Merge pull request #113 from chenhuiYu00/dev/polygon_ui

Add polygon UI.

rm_referee/include/rm_referee/ui/trigger_change_ui.h

@@ -103,4 +103,51 @@ class TargetTriggerChangeUi : public TriggerChangeUi
   std::string getTargetState(uint8_t target, uint8_t armor_target);
   uint8_t det_target_, shoot_frequency_, det_armor_target_, det_color_, gimbal_eject_;
 };
+
+class PolygonTriggerChangeGroupUi : public GroupUiBase
+{
+public:
+  explicit PolygonTriggerChangeGroupUi(XmlRpc::XmlRpcValue& rpc_value, Base& base) : GroupUiBase(base)
+  {
+    ROS_ASSERT(rpc_value.hasMember("points"));
+    XmlRpc::XmlRpcValue config;
+
+    config["type"] = "line";
+
+    if (rpc_value["graph_config"].hasMember("color"))
+      config["color"] = rpc_value["graph_config"]["color"];
+    else
+      config["color"] = "cyan";
+    if (rpc_value["graph_config"].hasMember("width"))
+      config["width"] = rpc_value["graph_config"]["width"];
+    else
+      config["width"] = 2;
+    XmlRpc::XmlRpcValue points = rpc_value["points"];
+    config["start_position"].setSize(2);
+    config["end_position"].setSize(2);
+    for (int i = 1; i <= points.size(); i++)
+    {
+      if (i != points.size())
+      {
+        config["start_position"][0] = points[i - 1][0];
+        config["start_position"][1] = points[i - 1][1];
+        config["end_position"][0] = points[i][0];
+        config["end_position"][1] = points[i][1];
+      }
+      else
+      {
+        // Connect first and last point
+        config["start_position"][0] = points[i - 1][0];
+        config["start_position"][1] = points[i - 1][1];
+        config["end_position"][0] = points[0][0];
+        config["end_position"][1] = points[0][1];
+      }
+      graph_vector_.insert(
+          std::make_pair<std::string, Graph*>("graph_" + std::to_string(i), new Graph(config, base_, id_++)));
+    }
+  }
+  virtual void display();
+  virtual void updateConfig(uint8_t main_mode, bool main_flag, uint8_t sub_mode = 0, bool sub_flag = false){};
+};
+
 }  // namespace rm_referee

rm_referee/include/rm_referee/ui/ui_base.h

@@ -19,6 +19,7 @@ class UiBase
   explicit UiBase(Base& base) : base_(base), tf_listener_(tf_buffer_){};
   ~UiBase() = default;
   virtual void add();
+  virtual void erasure();
   virtual void updateManualCmdData(const rm_msgs::ManualToReferee::ConstPtr data){};
   virtual void updateManualCmdData(const rm_msgs::ManualToReferee::ConstPtr data, const ros::Time& last_get_data_time){};
 
@@ -30,18 +31,28 @@ class UiBase
   tf2_ros::TransformListener tf_listener_;
 };
 
-class FixedUi : public UiBase
+class GroupUiBase : public UiBase
 {
 public:
-  explicit FixedUi(XmlRpc::XmlRpcValue& rpc_value, Base& base) : UiBase(base)
+  explicit GroupUiBase(Base& base) : UiBase(base){};
+  ~GroupUiBase() = default;
+  virtual void add() override;
+  virtual void erasure() override;
+  virtual void display(){};
+
+protected:
+  std::map<std::string, Graph*> graph_vector_;
+};
+
+class FixedUi : public GroupUiBase
+{
+public:
+  explicit FixedUi(XmlRpc::XmlRpcValue& rpc_value, Base& base) : GroupUiBase(base)
   {
     for (int i = 0; i < static_cast<int>(rpc_value.size()); i++)
       graph_vector_.insert(
           std::pair<std::string, Graph*>(rpc_value[i]["name"], new Graph(rpc_value[i]["config"], base_, id_++)));
   };
-  void add() override;
-  void display();
-
-  std::map<std::string, Graph*> graph_vector_;
 };
+
 }  // namespace rm_referee

rm_referee/src/ui/trigger_change_ui.cpp

@@ -240,4 +240,15 @@ void TargetTriggerChangeUi::updateShootStateData(const rm_msgs::ShootState::Cons
 {
   display();
 }
+
+void PolygonTriggerChangeGroupUi::display()
+{
+  for (auto graph : graph_vector_)
+  {
+    graph.second->setOperation(rm_referee::GraphOperation::UPDATE);
+    graph.second->display();
+    graph.second->sendUi(ros::Time::now());
+  }
+}
+
 }  // namespace rm_referee

rm_referee/src/ui/ui_base.cpp

@@ -14,23 +14,30 @@ void UiBase::add()
   graph_->sendUi(ros::Time::now());
 }
 
-void FixedUi ::add()
+void UiBase::erasure()
+{
+  graph_->setOperation(rm_referee::GraphOperation::DELETE);
+  graph_->display(true);
+  graph_->sendUi(ros::Time::now());
+}
+
+void GroupUiBase::add()
 {
   for (auto graph : graph_vector_)
   {
     graph.second->setOperation(rm_referee::GraphOperation::ADD);
     graph.second->display();
     graph.second->sendUi(ros::Time::now());
   }
-};
+}
 
-void FixedUi::display()
+void GroupUiBase::erasure()
 {
   for (auto graph : graph_vector_)
   {
-    graph.second->setOperation(rm_referee::GraphOperation::UPDATE);
-    graph.second->display();
-    graph.second->sendUi(ros::Time::now());
+    graph_->setOperation(rm_referee::GraphOperation::DELETE);
+    graph_->display(true);
+    graph_->sendUi(ros::Time::now());
   }
 }