Add ui to display enemy hp.

Author: chen-gr

rm_referee/include/rm_referee/referee_base.h

@@ -35,7 +35,7 @@ class RefereeBase
   virtual void interactiveDataCallBack(const rm_referee::InteractiveData& interactive_data,
                                        const ros::Time& last_get_data_time);
   virtual void eventDataCallBack(const rm_msgs::EventData& event_data, const ros::Time& last_get_data_time);
-  virtual void updateHeroHitDataCallBack(const rm_msgs::GameRobotHp& game_robot_hp_data);
+  virtual void updateGameRobotHpDataCallBack(const rm_msgs::GameRobotHp& game_robot_hp_data);
   virtual void supplyBulletDataCallBack(const rm_msgs::SupplyProjectileAction& data);
   virtual void updateShootDataDataCallBack(const rm_msgs::ShootData& msg);
   virtual void updateBulletRemainData(const rm_referee::BulletNumData& data);
@@ -121,6 +121,7 @@ class RefereeBase
       *engineer_joint3_time_change_ui{};
   TargetDistanceTimeChangeUi* target_distance_time_change_ui_{};
   FriendBulletsTimeChangeGroupUi* friend_bullets_time_change_group_ui_{};
+  TargetHpTimeChangeUi* target_hp_time_change_ui_{};
 
   DroneTowardsTimeChangeGroupUi* drone_towards_time_change_group_ui_{};
   StringTriggerChangeUi *servo_mode_trigger_change_ui_{}, *stone_num_trigger_change_ui_{},

rm_referee/include/rm_referee/ui/time_change_ui.h

@@ -379,4 +379,31 @@ class FriendBulletsTimeChangeGroupUi : public TimeChangeGroupUi
   int hero_bullets_{ 1 }, standard3_bullets_{ 3 }, standard4_bullets_{ 4 }, standard5_bullets_{ 5 };
 };
 
+class TargetHpTimeChangeUi : public TimeChangeUi
+{
+public:
+  explicit TargetHpTimeChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::deque<Graph>* graph_queue,
+                                std::deque<Graph>* character_queue)
+    : TimeChangeUi(rpc_value, base, "target_hp", graph_queue, character_queue)
+  {
+    if (rpc_value.hasMember("enemy_id"))
+    {
+      XmlRpc::XmlRpcValue& enemy_id = rpc_value["enemy_id"];
+      for (int i = 0; i < enemy_id.size(); i++)
+      {
+        int id = static_cast<int>(enemy_id[i]);
+        enemy_robot_hp_[id] = 0;
+      }
+    }
+  }
+  void setEnemyHp(const rm_msgs::GameRobotHp& data);
+  void updateTrackID(int id);
+  void updateTargeHptData();
+
+private:
+  void updateConfig() override;
+  std::map<int, int> enemy_robot_hp_;
+  int target_hp_{}, target_id_{};
+};
+
 }  // namespace rm_referee

rm_referee/src/referee.cpp

@@ -138,7 +138,7 @@ 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_.updateHeroHitDataCallBack(game_robot_hp_data);
+          referee_ui_.updateGameRobotHpDataCallBack(game_robot_hp_data);
           game_robot_hp_pub_.publish(game_robot_hp_data);
           break;
         }

rm_referee/src/referee_base.cpp

@@ -141,6 +141,8 @@ RefereeBase::RefereeBase(ros::NodeHandle& nh, Base& base) : base_(base), nh_(nh)
       if (rpc_value[i]["name"] == "friend_bullets")
         friend_bullets_time_change_group_ui_ =
             new FriendBulletsTimeChangeGroupUi(rpc_value[i], base_, &graph_queue_, &character_queue_);
+      if (rpc_value[i]["name"] == "target_hp")
+        target_hp_time_change_ui_ = new TargetHpTimeChangeUi(rpc_value[i], base_, &graph_queue_, &character_queue_);
     }
 
     ui_nh.getParam("fixed", rpc_value);
@@ -262,6 +264,8 @@ void RefereeBase::addUi()
     target_distance_time_change_ui_->addForQueue();
   if (friend_bullets_time_change_group_ui_)
     friend_bullets_time_change_group_ui_->addForQueue();
+  if (target_hp_time_change_ui_)
+    target_hp_time_change_ui_->addForQueue();
   if (visualize_state_trigger_change_ui_)
     visualize_state_trigger_change_ui_->addForQueue();
   add_ui_times_++;
@@ -359,10 +363,12 @@ void RefereeBase::robotStatusDataCallBack(const rm_msgs::GameRobotStatus& data,
     fixed_ui_->updateForQueue();
 }
 
-void RefereeBase::updateHeroHitDataCallBack(const rm_msgs::GameRobotHp& game_robot_hp_data)
+void RefereeBase::updateGameRobotHpDataCallBack(const rm_msgs::GameRobotHp& game_robot_hp_data)
 {
   if (hero_hit_flash_ui_)
     hero_hit_flash_ui_->updateHittingConfig(game_robot_hp_data);
+  if (target_hp_time_change_ui_)
+    target_hp_time_change_ui_->setEnemyHp(game_robot_hp_data);
 }
 void RefereeBase::gameStatusDataCallBack(const rm_msgs::GameStatus& data, const ros::Time& last_get_data_time)
 {
@@ -508,6 +514,8 @@ void RefereeBase::trackCallBack(const rm_msgs::TrackDataConstPtr& data)
     target_view_angle_trigger_change_ui_->updateTrackID(data->id);
   if (target_distance_time_change_ui_ && !is_adding_)
     target_distance_time_change_ui_->updateTargetDistanceData(data);
+  if (target_hp_time_change_ui_ && !is_adding_)
+    target_hp_time_change_ui_->updateTrackID(data->id);
 }
 void RefereeBase::balanceStateCallback(const rm_msgs::BalanceStateConstPtr& data)
 {

rm_referee/src/ui/time_change_ui.cpp

@@ -501,4 +501,47 @@ void FriendBulletsTimeChangeGroupUi::updateConfig()
   }
 }
 
+void TargetHpTimeChangeUi::setEnemyHp(const rm_msgs::GameRobotHp& data)
+{
+  bool is_enemy_red = base_.robot_id_ > 100;
+  if (is_enemy_red)
+  {
+    enemy_robot_hp_[1] = data.red_1_robot_hp;
+    enemy_robot_hp_[2] = data.red_2_robot_hp;
+    enemy_robot_hp_[3] = data.red_3_robot_hp;
+    enemy_robot_hp_[4] = data.red_4_robot_hp;
+    enemy_robot_hp_[7] = data.red_7_robot_hp;
+  }
+  else
+  {
+    enemy_robot_hp_[1] = data.blue_1_robot_hp;
+    enemy_robot_hp_[2] = data.blue_2_robot_hp;
+    enemy_robot_hp_[3] = data.blue_3_robot_hp;
+    enemy_robot_hp_[4] = data.blue_4_robot_hp;
+    enemy_robot_hp_[7] = data.blue_7_robot_hp;
+  }
+}
+
+void TargetHpTimeChangeUi::updateTrackID(int id)
+{
+  target_id_ = id;
+  updateTargeHptData();
+}
+
+void TargetHpTimeChangeUi::updateTargeHptData()
+{
+  auto it = enemy_robot_hp_.find(target_id_);
+  target_hp_ = it == enemy_robot_hp_.end() ? 0 : it->second;
+  updateForQueue();
+}
+
+void TargetHpTimeChangeUi::updateConfig()
+{
+  graph_->setIntNum(target_hp_);
+  if (target_hp_ > 50)
+    graph_->setColor(rm_referee::GraphColor::GREEN);
+  else
+    graph_->setColor(rm_referee::GraphColor::ORANGE);
+}
+
 }  // namespace rm_referee