Modify control logic and add UI for hero

rm_common/include/rm_common/decision/command_sender.h

@@ -306,11 +306,31 @@ class ChassisActiveSuspensionCommandSender : public TimeStampCommandSenderBase<r
   explicit ChassisActiveSuspensionCommandSender(ros::NodeHandle& nh)
     : TimeStampCommandSenderBase<rm_msgs::ChassisActiveSusCmd>(nh)
   {
+    nh.param("leg_feedforward_duration", leg_feedforward_duration_, 20.0);
+  }
+  void setLegSwitchTime(ros::Time leg_switch_time)
+  {
+    leg_switch_time_ = leg_switch_time;
+  }
+  int getLegMode()
+  {
+    return msg_.mode;
+  }
+  void sendCommand(const ros::Time& time) override
+  {
+    msg_.feedforward_countdown =
+        std::max(0, static_cast<int>(leg_feedforward_duration_ - (ros::Time::now() - leg_switch_time_).toSec()));
+    TimeStampCommandSenderBase<rm_msgs::ChassisActiveSusCmd>::sendCommand(time);
   }
   void setZero() override
   {
     msg_.mode = 0;
+    msg_.feedforward_countdown = 0;
   }
+
+private:
+  double leg_feedforward_duration_{};
+  ros::Time leg_switch_time_{};
 };
 class GimbalCommandSender : public TimeStampCommandSenderBase<rm_msgs::GimbalCmd>
 {
@@ -516,6 +536,7 @@ class ShooterCommandSender : public TimeStampCommandSenderBase<rm_msgs::ShootCmd
   }
   void sendCommand(const ros::Time& time) override
   {
+    msg_.allow_deploy_fire = getDeployAllowFireFlag();
     msg_.wheel_speed = getWheelSpeedDes();
     msg_.wheels_speed_offset_front = getFrontWheelSpeedOffset();
     msg_.wheels_speed_offset_back = getBackWheelSpeedOffset();
@@ -591,6 +612,14 @@ class ShooterCommandSender : public TimeStampCommandSenderBase<rm_msgs::ShootCmd
       }
     }
   }
+  void setDeployAllowFireFlag(bool flag)
+  {
+    allow_deploy_fire_ = flag;
+  }
+  bool getDeployAllowFireFlag()
+  {
+    return allow_deploy_fire_;
+  }
   double getFrontWheelSpeedOffset()
   {
     wheels_speed_offset_front_ = wheel_speed_offset_front_;
@@ -656,6 +685,7 @@ class ShooterCommandSender : public TimeStampCommandSenderBase<rm_msgs::ShootCmd
   bool auto_wheel_speed_ = false;
   bool hero_flag_{};
   bool deploy_flag_ = false;
+  bool allow_deploy_fire_ = false;
   rm_msgs::TrackData track_data_;
   rm_msgs::GimbalDesError gimbal_des_error_;
   rm_msgs::ShootBeforehandCmd shoot_beforehand_cmd_;

rm_common/include/rm_common/decision/power_limit.h

@@ -59,32 +59,32 @@ class PowerLimit
       ROS_ERROR("Safety power no defined (namespace: %s)", nh.getNamespace().c_str());
     if (!nh.getParam("capacitor_threshold", capacitor_threshold_))
       ROS_ERROR("Capacitor threshold no defined (namespace: %s)", nh.getNamespace().c_str());
-    if (!nh.getParam("disable_cap_gyro_threshold", disable_cap_gyro_threshold_))
-      ROS_ERROR("Disable cap gyro threshold no defined (namespace: %s)", nh.getNamespace().c_str());
-    if (!nh.getParam("enable_cap_gyro_threshold", enable_cap_gyro_threshold_))
-      ROS_ERROR("Enable cap gyro threshold no defined (namespace: %s)", nh.getNamespace().c_str());
-    if (!nh.getParam("disable_use_cap_threshold", disable_use_cap_threshold_))
-      ROS_ERROR("Disable use cap threshold no defined (namespace: %s)", nh.getNamespace().c_str());
-    if (!nh.getParam("enable_use_cap_threshold", enable_use_cap_threshold_))
-      ROS_ERROR("Enable use cap threshold no defined (namespace: %s)", nh.getNamespace().c_str());
-    if (!nh.getParam("charge_power", charge_power_))
-      ROS_ERROR("Charge power no defined (namespace: %s)", nh.getNamespace().c_str());
+    if (!nh.getParam("disable_burst_cap_threshold", disable_burst_cap_threshold_))
+      ROS_ERROR("Disable burst cap threshold no defined (namespace: %s)", nh.getNamespace().c_str());
+    if (!nh.getParam("enable_burst_cap_threshold", enable_burst_cap_threshold_))
+      ROS_ERROR("Enable burst cap threshold no defined (namespace: %s)", nh.getNamespace().c_str());
+    if (!nh.getParam("disable_normal_cap_threshold", disable_normal_cap_threshold_))
+      ROS_ERROR("Disable normal cap threshold no defined (namespace: %s)", nh.getNamespace().c_str());
+    if (!nh.getParam("enable_gyro_cap_threshold", enable_gyro_cap_threshold_))
+      ROS_ERROR("Enable gyro cap threshold no defined (namespace: %s)", nh.getNamespace().c_str());
+    if (!nh.getParam("disable_gyro_cap_threshold", disable_gyro_cap_threshold_))
+      ROS_ERROR("Disable gyro cap threshold no defined (namespace: %s)", nh.getNamespace().c_str());
     if (!nh.getParam("extra_power", extra_power_))
       ROS_ERROR("Extra power no defined (namespace: %s)", nh.getNamespace().c_str());
     if (!nh.getParam("burst_power", burst_power_))
       ROS_ERROR("Burst power no defined (namespace: %s)", nh.getNamespace().c_str());
-    if (!nh.getParam("standard_power", standard_power_))
-      ROS_ERROR("Standard power no defined (namespace: %s)", nh.getNamespace().c_str());
+    if (!nh.getParam("gyro_power", gyro_power_))
+      ROS_ERROR("Gyro power no defined (namespace: %s)", nh.getNamespace().c_str());
+    if (!nh.getParam("upstairs_power", upstairs_power_))
+      ROS_ERROR("Upstairs power no defined (namespace: %s)", nh.getNamespace().c_str());
     if (!nh.getParam("max_power_limit", max_power_limit_))
       ROS_ERROR("max power limit no defined (namespace: %s)", nh.getNamespace().c_str());
     if (!nh.getParam("power_gain", power_gain_))
       ROS_ERROR("power gain no defined (namespace: %s)", nh.getNamespace().c_str());
-    if (!nh.getParam("buffer_threshold", buffer_threshold_))
-      ROS_ERROR("buffer threshold no defined (namespace: %s)", nh.getNamespace().c_str());
-    if (!nh.getParam("is_new_capacitor", is_new_capacitor_))
-      ROS_ERROR("is_new_capacitor no defined (namespace: %s)", nh.getNamespace().c_str());
     if (!nh.getParam("total_burst_time", total_burst_time_))
       ROS_ERROR("total burst time no defined (namespace: %s)", nh.getNamespace().c_str());
+    default_max_power_limit_ = max_power_limit_;
+    default_burst_power_ = burst_power_;
   }
   typedef enum
   {
@@ -103,14 +103,7 @@ class PowerLimit
   }
   void updateState(uint8_t state)
   {
-    if (!capacitor_is_on_)
-      expect_state_ = ALLOFF;
-    else
-      expect_state_ = state;
-  }
-  void updateCapSwitchState(bool state)
-  {
-    capacitor_is_on_ = state;
+    expect_state_ = state;
   }
   void setGameRobotData(const rm_msgs::GameRobotStatus data)
   {
@@ -120,7 +113,6 @@ class PowerLimit
   void setChassisPowerBuffer(const rm_msgs::PowerHeatData data)
   {
     chassis_power_buffer_ = data.chassis_power_buffer;
-    power_buffer_threshold_ = chassis_power_buffer_ * 0.8;
   }
   void setCapacityData(const rm_msgs::PowerManagementSampleAndStatusData data)
   {
@@ -136,47 +128,61 @@ class PowerLimit
   {
     start_burst_time_ = start_burst_time;
   }
-  inline void setBurstPowerLimit(const double& burst_power_limit)
-  {
-    burst_power_ = burst_power_limit;
-  }
   ros::Time getStartBurstTime() const
   {
     return start_burst_time_;
   }
+  inline void setBurstPowerLimit(const double& burst_power_limit)
+  {
+    burst_power_ = burst_power_limit;
+  }
   uint8_t getState()
   {
     return expect_state_;
   }
+
+  void setUpstairsPower(bool upstairs)
+  {
+    if (upstairs)
+    {
+      max_power_limit_ = upstairs_power_;
+      burst_power_ = upstairs_power_;
+    }
+    else
+    {
+      max_power_limit_ = default_max_power_limit_;
+      burst_power_ = default_burst_power_;
+    }
+  }
+
   void setGyroPower(rm_msgs::ChassisCmd& chassis_cmd)
   {
-    if (!allow_gyro_cap_ && cap_energy_ >= enable_cap_gyro_threshold_)
+    if (!allow_gyro_cap_ && cap_energy_ >= enable_gyro_cap_threshold_)
       allow_gyro_cap_ = true;
-    if (allow_gyro_cap_ && cap_energy_ <= disable_cap_gyro_threshold_)
+    if (allow_gyro_cap_ && cap_energy_ <= disable_gyro_cap_threshold_)
       allow_gyro_cap_ = false;
-    if (allow_gyro_cap_ && chassis_power_limit_ < 80)
-      chassis_cmd.power_limit = chassis_power_limit_ + extra_power_;
+    if (allow_gyro_cap_)
+    {
+      chassis_cmd.power_limit = gyro_power_;
+    }
     else
-      normal(chassis_cmd);
-    // expect_state_ = NORMAL;
+      expect_state_ = NORMAL;
   }
+
   void setBurstPower(rm_msgs::ChassisCmd& chassis_cmd)
   {
-    if (!allow_use_cap_ && cap_energy_ >= enable_use_cap_threshold_)
+    if (!allow_use_cap_ && cap_energy_ >= enable_burst_cap_threshold_)
       allow_use_cap_ = true;
-    if (allow_use_cap_ && cap_energy_ <= disable_use_cap_threshold_)
+    if (allow_use_cap_ && cap_energy_ <= disable_burst_cap_threshold_)
       allow_use_cap_ = false;
     if (allow_use_cap_)
     {
-      if (ros::Time::now() - start_burst_time_ < ros::Duration(total_burst_time_))
-        chassis_cmd.power_limit = burst_power_;
-      else
-        chassis_cmd.power_limit = standard_power_;
+      chassis_cmd.power_limit = burst_power_;
     }
     else
-      normal(chassis_cmd);
-    // expect_state_ = NORMAL;
+      expect_state_ = NORMAL;
   }
+
   void setLimitPower(rm_msgs::ChassisCmd& chassis_cmd, bool is_gyro)
   {
     if (robot_id_ == rm_msgs::GameRobotStatus::BLUE_ENGINEER || robot_id_ == rm_msgs::GameRobotStatus::RED_ENGINEER)
@@ -191,7 +197,7 @@ class PowerLimit
             chassis_cmd.power_limit = burst_power_;
           else
           {
-            switch (is_new_capacitor_ ? expect_state_ : cap_state_)
+            switch (expect_state_)
             {
               case NORMAL:
                 normal(chassis_cmd);
@@ -223,39 +229,45 @@ class PowerLimit
     allow_use_cap_ = false;
     chassis_cmd.power_limit = chassis_power_limit_ * 0.70;
   }
+
   void normal(rm_msgs::ChassisCmd& chassis_cmd)
   {
-    if (is_new_capacitor_)
+    allow_use_cap_ = false;
+    if (cap_state_ != ALLOFF && cap_energy_ > disable_normal_cap_threshold_ &&
+        chassis_power_buffer_ > power_buffer_threshold_)
+    {
+      chassis_cmd.power_limit = chassis_power_limit_ + extra_power_;
+    }
+    else
     {
       chassis_cmd.power_limit = chassis_power_limit_;
-      return;
     }
-    allow_use_cap_ = false;
-    double buffer_energy_error = chassis_power_buffer_ - buffer_threshold_;
-    double plus_power = buffer_energy_error * power_gain_;
-    chassis_cmd.power_limit = chassis_power_limit_ + plus_power;
-    // TODO:Add protection when buffer<5
     if (chassis_cmd.power_limit > max_power_limit_)
+    {
       chassis_cmd.power_limit = max_power_limit_;
+    }
   }
+
   void zero(rm_msgs::ChassisCmd& chassis_cmd)
   {
     chassis_cmd.power_limit = 0.0;
   }
+
   void burst(rm_msgs::ChassisCmd& chassis_cmd, bool is_gyro)
   {
     if (cap_state_ != ALLOFF && cap_energy_ > capacitor_threshold_ && chassis_power_buffer_ > power_buffer_threshold_)
     {
-      if (is_new_capacitor_)
-        chassis_cmd.power_limit = burst_power_;
-      else if (is_gyro)
+      if (is_gyro)
+      {
         setGyroPower(chassis_cmd);
+      }
       else
+      {
         setBurstPower(chassis_cmd);
+      }
     }
     else
-      normal(chassis_cmd);
-    // expect_state_ = NORMAL;
+      expect_state_ = NORMAL;
   }
 
   void applyPosturePowerScale(rm_msgs::ChassisCmd& chassis_cmd) const
@@ -265,21 +277,22 @@ class PowerLimit
     chassis_cmd.power_limit = std::max(0.0, std::floor(chassis_cmd.power_limit * posture_power_scale_));
   }
 
-  int chassis_power_buffer_;
-  int robot_id_, chassis_power_limit_;
-  int max_power_limit_{ 70 };
-  float cap_energy_;
+  uint8_t expect_state_{}, cap_state_{};
+
+  int chassis_power_buffer_{};
+  int robot_id_{}, chassis_power_limit_{};
+  double max_power_limit_{ 70.0 };
+  float cap_energy_{};
   double safety_power_{};
   double capacitor_threshold_{};
   double power_buffer_threshold_{ 50.0 };
-  double enable_cap_gyro_threshold_{}, disable_cap_gyro_threshold_{}, enable_use_cap_threshold_{},
-      disable_use_cap_threshold_{};
-  double charge_power_{}, extra_power_{}, burst_power_{}, standard_power_{};
-  double buffer_threshold_{};
+  double enable_burst_cap_threshold_{}, disable_burst_cap_threshold_{};
+  double enable_gyro_cap_threshold_{}, disable_gyro_cap_threshold_{};
+  double disable_normal_cap_threshold_{};
+  double extra_power_{}, burst_power_{}, gyro_power_{}, upstairs_power_{};
+  double default_max_power_limit_{}, default_burst_power_{};
   double power_gain_{};
-  bool is_new_capacitor_{ false };
-  uint8_t expect_state_{}, cap_state_{};
-  bool capacitor_is_on_{ true };
+
   bool allow_gyro_cap_{ false }, allow_use_cap_{ false };
   double posture_power_scale_{ 1.0 };
 

rm_msgs/msg/ChassisActiveSusCmd.msg

@@ -4,3 +4,4 @@ uint8 UP = 2
 
 time stamp
 uint8 mode
+int32 feedforward_countdown

rm_msgs/msg/ShootCmd.msg

@@ -10,6 +10,7 @@ uint8 SPEED_18M_PER_SECOND = 4
 uint8 SPEED_30M_PER_SECOND = 5
 
 uint8 mode
+bool allow_deploy_fire
 float64 wheel_speed
 float64 hz
 float64 wheels_speed_offset_front

rm_referee/include/rm_referee/common/data.h

@@ -61,6 +61,7 @@
 #include <rm_msgs/RobotHurt.h>
 #include <rm_msgs/ShootData.h>
 #include <rm_msgs/DartStatus.h>
+#include <rm_msgs/ChassisActiveSusCmd.h>
 #include <rm_msgs/ChassisCmd.h>
 #include <rm_msgs/GameStatus.h>
 #include <rm_msgs/RfidStatus.h>

rm_referee/include/rm_referee/ui/flash_ui.h

@@ -97,13 +97,15 @@ class DeployFlashUi : public FlashUi
   explicit DeployFlashUi(XmlRpc::XmlRpcValue& rpc_value, Base& base, std::deque<Graph>* graph_queue,
                          std::deque<Graph>* character_queue)
     : FlashUi(rpc_value, base, "deploy", graph_queue, character_queue){};
-  void updateChassisCmdData(const rm_msgs::ChassisCmd::ConstPtr& data, const ros::Time& last_get_data_time);
+  void updateAllowDeployFire(bool flag);
+  void updateChassisCmdData(const rm_msgs::ChassisCmd::ConstPtr& data);
   void updateChassisVelData(const geometry_msgs::Twist::ConstPtr& data);
 
 private:
   void display(const ros::Time& time) override;
   uint8_t chassis_mode_;
   double angular_z_{ 0. };
+  bool allow_deploy_fire_{ false };
 };
 
 class HeroHitFlashUi : public FlashGroupUi