Add flag to judge mouseRightPess.

rm-controls · Jul 8, 2024 · dd973ba · dd973ba
1 parent 6438dd6
commit dd973ba
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Showing 2 changed files with 6 additions and 4 deletions.
diff --git a/include/rm_manual/chassis_gimbal_shooter_manual.h b/include/rm_manual/chassis_gimbal_shooter_manual.h
@@ -64,7 +64,7 @@ class ChassisGimbalShooterManual : public ChassisGimbalManual
     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);
-    turn_flag_ = false;
+    is_mouse_right_press_ = false;
   }
   void wPress() override;
   void aPress() override;
@@ -122,7 +122,7 @@ class ChassisGimbalShooterManual : public ChassisGimbalManual
   geometry_msgs::PointStamped point_out_;
 
   bool prepare_shoot_ = false, turn_flag_ = false, is_balance_ = false, use_scope_ = false,
-       adjust_image_transmission_ = false;
+       adjust_image_transmission_ = false, is_mouse_right_press_ = false;
   double yaw_current_{};
 };
 }  // namespace rm_manual
diff --git a/src/chassis_gimbal_shooter_manual.cpp b/src/chassis_gimbal_shooter_manual.cpp
@@ -189,6 +189,7 @@ void ChassisGimbalShooterManual::remoteControlTurnOff()
   shooter_calibration_->stop();
   gimbal_calibration_->stop();
   turn_flag_ = false;
+  is_mouse_right_press_ = false;
   use_scope_ = false;
   adjust_image_transmission_ = false;
 }
@@ -207,6 +208,7 @@ void ChassisGimbalShooterManual::robotDie()
   ManualBase::robotDie();
   shooter_cmd_sender_->setMode(rm_msgs::ShootCmd::STOP);
   turn_flag_ = false;
+  is_mouse_right_press_ = false;
   use_scope_ = false;
   adjust_image_transmission_ = false;
 }
@@ -344,7 +346,7 @@ void ChassisGimbalShooterManual::mouseLeftPress()
   }
   if (prepare_shoot_)
   {
-    if (!turn_flag_ || (turn_flag_ && track_data_.id != 0))
+    if (!is_mouse_right_press_ || (is_mouse_right_press_ && track_data_.id != 0))
     {
       shooter_cmd_sender_->setMode(rm_msgs::ShootCmd::PUSH);
       shooter_cmd_sender_->checkError(ros::Time::now());
@@ -356,7 +358,7 @@ void ChassisGimbalShooterManual::mouseLeftPress()
 
 void ChassisGimbalShooterManual::mouseRightPress()
 {
-  turn_flag_ = true;
+  is_mouse_right_press_ = true;
   if (track_data_.id == 0)
     gimbal_cmd_sender_->setMode(rm_msgs::GimbalCmd::RATE);
   else