Merge pull request #121 from rm-controls/revert-116-master

Revert "Merge rm_manual of 2024 engineer and engineer2."
rm-controls · Sep 30, 2024 · ea94a25 · ea94a25
2 parents 6f75aa3 + 9267aa6
commit ea94a25
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Showing 9 changed files with 73 additions and 1,405 deletions.
diff --git a/include/rm_manual/engineer2_manual.h b/include/rm_manual/engineer2_manual.h
diff --git a/include/rm_manual/engineer_manual.h b/include/rm_manual/engineer_manual.h
@@ -16,7 +16,6 @@
 #include <rm_msgs/MultiDofCmd.h>
 #include <rm_msgs/GpioData.h>
 #include <rm_msgs/EngineerUi.h>
-#include <stack>
 
 namespace rm_manual
 {
@@ -49,13 +48,6 @@ class EngineerManual : public ChassisGimbalManual
     EXCHANGE
   };
 
-  enum ServoOrientation
-  {
-    MID,
-    RIGHT,
-    LEFT
-  };
-
   EngineerManual(ros::NodeHandle& nh, ros::NodeHandle& nh_referee);
   void run() override;
 
@@ -130,47 +122,40 @@ class EngineerManual : public ChassisGimbalManual
   void shiftBPress();
   void shiftBRelease();
   void shiftCPress();
-  void shiftEPress();
   void shiftFPress();
   void shiftGPress();
-  void shiftQPress();
   void shiftRPress();
   void shiftRRelease();
   void shiftVPress();
   void shiftVRelease();
   void shiftXPress();
   void shiftZPress();
-  void shiftZRelease();
 
   void mouseLeftRelease();
   void mouseRightRelease();
 
   // Servo
 
-  bool change_flag_{}, ore_rotator_pos_{ false }, shift_z_pressed_{ false }, ore_lifter_on_{ false },
-      v_pressed_{ false };
-
+  bool change_flag_{};
   double angular_z_scale_{}, gyro_scale_{}, fast_gyro_scale_{}, low_gyro_scale_{}, normal_gyro_scale_{},
       exchange_gyro_scale_{}, fast_speed_scale_{}, low_speed_scale_{}, normal_speed_scale_{}, exchange_speed_scale_{};
 
-  std::string prefix_{}, root_{}, reversal_state_{}, drag_state_{ "off" }, gripper_state_{ "off" }, last_ore_{};
-
-  int operating_mode_{}, servo_mode_{}, servo_orientation_{ 0 }, gimbal_mode_{}, gimbal_height_{ 0 },
-      gimbal_direction_{ 0 }, ore_lifter_pos_{ 0 };
-
-  std::stack<std::string> stone_num_{};
+  std::string prefix_{}, root_{}, reversal_state_{}, drag_state_{ "off" }, gripper_state_{ "off" };
+  int operating_mode_{}, servo_mode_{}, gimbal_mode_{}, stone_num_{ 0 }, gimbal_height_{ 0 };
 
   ros::Time last_time_;
   ros::Subscriber stone_num_sub_, gripper_state_sub_;
   ros::Publisher engineer_ui_pub_;
 
   rm_msgs::GpioData gpio_state_;
-  rm_msgs::EngineerUi engineer_ui_, old_ui_;
+  rm_msgs::EngineerUi engineer_ui_;
 
   rm_common::Vel3DCommandSender* servo_command_sender_;
   rm_common::ServiceCallerBase<std_srvs::Empty>* servo_reset_caller_;
-
-  rm_common::CalibrationQueue *calibration_gather_{}, *pitch_calibration_, *ore_bin_lifter_calibration_{};
+  rm_common::JointPositionBinaryCommandSender *extend_arm_a_command_sender_, *extend_arm_b_command_sender_;
+  rm_common::JointPointCommandSender *ore_bin_lifter_command_sender_, *ore_bin_rotate_command_sender_,
+      *gimbal_lifter_command_sender_;
+  rm_common::CalibrationQueue *calibration_gather_{}, *pitch_calibration_;
 
   actionlib::SimpleActionClient<rm_msgs::EngineerAction> action_client_;
 

diff --git a/include/rm_manual/manual_base.h b/include/rm_manual/manual_base.h
@@ -159,7 +159,7 @@ class ManualBase
   ros::NodeHandle nh_;
 
   ros::Time referee_last_get_stamp_;
-  bool remote_is_open_{ false }, referee_is_online_ = false;
+  bool remote_is_open_{}, referee_is_online_ = false;
   int state_ = PASSIVE;
   int robot_id_, chassis_power_;
   int chassis_output_on_ = 0, gimbal_output_on_ = 0, shooter_output_on_ = 0;

diff --git a/launch/load.launch b/launch/load.launch
@@ -1,5 +1,5 @@
 <launch>
-    <arg name="robot_type" default="$(env ROBOT_TYPE)" doc="Robot type [standard, hero, engineer, engineer2]"/>
+    <arg name="robot_type" default="$(env ROBOT_TYPE)" doc="Robot type [standard, hero, engineer]"/>
 
     <rosparam file="$(find rm_config)/config/rm_controllers/$(arg robot_type).yaml" command="load"/>
     <rosparam file="$(find rm_manual)/config/$(arg robot_type).yaml" command="load"/>

diff --git a/src/chassis_gimbal_manual.cpp b/src/chassis_gimbal_manual.cpp
@@ -72,10 +72,10 @@ void ChassisGimbalManual::checkKeyboard(const rm_msgs::DbusData::ConstPtr& dbus_
   ManualBase::checkKeyboard(dbus_data);
   if (robot_id_ == rm_msgs::GameRobotStatus::RED_ENGINEER || robot_id_ == rm_msgs::GameRobotStatus::BLUE_ENGINEER)
   {
-    w_event_.update((!dbus_data->key_ctrl) && dbus_data->key_w);
-    s_event_.update((!dbus_data->key_ctrl) && dbus_data->key_s);
-    a_event_.update((!dbus_data->key_ctrl) && dbus_data->key_a);
-    d_event_.update((!dbus_data->key_ctrl) && dbus_data->key_d);
+    w_event_.update((!dbus_data->key_ctrl) && (!dbus_data->key_shift) && dbus_data->key_w);
+    s_event_.update((!dbus_data->key_ctrl) && (!dbus_data->key_shift) && dbus_data->key_s);
+    a_event_.update((!dbus_data->key_ctrl) && (!dbus_data->key_shift) && dbus_data->key_a);
+    d_event_.update((!dbus_data->key_ctrl) && (!dbus_data->key_shift) && dbus_data->key_d);
   }
   else
   {