blackboard_common.h

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//
// Created by kehan on 2020/2/29.
//
 
#ifndef ROBORTS_ROBORTS_DECISION_BLACKBOARD_BLACKBOARD_COMMON_H_
#define ROBORTS_ROBORTS_DECISION_BLACKBOARD_BLACKBOARD_COMMON_H_
 
#include <geometry_msgs/PoseStamped.h>
#include <roborts_msgs/ArmorsDetected.h>
 
namespace roborts_decision {
 
class data {
 public:
  //暂定频率为10Hz
  constexpr static int Hz = 2;   
  constexpr static double PI = 3.1415926535;
  constexpr static int HP = 2000; 
  constexpr static int MAXHEAT = 240; 
  constexpr static int STARTPROJECTILES = 50; 
  constexpr static int PROJECTILESPACKAGE = 100;  
  constexpr static int BLOODPACKAGE = 200;  
  constexpr static double ROBOTSIZE = 0.6;    
  constexpr static double SITELENGTH = 8.08;  
  constexpr static double SITEHEIGHT = 4.48;  
  constexpr static int MAX = 1e7; 
  constexpr static double SHOOTMAX = 25;  
  constexpr static double DANGERSHOOTMIN = 12;    
  constexpr static int averagespeed_ = 20;
  // 状态评估的系数
  constexpr static double kBlood = 0.9;
  constexpr static double kBullet = 0.8;
  constexpr static double kHeat = 0.1;
 
};
 
enum class Posture {
  TILTANGLE,
  TWIST
};
 
enum MyRobotBehavior {
  CHASE,
  ESCAPE,
  GOAL,
  SUPPLY
};
 
enum ArmorId {
  FRONT = 0,
  RIGHT = 1,
  BACK = 2,
  LEFT = 3
};
 
enum BuffStatus {
  RED_RESTORATION = 1,//血包
  RED_PROJECTILE_SUPPLIER = 2,//子弹
  BLUE_RESTORATION = 3,
  BLUE_PROJECTILE_SUPPLIER = 4,
  NO_SHOOTING = 5,
  NO_MOVING = 6,
  UNKNOWN_STATUS = 7
};
 
struct BuffZoneStatus {
  bool is_active = false;
  BuffStatus buff_status = UNKNOWN_STATUS;
};
 
enum EnemyBuffZone {
  PROJECTILE_SUPPLIER,
  RESTORATION
};
 
enum RobotType {
  RED_1 = 3,
  RED_2 = 4,
  BLUE_1 = 13,
  BLUE_2 = 14,
  UNKNOWN_TYPE
};
 
enum RobotId {
  MY_ROBOT_1 = 0,
  MY_ROBOT_2 = 1,
  ENEMY_ROBOT_1 = 2,
  ENEMY_ROBOT_2 = 3,
};
 
enum MyColor {
  RED,
  BLUE,
  UNKNOWN_COLOR
};
 
enum Decision {
  OFFENSIVE
};
 
enum class RobotBehavior {
  SPIN_FORWARD,
  SPIN_IN_PLACE,
  STAY_STILL,
  KEEP_DIRECTION_MOVE,
  // AVOIDANCE_MOVE,
  SET_GIMBAL_ODOM_POSE,
  SHOOT_AIMED,
  TOWARD_W_POS_SHOOT
};
 
enum class Signal {
  NONE,
  HELP
};
}
 
#endif //ROBORTS_ROBORTS_DECISION_BLACKBOARD_BLACKBOARD_COMMON_H_