Add drone's code.

include/rm_manual/chassis_gimbal_shooter_manual.h

@@ -105,12 +105,12 @@ class ChassisGimbalShooterManual : public ChassisGimbalManual
     shooter_cmd_sender_->setMode(rm_msgs::ShootCmd::STOP);
   }
   void ctrlVPress();
-  void ctrlBPress();
   void ctrlRPress();
   void ctrlZPress();
   void ctrlXPress();
   virtual void ctrlRRelease();
   virtual void ctrlQPress();
+  virtual void ctrlBPress();
 
   InputEvent self_inspection_event_, game_start_event_, e_event_, c_event_, g_event_, q_event_, b_event_, x_event_,
       r_event_, v_event_, z_event_, ctrl_f_event_, ctrl_v_event_, ctrl_b_event_, ctrl_q_event_, ctrl_r_event_,
@@ -120,6 +120,7 @@ class ChassisGimbalShooterManual : public ChassisGimbalManual
   rm_common::JointPositionBinaryCommandSender* scope_cmd_sender_{};
   rm_common::JointPositionBinaryCommandSender* image_transmission_cmd_sender_{};
   rm_common::SwitchDetectionCaller* switch_detection_srv_{};
+  rm_common::SwitchDetectionCaller* switch_detection_left_srv_{};
   rm_common::SwitchDetectionCaller* switch_armor_target_srv_{};
   rm_common::CalibrationQueue* chassis_calibration_;
   rm_common::CalibrationQueue* shooter_calibration_;

include/rm_manual/drone_manual.h

@@ -0,0 +1,36 @@
+//
+// Created by cilotta on 25-7-16.
+//
+#pragma once
+
+#include "rm_manual/chassis_gimbal_shooter_manual.h"
+#include "rm_msgs/PriorityArray.h"
+
+namespace rm_manual
+{
+class DroneManual : public ChassisGimbalShooterManual
+{
+public:
+  DroneManual(ros::NodeHandle& nh, ros::NodeHandle& nh_referee);
+
+protected:
+  void ePress() override;
+  void eRelease() override;
+  void rPress() override;
+  void gPress() override;
+  void vPress() override;
+  void remoteControlTurnOn() override;
+
+  void ePressing();
+  void eReleasing();
+  void qPressing();
+  void qReleasing();
+
+  void ctrlBPress() override;
+  void pubAimPriority();
+
+  rm_common::SwitchDetectionCaller* switch_detection_left_srv_{};
+  ros::Publisher aim_priority_pub_;
+  rm_msgs::PriorityArray aim_priority_array_;
+};
+}  // namespace rm_manual

src/chassis_gimbal_shooter_manual.cpp

@@ -29,7 +29,9 @@ ChassisGimbalShooterManual::ChassisGimbalShooterManual(ros::NodeHandle& nh, ros:
   }
 
   ros::NodeHandle detection_switch_nh(nh, "detection_switch");
+  ros::NodeHandle detection_switch_left_nh(nh, "detection_switch_left");
   switch_detection_srv_ = new rm_common::SwitchDetectionCaller(detection_switch_nh);
+  switch_detection_left_srv_ = new rm_common::SwitchDetectionCaller(detection_switch_left_nh);
   ros::NodeHandle armor_target_switch_nh(nh, "armor_target_switch");
   switch_armor_target_srv_ = new rm_common::SwitchDetectionCaller(armor_target_switch_nh);
   XmlRpc::XmlRpcValue rpc_value;

src/drone_manual.cpp

@@ -0,0 +1,92 @@
+//
+// Created by cilotta on 25-7-16.
+//
+
+#include "rm_manual/drone_manual.h"
+
+namespace rm_manual
+{
+DroneManual::DroneManual(ros::NodeHandle& nh, ros::NodeHandle& nh_referee) : ChassisGimbalShooterManual(nh, nh_referee)
+{
+  ros::NodeHandle detection_switch_left_nh(nh, "detection_switch_left");
+  switch_detection_left_srv_ = new rm_common::SwitchDetectionCaller(detection_switch_left_nh);
+  e_event_.setActive(boost::bind(&DroneManual::ePressing, this), boost::bind(&DroneManual::eReleasing, this));
+  q_event_.setActive(boost::bind(&DroneManual::qPressing, this), boost::bind(&DroneManual::qReleasing, this));
+  aim_priority_pub_ = nh.advertise<rm_msgs::PriorityArray>("/armor_processor_right/priority/priority_arr", 1);
+}
+
+void DroneManual::ePress()
+{
+  ePressing();
+}
+void DroneManual::eRelease()
+{
+  eReleasing();
+}
+
+void DroneManual::ePressing()
+{
+  // switch_armor_target_srv_->setArmorTargetType(rm_msgs::StatusChangeRequest::ARMOR_OUTPOST_BASE);
+  // switch_armor_target_srv_->callService();
+  // shooter_cmd_sender_->setArmorType(switch_armor_target_srv_->getArmorTarget());
+  camera_switch_cmd_sender_->switchCameraLeft();
+};
+
+void DroneManual::eReleasing()
+{
+  // switch_armor_target_srv_->setArmorTargetType(rm_msgs::StatusChangeRequest::ARMOR_ALL);
+  // switch_armor_target_srv_->callService();
+  // shooter_cmd_sender_->setArmorType(switch_armor_target_srv_->getArmorTarget());
+  camera_switch_cmd_sender_->switchCameraRight();
+}
+
+void DroneManual::qPressing()
+{
+  aim_priority_array_.rank_arr = { 0, 0, 0, 0, 0, 0, 0, 1 };
+  pubAimPriority();
+}
+
+void DroneManual::qReleasing()
+{
+  aim_priority_array_.rank_arr = { 1, 1, 1, 1, 1, 1, 1, 1 };
+  pubAimPriority();
+}
+
+void DroneManual::pubAimPriority()
+{
+  aim_priority_pub_.publish(aim_priority_array_);
+}
+
+void DroneManual::rPress()
+{
+  if (camera_switch_cmd_sender_)
+    camera_switch_cmd_sender_->switchCameraLeft();
+  ChassisGimbalShooterManual::rPress();
+};
+
+void DroneManual::ctrlBPress()
+{
+  ChassisGimbalShooterManual::ctrlBPress();
+  switch_detection_left_srv_->switchEnemyColor();
+  switch_detection_left_srv_->callService();
+}
+
+void DroneManual::gPress()
+{
+  ChassisGimbalShooterManual::gPress();
+}
+
+void DroneManual::vPress()
+{
+  ChassisGimbalShooterManual::vPress();
+}
+
+void DroneManual::remoteControlTurnOn()
+{
+  ChassisGimbalShooterManual::remoteControlTurnOn();
+  std::string robot_color = robot_id_ >= 100 ? "blue" : "red";
+  switch_detection_left_srv_->setEnemyColor(robot_id_, robot_color);
+  aim_priority_array_.rank_arr = { 1, 1, 1, 1, 1, 1, 1, 1 };
+}
+
+}  // namespace rm_manual

src/main.cpp

@@ -8,6 +8,7 @@
 #include "rm_manual/engineer2_manual.h"
 #include "rm_manual/dart_manual.h"
 #include "rm_manual/wheeled_balance_manual.h"
+#include "rm_manual/drone_manual.h"
 #include "rm_manual/legged_wheel_balance_manual.h"
 
 int main(int argc, char** argv)
@@ -20,8 +21,10 @@ int main(int argc, char** argv)
   robot = getParam(nh, "robot_type", (std::string) "error");
   if (robot == "standard")
     manual_control = new rm_manual::ChassisGimbalShooterCoverManual(nh, nh_referee);
-  else if ((robot == "hero") || (robot == "drone"))
+  else if (robot == "hero")
     manual_control = new rm_manual::ChassisGimbalShooterManual(nh, nh_referee);
+  else if (robot == "drone")
+    manual_control = new rm_manual::DroneManual(nh, nh_referee);
   else if (robot == "engineer")
     manual_control = new rm_manual::EngineerManual(nh, nh_referee);
   else if (robot == "engineer2")