From 45fece5360b50c9fed22b64ca216c07764b53e57 Mon Sep 17 00:00:00 2001
From: Bluefairy-ljy <3099568863@qq.com>
Date: Sat, 3 Oct 2026 22:05:13 +0800
Subject: [PATCH] Add service callers for auto color switching and target
 re-selection in track mode.

---
 .../rm_common/decision/service_caller.h       | 34 ++++++++++++++++++-
 1 file changed, 33 insertions(+), 1 deletion(-)

diff --git a/rm_common/include/rm_common/decision/service_caller.h b/rm_common/include/rm_common/decision/service_caller.h
index 457a2089..63fd3787 100644
--- a/rm_common/include/rm_common/decision/service_caller.h
+++ b/rm_common/include/rm_common/decision/service_caller.h
@@ -46,6 +46,9 @@
 #include <controller_manager_msgs/SwitchController.h>
 #include <control_msgs/QueryCalibrationState.h>
 #include <rm_msgs/StatusChange.h>
+#include <std_srvs/Empty.h>
+#include <std_srvs/SetBool.h>
+#include <std_srvs/Trigger.h>
 
 namespace rm_common
 {
@@ -133,6 +136,35 @@ class ServiceCallerBase
   int fail_count_, fail_limit_;
 };
 
+class ColorChangeServiceCaller : public ServiceCallerBase<std_srvs::SetBool>
+{
+public:
+  explicit ColorChangeServiceCaller(ros::NodeHandle& nh)
+    : ServiceCallerBase<std_srvs::SetBool>(nh, "/superpower_track_vision/change_color")
+  {
+    service_.request.data = false;
+    callService();
+  }
+  void changeColor()
+  {
+    service_.request.data = !service_.request.data;
+    callService();
+  }
+};
+
+class TrackerResetServiceCaller : public ServiceCallerBase<std_srvs::Trigger>
+{
+public:
+  explicit TrackerResetServiceCaller(ros::NodeHandle& nh)
+    : ServiceCallerBase<std_srvs::Trigger>(nh, "/superpower_track/reset")
+  {
+    callService();
+  }
+  void reset()
+  {
+    callService();
+  }
+};
 class SwitchControllersServiceCaller : public ServiceCallerBase<controller_manager_msgs::SwitchController>
 {
 public:
@@ -185,7 +217,7 @@ class SwitchDetectionCaller : public ServiceCallerBase<rm_msgs::StatusChange>
 {
 public:
   explicit SwitchDetectionCaller(ros::NodeHandle& nh)
-    : ServiceCallerBase<rm_msgs::StatusChange>(nh, "/detection_nodelet/status_switch")
+    : ServiceCallerBase<rm_msgs::StatusChange>(nh, "/Processor/status_change")
   {
     service_.request.target = rm_msgs::StatusChangeRequest::ARMOR;
     service_.request.exposure = rm_msgs::StatusChangeRequest::EXPOSURE_LEVEL_0;