[Core] add direct_kick_no_calibration in command

Client/CMakeLists.txt

@@ -43,6 +43,11 @@ else()
     find_package(ZLIB)
 endif()
 
+## fmt
+find_package(fmt REQUIRED)
+include_directories(${fmt_INCLUDE_DIRS})
+list(APPEND libs fmt::fmt)
+
 include_directories(${ZLIB_INCLUDE_DIRS})
 list(APPEND libs ${ZLIB_LIBRARIES})
 ## find Qt

Client/src/actionmodule.h

@@ -13,77 +13,77 @@ enum struct ProtocolType{
     UDP_24L01,
     Serial_24L01,
 };
-class Action_Serial24L01 : public QObject {
-    Q_OBJECT
-public:
-    struct Config{
-        QString portName;
-    };
-    Action_Serial24L01(const Config& config,const __callback_type& f={},QObject *parent=nullptr);
-    ~Action_Serial24L01();
-    bool start();
-    bool stop();
-    void reConfig(const Config& config);
-    bool sendConfigPacket(const char*,const size_t);
-    bool send(const char*,const size_t);
-private slots:
-    void receiveData();
-private:
-    Config _config;
-    QSerialPort serial;
-    const __callback_type _cb;
-};
-class Action_UDP24L01 : public QObject {
-    Q_OBJECT
-public:
-    struct Config{
-        QString send_ip;
-        int send_port;
-        QString recv_ip;
-        int recv_port;
-    };
-    Action_UDP24L01(const Config& config,const __callback_type& f={},QObject *parent=nullptr);
-    ~Action_UDP24L01();
-    bool start();
-    bool stop();
-    void reConfig(const Config& config);
-    bool sendConfigPacket(const char*,const size_t);
-    bool send(const char*,const size_t);
-private slots:
-    void receiveData();
-private:
-    Config _config;
-    QUdpSocket _sendSocket;
-    QUdpSocket _recvSocket;
-    const __callback_type _cb;
-};
-class ActionModule : public QObject {
-    Q_OBJECT
-  public:
-    ActionModule(QObject *parent = 0);
-    ~ActionModule();
-    void sendLegacy(int t, const ZSS::Protocol::Robots_Command&);
-    bool connectRadio(int, int);
-    bool disconnectRadio(int);
-    void setSimulation(bool);
-    int team[PARAM::TEAMS];
-    void changeAddress(int team,int index);
-    QStringList getAllAddress();
-    QString getRealAddress(int team);
-  private slots:
-    void readData();
-  private:
-    void sendStartPacket(int, int);
-  private:
-    QByteArray tx;
-    QByteArray rx;
-    QUdpSocket sendSocket;
-    QUdpSocket receiveSocket;
-    ProtocolType _protocolType[PARAM::ROBOTNUM];
-  signals:
-    void receiveRobotInfo(int, int);
-};
-typedef Singleton<ActionModule> ZActionModule;
+// class Action_Serial24L01 : public QObject {
+//     Q_OBJECT
+// public:
+//     struct Config{
+//         QString portName;
+//     };
+//     Action_Serial24L01(const Config& config,const __callback_type& f={},QObject *parent=nullptr);
+//     ~Action_Serial24L01();
+//     bool start();
+//     bool stop();
+//     void reConfig(const Config& config);
+//     bool sendConfigPacket(const char*,const size_t);
+//     bool send(const char*,const size_t);
+// private slots:
+//     void receiveData();
+// private:
+//     Config _config;
+//     QSerialPort serial;
+//     const __callback_type _cb;
+// };
+// class Action_UDP24L01 : public QObject {
+//     Q_OBJECT
+// public:
+//     struct Config{
+//         QString send_ip;
+//         int send_port;
+//         QString recv_ip;
+//         int recv_port;
+//     };
+//     Action_UDP24L01(const Config& config,const __callback_type& f={},QObject *parent=nullptr);
+//     ~Action_UDP24L01();
+//     bool start();
+//     bool stop();
+//     void reConfig(const Config& config);
+//     bool sendConfigPacket(const char*,const size_t);
+//     bool send(const char*,const size_t);
+// private slots:
+//     void receiveData();
+// private:
+//     Config _config;
+//     QUdpSocket _sendSocket;
+//     QUdpSocket _recvSocket;
+//     const __callback_type _cb;
+// };
+// class ActionModule : public QObject {
+//     Q_OBJECT
+//   public:
+//     ActionModule(QObject *parent = 0);
+//     ~ActionModule();
+//     void sendLegacy(int t, const ZSS::Protocol::Robots_Command&);
+//     bool connectRadio(int, int);
+//     bool disconnectRadio(int);
+//     void setSimulation(bool);
+//     int team[PARAM::TEAMS];
+//     void changeAddress(int team,int index);
+//     QStringList getAllAddress();
+//     QString getRealAddress(int team);
+//   private slots:
+//     void readData();
+//   private:
+//     void sendStartPacket(int, int);
+//   private:
+//     QByteArray tx;
+//     QByteArray rx;
+//     QUdpSocket sendSocket;
+//     QUdpSocket receiveSocket;
+//     ProtocolType _protocolType[PARAM::ROBOTNUM];
+//   signals:
+//     void receiveRobotInfo(int, int);
+// };
+// typedef Singleton<ActionModule> ZActionModule;
 
 class ActionModuleSerialVersion : public QObject
 {

Client/src/communicator.cpp

@@ -98,7 +98,7 @@ void Communicator::receiveCommand(int t) {
                     ZSS::ZRemoteSimModule::instance()->sendSim(t, commands);
             } else {
 //                qDebug() << "realreal!";
-                ZSS::ZActionModule::instance()->sendLegacy(t, commands);
+                // ZSS::ZActionModule::instance()->sendLegacy(t, commands);
                 ZSS::NActionModule::instance()->sendLegacy(commands);
             }
         }

Client/src/interaction.cpp

@@ -91,7 +91,7 @@ void Interaction::showIfEdgeTest() {
     std::cout << VisionModule::instance()->showIfEdgeTest() << std::endl;
 }
 void Interaction::setVision(bool needStart, bool real) {
-    ZSS::ZActionModule::instance()->setSimulation(!real);
+    // ZSS::ZActionModule::instance()->setSimulation(!real);
     if (needStart) {
         ZSS::ZParamManager::instance()->changeParam("Alert/IsSimulation", !real);
         ZCommunicator::instance()->reloadSimulation();
@@ -116,11 +116,12 @@ bool Interaction::connectRadio(bool sw, int id, int frq) {
     if(sw) {
         ZCommunicator::instance()->disconnectMedusa(id);
         ZCommunicator::instance()->connectMedusa(id);
-        ZSS::ZActionModule::instance()->disconnectRadio(id);
-        return ZSS::ZActionModule::instance()->connectRadio(id, frq);
+        // ZSS::ZActionModule::instance()->disconnectRadio(id);
+        // return ZSS::ZActionModule::instance()->connectRadio(id, frq);
     } else {
 //        return ZSS::ZActionModule::instance()->disconnectRadio(id);
     }
+    return false;
 }
 bool Interaction::connectSim(bool sw, int id, bool color) {
     if(sw) {
@@ -383,13 +384,13 @@ int Interaction::getFrequency(){
     return ZSS::NActionModule::instance()->getFrequency();
 }
 void Interaction::changeAddress(int team, int index){
-    ZSS::ZActionModule::instance()->changeAddress(team,index);
+    // ZSS::ZActionModule::instance()->changeAddress(team,index);
 }
 QStringList Interaction::getAllAddress(){
-    return ZSS::ZActionModule::instance()->getAllAddress();
+    // return ZSS::ZActionModule::instance()->getAllAddress();
 }
 QString Interaction::getRealAddress(int index){
-    return ZSS::ZActionModule::instance()->getRealAddress(index);
+    // return ZSS::ZActionModule::instance()->getRealAddress(index);
 };
 
 void Interaction::updateTestScriptList(){

Client/src/viewerinterface.h

@@ -15,7 +15,7 @@ public slots:
     }
 public:
     explicit ViewerInterface(QObject *parent = Q_NULLPTR){
-        QObject::connect(ZSS::ZActionModule::instance(),SIGNAL(receiveRobotInfo(int,int)),this,SLOT(changeRobotInfo(int,int)));
+        // QObject::connect(ZSS::ZActionModule::instance(),SIGNAL(receiveRobotInfo(int,int)),this,SLOT(changeRobotInfo(int,int)));
         QObject::connect(ZSS::ZSimModule::instance(),SIGNAL(receiveSimInfo(int,int)),this,SLOT(changeRobotInfo(int,int)));
     }
     enum Roles {

Core/src/Simulator/CommandInterface.cpp

@@ -55,14 +55,16 @@ void CCommandInterface::setSpeed(int num, double dribble, double vx, double vy,
     commands[number].velocity_r = vr;
 
 }
-void CCommandInterface::setKick(int num, double kp, double cp) {
+void CCommandInterface::setKick(int num, double kp, double cp, bool direct_kick_no_calibration, double direct_kick_power) {
     int number = num;
     if (number < 0 || number > PARAM::Field::MAX_PLAYER - 1) {
         //std::cout << "Robot Number Error in Simulator setKick" << std::endl;
         return;
     }
     commands[number].flat_kick = kp;
     commands[number].chip_kick = cp;
+    commands[number].direct_kick_no_calibration = direct_kick_no_calibration;
+    commands[number].direct_kick_power = direct_kick_power;
 }
 
 void CCommandInterface::setNeedReport(int num, bool needReport){

Core/src/Simulator/CommandInterface.h

@@ -15,15 +15,17 @@
 class QUdpSocket;
 
 struct RobotCommand{
-    double velocity_x;
-    double velocity_y;
-    double velocity_r;
-    double flat_kick;
-    double chip_kick;
-    double dribble_spin;
-    bool use_dir;
-    bool need_report;
-    RobotCommand():velocity_x(0),velocity_y(0),velocity_r(0),flat_kick(0),chip_kick(0),dribble_spin(0),use_dir(false),need_report(false) {}
+    double velocity_x = 0;
+    double velocity_y = 0;
+    double velocity_r = 0;
+    double flat_kick = 0;
+    double chip_kick = 0;
+    double dribble_spin = 0;
+    bool use_dir = false;
+    bool need_report = false;
+    bool direct_kick_no_calibration=false;
+    double direct_kick_power=0;
+    RobotCommand() = default;
 };
 
 class CCommandInterface : public QObject
@@ -36,7 +38,7 @@ class CCommandInterface : public QObject
     static CCommandInterface* instance(const COptionModule *pOption=nullptr);
     static void destruct();
     void setSpeed(int num, double dribble, double vx, double vy, double vr);
-    void setKick(int num, double kp, double cp);
+    void setKick(int num, double kp, double cp, bool direct_kick_no_calibration=false, double direct_kick_power=0);
     void setNeedReport(int num, bool needReport);
     void sendCommands();
 private slots:

share/proto/zss_cmd.proto

@@ -52,4 +52,8 @@ message Robot_Command {
 
   required bool use_dir = 10;
   required bool need_report = 11;
+
+  // use for power calibration
+  optional bool  direct_kick_no_calibration = 12;
+  optional float direct_kick_power = 13;
 }