From f501f48a731d8bd5cb74cf842b9f0ad188e02f9f Mon Sep 17 00:00:00 2001 From: ljq-lv <939468378@qq.com> Date: Wed, 8 Feb 2023 21:11:04 +0800 Subject: [PATCH 1/3] Modified the msg "EngineerCmd" name --- rm_msgs/CMakeLists.txt | 2 +- rm_msgs/msg/referee/{EngineerCmd.msg => StepQueueState.msg} | 0 rm_referee/include/rm_referee/common/data.h | 2 +- rm_referee/include/rm_referee/referee_base.h | 2 +- rm_referee/include/rm_referee/ui/time_change_ui.h | 2 +- rm_referee/src/referee_base.cpp | 4 ++-- rm_referee/src/ui/time_change_ui.cpp | 2 +- 7 files changed, 7 insertions(+), 7 deletions(-) rename rm_msgs/msg/referee/{EngineerCmd.msg => StepQueueState.msg} (100%) diff --git a/rm_msgs/CMakeLists.txt b/rm_msgs/CMakeLists.txt index d959f988..3dc16801 100644 --- a/rm_msgs/CMakeLists.txt +++ b/rm_msgs/CMakeLists.txt @@ -49,7 +49,7 @@ add_message_files( GameRobotStatus.msg GameStatus.msg StateCmd.msg - EngineerCmd.msg + StepQueueState.msg GameRobotHp.msg PowerHeatData.msg EventData.msg diff --git a/rm_msgs/msg/referee/EngineerCmd.msg b/rm_msgs/msg/referee/StepQueueState.msg similarity index 100% rename from rm_msgs/msg/referee/EngineerCmd.msg rename to rm_msgs/msg/referee/StepQueueState.msg diff --git a/rm_referee/include/rm_referee/common/data.h b/rm_referee/include/rm_referee/common/data.h index 9d609a15..c1cc413b 100644 --- a/rm_referee/include/rm_referee/common/data.h +++ b/rm_referee/include/rm_referee/common/data.h @@ -60,7 +60,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/rm_referee/include/rm_referee/referee_base.h b/rm_referee/include/rm_referee/referee_base.h index fd1219e7..961438e8 100644 --- a/rm_referee/include/rm_referee/referee_base.h +++ b/rm_referee/include/rm_referee/referee_base.h @@ -40,7 +40,7 @@ class RefereeBase virtual void shootCmdDataCallback(const rm_msgs::ShootCmd::ConstPtr& data); virtual void gimbalCmdDataCallback(const rm_msgs::GimbalCmd::ConstPtr& data); virtual void cardCmdDataCallback(const rm_msgs::StateCmd::ConstPtr& data); - virtual void engineerCmdDataCallback(const rm_msgs::EngineerCmd ::ConstPtr& data); + virtual void engineerCmdDataCallback(const rm_msgs::StepQueueState ::ConstPtr& data); virtual void manualDataCallBack(const rm_msgs::ManualToReferee::ConstPtr& data); virtual void radarDataCallBack(const std_msgs::Int8MultiArrayConstPtr& data); diff --git a/rm_referee/include/rm_referee/ui/time_change_ui.h b/rm_referee/include/rm_referee/ui/time_change_ui.h index ab73bcfd..6c917036 100644 --- a/rm_referee/include/rm_referee/ui/time_change_ui.h +++ b/rm_referee/include/rm_referee/ui/time_change_ui.h @@ -51,7 +51,7 @@ class ProgressTimeChangeUi : public TimeChangeUi public: explicit ProgressTimeChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base) : TimeChangeUi(rpc_value, base, "progress"){}; - void updateEngineerCmdData(const rm_msgs::EngineerCmd ::ConstPtr data, const ros::Time& last_get_data_time); + void updateEngineerCmdData(const rm_msgs::StepQueueState ::ConstPtr data, const ros::Time& last_get_data_time); private: void display(const ros::Time& time) override; diff --git a/rm_referee/src/referee_base.cpp b/rm_referee/src/referee_base.cpp index 8fe67154..de223532 100644 --- a/rm_referee/src/referee_base.cpp +++ b/rm_referee/src/referee_base.cpp @@ -24,7 +24,7 @@ RefereeBase::RefereeBase(ros::NodeHandle& nh, Base& base) : base_(base), nh_(nh) RefereeBase::card_cmd_sub_ = nh.subscribe("/controllers/card_controller/command", 10, &RefereeBase::cardCmdDataCallback, this); RefereeBase::engineer_cmd_sub_ = - nh.subscribe("/engineer_cmd", 10, &RefereeBase::engineerCmdDataCallback, this); + nh.subscribe("/current_step_name", 10, &RefereeBase::engineerCmdDataCallback, this); RefereeBase::manual_data_sub_ = nh.subscribe("/manual_to_referee", 10, &RefereeBase::manualDataCallBack, this); if (base_.robot_id_ == rm_referee::RobotId::RED_RADAR || base_.robot_id_ == rm_referee::RobotId::BLUE_RADAR) @@ -177,7 +177,7 @@ void RefereeBase::gimbalCmdDataCallback(const rm_msgs::GimbalCmd::ConstPtr& data void RefereeBase::cardCmdDataCallback(const rm_msgs::StateCmd::ConstPtr& data) { } -void RefereeBase::engineerCmdDataCallback(const rm_msgs::EngineerCmd ::ConstPtr& data) +void RefereeBase::engineerCmdDataCallback(const rm_msgs::StepQueueState ::ConstPtr& data) { if (progress_time_change_ui_) progress_time_change_ui_->updateEngineerCmdData(data, ros::Time::now()); diff --git a/rm_referee/src/ui/time_change_ui.cpp b/rm_referee/src/ui/time_change_ui.cpp index dc0c6255..131c259b 100644 --- a/rm_referee/src/ui/time_change_ui.cpp +++ b/rm_referee/src/ui/time_change_ui.cpp @@ -110,7 +110,7 @@ void ProgressTimeChangeUi::updateConfig() graph_->setOperation(rm_referee::GraphOperation::UPDATE); } -void ProgressTimeChangeUi::updateEngineerCmdData(const rm_msgs::EngineerCmd ::ConstPtr data, +void ProgressTimeChangeUi::updateEngineerCmdData(const rm_msgs::StepQueueState::ConstPtr data, const ros::Time& last_get_data_time) { total_steps_ = data->total_steps; From 77c082f764269a0e55b4cbaef1478d663d2851f2 Mon Sep 17 00:00:00 2001 From: ljq-lv <939468378@qq.com> Date: Wed, 8 Feb 2023 23:31:21 +0800 Subject: [PATCH 2/3] Modified the function and topic name --- rm_referee/include/rm_referee/referee_base.h | 2 +- rm_referee/src/referee_base.cpp | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/rm_referee/include/rm_referee/referee_base.h b/rm_referee/include/rm_referee/referee_base.h index 961438e8..c6909b8d 100644 --- a/rm_referee/include/rm_referee/referee_base.h +++ b/rm_referee/include/rm_referee/referee_base.h @@ -40,7 +40,7 @@ class RefereeBase virtual void shootCmdDataCallback(const rm_msgs::ShootCmd::ConstPtr& data); virtual void gimbalCmdDataCallback(const rm_msgs::GimbalCmd::ConstPtr& data); virtual void cardCmdDataCallback(const rm_msgs::StateCmd::ConstPtr& data); - virtual void engineerCmdDataCallback(const rm_msgs::StepQueueState ::ConstPtr& data); + virtual void stepQueueStateDataCallback(const rm_msgs::StepQueueState ::ConstPtr& data); virtual void manualDataCallBack(const rm_msgs::ManualToReferee::ConstPtr& data); virtual void radarDataCallBack(const std_msgs::Int8MultiArrayConstPtr& data); diff --git a/rm_referee/src/referee_base.cpp b/rm_referee/src/referee_base.cpp index de223532..2ab87c67 100644 --- a/rm_referee/src/referee_base.cpp +++ b/rm_referee/src/referee_base.cpp @@ -24,7 +24,7 @@ RefereeBase::RefereeBase(ros::NodeHandle& nh, Base& base) : base_(base), nh_(nh) RefereeBase::card_cmd_sub_ = nh.subscribe("/controllers/card_controller/command", 10, &RefereeBase::cardCmdDataCallback, this); RefereeBase::engineer_cmd_sub_ = - nh.subscribe("/current_step_name", 10, &RefereeBase::engineerCmdDataCallback, this); + nh.subscribe("/step_queue_state", 10, &RefereeBase::stepQueueStateDataCallback, this); RefereeBase::manual_data_sub_ = nh.subscribe("/manual_to_referee", 10, &RefereeBase::manualDataCallBack, this); if (base_.robot_id_ == rm_referee::RobotId::RED_RADAR || base_.robot_id_ == rm_referee::RobotId::BLUE_RADAR) @@ -177,7 +177,7 @@ void RefereeBase::gimbalCmdDataCallback(const rm_msgs::GimbalCmd::ConstPtr& data void RefereeBase::cardCmdDataCallback(const rm_msgs::StateCmd::ConstPtr& data) { } -void RefereeBase::engineerCmdDataCallback(const rm_msgs::StepQueueState ::ConstPtr& data) +void RefereeBase::stepQueueStateDataCallback(const rm_msgs::StepQueueState ::ConstPtr& data) { if (progress_time_change_ui_) progress_time_change_ui_->updateEngineerCmdData(data, ros::Time::now()); From 3460424c97a345ffd3a92612ce1129f2fe9bd456 Mon Sep 17 00:00:00 2001 From: ljq-lv <939468378@qq.com> Date: Wed, 8 Feb 2023 23:38:00 +0800 Subject: [PATCH 3/3] Modified the function and topic name --- rm_referee/include/rm_referee/ui/time_change_ui.h | 2 +- rm_referee/src/referee_base.cpp | 2 +- rm_referee/src/ui/time_change_ui.cpp | 4 ++-- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/rm_referee/include/rm_referee/ui/time_change_ui.h b/rm_referee/include/rm_referee/ui/time_change_ui.h index 6c917036..b88f043f 100644 --- a/rm_referee/include/rm_referee/ui/time_change_ui.h +++ b/rm_referee/include/rm_referee/ui/time_change_ui.h @@ -51,7 +51,7 @@ class ProgressTimeChangeUi : public TimeChangeUi public: explicit ProgressTimeChangeUi(XmlRpc::XmlRpcValue& rpc_value, Base& base) : TimeChangeUi(rpc_value, base, "progress"){}; - void updateEngineerCmdData(const rm_msgs::StepQueueState ::ConstPtr data, const ros::Time& last_get_data_time); + void updateStepQueueStateData(const rm_msgs::StepQueueState ::ConstPtr data, const ros::Time& last_get_data_time); private: void display(const ros::Time& time) override; diff --git a/rm_referee/src/referee_base.cpp b/rm_referee/src/referee_base.cpp index 2ab87c67..2085ac9d 100644 --- a/rm_referee/src/referee_base.cpp +++ b/rm_referee/src/referee_base.cpp @@ -180,7 +180,7 @@ void RefereeBase::cardCmdDataCallback(const rm_msgs::StateCmd::ConstPtr& data) void RefereeBase::stepQueueStateDataCallback(const rm_msgs::StepQueueState ::ConstPtr& data) { if (progress_time_change_ui_) - progress_time_change_ui_->updateEngineerCmdData(data, ros::Time::now()); + progress_time_change_ui_->updateStepQueueStateData(data, ros::Time::now()); } void RefereeBase::manualDataCallBack(const rm_msgs::ManualToReferee::ConstPtr& data) { diff --git a/rm_referee/src/ui/time_change_ui.cpp b/rm_referee/src/ui/time_change_ui.cpp index 131c259b..c81c8b6b 100644 --- a/rm_referee/src/ui/time_change_ui.cpp +++ b/rm_referee/src/ui/time_change_ui.cpp @@ -110,8 +110,8 @@ void ProgressTimeChangeUi::updateConfig() graph_->setOperation(rm_referee::GraphOperation::UPDATE); } -void ProgressTimeChangeUi::updateEngineerCmdData(const rm_msgs::StepQueueState::ConstPtr data, - const ros::Time& last_get_data_time) +void ProgressTimeChangeUi::updateStepQueueStateData(const rm_msgs::StepQueueState::ConstPtr data, + const ros::Time& last_get_data_time) { total_steps_ = data->total_steps; finished_data_ = data->finished_step;