command_sender.h

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 * Copyright (c) 2021, Qiayuan Liao
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 * modification, are permitted provided that the following conditions are met:
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//
// Created by qiayuan on 5/18/21.
//
 
#pragma once
 
#include <type_traits>
#include <utility>
 
#include <ros/ros.h>
#include <rm_msgs/ChassisCmd.h>
#include <rm_msgs/GimbalCmd.h>
#include <rm_msgs/ShootCmd.h>
#include <rm_msgs/ShootBeforehandCmd.h>
#include <rm_msgs/GimbalDesError.h>
#include <rm_msgs/StateCmd.h>
#include <rm_msgs/TrackData.h>
#include <rm_msgs/GameRobotHp.h>
#include <rm_msgs/StatusChangeRequest.h>
#include <rm_msgs/ShootData.h>
#include <rm_msgs/LegCmd.h>
#include <geometry_msgs/TwistStamped.h>
#include <sensor_msgs/JointState.h>
#include <nav_msgs/Odometry.h>
#include <std_msgs/UInt8.h>
#include <std_msgs/Float64.h>
#include <rm_msgs/MultiDofCmd.h>
#include <std_msgs/String.h>
#include <std_msgs/Bool.h>
#include <control_msgs/JointControllerState.h>
 
#include "rm_common/ros_utilities.h"
#include "rm_common/decision/heat_limit.h"
#include "rm_common/decision/power_limit.h"
#include "rm_common/linear_interpolation.h"
#include "rm_common/filters/filters.h"
 
namespace rm_common
{
template <class MsgType>
class CommandSenderBase
{
public:
  explicit CommandSenderBase(ros::NodeHandle& nh)
  {
    if (!nh.getParam("topic", topic_))
      ROS_ERROR("Topic name no defined (namespace: %s)", nh.getNamespace().c_str());
    queue_size_ = getParam(nh, "queue_size", 1);
    pub_ = nh.advertise<MsgType>(topic_, queue_size_);
  }
  void setMode(int mode)
  {
    if (!std::is_same<MsgType, geometry_msgs::Twist>::value && !std::is_same<MsgType, std_msgs::Float64>::value)
      msg_.mode = mode;
  }
  virtual void sendCommand(const ros::Time& time)
  {
    pub_.publish(msg_);
  }
  virtual void updateGameRobotStatus(const rm_msgs::GameRobotStatus data)
  {
  }
  virtual void updateGameStatus(const rm_msgs::GameStatus data)
  {
  }
  virtual void updateCapacityData(const rm_msgs::PowerManagementSampleAndStatusData data)
  {
  }
  virtual void updatePowerHeatData(const rm_msgs::PowerHeatData data)
  {
  }
  virtual void setZero() = 0;
  MsgType* getMsg()
  {
    return &msg_;
  }
 
protected:
  std::string topic_;
  uint32_t queue_size_;
  ros::Publisher pub_;
  MsgType msg_;
};
 
template <class MsgType>
class TimeStampCommandSenderBase : public CommandSenderBase<MsgType>
{
public:
  explicit TimeStampCommandSenderBase(ros::NodeHandle& nh) : CommandSenderBase<MsgType>(nh)
  {
  }
  void sendCommand(const ros::Time& time) override
  {
    CommandSenderBase<MsgType>::msg_.stamp = time;
    CommandSenderBase<MsgType>::sendCommand(time);
  }
};
 
template <class MsgType>
class HeaderStampCommandSenderBase : public CommandSenderBase<MsgType>
{
public:
  explicit HeaderStampCommandSenderBase(ros::NodeHandle& nh) : CommandSenderBase<MsgType>(nh)
  {
  }
  void sendCommand(const ros::Time& time) override
  {
    CommandSenderBase<MsgType>::msg_.header.stamp = time;
    CommandSenderBase<MsgType>::sendCommand(time);
  }
};
 
class Vel2DCommandSender : public CommandSenderBase<geometry_msgs::Twist>
{
public:
  explicit Vel2DCommandSender(ros::NodeHandle& nh) : CommandSenderBase<geometry_msgs::Twist>(nh)
  {
    XmlRpc::XmlRpcValue xml_rpc_value;
    if (!nh.getParam("max_linear_x", xml_rpc_value))
      ROS_ERROR("Max X linear velocity no defined (namespace: %s)", nh.getNamespace().c_str());
    else
      max_linear_x_.init(xml_rpc_value);
    if (!nh.getParam("max_linear_y", xml_rpc_value))
      ROS_ERROR("Max Y linear velocity no defined (namespace: %s)", nh.getNamespace().c_str());
    else
      max_linear_y_.init(xml_rpc_value);
    if (!nh.getParam("max_angular_z", xml_rpc_value))
      ROS_ERROR("Max Z angular velocity no defined (namespace: %s)", nh.getNamespace().c_str());
    else
      max_angular_z_.init(xml_rpc_value);
    std::string topic;
    nh.getParam("power_limit_topic", topic);
    target_vel_yaw_threshold_ = getParam(nh, "target_vel_yaw_threshold", 3.);
    chassis_power_limit_subscriber_ =
        nh.subscribe<rm_msgs::ChassisCmd>(topic, 1, &Vel2DCommandSender::chassisCmdCallback, this);
  }
 
  void updateTrackData(const rm_msgs::TrackData& data)
  {
    track_data_ = data;
  }
  void setLinearXVel(double scale)
  {
    msg_.linear.x = scale * max_linear_x_.output(power_limit_);
  };
  void setLinearYVel(double scale)
  {
    msg_.linear.y = scale * max_linear_y_.output(power_limit_);
  };
  void setAngularZVel(double scale)
  {
    if (track_data_.v_yaw > target_vel_yaw_threshold_)
      vel_direction_ = -1.;
    if (track_data_.v_yaw < -target_vel_yaw_threshold_)
      vel_direction_ = 1.;
    msg_.angular.z = scale * max_angular_z_.output(power_limit_) * vel_direction_;
  };
  void setAngularZVel(double scale, double limit)
  {
    if (track_data_.v_yaw > target_vel_yaw_threshold_)
      vel_direction_ = -1.;
    if (track_data_.v_yaw < -target_vel_yaw_threshold_)
      vel_direction_ = 1.;
    double angular_z = max_angular_z_.output(power_limit_) > limit ? limit : max_angular_z_.output(power_limit_);
    msg_.angular.z = scale * angular_z * vel_direction_;
  };
  void set2DVel(double scale_x, double scale_y, double scale_z)
  {
    setLinearXVel(scale_x);
    setLinearYVel(scale_y);
    setAngularZVel(scale_z);
  }
  void setZero() override
  {
    msg_.linear.x = 0.;
    msg_.linear.y = 0.;
    msg_.angular.z = 0.;
  }
 
protected:
  void chassisCmdCallback(const rm_msgs::ChassisCmd::ConstPtr& msg)
  {
    power_limit_ = msg->power_limit;
  }
 
  LinearInterp max_linear_x_, max_linear_y_, max_angular_z_;
  double power_limit_ = 0.;
  double target_vel_yaw_threshold_{};
  double vel_direction_ = 1.;
  ros::Subscriber chassis_power_limit_subscriber_;
  rm_msgs::TrackData track_data_;
};
 
class ChassisCommandSender : public TimeStampCommandSenderBase<rm_msgs::ChassisCmd>
{
public:
  explicit ChassisCommandSender(ros::NodeHandle& nh) : TimeStampCommandSenderBase<rm_msgs::ChassisCmd>(nh)
  {
    XmlRpc::XmlRpcValue xml_rpc_value;
    power_limit_ = new PowerLimit(nh);
    if (!nh.getParam("accel_x", xml_rpc_value))
      ROS_ERROR("Accel X no defined (namespace: %s)", nh.getNamespace().c_str());
    else
      accel_x_.init(xml_rpc_value);
    if (!nh.getParam("accel_y", xml_rpc_value))
      ROS_ERROR("Accel Y no defined (namespace: %s)", nh.getNamespace().c_str());
    else
      accel_y_.init(xml_rpc_value);
    if (!nh.getParam("accel_z", xml_rpc_value))
      ROS_ERROR("Accel Z no defined (namespace: %s)", nh.getNamespace().c_str());
    else
      accel_z_.init(xml_rpc_value);
  }
 
  void updateSafetyPower(int safety_power)
  {
    power_limit_->updateSafetyPower(safety_power);
  }
  void updateGameRobotStatus(const rm_msgs::GameRobotStatus data) override
  {
    power_limit_->setGameRobotData(data);
  }
  void updatePowerHeatData(const rm_msgs::PowerHeatData data) override
  {
    power_limit_->setChassisPowerBuffer(data);
  }
  void updateCapacityData(const rm_msgs::PowerManagementSampleAndStatusData data) override
  {
    power_limit_->setCapacityData(data);
  }
  void updateRefereeStatus(bool status)
  {
    power_limit_->setRefereeStatus(status);
  }
  void setFollowVelDes(double follow_vel_des)
  {
    msg_.follow_vel_des = follow_vel_des;
  }
  void setWirelessState(bool state)
  {
    msg_.wireless_state = state;
  }
  void sendChassisCommand(const ros::Time& time, bool is_gyro)
  {
    power_limit_->setLimitPower(msg_, is_gyro);
    msg_.accel.linear.x = accel_x_.output(msg_.power_limit);
    msg_.accel.linear.y = accel_y_.output(msg_.power_limit);
    msg_.accel.angular.z = accel_z_.output(msg_.power_limit);
    TimeStampCommandSenderBase<rm_msgs::ChassisCmd>::sendCommand(time);
  }
  void setZero() override{};
  PowerLimit* power_limit_;
 
private:
  LinearInterp accel_x_, accel_y_, accel_z_;
};
 
class GimbalCommandSender : public TimeStampCommandSenderBase<rm_msgs::GimbalCmd>
{
public:
  explicit GimbalCommandSender(ros::NodeHandle& nh) : TimeStampCommandSenderBase<rm_msgs::GimbalCmd>(nh)
  {
    if (!nh.getParam("max_yaw_vel", max_yaw_vel_))
      ROS_ERROR("Max yaw velocity no defined (namespace: %s)", nh.getNamespace().c_str());
    if (!nh.getParam("max_pitch_vel", max_pitch_vel_))
      ROS_ERROR("Max pitch velocity no defined (namespace: %s)", nh.getNamespace().c_str());
    if (!nh.getParam("time_constant_rc", time_constant_rc_))
      ROS_ERROR("Time constant rc no defined (namespace: %s)", nh.getNamespace().c_str());
    if (!nh.getParam("time_constant_pc", time_constant_pc_))
      ROS_ERROR("Time constant pc no defined (namespace: %s)", nh.getNamespace().c_str());
    if (!nh.getParam("track_timeout", track_timeout_))
      ROS_ERROR("Track timeout no defined (namespace: %s)", nh.getNamespace().c_str());
    if (!nh.getParam("eject_sensitivity", eject_sensitivity_))
      eject_sensitivity_ = 1.;
  }
  ~GimbalCommandSender() = default;
  void setRate(double scale_yaw, double scale_pitch)
  {
    if (std::abs(scale_yaw) > 1)
      scale_yaw = scale_yaw > 0 ? 1 : -1;
    if (std::abs(scale_pitch) > 1)
      scale_pitch = scale_pitch > 0 ? 1 : -1;
    double time_constant{};
    if (use_rc_)
      time_constant = time_constant_rc_;
    else
      time_constant = time_constant_pc_;
    msg_.rate_yaw = msg_.rate_yaw + (scale_yaw * max_yaw_vel_ - msg_.rate_yaw) * (0.001 / (time_constant + 0.001));
    msg_.rate_pitch =
        msg_.rate_pitch + (scale_pitch * max_pitch_vel_ - msg_.rate_pitch) * (0.001 / (time_constant + 0.001));
    if (eject_flag_)
    {
      msg_.rate_yaw *= eject_sensitivity_;
      msg_.rate_pitch *= eject_sensitivity_;
    }
  }
  void setGimbalTraj(double traj_yaw, double traj_pitch)
  {
    msg_.traj_yaw = traj_yaw;
    msg_.traj_pitch = traj_pitch;
  }
  void setGimbalTrajFrameId(const std::string& traj_frame_id)
  {
    msg_.traj_frame_id = traj_frame_id;
  }
  void setZero() override
  {
    msg_.rate_yaw = 0.;
    msg_.rate_pitch = 0.;
  }
  void setBulletSpeed(double bullet_speed)
  {
    msg_.bullet_speed = bullet_speed;
  }
  void setEject(bool flag)
  {
    eject_flag_ = flag;
  }
  void setUseRc(bool flag)
  {
    use_rc_ = flag;
  }
  bool getEject() const
  {
    return eject_flag_;
  }
  void setPoint(geometry_msgs::PointStamped point)
  {
    msg_.target_pos = point;
  }
 
private:
  double max_yaw_vel_{}, max_pitch_vel_{}, track_timeout_{}, eject_sensitivity_ = 1.;
  double time_constant_rc_{}, time_constant_pc_{};
  bool eject_flag_{}, use_rc_{};
};
 
class ShooterCommandSender : public TimeStampCommandSenderBase<rm_msgs::ShootCmd>
{
public:
  explicit ShooterCommandSender(ros::NodeHandle& nh) : TimeStampCommandSenderBase<rm_msgs::ShootCmd>(nh)
  {
    ros::NodeHandle limit_nh(nh, "heat_limit");
    heat_limit_ = new HeatLimit(limit_nh);
    nh.param("speed_10m_per_speed", speed_10_, 10.);
    nh.param("speed_15m_per_speed", speed_15_, 15.);
    nh.param("speed_16m_per_speed", speed_16_, 16.);
    nh.param("speed_18m_per_speed", speed_18_, 18.);
    nh.param("speed_30m_per_speed", speed_30_, 30.);
    nh.getParam("wheel_speed_10", wheel_speed_10_);
    nh.getParam("wheel_speed_15", wheel_speed_15_);
    nh.getParam("wheel_speed_16", wheel_speed_16_);
    nh.getParam("wheel_speed_18", wheel_speed_18_);
    nh.getParam("wheel_speed_30", wheel_speed_30_);
    nh.param("wheel_speed_offset_front", wheel_speed_offset_front_, 0.0);
    nh.param("wheel_speed_offset_back", wheel_speed_offset_back_, 0.0);
    nh.param("speed_oscillation", speed_oscillation_, 1.0);
    nh.param("extra_wheel_speed_once", extra_wheel_speed_once_, 0.);
    nh.param("deploy_wheel_speed", deploy_wheel_speed_, 410.0);
    if (!nh.getParam("auto_wheel_speed", auto_wheel_speed_))
      ROS_INFO("auto_wheel_speed no defined (namespace: %s), set to false.", nh.getNamespace().c_str());
    if (!nh.getParam("target_acceleration_tolerance", target_acceleration_tolerance_))
    {
      target_acceleration_tolerance_ = 0.;
      ROS_INFO("target_acceleration_tolerance no defined(namespace: %s), set to zero.", nh.getNamespace().c_str());
    }
    if (!nh.getParam("track_armor_error_tolerance", track_armor_error_tolerance_))
      ROS_ERROR("track armor error tolerance no defined (namespace: %s)", nh.getNamespace().c_str());
    nh.param("untrack_armor_error_tolerance", untrack_armor_error_tolerance_, track_armor_error_tolerance_);
    nh.param("track_buff_error_tolerance", track_buff_error_tolerance_, track_armor_error_tolerance_);
    if (!nh.getParam("max_track_target_vel", max_track_target_vel_))
    {
      max_track_target_vel_ = 9.0;
      ROS_ERROR("max track target vel no defined (namespace: %s)", nh.getNamespace().c_str());
    }
  }
  ~ShooterCommandSender()
  {
    delete heat_limit_;
  }
 
  void updateGameRobotStatus(const rm_msgs::GameRobotStatus data) override
  {
    heat_limit_->setStatusOfShooter(data);
  }
  void updatePowerHeatData(const rm_msgs::PowerHeatData data) override
  {
    heat_limit_->setCoolingHeatOfShooter(data);
  }
  void updateRefereeStatus(bool status)
  {
    heat_limit_->setRefereeStatus(status);
  }
  void updateGimbalDesError(const rm_msgs::GimbalDesError& error)
  {
    gimbal_des_error_ = error;
  }
  void updateShootBeforehandCmd(const rm_msgs::ShootBeforehandCmd& data)
  {
    shoot_beforehand_cmd_ = data;
  }
  void updateTrackData(const rm_msgs::TrackData& data)
  {
    track_data_ = data;
  }
  void updateSuggestFireData(const std_msgs::Bool& data)
  {
    suggest_fire_ = data;
  }
  void updateShootData(const rm_msgs::ShootData& data)
  {
    shoot_data_ = data;
    if (auto_wheel_speed_)
    {
      if (last_bullet_speed_ == 0.0)
        last_bullet_speed_ = speed_des_;
      if (shoot_data_.bullet_speed != last_bullet_speed_)
      {
        if (last_bullet_speed_ - speed_des_ >= speed_oscillation_ || shoot_data_.bullet_speed > speed_limit_)
        {
          total_extra_wheel_speed_ -= 5.0;
        }
        else if (speed_des_ - last_bullet_speed_ > speed_oscillation_)
        {
          total_extra_wheel_speed_ += 5.0;
        }
      }
      if (shoot_data_.bullet_speed != 0.0)
        last_bullet_speed_ = shoot_data_.bullet_speed;
    }
  }
  void checkError(const ros::Time& time)
  {
    if (msg_.mode == rm_msgs::ShootCmd::PUSH && time - shoot_beforehand_cmd_.stamp < ros::Duration(0.1))
    {
      if (shoot_beforehand_cmd_.cmd == rm_msgs::ShootBeforehandCmd::ALLOW_SHOOT)
        return;
      if (shoot_beforehand_cmd_.cmd == rm_msgs::ShootBeforehandCmd::BAN_SHOOT)
      {
        setMode(rm_msgs::ShootCmd::READY);
        return;
      }
    }
    double gimbal_error_tolerance;
    if (track_data_.id == 12)
      gimbal_error_tolerance = track_buff_error_tolerance_;
    else if (std::abs(track_data_.v_yaw) < max_track_target_vel_)
      gimbal_error_tolerance = track_armor_error_tolerance_;
    else
      gimbal_error_tolerance = untrack_armor_error_tolerance_;
    if (((gimbal_des_error_.error > gimbal_error_tolerance && time - gimbal_des_error_.stamp < ros::Duration(0.1)) ||
         (track_data_.accel > target_acceleration_tolerance_)) ||
        (!suggest_fire_.data && armor_type_ == rm_msgs::StatusChangeRequest::ARMOR_OUTPOST_BASE))
      if (msg_.mode == rm_msgs::ShootCmd::PUSH)
      {
        setMode(rm_msgs::ShootCmd::READY);
      }
  }
  void sendCommand(const ros::Time& time) override
  {
    msg_.wheel_speed = getWheelSpeedDes();
    msg_.wheels_speed_offset_front = getFrontWheelSpeedOffset();
    msg_.wheels_speed_offset_back = getBackWheelSpeedOffset();
    msg_.hz = heat_limit_->getShootFrequency();
    TimeStampCommandSenderBase<rm_msgs::ShootCmd>::sendCommand(time);
  }
  double getSpeed()
  {
    setSpeedDesAndWheelSpeedDes();
    return speed_des_;
  }
  double getWheelSpeedDes()
  {
    setSpeedDesAndWheelSpeedDes();
    if (hero_flag_)
    {
      if (deploy_flag_)
        return deploy_wheel_speed_;
      return wheel_speed_des_;
    }
    return wheel_speed_des_ + total_extra_wheel_speed_;
  }
  void setDeployState(bool flag)
  {
    deploy_flag_ = flag;
  }
  void setHeroState(bool flag)
  {
    hero_flag_ = flag;
  }
  bool getDeployState()
  {
    return deploy_flag_;
  }
  void setSpeedDesAndWheelSpeedDes()
  {
    switch (heat_limit_->getSpeedLimit())
    {
      case rm_msgs::ShootCmd::SPEED_10M_PER_SECOND:
      {
        speed_limit_ = 10.0;
        speed_des_ = speed_10_;
        wheel_speed_des_ = wheel_speed_10_;
        break;
      }
      case rm_msgs::ShootCmd::SPEED_15M_PER_SECOND:
      {
        speed_limit_ = 15.0;
        speed_des_ = speed_15_;
        wheel_speed_des_ = wheel_speed_15_;
        break;
      }
      case rm_msgs::ShootCmd::SPEED_16M_PER_SECOND:
      {
        speed_limit_ = 16.0;
        speed_des_ = speed_16_;
        wheel_speed_des_ = wheel_speed_16_;
        break;
      }
      case rm_msgs::ShootCmd::SPEED_18M_PER_SECOND:
      {
        speed_limit_ = 18.0;
        speed_des_ = speed_18_;
        wheel_speed_des_ = wheel_speed_18_;
        break;
      }
      case rm_msgs::ShootCmd::SPEED_30M_PER_SECOND:
      {
        speed_limit_ = 30.0;
        speed_des_ = speed_30_;
        wheel_speed_des_ = wheel_speed_30_;
        break;
      }
    }
  }
  double getFrontWheelSpeedOffset()
  {
    wheels_speed_offset_front_ = wheel_speed_offset_front_;
    return wheels_speed_offset_front_;
  }
  double getBackWheelSpeedOffset()
  {
    wheels_speed_offset_back_ = wheel_speed_offset_back_;
    return wheels_speed_offset_back_;
  }
  void dropSpeed()
  {
    if (hero_flag_)
      wheel_speed_offset_front_ -= extra_wheel_speed_once_;
    else
      total_extra_wheel_speed_ -= extra_wheel_speed_once_;
  }
  void raiseSpeed()
  {
    if (hero_flag_)
      wheel_speed_offset_front_ += extra_wheel_speed_once_;
    else
      total_extra_wheel_speed_ += extra_wheel_speed_once_;
  }
  void setArmorType(uint8_t armor_type)
  {
    armor_type_ = armor_type;
  }
  void setShootFrequency(uint8_t mode)
  {
    heat_limit_->setShootFrequency(mode);
  }
  uint8_t getShootFrequency()
  {
    return heat_limit_->getShootFrequencyMode();
  }
  void setZero() override{};
  HeatLimit* heat_limit_{};
 
  int getShootMode()
  {
    return msg_.mode;
  }
 
private:
  double speed_10_{}, speed_15_{}, speed_16_{}, speed_18_{}, speed_30_{}, speed_des_{}, speed_limit_{};
  double wheel_speed_10_{}, wheel_speed_15_{}, wheel_speed_16_{}, wheel_speed_18_{}, wheel_speed_30_{},
      wheel_speed_des_{}, last_bullet_speed_{}, speed_oscillation_{};
  double wheel_speed_offset_front_{}, wheel_speed_offset_back_{};
  double wheels_speed_offset_front_{}, wheels_speed_offset_back_{};
  double track_armor_error_tolerance_{};
  double track_buff_error_tolerance_{};
  double untrack_armor_error_tolerance_{};
  double max_track_target_vel_{};
  double target_acceleration_tolerance_{};
  double extra_wheel_speed_once_{};
  double total_extra_wheel_speed_{};
  double deploy_wheel_speed_{};
  bool auto_wheel_speed_ = false;
  bool hero_flag_{};
  bool deploy_flag_ = false;
  rm_msgs::TrackData track_data_;
  rm_msgs::GimbalDesError gimbal_des_error_;
  rm_msgs::ShootBeforehandCmd shoot_beforehand_cmd_;
  rm_msgs::ShootData shoot_data_;
  std_msgs::Bool suggest_fire_;
  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:
  explicit BalanceCommandSender(ros::NodeHandle& nh) : CommandSenderBase<std_msgs::UInt8>(nh)
  {
  }
 
  void setBalanceMode(const int mode)
  {
    msg_.data = mode;
  }
  int getBalanceMode()
  {
    return msg_.data;
  }
  void setZero() override{};
};
 
class LegCommandSender : public CommandSenderBase<rm_msgs::LegCmd>
{
public:
  explicit LegCommandSender(ros::NodeHandle& nh) : CommandSenderBase<rm_msgs::LegCmd>(nh)
  {
  }
 
  void setJump(bool jump)
  {
    msg_.jump = jump;
  }
  void setLgeLength(double length)
  {
    msg_.leg_length = length;
  }
  bool getJump()
  {
    return msg_.jump;
  }
  double getLgeLength()
  {
    return msg_.leg_length;
  }
  void setZero() override{};
};
 
class Vel3DCommandSender : public HeaderStampCommandSenderBase<geometry_msgs::TwistStamped>
{
public:
  explicit Vel3DCommandSender(ros::NodeHandle& nh) : HeaderStampCommandSenderBase(nh)
  {
    if (!nh.getParam("max_linear_x", max_linear_x_))
      ROS_ERROR("Max X linear velocity no defined (namespace: %s)", nh.getNamespace().c_str());
    if (!nh.getParam("max_linear_y", max_linear_y_))
      ROS_ERROR("Max Y linear velocity no defined (namespace: %s)", nh.getNamespace().c_str());
    if (!nh.getParam("max_linear_z", max_linear_z_))
      ROS_ERROR("Max Z linear velocity no defined (namespace: %s)", nh.getNamespace().c_str());
    if (!nh.getParam("max_angular_x", max_angular_x_))
      ROS_ERROR("Max X linear velocity no defined (namespace: %s)", nh.getNamespace().c_str());
    if (!nh.getParam("max_angular_y", max_angular_y_))
      ROS_ERROR("Max Y angular velocity no defined (namespace: %s)", nh.getNamespace().c_str());
    if (!nh.getParam("max_angular_z", max_angular_z_))
      ROS_ERROR("Max Z angular velocity no defined (namespace: %s)", nh.getNamespace().c_str());
  }
  void setLinearVel(double scale_x, double scale_y, double scale_z)
  {
    msg_.twist.linear.x = max_linear_x_ * scale_x;
    msg_.twist.linear.y = max_linear_y_ * scale_y;
    msg_.twist.linear.z = max_linear_z_ * scale_z;
  }
  void setAngularVel(double scale_x, double scale_y, double scale_z)
  {
    msg_.twist.angular.x = max_angular_x_ * scale_x;
    msg_.twist.angular.y = max_angular_y_ * scale_y;
    msg_.twist.angular.z = max_angular_z_ * scale_z;
  }
  void setZero() override
  {
    msg_.twist.linear.x = 0.;
    msg_.twist.linear.y = 0.;
    msg_.twist.linear.z = 0.;
    msg_.twist.angular.x = 0.;
    msg_.twist.angular.y = 0.;
    msg_.twist.angular.z = 0.;
  }
 
private:
  double max_linear_x_{}, max_linear_y_{}, max_linear_z_{}, max_angular_x_{}, max_angular_y_{}, max_angular_z_{};
};
 
class JointPositionBinaryCommandSender : public CommandSenderBase<std_msgs::Float64>
{
public:
  explicit JointPositionBinaryCommandSender(ros::NodeHandle& nh) : CommandSenderBase<std_msgs::Float64>(nh)
  {
    ROS_ASSERT(nh.getParam("on_pos", on_pos_) && nh.getParam("off_pos", off_pos_));
  }
  void on()
  {
    msg_.data = on_pos_;
    state = true;
  }
  void off()
  {
    msg_.data = off_pos_;
    state = false;
  }
  void changePosition(double scale)
  {
    current_position_ = msg_.data;
    change_position_ = current_position_ + scale * per_change_position_;
    msg_.data = change_position_;
  }
  bool getState() const
  {
    return state;
  }
  void sendCommand(const ros::Time& time) override
  {
    CommandSenderBase<std_msgs::Float64>::sendCommand(time);
  }
  void setZero() override{};
 
private:
  bool state{};
  double on_pos_{}, off_pos_{}, current_position_{}, change_position_{}, per_change_position_{ 0.05 };
};
 
class CardCommandSender : public CommandSenderBase<std_msgs::Float64>
{
public:
  explicit CardCommandSender(ros::NodeHandle& nh) : CommandSenderBase<std_msgs::Float64>(nh)
  {
    ROS_ASSERT(nh.getParam("long_pos", long_pos_) && nh.getParam("short_pos", short_pos_) &&
               nh.getParam("off_pos", off_pos_));
  }
  void long_on()
  {
    msg_.data = long_pos_;
    state = true;
  }
  void short_on()
  {
    msg_.data = short_pos_;
    state = true;
  }
  void off()
  {
    msg_.data = off_pos_;
    state = false;
  }
  bool getState() const
  {
    return state;
  }
  void sendCommand(const ros::Time& time) override
  {
    CommandSenderBase<std_msgs::Float64>::sendCommand(time);
  }
  void setZero() override{};
 
private:
  bool state{};
  double long_pos_{}, short_pos_{}, off_pos_{};
};
 
class JointJogCommandSender : public CommandSenderBase<std_msgs::Float64>
{
public:
  explicit JointJogCommandSender(ros::NodeHandle& nh, const sensor_msgs::JointState& joint_state)
    : CommandSenderBase<std_msgs::Float64>(nh), joint_state_(joint_state)
  {
    ROS_ASSERT(nh.getParam("joint", joint_));
    ROS_ASSERT(nh.getParam("step", step_));
  }
  void reset()
  {
    auto i = std::find(joint_state_.name.begin(), joint_state_.name.end(), joint_);
    if (i != joint_state_.name.end())
      msg_.data = joint_state_.position[std::distance(joint_state_.name.begin(), i)];
    else
      msg_.data = NAN;
  }
  void plus()
  {
    if (msg_.data != NAN)
    {
      msg_.data += step_;
      sendCommand(ros::Time());
    }
  }
  void minus()
  {
    if (msg_.data != NAN)
    {
      msg_.data -= step_;
      sendCommand(ros::Time());
    }
  }
  const std::string& getJoint()
  {
    return joint_;
  }
 
private:
  std::string joint_{};
  const sensor_msgs::JointState& joint_state_;
  double step_{};
};
 
class JointPointCommandSender : public CommandSenderBase<std_msgs::Float64>
{
public:
  explicit JointPointCommandSender(ros::NodeHandle& nh, const sensor_msgs::JointState& joint_state)
    : CommandSenderBase<std_msgs::Float64>(nh), joint_state_(joint_state)
  {
    ROS_ASSERT(nh.getParam("joint", joint_));
  }
  void setPoint(double point)
  {
    msg_.data = point;
  }
  int getIndex()
  {
    auto i = std::find(joint_state_.name.begin(), joint_state_.name.end(), joint_);
    if (i != joint_state_.name.end())
    {
      index_ = std::distance(joint_state_.name.begin(), i);
      return index_;
    }
    else
    {
      ROS_ERROR("Can not find joint %s", joint_.c_str());
      return -1;
    }
  }
  void setZero() override{};
 
private:
  std::string joint_{};
  int index_{};
  const sensor_msgs::JointState& joint_state_;
};
 
class CameraSwitchCommandSender : public CommandSenderBase<std_msgs::String>
{
public:
  explicit CameraSwitchCommandSender(ros::NodeHandle& nh) : CommandSenderBase<std_msgs::String>(nh)
  {
    ROS_ASSERT(nh.getParam("camera_left_name", camera1_name_) && nh.getParam("camera_right_name", camera2_name_));
    msg_.data = camera2_name_;
  }
  void switchCameraLeft()
  {
    msg_.data = camera1_name_;
  }
  void switchCameraRight()
  {
    msg_.data = camera2_name_;
  }
  void sendCommand(const ros::Time& time) override
  {
    CommandSenderBase<std_msgs::String>::sendCommand(time);
  }
  void setZero() override{};
 
private:
  std::string camera1_name_{}, camera2_name_{};
};
 
class MultiDofCommandSender : public TimeStampCommandSenderBase<rm_msgs::MultiDofCmd>
{
public:
  explicit MultiDofCommandSender(ros::NodeHandle& nh) : TimeStampCommandSenderBase<rm_msgs::MultiDofCmd>(nh)
  {
  }
  ~MultiDofCommandSender() = default;
  void setMode(int mode)
  {
    msg_.mode = mode;
  }
  int getMode()
  {
    return msg_.mode;
  }
  void setGroupValue(double linear_x, double linear_y, double linear_z, double angular_x, double angular_y,
                     double angular_z)
  {
    msg_.linear.x = linear_x;
    msg_.linear.y = linear_y;
    msg_.linear.z = linear_z;
    msg_.angular.x = angular_x;
    msg_.angular.y = angular_y;
    msg_.angular.z = angular_z;
  }
  void setZero() override
  {
    msg_.linear.x = 0;
    msg_.linear.y = 0;
    msg_.linear.z = 0;
    msg_.angular.x = 0;
    msg_.angular.y = 0;
    msg_.angular.z = 0;
  }
 
private:
  ros::Time time_;
};
 
class DoubleBarrelCommandSender
{
public:
  DoubleBarrelCommandSender(ros::NodeHandle& nh)
  {
    ros::NodeHandle shooter_ID1_nh(nh, "shooter_ID1");
    shooter_ID1_cmd_sender_ = new ShooterCommandSender(shooter_ID1_nh);
    ros::NodeHandle shooter_ID2_nh(nh, "shooter_ID2");
    shooter_ID2_cmd_sender_ = new ShooterCommandSender(shooter_ID2_nh);
    ros::NodeHandle barrel_nh(nh, "barrel");
    barrel_command_sender_ = new rm_common::JointPointCommandSender(barrel_nh, joint_state_);
 
    barrel_nh.getParam("is_double_barrel", is_double_barrel_);
    barrel_nh.getParam("id1_point", id1_point_);
    barrel_nh.getParam("id2_point", id2_point_);
    barrel_nh.getParam("frequency_threshold", frequency_threshold_);
    barrel_nh.getParam("check_launch_threshold", check_launch_threshold_);
    barrel_nh.getParam("check_switch_threshold", check_switch_threshold_);
    barrel_nh.getParam("ready_duration", ready_duration_);
    barrel_nh.getParam("switching_duration", switching_duration_);
 
    joint_state_sub_ = nh.subscribe<sensor_msgs::JointState>("/joint_states", 10,
                                                             &DoubleBarrelCommandSender::jointStateCallback, this);
    trigger_state_sub_ = nh.subscribe<control_msgs::JointControllerState>(
        "/controllers/shooter_controller/trigger/state", 10, &DoubleBarrelCommandSender::triggerStateCallback, this);
  }
 
  void updateGameRobotStatus(const rm_msgs::GameRobotStatus data)
  {
    shooter_ID1_cmd_sender_->updateGameRobotStatus(data);
    shooter_ID2_cmd_sender_->updateGameRobotStatus(data);
  }
  void updatePowerHeatData(const rm_msgs::PowerHeatData data)
  {
    shooter_ID1_cmd_sender_->heat_limit_->setCoolingHeatOfShooter(data);
    shooter_ID2_cmd_sender_->heat_limit_->setCoolingHeatOfShooter(data);
  }
  void updateRefereeStatus(bool status)
  {
    shooter_ID1_cmd_sender_->updateRefereeStatus(status);
    shooter_ID2_cmd_sender_->updateRefereeStatus(status);
  }
  void updateGimbalDesError(const rm_msgs::GimbalDesError& error)
  {
    shooter_ID1_cmd_sender_->updateGimbalDesError(error);
    shooter_ID2_cmd_sender_->updateGimbalDesError(error);
  }
  void updateTrackData(const rm_msgs::TrackData& data)
  {
    shooter_ID1_cmd_sender_->updateTrackData(data);
    shooter_ID2_cmd_sender_->updateTrackData(data);
  }
  void updateSuggestFireData(const std_msgs::Bool& data)
  {
    shooter_ID1_cmd_sender_->updateSuggestFireData(data);
    shooter_ID2_cmd_sender_->updateSuggestFireData(data);
  }
  void updateShootBeforehandCmd(const rm_msgs::ShootBeforehandCmd& data)
  {
    shooter_ID1_cmd_sender_->updateShootBeforehandCmd(data);
    shooter_ID2_cmd_sender_->updateShootBeforehandCmd(data);
  }
 
  void setMode(int mode)
  {
    getBarrel()->setMode(mode);
  }
  void setZero()
  {
    getBarrel()->setZero();
  }
  void checkError(const ros::Time& time)
  {
    getBarrel()->checkError(time);
  }
  void sendCommand(const ros::Time& time)
  {
    if (checkSwitch())
      need_switch_ = true;
    if (need_switch_)
      switchBarrel();
    checklaunch();
    if (getBarrel()->getMsg()->mode == rm_msgs::ShootCmd::PUSH)
      last_push_time_ = time;
    getBarrel()->sendCommand(time);
  }
  void init()
  {
    ros::Time time = ros::Time::now();
    barrel_command_sender_->setPoint(id1_point_);
    shooter_ID1_cmd_sender_->setMode(rm_msgs::ShootCmd::STOP);
    shooter_ID2_cmd_sender_->setMode(rm_msgs::ShootCmd::STOP);
    barrel_command_sender_->sendCommand(time);
    shooter_ID1_cmd_sender_->sendCommand(time);
    shooter_ID2_cmd_sender_->sendCommand(time);
  }
  void setArmorType(uint8_t armor_type)
  {
    shooter_ID1_cmd_sender_->setArmorType(armor_type);
    shooter_ID2_cmd_sender_->setArmorType(armor_type);
  }
  void setShootFrequency(uint8_t mode)
  {
    getBarrel()->setShootFrequency(mode);
  }
  uint8_t getShootFrequency()
  {
    return getBarrel()->getShootFrequency();
  }
  double getSpeed()
  {
    return getBarrel()->getSpeed();
  }
 
private:
  ShooterCommandSender* getBarrel()
  {
    if (barrel_command_sender_->getMsg()->data == id1_point_)
      is_id1_ = true;
    else
      is_id1_ = false;
    return is_id1_ ? shooter_ID1_cmd_sender_ : shooter_ID2_cmd_sender_;
  }
  void switchBarrel()
  {
    ros::Time time = ros::Time::now();
    bool time_to_switch = (std::fmod(std::abs(trigger_error_), 2. * M_PI) < check_switch_threshold_);
    setMode(rm_msgs::ShootCmd::READY);
    if (time_to_switch || (time - last_push_time_).toSec() > ready_duration_)
    {
      barrel_command_sender_->getMsg()->data == id2_point_ ? barrel_command_sender_->setPoint(id1_point_) :
                                                             barrel_command_sender_->setPoint(id2_point_);
      barrel_command_sender_->sendCommand(time);
      last_switch_time_ = time;
      need_switch_ = false;
      is_switching_ = true;
    }
  }
 
  void checklaunch()
  {
    ros::Time time = ros::Time::now();
    if (is_switching_)
    {
      setMode(rm_msgs::ShootCmd::READY);
      if ((time - last_switch_time_).toSec() > switching_duration_ ||
          (std::abs(joint_state_.position[barrel_command_sender_->getIndex()] -
                    barrel_command_sender_->getMsg()->data) < check_launch_threshold_))
        is_switching_ = false;
    }
  }
 
  bool checkSwitch()
  {
    if (!is_double_barrel_)
      return false;
    if (shooter_ID1_cmd_sender_->heat_limit_->getCoolingLimit() == 0 ||
        shooter_ID2_cmd_sender_->heat_limit_->getCoolingLimit() == 0)
    {
      ROS_WARN_ONCE("Can not get cooling limit");
      return false;
    }
    if (shooter_ID1_cmd_sender_->heat_limit_->getShootFrequency() < frequency_threshold_ ||
        shooter_ID2_cmd_sender_->heat_limit_->getShootFrequency() < frequency_threshold_)
    {
      if (getBarrel() == shooter_ID1_cmd_sender_)
        return getBarrel()->heat_limit_->getShootFrequency() < frequency_threshold_ &&
               shooter_ID2_cmd_sender_->heat_limit_->getShootFrequency() > frequency_threshold_;
      else
        return getBarrel()->heat_limit_->getShootFrequency() < frequency_threshold_ &&
               shooter_ID1_cmd_sender_->heat_limit_->getShootFrequency() > frequency_threshold_;
    }
    else
      return false;
  }
  void triggerStateCallback(const control_msgs::JointControllerState::ConstPtr& data)
  {
    trigger_error_ = data->error;
  }
  void jointStateCallback(const sensor_msgs::JointState::ConstPtr& data)
  {
    joint_state_ = *data;
  }
  ShooterCommandSender* shooter_ID1_cmd_sender_;
  ShooterCommandSender* shooter_ID2_cmd_sender_;
  JointPointCommandSender* barrel_command_sender_{};
  ros::Subscriber trigger_state_sub_;
  ros::Subscriber joint_state_sub_;
  sensor_msgs::JointState joint_state_;
  bool is_double_barrel_{ false }, need_switch_{ false }, is_switching_{ false };
  ros::Time last_switch_time_, last_push_time_;
  double ready_duration_, switching_duration_;
  double trigger_error_;
  bool is_id1_{ false };
  double id1_point_, id2_point_;
  double frequency_threshold_;
  double check_launch_threshold_, check_switch_threshold_;
};
 
}  // namespace rm_common