🐛 适配新版本通信模块

Author: SillyBeee

communicate_2025

@@ -30,8 +30,10 @@ T_Com_general::T_Com_general(QWidget* parent)
     up_enemy_color_label->setTextPixelSize(14);
     ElaText* up_pitch_label = new ElaText("pitch");
     up_pitch_label->setTextPixelSize(14);
-    ElaText* up_yaw_label = new ElaText("yaw");
+    ElaText* up_yaw_label = new ElaText("high_gimbal_yaw");
     up_yaw_label->setTextPixelSize(14);
+    ElaText* up_low_yaw_label = new ElaText("low_gimbal_yaw");
+    up_low_yaw_label->setTextPixelSize(14);
     ElaText* up_mode_label = new ElaText("mode");
     up_mode_label->setTextPixelSize(14);
     ElaText* up_rune_flag_label = new ElaText("rune_flag");
@@ -50,6 +52,8 @@ T_Com_general::T_Com_general(QWidget* parent)
     up_pitch_editor->setReadOnly(true);
     up_yaw_editor = new ElaLineEdit(this);
     up_yaw_editor->setReadOnly(true);
+    up_low_yaw_editor = new ElaLineEdit(this);
+    up_low_yaw_editor->setReadOnly(true);
     up_mode_editor = new ElaLineEdit(this);
     up_mode_editor->setReadOnly(true);
     up_rune_flag_editor = new ElaLineEdit(this);
@@ -87,6 +91,7 @@ T_Com_general::T_Com_general(QWidget* parent)
     QHBoxLayout* right3layout = new QHBoxLayout();
     QHBoxLayout* right4layout = new QHBoxLayout();
     QHBoxLayout* right5layout = new QHBoxLayout();
+    QHBoxLayout* right6layout = new QHBoxLayout();
     QHBoxLayout* right0layout = new QHBoxLayout();
     right0layout->addWidget(Text_right);
     right0layout->setAlignment(Qt::AlignCenter);
@@ -101,12 +106,15 @@ T_Com_general::T_Com_general(QWidget* parent)
     right4layout->addWidget(up_yaw_editor);
     right5layout->addWidget(up_pitch_label);
     right5layout->addWidget(up_pitch_editor);
+    right6layout->addWidget(up_low_yaw_label);
+    right6layout->addWidget(up_low_yaw_editor);
     QVBoxLayout* right_total_layout = new QVBoxLayout();
     right_total_layout->addLayout(right0layout);
     right_total_layout->addLayout(right1layout);
     right_total_layout->addLayout(right2layout);
     right_total_layout->addLayout(right3layout);
     right_total_layout->addLayout(right4layout);
+    right_total_layout->addLayout(right6layout);
     right_total_layout->addLayout(right5layout);
     right_total_layout->setSpacing(20);
     right_total_layout->setAlignment(Qt::AlignCenter);

visualization_tool/Page/T_com_general.cpp

@@ -16,6 +16,7 @@ class T_Com_general : public ElaWidget
     ElaLineEdit* up_enemy_color_editor ;
     ElaLineEdit* up_pitch_editor;
     ElaLineEdit* up_yaw_editor;
+    ElaLineEdit* up_low_yaw_editor;
     ElaLineEdit* up_mode_editor;
     ElaLineEdit* up_rune_flag_editor;
 };

visualization_tool/Page/T_com_general.h

@@ -52,6 +52,7 @@ class MainWindow : public ElaWindow
     int down_is_find ;
     //下位机发
     double up_yaw ;
+    double up_low_yaw ;
     double up_pitch ;
     int up_enemy_color ;
     int up_mode ;
@@ -72,7 +73,7 @@ class MainWindow : public ElaWindow
     // QMutex general_down_mutex;
 public slots:
     void set_down_data_to_general_page(double down_yaw , double down_pitch , int down_is_find);
-    void set_up_data_to_general_page(double up_yaw, double up_pitch, int up_enemy_color, int up_mode, int up_rune_flag);
+    void set_up_data_to_general_page(double up_yaw,double up_low_yaw, double up_pitch, int up_enemy_color, int up_mode, int up_rune_flag);
     void get_data_from_general_page();
 private:
     bool m_isDragging;

visualization_tool/include/mainwindow.h

@@ -105,10 +105,11 @@ void MainWindow::set_down_data_to_general_page(double down_yaw, double down_pitc
     this->down_is_find = down_is_find;
 }
 
-void MainWindow::set_up_data_to_general_page(double up_yaw, double up_pitch, int up_enemy_color, int up_mode, int up_rune_flag){
+void MainWindow::set_up_data_to_general_page(double up_yaw, double up_low_yaw, double up_pitch, int up_enemy_color, int up_mode, int up_rune_flag){
     QMutexLocker locker(&general_mutex);
     this->general_update_flag = true;
     this->up_yaw = up_yaw;
+    this->up_low_yaw = up_low_yaw;
     this->up_pitch = up_pitch;
     this->up_enemy_color = up_enemy_color;
     this->up_mode = up_mode;

visualization_tool/src/mainwindow.cpp

@@ -256,12 +256,13 @@ void visualization_node::Serial_info_callback(const communicate_2025::msg::Seria
 
 void visualization_node::Autoaim_callback(const communicate_2025::msg::Autoaim::SharedPtr msg ){
     RCLCPP_INFO(this->get_logger(), "processing_autoaim");
-    double yaw = msg->yaw;
+    double up_yaw = msg->high_gimbal_yaw;
+    double low_yaw = msg->low_gimbal_yaw;
     double pitch = msg->pitch;
     int enemy_color = msg->enemy_team_color;
     int mode = msg->mode;
     int rune_flag = msg->rune_flag;
-    w->set_up_data_to_general_page(yaw, pitch, enemy_color, mode, rune_flag);
+    w->set_up_data_to_general_page(up_yaw,low_yaw, pitch, enemy_color, mode, rune_flag);
 
 
 }