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Modify UI sender #202

Merged
merged 34 commits into from
Jan 29, 2024
Merged

Modify UI sender #202

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504c950
modify ui queue
GuraMumei Sep 11, 2023
b1878cd
modify ui sender
GuraMumei Sep 12, 2023
a85d008
modify the ui and interactive data sender
GuraMumei Sep 17, 2023
f137f32
Modify the ui and robot interactive data sender
GuraMumei Sep 17, 2023
e8e28a7
Modify the ui and robot interactive data sender
GuraMumei Sep 19, 2023
e356f08
Merge pull request #1 from GuraMumei/origin/modify-ui-sender
GuraMumei Sep 19, 2023
b50b718
modify ui queue
GuraMumei Sep 11, 2023
0d6c683
modify ui sender
GuraMumei Sep 12, 2023
b7c89c0
modify the ui and interactive data sender
GuraMumei Sep 17, 2023
e3e58f7
Modify the ui and robot interactive data sender
GuraMumei Sep 17, 2023
dcc4023
Modify the ui and robot interactive data sender
GuraMumei Sep 19, 2023
d507dcd
Add forced calibration.
GuraMumei Oct 1, 2023
8754bb7
Add some test code.
GuraMumei Oct 7, 2023
2af5d96
Add some test code
GuraMumei Oct 7, 2023
a0c8fe0
Merge branch 'rm-controls:master' into modify-ui-sender
GuraMumei Oct 19, 2023
5d736c7
Modify ui send logic.
GuraMumei Oct 20, 2023
8c608f7
Modify ui sender
GuraMumei Oct 20, 2023
0412987
Merge branch 'modify-ui-sender' of github.com:GuraMumei/rm_control in…
GuraMumei Oct 20, 2023
535fa54
Add test code.
GuraMumei Oct 20, 2023
0fd8d6d
Optimization code.
GuraMumei Oct 22, 2023
634507b
Optimize code.
GuraMumei Oct 22, 2023
553386a
Optimize the code.
GuraMumei Oct 22, 2023
59cab1d
Optimize the code.
GuraMumei Oct 22, 2023
ec229c2
modify the format
GuraMumei Oct 22, 2023
c0d7a72
Optimize the code.
GuraMumei Oct 22, 2023
dc6bf04
Update trigger_change_ui.h
GuraMumei Oct 23, 2023
deb1858
Update referee_base.h
GuraMumei Oct 23, 2023
70ac554
Optimize the code.
GuraMumei Oct 23, 2023
ec6bf83
Optimize the code.
GuraMumei Oct 24, 2023
bfc6d71
Optimize the code.
GuraMumei Nov 26, 2023
b887c72
Merge branch 'master' into modify-ui-sender
GuraMumei Nov 26, 2023
2b3c02a
Modify code for engineer ui.
GuraMumei Nov 26, 2023
311595b
Modify code for engineer ui.
GuraMumei Nov 27, 2023
5e62fa5
Fixed some bug.
GuraMumei Dec 14, 2023
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14 changes: 10 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 @@ -53,8 +53,9 @@ class RefereeBase
virtual void sentryDeviateCallback(const rm_msgs::SentryDeviateConstPtr& data);
virtual void sendCurrentSentryCallback(const rm_msgs::CurrentSentryPosDataConstPtr& data);

// send graph_type ui
void sendGraphQueueCallback();
// send ui
void sendSerialDataCallback();
void sendQueue();

ros::Subscriber joint_state_sub_;
ros::Subscriber actuator_state_sub_;
Expand Down Expand Up @@ -101,12 +102,17 @@ class RefereeBase
SpinFlashUi* spin_flash_ui_{};

GroupUiBase* graph_queue_sender_{};
std::vector<Graph> graph_queue_;
std::deque<Graph> graph_queue_;
std::deque<Graph> character_queue_;

rm_referee::ClientMapReceiveData radar_receive_data_;
rm_referee::MapSentryData map_sentry_data_;
ros::Time interactive_data_last_send_;
bool send_radar_receive_data_ = false, send_map_sentry_data_ = false;
UiBase* interactive_data_sender_{};

Base& base_;
ros::Timer add_ui_timer_, send_graph_ui_timer_;
ros::Timer add_ui_timer_, send_serial_data_timer_;
int add_ui_times_, add_ui_max_times_, add_ui_frequency_;
double send_ui_queue_delay_;
bool add_ui_flag_ = false, is_adding_ = false;
Expand Down
16 changes: 10 additions & 6 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 @@ -12,32 +12,36 @@ class FlashUi : public UiBase
{
public:
explicit FlashUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, const std::string& graph_name,
std::vector<Graph>* graph_queue)
: UiBase(rpc_value, base, graph_queue)
std::deque<Graph>* graph_queue, std::deque<Graph>* character_queue)
: UiBase(rpc_value, base, graph_queue, character_queue)
{
graph_ = new Graph(rpc_value["config"], base_, id_++);
}
virtual void display(const ros::Time& time){};
virtual void updateConfig(){};
void updateFlashUiForQueue(const ros::Time& time, bool state, bool once);
};

class CoverFlashUi : public FlashUi
{
public:
explicit CoverFlashUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::vector<Graph>* graph_queue)
: FlashUi(rpc_value, base, "cover", graph_queue){};
explicit CoverFlashUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::deque<Graph>* graph_queue,
std::deque<Graph>* character_queue)
: FlashUi(rpc_value, base, "cover", graph_queue, character_queue){};
void updateManualCmdData(const rm_msgs::ManualToReferee::ConstPtr data, const ros::Time& last_get_data_time) override;

private:
void display(const ros::Time& time) override;

uint8_t cover_state_;
};

class SpinFlashUi : public FlashUi
{
public:
explicit SpinFlashUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::vector<Graph>* graph_queue)
: FlashUi(rpc_value, base, "spin", graph_queue){};
explicit SpinFlashUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::deque<Graph>* graph_queue,
std::deque<Graph>* character_queue)
: FlashUi(rpc_value, base, "spin", graph_queue, character_queue){};
void updateChassisCmdData(const rm_msgs::ChassisCmd::ConstPtr data, const ros::Time& last_get_data_time);

private:
Expand Down
8 changes: 6 additions & 2 deletions rm_referee/include/rm_referee/ui/graph.h
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,8 @@ class Graph
void setContent(const std::string& content)
{
content_ = content;
if (!title_.empty() || !content_.empty())
config_.end_angle = static_cast<int>((title_ + content_).size());
}
void setEndX(int end_x)
{
Expand Down Expand Up @@ -69,10 +71,12 @@ class Graph
{
return config_ == last_config_ && title_ == last_title_ && content_ == last_content_;
}
bool isString()
{
return config_.graphic_type == rm_referee::GraphType::STRING;
}
void updateLastConfig()
{
if (!title_.empty() && !content_.empty())
config_.end_angle = static_cast<int>((title_ + content_).size());
last_content_ = content_;
last_title_ = title_;
last_config_ = config_;
Expand Down
59 changes: 33 additions & 26 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 @@ -12,27 +12,27 @@ class TimeChangeUi : public UiBase
{
public:
explicit TimeChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, const std::string& graph_name,
std::vector<Graph>* graph_queue)
: UiBase(rpc_value, base, graph_queue)
std::deque<Graph>* graph_queue, std::deque<Graph>* character_queue)
: UiBase(rpc_value, base, graph_queue, character_queue)
{
graph_ = new Graph(rpc_value["config"], base_, id_++);
}
void update() override;
void updateForQueue();
void updateForQueue() override;
virtual void updateConfig(){};
};

class TimeChangeGroupUi : public GroupUiBase
{
public:
explicit TimeChangeGroupUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, const std::string& graph_name,
std::vector<Graph>* graph_queue)
: GroupUiBase(rpc_value, base, graph_queue)
std::deque<Graph>* graph_queue, std::deque<Graph>* character_queue)
: GroupUiBase(rpc_value, base, graph_queue, character_queue)
{
graph_name_ = graph_name;
}
void update() override;
void updateForQueue();
void updateForQueue() override;
virtual void updateConfig(){};

protected:
Expand All @@ -42,8 +42,9 @@ class TimeChangeGroupUi : public GroupUiBase
class CapacitorTimeChangeUi : public TimeChangeUi
{
public:
explicit CapacitorTimeChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::vector<Graph>* graph_queue)
: TimeChangeUi(rpc_value, base, "capacitor", graph_queue){};
explicit CapacitorTimeChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::deque<Graph>* graph_queue,
std::deque<Graph>* character_queue)
: TimeChangeUi(rpc_value, base, "capacitor", graph_queue, character_queue){};
void add() override;
void updateRemainCharge(const double remain_charge, const ros::Time& time);

Expand All @@ -55,8 +56,9 @@ class CapacitorTimeChangeUi : public TimeChangeUi
class EffortTimeChangeUi : public TimeChangeUi
{
public:
explicit EffortTimeChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::vector<Graph>* graph_queue)
: TimeChangeUi(rpc_value, base, "effort", graph_queue){};
explicit EffortTimeChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::deque<Graph>* graph_queue,
std::deque<Graph>* character_queue)
: TimeChangeUi(rpc_value, base, "effort", graph_queue, character_queue){};
void updateJointStateData(const sensor_msgs::JointState::ConstPtr data, const ros::Time& time);

private:
Expand All @@ -68,8 +70,9 @@ class EffortTimeChangeUi : public TimeChangeUi
class ProgressTimeChangeUi : public TimeChangeUi
{
public:
explicit ProgressTimeChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::vector<Graph>* graph_queue)
: TimeChangeUi(rpc_value, base, "progress", graph_queue){};
explicit ProgressTimeChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::deque<Graph>* graph_queue,
std::deque<Graph>* character_queue)
: TimeChangeUi(rpc_value, base, "progress", graph_queue, character_queue){};
void updateEngineerUiData(const rm_msgs::EngineerUi::ConstPtr data, const ros::Time& last_get_data_time);

private:
Expand All @@ -81,8 +84,9 @@ class ProgressTimeChangeUi : public TimeChangeUi
class DartStatusTimeChangeUi : public TimeChangeUi
{
public:
explicit DartStatusTimeChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::vector<Graph>* graph_queue)
: TimeChangeUi(rpc_value, base, "dart", graph_queue){};
explicit DartStatusTimeChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::deque<Graph>* graph_queue,
std::deque<Graph>* character_queue)
: TimeChangeUi(rpc_value, base, "dart", graph_queue, character_queue){};
void updateDartClientCmd(const rm_msgs::DartClientCmd::ConstPtr data, const ros::Time& last_get_data_time);

private:
Expand All @@ -93,8 +97,9 @@ class DartStatusTimeChangeUi : public TimeChangeUi
class RotationTimeChangeUi : public TimeChangeUi
{
public:
explicit RotationTimeChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::vector<Graph>* graph_queue)
: TimeChangeUi(rpc_value, base, "rotation", graph_queue)
explicit RotationTimeChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::deque<Graph>* graph_queue,
std::deque<Graph>* character_queue)
: TimeChangeUi(rpc_value, base, "rotation", graph_queue, character_queue)
{
if (rpc_value.hasMember("data"))
{
Expand Down Expand Up @@ -125,8 +130,9 @@ class RotationTimeChangeUi : public TimeChangeUi
class LaneLineTimeChangeGroupUi : public TimeChangeGroupUi
{
public:
explicit LaneLineTimeChangeGroupUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::vector<Graph>* graph_queue)
: TimeChangeGroupUi(rpc_value, base, "lane_line", graph_queue)
explicit LaneLineTimeChangeGroupUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::deque<Graph>* graph_queue,
std::deque<Graph>* character_queue)
: TimeChangeGroupUi(rpc_value, base, "lane_line", graph_queue, character_queue)
{
if (rpc_value.hasMember("data"))
{
Expand Down Expand Up @@ -171,8 +177,9 @@ class LaneLineTimeChangeGroupUi : public TimeChangeGroupUi
class BalancePitchTimeChangeGroupUi : public TimeChangeGroupUi
{
public:
explicit BalancePitchTimeChangeGroupUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::vector<Graph>* graph_queue)
: TimeChangeGroupUi(rpc_value, base, "balance_pitch", graph_queue)
explicit BalancePitchTimeChangeGroupUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::deque<Graph>* graph_queue,
std::deque<Graph>* character_queue)
: TimeChangeGroupUi(rpc_value, base, "balance_pitch", graph_queue, character_queue)
{
XmlRpc::XmlRpcValue config;

Expand Down Expand Up @@ -232,9 +239,9 @@ class BalancePitchTimeChangeGroupUi : public TimeChangeGroupUi
class PitchAngleTimeChangeUi : public TimeChangeUi
{
public:
explicit PitchAngleTimeChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::vector<Graph>* graph_queue)
: TimeChangeUi(rpc_value, base, "pitch", graph_queue){};
void update() override;
explicit PitchAngleTimeChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::deque<Graph>* graph_queue,
std::deque<Graph>* character_queue)
: TimeChangeUi(rpc_value, base, "pitch", graph_queue, character_queue){};
void updateJointStateData(const sensor_msgs::JointState::ConstPtr data, const ros::Time& time);

private:
Expand All @@ -245,9 +252,9 @@ class PitchAngleTimeChangeUi : public TimeChangeUi
class JointPositionTimeChangeUi : public TimeChangeUi
{
public:
explicit JointPositionTimeChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::vector<Graph>* graph_queue,
std::string name)
: TimeChangeUi(rpc_value, base, name, graph_queue)
explicit JointPositionTimeChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::deque<Graph>* graph_queue,
std::deque<Graph>* character_queue, std::string name)
: TimeChangeUi(rpc_value, base, name, graph_queue, character_queue)
{
if (rpc_value.hasMember("data"))
{
Expand Down
70 changes: 49 additions & 21 deletions rm_referee/include/rm_referee/ui/trigger_change_ui.h
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Original file line number Diff line number Diff line change
Expand Up @@ -13,22 +13,44 @@ class TriggerChangeUi : public UiBase
{
public:
explicit TriggerChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, const std::string& graph_name,
std::vector<Graph>* graph_queue)
: UiBase(rpc_value, base, graph_queue)
std::deque<Graph>* graph_queue, std::deque<Graph>* character_queue)
: UiBase(rpc_value, base, graph_queue, character_queue)
{
if (graph_name == "chassis")
graph_ = new Graph(rpc_value["config"], base_, 1);
else
graph_ = new Graph(rpc_value["config"], base_, id_++);
};
virtual void setContent(const std::string& content);
virtual void updateConfig(uint8_t main_mode, bool main_flag, uint8_t sub_mode = 0, bool sub_flag = false){};
void updateForQueue() override;
void updateForQueue(bool check_repeat);
void updateTwiceForQueue(bool check_repeat = true);
};

class TriggerChangeGroupUi : public GroupUiBase
{
public:
explicit TriggerChangeGroupUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, const std::string& graph_name,
std::deque<Graph>* graph_queue, std::deque<Graph>* character_queue)
: GroupUiBase(rpc_value, base, graph_queue, character_queue)
{
graph_name_ = graph_name;
};
virtual void updateConfig(uint8_t main_mode, bool main_flag, uint8_t sub_mode = 0, bool sub_flag = false){};
void updateForQueue() override;
void updateForQueue(bool check_repeat);
void updateTwiceForQueue(bool check_repeat = true);

protected:
std::string graph_name_;
};

class ChassisTriggerChangeUi : public TriggerChangeUi
{
public:
explicit ChassisTriggerChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::vector<Graph>* graph_queue)
: TriggerChangeUi(rpc_value, base, "chassis", graph_queue)
explicit ChassisTriggerChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::deque<Graph>* graph_queue,
std::deque<Graph>* character_queue)
: TriggerChangeUi(rpc_value, base, "chassis", graph_queue, character_queue)
{
if (base.robot_id_ == rm_referee::RobotId::RED_ENGINEER || base.robot_id_ == rm_referee::RobotId::BLUE_ENGINEER)
graph_->setContent("raw");
Expand All @@ -40,9 +62,9 @@ class ChassisTriggerChangeUi : public TriggerChangeUi
else
mode_change_threshold_ = 0.7;
}
void updateChassisCmdData(const rm_msgs::ChassisCmd::ConstPtr data);
void updateChassisCmdData(const rm_msgs::ChassisCmd::ConstPtr& data);
void updateManualCmdData(const rm_msgs::ManualToReferee::ConstPtr data) override;
void updateDbusData(const rm_msgs::DbusData::ConstPtr data);
void updateDbusData(const rm_msgs::DbusData::ConstPtr& data);
void updateCapacityResetStatus();
void checkModeChange();

Expand All @@ -58,8 +80,9 @@ class ChassisTriggerChangeUi : public TriggerChangeUi
class ShooterTriggerChangeUi : public TriggerChangeUi
{
public:
explicit ShooterTriggerChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::vector<Graph>* graph_queue)
: TriggerChangeUi(rpc_value, base, "shooter", graph_queue)
explicit ShooterTriggerChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::deque<Graph>* graph_queue,
std::deque<Graph>* character_queue)
: TriggerChangeUi(rpc_value, base, "shooter", graph_queue, character_queue)
{
graph_->setContent("0");
}
Expand All @@ -76,12 +99,13 @@ class ShooterTriggerChangeUi : public TriggerChangeUi
class GimbalTriggerChangeUi : public TriggerChangeUi
{
public:
explicit GimbalTriggerChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::vector<Graph>* graph_queue)
: TriggerChangeUi(rpc_value, base, "gimbal", graph_queue)
explicit GimbalTriggerChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::deque<Graph>* graph_queue,
std::deque<Graph>* character_queue)
: TriggerChangeUi(rpc_value, base, "gimbal", graph_queue, character_queue)
{
graph_->setContent("0");
}
void updateGimbalCmdData(const rm_msgs::GimbalCmd ::ConstPtr data);
void updateGimbalCmdData(const rm_msgs::GimbalCmd ::ConstPtr& data);
void updateManualCmdData(const rm_msgs::ManualToReferee::ConstPtr data) override;

private:
Expand All @@ -94,8 +118,9 @@ class GimbalTriggerChangeUi : public TriggerChangeUi
class TargetTriggerChangeUi : public TriggerChangeUi
{
public:
explicit TargetTriggerChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::vector<Graph>* graph_queue)
: TriggerChangeUi(rpc_value, base, "target", graph_queue)
explicit TargetTriggerChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::deque<Graph>* graph_queue,
std::deque<Graph>* character_queue)
: TriggerChangeUi(rpc_value, base, "target", graph_queue, character_queue)
{
graph_->setContent("armor");
if (base_.robot_color_ == "red")
Expand All @@ -116,8 +141,9 @@ class TargetTriggerChangeUi : public TriggerChangeUi
class TargetViewAngleTriggerChangeUi : public TriggerChangeUi
{
public:
explicit TargetViewAngleTriggerChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::vector<Graph>* graph_queue)
: TriggerChangeUi(rpc_value, base, "target_scale", graph_queue)
explicit TargetViewAngleTriggerChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::deque<Graph>* graph_queue,
std::deque<Graph>* character_queue)
: TriggerChangeUi(rpc_value, base, "target_scale", graph_queue, character_queue)
{
}
void updateTrackID(int id);
Expand All @@ -128,10 +154,12 @@ class TargetViewAngleTriggerChangeUi : public TriggerChangeUi
int track_id_;
};

class PolygonTriggerChangeGroupUi : public GroupUiBase
class PolygonTriggerChangeGroupUi : public TriggerChangeGroupUi
{
public:
explicit PolygonTriggerChangeGroupUi(XmlRpc::XmlRpcValue& rpc_value, Base& base) : GroupUiBase(rpc_value, base)
explicit PolygonTriggerChangeGroupUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::deque<Graph>* graph_queue,
std::deque<Graph>* character_queue)
: TriggerChangeGroupUi(rpc_value, base, "Polygon", graph_queue, character_queue)
{
ROS_ASSERT(rpc_value.hasMember("points"));
XmlRpc::XmlRpcValue config;
Expand Down Expand Up @@ -171,14 +199,14 @@ class PolygonTriggerChangeGroupUi : public GroupUiBase
}
}
void update() override;
virtual void updateConfig(uint8_t main_mode, bool main_flag, uint8_t sub_mode = 0, bool sub_flag = false){};
};

class CameraTriggerChangeUi : public TriggerChangeUi
{
public:
explicit CameraTriggerChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::vector<Graph>* graph_queue)
: TriggerChangeUi(rpc_value, base, "camera", graph_queue)
explicit CameraTriggerChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::deque<Graph>* graph_queue,
std::deque<Graph>* character_queue)
: TriggerChangeUi(rpc_value, base, "camera", graph_queue, character_queue)
{
if (rpc_value.hasMember("camera_name"))
{
Expand Down
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