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Add use lio command sender for base track. #278

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Merged
YoujianWu merged 7 commits into from
Jul 9, 2025
Merged

Add use lio command sender for base track. #278

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b1c5f81
Add UseLio flag.
Rayy0527 Apr 6, 2025
5d6014a
Merge branch 'master' into base_track, resolve conflicts
Rayy0527 Apr 6, 2025
9c0a476
Move UseLio to a new class to publish.
Rayy0527 Apr 12, 2025
811bc79
Merge branch 'master' into base_track
Rayy0527 May 1, 2025
f60ceca
Merge branch 'master' into base_track
Rayy0527 May 1, 2025
075eba9
Merge branch 'master' into base_track
Rayy0527 Jun 6, 2025
8b119c0
Add get shoot deploy state function.
Rayy0527 Jul 7, 2025
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24 changes: 23 additions & 1 deletion rm_common/include/rm_common/decision/command_sender.h
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Original file line number Diff line number Diff line change
Expand Up @@ -505,6 +505,10 @@ class ShooterCommandSender : public TimeStampCommandSenderBase<rm_msgs::ShootCmd
{
deploy_flag_ = flag;
}
bool getDeployState()
{
return deploy_flag_;
}
void setSpeedDesAndWheelSpeedDes()
{
switch (heat_limit_->getSpeedLimit())
Expand Down Expand Up @@ -582,7 +586,7 @@ class ShooterCommandSender : public TimeStampCommandSenderBase<rm_msgs::ShootCmd
double total_extra_wheel_speed_{};
double deploy_wheel_speed_{};
bool auto_wheel_speed_ = false;
bool deploy_flag_{};
bool deploy_flag_ = false;
rm_msgs::TrackData track_data_;
rm_msgs::GimbalDesError gimbal_des_error_;
rm_msgs::ShootBeforehandCmd shoot_beforehand_cmd_;
Expand All @@ -591,6 +595,24 @@ class ShooterCommandSender : public TimeStampCommandSenderBase<rm_msgs::ShootCmd
uint8_t armor_type_{};
};

class UseLioCommandSender : public CommandSenderBase<std_msgs::Bool>
{
public:
explicit UseLioCommandSender(ros::NodeHandle& nh) : CommandSenderBase<std_msgs::Bool>(nh)
{
}

void setUseLio(bool flag)
{
msg_.data = flag;
}
bool getUseLio() const
{
return msg_.data;
}
void setZero() override{};
};

class BalanceCommandSender : public CommandSenderBase<std_msgs::UInt8>
{
public:
Expand Down
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