#include <command_sender.h>

Public Member Functions
void	checkError (const ros::Time &time)

	DoubleBarrelCommandSender (ros::NodeHandle &nh)

uint8_t	getShootFrequency ()

double	getSpeed ()

void	init ()

void	sendCommand (const ros::Time &time)

void	setArmorType (uint8_t armor_type)

void	setMode (int mode)

void	setShootFrequency (uint8_t mode)

void	setZero ()

void	updateGameRobotStatus (const rm_msgs::GameRobotStatus data)

void	updateGimbalDesError (const rm_msgs::GimbalDesError &error)

void	updatePowerHeatData (const rm_msgs::PowerHeatData data)

void	updateRefereeStatus (bool status)

void	updateShootBeforehandCmd (const rm_msgs::ShootBeforehandCmd &data)

void	updateSuggestFireData (const std_msgs::Bool &data)

void	updateTrackData (const rm_msgs::TrackData &data)

Private Member Functions
void	checklaunch ()

bool	checkSwitch ()

ShooterCommandSender *	getBarrel ()

void	jointStateCallback (const sensor_msgs::JointState::ConstPtr &data)

void	switchBarrel ()

void	triggerStateCallback (const control_msgs::JointControllerState::ConstPtr &data)

Private Attributes
JointPointCommandSender *	barrel_command_sender_ {}

double	check_launch_threshold_

double	check_switch_threshold_

double	frequency_threshold_

double	id1_point_

double	id2_point_

bool	is_double_barrel_ { false }

bool	is_id1_ { false }

bool	is_switching_ { false }

sensor_msgs::JointState	joint_state_

ros::Subscriber	joint_state_sub_

ros::Time	last_push_time_

ros::Time	last_switch_time_

bool	need_switch_ { false }

double	ready_duration_

ShooterCommandSender *	shooter_ID1_cmd_sender_

ShooterCommandSender *	shooter_ID2_cmd_sender_

double	switching_duration_

double	trigger_error_

ros::Subscriber	trigger_state_sub_

Detailed Description

Definition at line 884 of file command_sender.h.

Constructor & Destructor Documentation

◆ DoubleBarrelCommandSender()

rm_common::DoubleBarrelCommandSender::DoubleBarrelCommandSender ( ros::NodeHandle & nh )

inline

Definition at line 887 of file command_sender.h.

Member Function Documentation

◆ checkError()

void rm_common::DoubleBarrelCommandSender::checkError ( const ros::Time & time )

inline

Definition at line 955 of file command_sender.h.

◆ checklaunch()

void rm_common::DoubleBarrelCommandSender::checklaunch ( )

inlineprivate

Definition at line 1023 of file command_sender.h.

◆ checkSwitch()

bool rm_common::DoubleBarrelCommandSender::checkSwitch ( )

inlineprivate

Definition at line 1036 of file command_sender.h.

◆ getBarrel()

ShooterCommandSender* rm_common::DoubleBarrelCommandSender::getBarrel ( )

inlineprivate

Definition at line 999 of file command_sender.h.

◆ getShootFrequency()

uint8_t rm_common::DoubleBarrelCommandSender::getShootFrequency ( )

inline

Definition at line 989 of file command_sender.h.

◆ getSpeed()

double rm_common::DoubleBarrelCommandSender::getSpeed ( )

inline

Definition at line 993 of file command_sender.h.

◆ init()

void rm_common::DoubleBarrelCommandSender::init ( )

inline

Definition at line 970 of file command_sender.h.

◆ jointStateCallback()

void rm_common::DoubleBarrelCommandSender::jointStateCallback ( const sensor_msgs::JointState::ConstPtr & data )

inlineprivate

Definition at line 1063 of file command_sender.h.

◆ sendCommand()

void rm_common::DoubleBarrelCommandSender::sendCommand ( const ros::Time & time )

inline

Definition at line 959 of file command_sender.h.

◆ setArmorType()

void rm_common::DoubleBarrelCommandSender::setArmorType ( uint8_t armor_type )

inline

Definition at line 980 of file command_sender.h.

◆ setMode()

void rm_common::DoubleBarrelCommandSender::setMode ( int mode )

inline

Definition at line 947 of file command_sender.h.

◆ setShootFrequency()

void rm_common::DoubleBarrelCommandSender::setShootFrequency ( uint8_t mode )

inline

Definition at line 985 of file command_sender.h.

◆ setZero()

void rm_common::DoubleBarrelCommandSender::setZero ( )

inline

Definition at line 951 of file command_sender.h.

◆ switchBarrel()

void rm_common::DoubleBarrelCommandSender::switchBarrel ( )

inlineprivate

Definition at line 1007 of file command_sender.h.

◆ triggerStateCallback()

void rm_common::DoubleBarrelCommandSender::triggerStateCallback ( const control_msgs::JointControllerState::ConstPtr & data )

inlineprivate

Definition at line 1059 of file command_sender.h.

◆ updateGameRobotStatus()

void rm_common::DoubleBarrelCommandSender::updateGameRobotStatus ( const rm_msgs::GameRobotStatus data )

inline

Definition at line 911 of file command_sender.h.

◆ updateGimbalDesError()

void rm_common::DoubleBarrelCommandSender::updateGimbalDesError ( const rm_msgs::GimbalDesError & error )

inline

Definition at line 926 of file command_sender.h.

◆ updatePowerHeatData()

void rm_common::DoubleBarrelCommandSender::updatePowerHeatData ( const rm_msgs::PowerHeatData data )

inline

Definition at line 916 of file command_sender.h.

◆ updateRefereeStatus()

void rm_common::DoubleBarrelCommandSender::updateRefereeStatus ( bool status )

inline

Definition at line 921 of file command_sender.h.

◆ updateShootBeforehandCmd()

void rm_common::DoubleBarrelCommandSender::updateShootBeforehandCmd ( const rm_msgs::ShootBeforehandCmd & data )

inline

Definition at line 941 of file command_sender.h.

◆ updateSuggestFireData()

void rm_common::DoubleBarrelCommandSender::updateSuggestFireData ( const std_msgs::Bool & data )

inline

Definition at line 936 of file command_sender.h.

◆ updateTrackData()

void rm_common::DoubleBarrelCommandSender::updateTrackData ( const rm_msgs::TrackData & data )

inline

Definition at line 931 of file command_sender.h.

Member Data Documentation

◆ barrel_command_sender_

JointPointCommandSender* rm_common::DoubleBarrelCommandSender::barrel_command_sender_ {}

private

Definition at line 1069 of file command_sender.h.

◆ check_launch_threshold_

double rm_common::DoubleBarrelCommandSender::check_launch_threshold_

private

Definition at line 1080 of file command_sender.h.

◆ check_switch_threshold_

double rm_common::DoubleBarrelCommandSender::check_switch_threshold_

private

Definition at line 1080 of file command_sender.h.

◆ frequency_threshold_

double rm_common::DoubleBarrelCommandSender::frequency_threshold_

private

Definition at line 1079 of file command_sender.h.

◆ id1_point_

double rm_common::DoubleBarrelCommandSender::id1_point_

private

Definition at line 1078 of file command_sender.h.

◆ id2_point_

double rm_common::DoubleBarrelCommandSender::id2_point_

private

Definition at line 1078 of file command_sender.h.

◆ is_double_barrel_

bool rm_common::DoubleBarrelCommandSender::is_double_barrel_ { false }

private

Definition at line 1073 of file command_sender.h.

◆ is_id1_

bool rm_common::DoubleBarrelCommandSender::is_id1_ { false }

private

Definition at line 1077 of file command_sender.h.

◆ is_switching_

bool rm_common::DoubleBarrelCommandSender::is_switching_ { false }

private

Definition at line 1073 of file command_sender.h.

◆ joint_state_

sensor_msgs::JointState rm_common::DoubleBarrelCommandSender::joint_state_

private

Definition at line 1072 of file command_sender.h.

◆ joint_state_sub_

ros::Subscriber rm_common::DoubleBarrelCommandSender::joint_state_sub_

private

Definition at line 1071 of file command_sender.h.

◆ last_push_time_

ros::Time rm_common::DoubleBarrelCommandSender::last_push_time_

private

Definition at line 1074 of file command_sender.h.

◆ last_switch_time_

ros::Time rm_common::DoubleBarrelCommandSender::last_switch_time_

private

Definition at line 1074 of file command_sender.h.

◆ need_switch_

bool rm_common::DoubleBarrelCommandSender::need_switch_ { false }

private

Definition at line 1073 of file command_sender.h.

◆ ready_duration_

double rm_common::DoubleBarrelCommandSender::ready_duration_

private

Definition at line 1075 of file command_sender.h.

◆ shooter_ID1_cmd_sender_

ShooterCommandSender* rm_common::DoubleBarrelCommandSender::shooter_ID1_cmd_sender_

private

Definition at line 1067 of file command_sender.h.

◆ shooter_ID2_cmd_sender_

ShooterCommandSender* rm_common::DoubleBarrelCommandSender::shooter_ID2_cmd_sender_

private

Definition at line 1068 of file command_sender.h.

◆ switching_duration_

double rm_common::DoubleBarrelCommandSender::switching_duration_

private

Definition at line 1075 of file command_sender.h.

◆ trigger_error_

double rm_common::DoubleBarrelCommandSender::trigger_error_

private

Definition at line 1076 of file command_sender.h.

◆ trigger_state_sub_

ros::Subscriber rm_common::DoubleBarrelCommandSender::trigger_state_sub_

private

Definition at line 1070 of file command_sender.h.

The documentation for this class was generated from the following file:

command_sender.h

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ DoubleBarrelCommandSender()

Member Function Documentation

◆ checkError()

◆ checklaunch()

◆ checkSwitch()

◆ getBarrel()

◆ getShootFrequency()

◆ getSpeed()

◆ init()

◆ jointStateCallback()

◆ sendCommand()

◆ setArmorType()

◆ setMode()

◆ setShootFrequency()

◆ setZero()

◆ switchBarrel()

◆ triggerStateCallback()

◆ updateGameRobotStatus()

◆ updateGimbalDesError()

◆ updatePowerHeatData()

◆ updateRefereeStatus()

◆ updateShootBeforehandCmd()

◆ updateSuggestFireData()

◆ updateTrackData()

Member Data Documentation

◆ barrel_command_sender_

◆ check_launch_threshold_

◆ check_switch_threshold_

◆ frequency_threshold_

◆ id1_point_

◆ id2_point_

◆ is_double_barrel_

◆ is_id1_

◆ is_switching_

◆ joint_state_

◆ joint_state_sub_

◆ last_push_time_

◆ last_switch_time_

◆ need_switch_

◆ ready_duration_

◆ shooter_ID1_cmd_sender_

◆ shooter_ID2_cmd_sender_

◆ switching_duration_

◆ trigger_error_

◆ trigger_state_sub_