Merge pull request #282 from 321Aurora/wireless-ui

Add wireless ui

Author: YoujianWu

rm_common/include/rm_common/decision/command_sender.h

@@ -269,6 +269,10 @@ class ChassisCommandSender : public TimeStampCommandSenderBase<rm_msgs::ChassisC
   {
     msg_.follow_vel_des = follow_vel_des;
   }
+  void setWirelessState(bool state)
+  {
+    msg_.wireless_state = state;
+  }
   void sendChassisCommand(const ros::Time& time, bool is_gyro)
   {
     power_limit_->setLimitPower(msg_, is_gyro);

rm_msgs/msg/ChassisCmd.msg

@@ -11,4 +11,5 @@ float64 power_limit
 float64 follow_vel_des
 string follow_source_frame
 string command_source_frame
+bool wireless_state
 time stamp

rm_referee/include/rm_referee/referee_base.h

@@ -136,6 +136,7 @@ class RefereeBase
   CoverFlashUi* cover_flash_ui_{};
   SpinFlashUi* spin_flash_ui_{};
   DeployFlashUi* deploy_flash_ui_{};
+  WirelessFlashUi* wireless_flash_ui_{};
   HeroHitFlashUi* hero_hit_flash_ui_{};
   ExceedBulletSpeedFlashUi* exceed_bullet_speed_flash_ui_{};
   CustomizeDisplayFlashUi* customize_display_flash_ui_{};

rm_referee/include/rm_referee/ui/flash_ui.h

@@ -106,6 +106,19 @@ class DeployFlashUi : public FlashUi
   double angular_z_{ 0. };
 };
 
+class WirelessFlashUi : public FlashUi
+{
+public:
+  explicit WirelessFlashUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::deque<Graph>* graph_queue,
+                           std::deque<Graph>* character_queue)
+    : FlashUi(rpc_value, base, "wireless", graph_queue, character_queue){};
+  void updateChassisCmdData(const rm_msgs::ChassisCmd::ConstPtr& data, const ros::Time& last_get_data_time);
+
+private:
+  void display(const ros::Time& time) override;
+  bool wireless_state_;
+};
+
 class HeroHitFlashUi : public FlashGroupUi
 {
 public:

rm_referee/src/referee_base.cpp

@@ -161,6 +161,8 @@ RefereeBase::RefereeBase(ros::NodeHandle& nh, Base& base) : base_(base), nh_(nh)
         spin_flash_ui_ = new SpinFlashUi(rpc_value[i], base_, &graph_queue_, &character_queue_);
       if (rpc_value[i]["name"] == "deploy")
         deploy_flash_ui_ = new DeployFlashUi(rpc_value[i], base_, &graph_queue_, &character_queue_);
+      if (rpc_value[i]["name"] == "wireless")
+        wireless_flash_ui_ = new WirelessFlashUi(rpc_value[i], base_, &graph_queue_, &character_queue_);
       if (rpc_value[i]["name"] == "hero_hit")
         hero_hit_flash_ui_ = new HeroHitFlashUi(rpc_value[i], base_, &graph_queue_, &character_queue_);
       if (rpc_value[i]["name"] == "exceed_bullet_speed")
@@ -457,6 +459,8 @@ void RefereeBase::chassisCmdDataCallback(const rm_msgs::ChassisCmd::ConstPtr& da
     spin_flash_ui_->updateChassisCmdData(data, ros::Time::now());
   if (deploy_flash_ui_ && !is_adding_)
     deploy_flash_ui_->updateChassisCmdData(data, ros::Time::now());
+  if (wireless_flash_ui_ && !is_adding_)
+    wireless_flash_ui_->updateChassisCmdData(data, ros::Time::now());
   if (rotation_time_change_ui_ && !is_adding_)
     rotation_time_change_ui_->updateChassisCmdData(data);
 }

rm_referee/src/ui/flash_ui.cpp

@@ -184,6 +184,20 @@ void DeployFlashUi::updateChassisVelData(const geometry_msgs::Twist::ConstPtr& d
   angular_z_ = data->angular.z;
 }
 
+void WirelessFlashUi::display(const ros::Time& time)
+{
+  if (!(wireless_state_))
+    graph_->setOperation(rm_referee::GraphOperation::DELETE);
+  FlashUi::updateFlashUiForQueue(time, (wireless_state_), false);
+}
+
+void WirelessFlashUi::updateChassisCmdData(const rm_msgs::ChassisCmd::ConstPtr& data,
+                                           const ros::Time& last_get_data_time)
+{
+  wireless_state_ = data->wireless_state;
+  display(last_get_data_time);
+}
+
 void HeroHitFlashUi::updateHittingConfig(const rm_msgs::GameRobotHp& msg)
 {
   if (base_.robot_id_ > 100)