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Update Hero key bindings and fix manual logic issues for 2026 RMUC #154

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Merged
Bluefairy-ljy merged 1 commit into from
Oct 3, 2026
Merged

Update Hero key bindings and fix manual logic issues for 2026 RMUC #154

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2 changes: 1 addition & 1 deletion include/rm_manual/chassis_gimbal_manual.h
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Original file line number Diff line number Diff line change
Expand Up @@ -62,7 +62,7 @@ class ChassisGimbalManual : public ManualBase
rm_common::ChassisCommandSender* chassis_cmd_sender_{};

double x_scale_{}, y_scale_{};
bool is_gyro_{ 0 }, wheels_offline_ = false;
bool is_gyro_{ false }, wheels_offline_{ false };
double speed_change_scale_{ 1. };
double gimbal_scale_{ 1. };
double traj_scale_{ 0.5 };
Expand Down
31 changes: 12 additions & 19 deletions include/rm_manual/chassis_gimbal_shooter_cover_manual.h
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Expand Up @@ -22,25 +22,21 @@ class ChassisGimbalShooterCoverManual : public ChassisGimbalShooterManual
void changeSpeedMode(SpeedMode speed_mode);
double getDynamicScale(const double base_scale, const double amplitude, const double period, const double phase);
void changeGyroSpeedMode(SpeedMode speed_mode);
void checkWheelsOnline();
void updatePc(const rm_msgs::DbusData::ConstPtr& dbus_data) override;
void checkKeyboard(const rm_msgs::DbusData::ConstPtr& dbus_data) override;
void checkReferee() override;
void sendCommand(const ros::Time& time) override;
void updateWheelsState(const rm_ecat_msgs::RmEcatStandardSlaveReadings::ConstPtr& data,
const std::vector<std::string>& chassis_motor);
void rightSwitchDownRise() override;
void rightSwitchMidRise() override;
void rightSwitchUpRise() override;
void wheelsOnlineCallback(const rm_ecat_msgs::RmEcatStandardSlaveReadings::ConstPtr& data);
void gameRobotStatusCallback(const rm_msgs::GameRobotStatus::ConstPtr& data) override;
void mouseRightPress() override;
void ePress() override;
void eRelease() override;
void bPress() override;
void cPress() override;
void qPress() override;
void ctrlRPressing();
void ctrlRRelease() override;
void ctrlRRelease();
void wPress() override;
void wPressing() override;
void aPressing() override;
Expand All @@ -50,15 +46,17 @@ class ChassisGimbalShooterCoverManual : public ChassisGimbalShooterManual
void aRelease() override;
void sRelease() override;
void dRelease() override;
void bRelease() override
{
}
void zPress() override
{
}

virtual void ctrlZPress();
virtual void ctrlZRelease()
void ctrlCPress() override
{
gimbal_cmd_sender_->setMode(rm_msgs::GimbalCmd::RATE);
};
}
virtual void ctrlZPress();
virtual void ctrlZRelease();
virtual void ctrlXPress();

ros::Subscriber wheel_online_sub_;
Expand All @@ -70,17 +68,12 @@ class ChassisGimbalShooterCoverManual : public ChassisGimbalShooterManual
rm_common::SwitchDetectionCaller* switch_buff_srv_{};
rm_common::SwitchDetectionCaller* switch_buff_type_srv_{};
rm_common::SwitchDetectionCaller* switch_exposure_srv_{};
rm_common::JointPositionBinaryCommandSender* cover_command_sender_{};
InputEvent ctrl_z_event_, z_event_;
std::string supply_frame_;
std::string wireless_frame_;
ros::Time last_switch_time_, last_check_wheels_time_;
std::vector<std::string> chassis_motor_;
std::vector<bool> wheels_online_state_;
bool supply_ = false;
bool need_wireless_ = false;
bool cover_close_ = true;
bool last_power_chassis_output_ = false;
ros::Time last_switch_time_;
bool supply_ = { false };
bool need_wireless_ = { false };
int count_{};
};
} // namespace rm_manual
56 changes: 37 additions & 19 deletions include/rm_manual/chassis_gimbal_shooter_manual.h
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Expand Up @@ -6,7 +6,9 @@

#include "rm_manual/chassis_gimbal_manual.h"
#include <rm_common/decision/calibration_queue.h>
#include <std_srvs/Empty.h>
#include <angles/angles.h>
#include <unordered_set>

namespace rm_manual
{
Expand All @@ -19,10 +21,14 @@ class ChassisGimbalShooterManual : public ChassisGimbalManual
protected:
void ecatReconnected() override;
void checkReferee() override;
void checkWheelsOnline();
void checkKeyboard(const rm_msgs::DbusData::ConstPtr& dbus_data) override;
void updateRc(const rm_msgs::DbusData::ConstPtr& dbus_data) override;
void updatePc(const rm_msgs::DbusData::ConstPtr& dbus_data) override;
void sendCommand(const ros::Time& time) override;
void updateWheelsState(const rm_ecat_msgs::RmEcatStandardSlaveReadings::ConstPtr& data,
const std::vector<std::string>& chassis_motor);
void wheelsOnlineCallback(const rm_ecat_msgs::RmEcatStandardSlaveReadings::ConstPtr& data);
void chassisOutputOn() override;
void shooterOutputOn() override;
void gimbalOutputOn() override;
Expand All @@ -37,7 +43,6 @@ class ChassisGimbalShooterManual : public ChassisGimbalManual
void remoteControlTurnOff() override;
void remoteControlTurnOn() override;
void robotDie() override;
void robotRevive() override;
void rightSwitchDownRise() override;
void rightSwitchMidRise() override;
void rightSwitchUpRise() override;
Expand All @@ -54,6 +59,8 @@ class ChassisGimbalShooterManual : public ChassisGimbalManual
void suggestFireCallback(const std_msgs::Bool::ConstPtr& data) override;
void trackCallback(const rm_msgs::TrackData::ConstPtr& data) override;
void shootDataCallback(const rm_msgs::ShootData::ConstPtr& data) override;
void ballisticSolutionCallback(const std_msgs::Float32MultiArray::ConstPtr& data) override;
void protectStateCallback(const std_msgs::Bool::ConstPtr& data) override;
void leftSwitchUpOn(ros::Duration duration);
void leftSwitchUpFall();
void mouseLeftPress();
Expand All @@ -62,13 +69,14 @@ class ChassisGimbalShooterManual : public ChassisGimbalManual
shooter_cmd_sender_->setMode(rm_msgs::ShootCmd::READY);
prepare_shoot_ = true;
}
void mouseRightPress();
virtual void mouseRightPress();
void mouseRightRelease()
{
if (deployed_)
return;
gimbal_cmd_sender_->setMode(rm_msgs::GimbalCmd::RATE);
if (shooter_cmd_sender_->getMsg()->mode == rm_msgs::ShootCmd::PUSH)
shooter_cmd_sender_->setMode(rm_msgs::ShootCmd::READY);
}
void mouseRightRising();
void wPress() override;
void aPress() override;
void sPress() override;
Expand All @@ -94,12 +102,8 @@ class ChassisGimbalShooterManual : public ChassisGimbalManual
virtual void shiftPress();
virtual void shiftRelease();
virtual void rPress();
virtual void qPress()
{
}
virtual void qRelease()
{
}
virtual void qPress();

void ctrlFPress()
{
shooter_cmd_sender_->setMode(rm_msgs::ShootCmd::STOP);
Expand All @@ -108,31 +112,45 @@ class ChassisGimbalShooterManual : public ChassisGimbalManual
void ctrlRPress();
void ctrlZPress();
void ctrlXPress();
virtual void ctrlRRelease();
virtual void ctrlCPress();
virtual void ctrlQPress();
virtual void ctrlBPress();

InputEvent self_inspection_event_, game_start_event_, e_event_, c_event_, g_event_, q_event_, b_event_, x_event_,
r_event_, v_event_, z_event_, ctrl_f_event_, ctrl_v_event_, ctrl_b_event_, ctrl_q_event_, ctrl_r_event_,
ctrl_z_event_, ctrl_x_event_, shift_event_, ctrl_shift_b_event_, mouse_left_event_, mouse_right_event_;
ctrl_z_event_, ctrl_c_event_, ctrl_x_event_, shift_event_, mouse_left_event_, mouse_right_event_;
rm_common::ShooterCommandSender* shooter_cmd_sender_{};
rm_common::CameraSwitchCommandSender* camera_switch_cmd_sender_{};
rm_common::JointPositionBinaryCommandSender* scope_cmd_sender_{};
rm_common::JointPositionBinaryCommandSender* image_transmission_cmd_sender_{};
rm_common::ChassisActiveSuspensionCommandSender* chassis_active_sus_cmd_sender_{};
rm_common::BallisticSolverRequestCommandSender* ballistic_solver_request_cmd_sender_{};

rm_common::SwitchDetectionCaller* switch_detection_srv_{};
rm_common::SwitchDetectionCaller* switch_detection_left_srv_{};
rm_common::SwitchDetectionCaller* switch_armor_target_srv_{};
rm_common::ServiceCallerBase<std_srvs::Empty>* relocate_srv_{};
rm_common::ColorChangeServiceCaller* color_change_srv_{};
rm_common::TrackerResetServiceCaller* tracker_reset_srv_{};

rm_common::CalibrationQueue* chassis_calibration_;
rm_common::CalibrationQueue* shooter_calibration_;
rm_common::CalibrationQueue* gimbal_calibration_;

geometry_msgs::PointStamped point_out_;
uint8_t last_shoot_freq_{};
ros::Subscriber wheel_online_sub_;
ros::Time last_wheels_power_time_;
std::vector<std::string> chassis_motor_;
std::vector<bool> wheels_online_state_;

bool prepare_shoot_ = false, is_balance_ = false, use_scope_ = false, adjust_image_transmission_ = false,
up_change_position_ = false, low_change_position_ = false, need_change_position_ = false, deployed_ = false;
double yaw_current_{};
double traj_yaw_, traj_pitch_;
double scale_;
std_msgs::Float32MultiArray ballistic_solution_;
ros::Time last_ballistic_solution_request_time_;

bool prepare_shoot_{ false }, is_balance_{ false }, use_scope_{ false }, deployed_{ false },
is_follow_yaw_reverse_{ false }, all_wheel_offline_{ false }, protect_state_{ false };
double ballistic_yaw_{}, ballistic_pitch_{};
double ballistic_yaw_step_{}, ballistic_pitch_step_{};
double deploy_pitch_{}, deploy_yaw_;
uint8_t last_shoot_freq_{};
double scale_{};
};
} // namespace rm_manual
17 changes: 12 additions & 5 deletions include/rm_manual/manual_base.h
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Expand Up @@ -8,6 +8,7 @@
#include <iostream>
#include <ros/ros.h>
#include <unordered_map>
#include <std_msgs/Float32MultiArray.h>
#include <serial/serial.h>
#include <std_msgs/Bool.h>
#include <tf2_ros/buffer.h>
Expand Down Expand Up @@ -98,6 +99,12 @@ class ManualBase
virtual void shootDataCallback(const rm_msgs::ShootData::ConstPtr& data)
{
}
virtual void ballisticSolutionCallback(const std_msgs::Float32MultiArray::ConstPtr& data)
{
}
virtual void protectStateCallback(const std_msgs::Bool::ConstPtr& data)
{
}

// EtherCAT
virtual void ecatReconnected()
Expand Down Expand Up @@ -157,7 +164,8 @@ class ManualBase

ros::Subscriber ecat_bus_state_sub_, odom_sub_, dbus_sub_, track_sub_, referee_sub_, capacity_sub_, game_status_sub_,
joint_state_sub_, game_robot_hp_sub_, actuator_state_sub_, power_heat_data_sub_, gimbal_des_error_sub_,
game_robot_status_sub_, suggest_fire_sub_, shoot_beforehand_cmd_sub_, shoot_data_sub_;
game_robot_status_sub_, suggest_fire_sub_, shoot_beforehand_cmd_sub_, shoot_data_sub_, ballistic_solution_sub_,
protect_state_sub_;

sensor_msgs::JointState joint_state_;
rm_msgs::TrackData track_data_;
Expand All @@ -171,11 +179,10 @@ class ManualBase
ros::NodeHandle nh_;

ros::Time referee_last_get_stamp_;
bool remote_is_open_{ false }, referee_is_online_ = false;
bool ecat_bus_is_online_{ true };
bool remote_is_open_{ false }, referee_is_online_{ false }, ecat_bus_is_online_{ true };
int state_ = PASSIVE;
int robot_id_, chassis_power_;
int chassis_output_on_ = 0, gimbal_output_on_ = 0, shooter_output_on_ = 0;
int robot_id_{}, chassis_power_{};
int chassis_output_on_{}, gimbal_output_on_{}, shooter_output_on_{};
InputEvent robot_hp_event_, right_switch_down_event_, right_switch_mid_event_, right_switch_up_event_,
left_switch_down_event_, left_switch_mid_event_, left_switch_up_event_, ecat_reconnected_event_;

Expand Down
15 changes: 1 addition & 14 deletions src/balance_manual.cpp
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Expand Up @@ -23,20 +23,7 @@ void BalanceManual::sendCommand(const ros::Time& time)
chassis_cmd_sender_->getMsg()->follow_source_frame = reverse_frame_;
else
chassis_cmd_sender_->getMsg()->follow_source_frame = "yaw";

if (supply_)
{
cover_close_ = false;
cover_command_sender_->on();
}
else
{
cover_close_ = true;
cover_command_sender_->off();
}

ChassisGimbalShooterManual::sendCommand(time);
cover_command_sender_->sendCommand(time);
rm_manual::ChassisGimbalShooterCoverManual::sendCommand(time);
}

void BalanceManual::checkKeyboard(const rm_msgs::DbusData::ConstPtr& dbus_data)
Expand Down
5 changes: 0 additions & 5 deletions src/chassis_gimbal_manual.cpp
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Expand Up @@ -249,11 +249,6 @@ void ChassisGimbalManual::setChassisMode(int mode)
is_gyro_ = true;
vel_cmd_sender_->setAngularZVel(0.0);
break;
case rm_msgs::ChassisCmd::FALLEN:
chassis_cmd_sender_->setMode(rm_msgs::ChassisCmd::FALLEN);
is_gyro_ = false;
vel_cmd_sender_->setAngularZVel(0.0);
break;
}
}

Expand Down
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