sub_ =
-      nh.subscribe<rm_msgs::SentryInfo>("/sentry_cmd", 1, &RefereeBase::sendSentryCmdCallback, this);
+      nh.subscribe<rm_msgs::SentryCmd>("/sentry_cmd", 1, &RefereeBase::sendSentryCmdCallback, this);
   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,
@@ -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")
@@ -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)
 {
@@ -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_)
@@ -550,7 +523,7 @@ void RefereeBase::mapSentryCallback(const rm_msgs::MapSentryDataConstPtr& data)
     sentry_interactive_data_last_send_ = ros::Time::now();
   }
 }
-void RefereeBase::sendSentryCmdCallback(const rm_msgs::SentryInfoConstPtr& data)
+void RefereeBase::sendSentryCmdCallback(const rm_msgs::SentryCmdConstPtr& data)
 {
   if (ros::Time::now() - sentry_cmd_data_last_send_ <= ros::Duration(0.15))
     return;
@@ -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)