Deb package deploy action.

.github/workflows/deb_package.yml

@@ -27,16 +27,17 @@ jobs:
           host: ${{ secrets.SOURCE_SSH_HOST }}
           username: ${{ secrets.SOURCE_SSH_NAME }}
           key: ${{ secrets.SOURCE_SSH_KEYGEN }}
+          port: ${{ secrets.SOURCE_SSH_PORT }}
           source: "*.deb"
-          target: "/usr/local/web/rm-source/ubuntu/incoming/"
+          target: "/home/dynamicx/package_hub/wwwroot/ppa/incoming"
       - name: Deploy deb package to source
         if: ${{ github.repository == 'rm-controls/rm_manual' }}
         uses: appleboy/ssh-action@master
         with:
           host: ${{ secrets.SOURCE_SSH_HOST }}
           username: ${{ secrets.SOURCE_SSH_NAME }}
           key: ${{ secrets.SOURCE_SSH_KEYGEN }}
+          port: ${{ secrets.SOURCE_SSH_PORT }}
           script: |
-                  cd /usr/local/web/rm-source/ubuntu/incoming/
-                  reprepro  -s  -b  /usr/local/web/rm-source/ubuntu/  --waitforlock  1000  includedeb focal /usr/local/web/rm-source/ubuntu/incoming/*.deb && \
-                  rm -f *.deb
+                  cd /home/dynamicx/package_hub/wwwroot/ppa/
+                  bash deploy.sh

CMakeLists.txt

@@ -15,6 +15,7 @@ find_package(serial REQUIRED)
 find_package(catkin REQUIRED
         COMPONENTS
         roscpp
+        engineer_middleware
         sensor_msgs
         rm_msgs
         rm_common
@@ -43,6 +44,7 @@ catkin_package(
         LIBRARIES
         CATKIN_DEPENDS
         roscpp
+        engineer_middleware
         sensor_msgs
         rm_msgs
         rm_common

include/rm_manual/engineer_manual.h

@@ -13,7 +13,11 @@
 #include <std_msgs/Float64.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <rm_msgs/EngineerAction.h>
+#include <rm_msgs/MultiDofCmd.h>
+#include <rm_msgs/GpioData.h>
 #include <rm_msgs/EngineerUi.h>
+#include <angles/angles.h>
+#include <engineer_middleware/auto_exchange.h>
 
 namespace rm_manual
 {
@@ -55,31 +59,34 @@ class EngineerManual : public ChassisGimbalManual
   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 updateServo(const rm_msgs::DbusData::ConstPtr& dbus_data);
   void dbusDataCallback(const rm_msgs::DbusData::ConstPtr& data) override;
   void actionFeedbackCallback(const rm_msgs::EngineerFeedbackConstPtr& feedback);
   void actionDoneCallback(const actionlib::SimpleClientGoalState& state, const rm_msgs::EngineerResultConstPtr& result);
   void runStepQueue(const std::string& step_queue_name);
-  void judgePrefix();
-  void judgeRoot();
+  void initMode();
+  void enterServo();
   void actionActiveCallback()
   {
     operating_mode_ = MIDDLEWARE;
   }
   void remoteControlTurnOff() override;
   void chassisOutputOn() override;
+  void gimbalOutputOn() override;
   void rightSwitchDownRise() override;
   void rightSwitchMidRise() override;
   void rightSwitchUpRise() override;
   void leftSwitchUpRise() override;
   void leftSwitchUpFall();
   void leftSwitchDownFall();
+  void leftSwitchDownRise() override;
   void ctrlQPress();
   void ctrlWPress();
   void ctrlEPress();
   void ctrlAPress();
   void ctrlSPress();
   void ctrlZPress();
+  void ctrlZPressing();
+  void ctrlZRelease();
   void ctrlXPress();
   void ctrlCPress();
   void ctrlDPress();
@@ -97,9 +104,11 @@ class EngineerManual : public ChassisGimbalManual
   void shiftBPress();
   void shiftBRelease();
   void shiftGPress();
-  void shiftRPress();
+  void shiftRPressing();
+  void shiftRRelease();
   void shiftVPress();
   void shiftVRelease();
+  void shiftFPress();
   void rPress();
   void qPressing();
   void qRelease();
@@ -114,37 +123,47 @@ class EngineerManual : public ChassisGimbalManual
   void bRelease();
   void vPressing();
   void vRelease();
-  void fPressing();
+  void fPress();
   void fRelease();
-  void gPressing();
+  void gPress();
   void gRelease();
 
   void mouseLeftRelease();
   void mouseRightRelease();
+  void gpioStateCallback(const rm_msgs::GpioData::ConstPtr& data);
+  void stoneNumCallback(const std_msgs::String ::ConstPtr& data);
 
-  int state_;
-  rm_msgs::EngineerUi engineer_ui_;
-  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_;
-  int operating_mode_{}, servo_mode_{}, gimbal_mode_{}, stone_num_{}, gripper_state_{}, drag_state_{};
-  std::map<std::string, int> prefix_list_, root_list_;
+  // Servo
+  void updateServo(const rm_msgs::DbusData::ConstPtr& dbus_data);
+
+  int checkJointsLimit();
 
-  ros::Time last_time_;
-  ros::Subscriber reversal_vision_sub_;
-  ros::Publisher engineer_ui_pub_;
+  bool reversal_motion_{}, change_flag_{}, is_random_ore_{}, reverse_high_{ false };
+  int operating_mode_{}, servo_mode_{}, gimbal_mode_{};
+  std::vector<std::string> stone_num_{};
+  double angular_z_scale_{};
+  double fast_speed_scale_{}, normal_speed_scale_{}, low_speed_scale_{}, exchange_speed_scale_{};
+  double gyro_scale_{}, fast_gyro_scale_{}, normal_gyro_scale_{}, low_gyro_scale_{}, exchange_gyro_scale_{};
+  std::string prefix_{}, root_{}, drag_state_{ "off" }, max_temperature_joint_{}, joint_temperature_{},
+      reversal_state_{}, gripper_state_{};
 
+  ros::Publisher exchanger_update_pub_, engineer_ui_pub_;
+  ros::Subscriber gripper_state_sub_, stone_num_sub_;
   actionlib::SimpleActionClient<rm_msgs::EngineerAction> action_client_;
-  rm_common::CalibrationQueue *power_on_calibration_{}, *arm_calibration_{};
+
+  auto_exchange::AutoExchange* auto_exchange_;
+  rm_msgs::GpioData gpio_state_;
+  rm_msgs::EngineerUi engineer_ui_;
   rm_common::Vel3DCommandSender* servo_command_sender_;
+  rm_common::MultiDofCommandSender* reversal_command_sender_;
   rm_common::ServiceCallerBase<std_srvs::Empty>* servo_reset_caller_;
+  rm_common::JointPositionBinaryCommandSender *drag_command_sender_, *joint7_command_sender_;
+  rm_common::CalibrationQueue *calibration_gather_{}, *pitch_calibration_;
   InputEvent left_switch_up_event_, left_switch_down_event_, ctrl_q_event_, ctrl_a_event_, ctrl_z_event_, ctrl_w_event_,
       ctrl_s_event_, ctrl_x_event_, ctrl_e_event_, ctrl_d_event_, ctrl_c_event_, ctrl_b_event_, ctrl_v_event_, z_event_,
       q_event_, e_event_, x_event_, c_event_, v_event_, b_event_, f_event_, shift_z_event_, shift_x_event_,
-      shift_c_event_, shift_v_event_, shift_b_event_, shift_g_event_, ctrl_r_event_, shift_q_event_, shift_e_event_,
-      ctrl_g_event_, shift_r_event_, ctrl_f_event_, shift_event_, g_event_, r_event_, mouse_left_event_,
+      shift_c_event_, shift_v_event_, shift_b_event_, shift_g_event_, ctrl_r_event_, shift_q_event_, shift_f_event_,
+      shift_e_event_, ctrl_g_event_, shift_r_event_, ctrl_f_event_, shift_event_, g_event_, r_event_, mouse_left_event_,
       mouse_right_event_;
 };
-
 }  // namespace rm_manual

package.xml

@@ -12,6 +12,7 @@
     <buildtool_depend>catkin</buildtool_depend>
     <!-- depend: build, export, and execution dependency -->
     <depend>roscpp</depend>
+    <depend>engineer_middleware</depend>
     <depend>sensor_msgs</depend>
     <depend>rm_msgs</depend>
     <depend>rm_common</depend>

src/chassis_gimbal_manual.cpp

@@ -64,10 +64,10 @@ 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_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);
+    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);
   }
   else
   {