referee_base.h

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//
// Created by ljq on 2021/12/3.
//
 
#pragma once
 
#include <rm_common/ros_utilities.h>
#include <rm_common/decision/command_sender.h>
#include <vector>
#include <ros/timer.h>
#include <std_msgs/Int32.h>
#include <std_msgs/Float32MultiArray.h>
 
#include "rm_referee/ui/ui_base.h"
#include "rm_referee/ui/trigger_change_ui.h"
#include "rm_referee/ui/time_change_ui.h"
#include "rm_referee/ui/flash_ui.h"
#include "rm_referee/ui/interactive_data.h"
 
namespace rm_referee
{
class RefereeBase
{
public:
  explicit RefereeBase(ros::NodeHandle& nh, Base& base);
  virtual void addUi();
 
  // unpack call back
  virtual void robotStatusDataCallBack(const rm_msgs::GameRobotStatus& game_robot_status_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);
  virtual void powerHeatDataCallBack(const rm_msgs::PowerHeatData& power_heat_data, const ros::Time& last_get_data_time);
  virtual void robotHurtDataCallBack(const rm_msgs::RobotHurt& robot_hurt_data, const ros::Time& last_get_data_time);
  virtual void bulletRemainDataCallBack(const rm_msgs::BulletAllowance& bullet_allowance,
                                        const ros::Time& last_get_data_time);
  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 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);
 
  // sub call back
  virtual void jointStateCallback(const sensor_msgs::JointState::ConstPtr& joint_state);
  virtual void actuatorStateCallback(const rm_msgs::ActuatorState::ConstPtr& data);
  virtual void dbusDataCallback(const rm_msgs::DbusData::ConstPtr& data);
  virtual void heroLegDataCallback(const rm_msgs::ChassisActiveSusCmd::ConstPtr& data);
  virtual void chassisCmdDataCallback(const rm_msgs::ChassisCmd::ConstPtr& data);
  virtual void vel2DCmdDataCallback(const geometry_msgs::Twist::ConstPtr& data);
  virtual void shootStateCallback(const rm_msgs::ShootState::ConstPtr& data);
  virtual void gimbalCmdDataCallback(const rm_msgs::GimbalCmd::ConstPtr& data);
  virtual void cardCmdDataCallback(const rm_msgs::StateCmd::ConstPtr& data);
  virtual void engineerUiDataCallback(const rm_msgs::EngineerUi::ConstPtr& data);
  virtual void manualDataCallBack(const rm_msgs::ManualToReferee::ConstPtr& data);
  virtual void radarDataCallBack(const std_msgs::Int8MultiArrayConstPtr& data);
  virtual void cameraNameCallBack(const std_msgs::StringConstPtr& data);
  virtual void trackCallBack(const rm_msgs::TrackDataConstPtr& data);
  virtual void deployDistanceCallBack(const geometry_msgs::PointConstPtr& data);
  virtual void balanceStateCallback(const rm_msgs::BalanceStateConstPtr& data);
  virtual void leggedChassisStatusCallback(const rm_msgs::LeggedChassisStatusConstPtr& data);
  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::SentryCmdConstPtr& data);
  virtual void sendRadarCmdCallback(const rm_msgs::RadarCmdConstPtr& 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);
  virtual void customizeDisplayCmdCallBack(const std_msgs::UInt32ConstPtr& data);
  virtual void visualizeStateDataCallBack(const rm_msgs::VisualizeStateDataConstPtr& data);
  virtual void relocalizeProgressCallback(const std_msgs::Int32ConstPtr& data);
 
  // send  ui
  void sendSerialDataCallback();
  void sendQueue();
 
  ros::Subscriber joint_state_sub_;
  ros::Subscriber actuator_state_sub_;
  ros::Subscriber dbus_sub_;
  ros::Subscriber chassis_cmd_sub_;
  ros::Subscriber hero_leg_data_sub_;
  ros::Subscriber vel2D_cmd_sub_;
  ros::Subscriber shoot_state_sub_;
  ros::Subscriber gimbal_cmd_sub_;
  ros::Subscriber detection_status_sub_;
  ros::Subscriber card_cmd_sub_;
  ros::Subscriber calibration_status_sub_;
  ros::Subscriber engineer_cmd_sub_;
  ros::Subscriber radar_date_sub_;
  ros::Subscriber manual_data_sub_;
  ros::Subscriber camera_name_sub_;
  ros::Subscriber track_sub_;
  ros::Subscriber deploy_distance_sub_;
  ros::Subscriber balance_state_sub_;
  ros::Subscriber legged_chassis_status_sub_;
  ros::Subscriber radar_receive_sub_;
  ros::Subscriber map_sentry_sub_;
  ros::Subscriber sentry_to_referee_sub_;
  ros::Subscriber radar_to_referee_sub_;
  ros::Subscriber sentry_cmd_sub_;
  ros::Subscriber radar_cmd_sub_;
  ros::Subscriber sentry_state_sub_;
  ros::Subscriber drone_pose_sub_;
  ros::Subscriber shoot_cmd_sub_;
  ros::Subscriber customize_display_cmd_sub_;
  ros::Subscriber visualize_state_data_sub_;
  ros::Subscriber relocalize_progress_sub_;
 
  ChassisTriggerChangeUi* chassis_trigger_change_ui_{};
  ShooterTriggerChangeUi* shooter_trigger_change_ui_{};
  GimbalTriggerChangeUi* gimbal_trigger_change_ui_{};
  TargetTriggerChangeUi* target_trigger_change_ui_{};
  TargetViewAngleTriggerChangeUi* target_view_angle_trigger_change_ui_{};
  CameraTriggerChangeUi* camera_trigger_change_ui_{};
  FrictionSpeedTriggerChangeUi* friction_speed_trigger_change_ui_{};
  HeroLegTriggerChangeUi* hero_leg_trigger_change_ui_{};
 
  BulletTimeChangeUi* bullet_time_change_ui_{};
  CapacitorTimeChangeUi* capacitor_time_change_ui_{};
  RelocalizeProgressTimeChangeUi* relocalize_progress_time_change_ui_{};
  EffortTimeChangeUi* effort_time_change_ui_{};
  ProgressTimeChangeUi* progress_time_change_ui_{};
  DartStatusTimeChangeUi* dart_status_time_change_ui_{};
  RotationTimeChangeUi* rotation_time_change_ui_{};
  LaneLineTimeChangeGroupUi* lane_line_time_change_ui_{};
  BalancePitchTimeChangeGroupUi* balance_pitch_time_change_group_ui_{};
  std::vector<LegThetaTimeChangeGroupUi*> leg_theta_time_change_group_uis_{};
  PitchAngleTimeChangeUi* pitch_angle_time_change_ui_{};
  ImageTransmissionAngleTimeChangeUi* image_transmission_angle_time_change_ui_{};
  JointPositionTimeChangeUi *engineer_joint1_time_change_ui{}, *engineer_joint2_time_change_ui{},
      *engineer_joint3_time_change_ui{};
  TargetDistanceTimeChangeUi* target_distance_time_change_ui_{};
  DeployDistanceTimeChangeUi* deploy_distance_time_change_ui_{};
  HeroLegTimeChangeUi* hero_leg_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_{},
      *joint_temperature_trigger_change_ui_{}, *gripper_state_trigger_change_ui_{};
  VisualizeStateTriggerChangeUi* visualize_state_trigger_change_ui_{};
 
  FixedUi* fixed_ui_{};
 
  CoverFlashUi* cover_flash_ui_{};
  SpinFlashUi* spin_flash_ui_{};
  DeployFlashUi* deploy_flash_ui_{};
  HeroHitFlashUi* hero_hit_flash_ui_{};
  ExceedBulletSpeedFlashUi* exceed_bullet_speed_flash_ui_{};
  CustomizeDisplayFlashUi* customize_display_flash_ui_{};
  BurstFlashUi* burst_flash_ui_{};
  CapacityRunOutFlashUi* capacity_run_out_flash_ui_{};
 
  InteractiveSender* interactive_data_sender_{};
  CustomInfoSender* custom_info_sender{};
  BulletNumShare* bullet_num_share_{};
  SentryToRadar* sentry_to_radar_{};
  RadarToSentry* radar_to_sentry_{};
 
  GroupUiBase* graph_queue_sender_{};
  std::deque<Graph> graph_queue_;
  std::deque<Graph> character_queue_;
  //  std::deque<std::tuple<>> interactive_data_queue_;
 
  ros::Time radar_interactive_data_last_send_;
  ros::Time sentry_interactive_data_last_send_;
  ros::Time sentry_cmd_data_last_send_, radar_cmd_data_last_send_;
 
  Base& base_;
  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;
  ros::NodeHandle nh_;
  std::string dbus_topic_;
};
}  // namespace rm_referee