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removed service file and rearranged message

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This commit is contained in:
pinloon.lee
2021-04-01 14:33:12 +08:00
parent d3b2f68b48
commit 774b2731b5
10 changed files with 40 additions and 99 deletions
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16
scout_msgs/CMakeLists.txt
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@@ -49,20 +49,18 @@ add_message_files(
FILES
ScoutActuatorState.msg
ScoutLightCmd.msg
ScoutMotionState.msg
ScoutLightState.msg
ScoutRCState.msg
ScoutSystemState.msg
ScoutStatus.msg
)
## Generate services in the 'srv' folder
add_service_files(
FILES
ScoutCheckLightState.srv
ScoutCheckRCState.srv
ScoutCheckSystemState.srv
ScoutCheckActuatorState.srv
)
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(

8
scout_msgs/msg/ScoutLightCmd.msg
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@@ -1,7 +1,7 @@
# uint8 LIGHT_CONST_OFF = 0
# uint8 LIGHT_CONST_ON = 1
# uint8 LIGHT_BREATH = 2
# uint8 LIGHT_CUSTOM = 3
uint8 LIGHT_CONST_OFF = 0
uint8 LIGHT_CONST_ON = 1
uint8 LIGHT_BREATH = 2
uint8 LIGHT_CUSTOM = 3
bool cmd_ctrl_allowed
uint8 front_mode

2
scout_msgs/msg/ScoutLightState.msg Normal file
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@@ -0,0 +1,2 @@
uint8 mode
uint8 custom_value

4
scout_msgs/msg/ScoutMotionState.msg
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@@ -1,4 +0,0 @@
Header header
float32 linear_velocity
float32 angular_velocity

27
scout_msgs/msg/ScoutStatus.msg Normal file
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@@ -0,0 +1,27 @@
Header header
int8 MOTOR_ID_FRONT_RIGHT = 0
int8 MOTOR_ID_FRONT_LEFT = 1
int8 MOTOR_ID_REAR_RIGHT = 2
int8 MOTOR_ID_REAR_LEFT = 3
int8 LIGHT_ID_FRONT = 0
int8 LIGHT_ID_REAR = 1
# motion state
float64 linear_velocity
float64 angular_velocity
# base state
uint8 vehicle_state
uint8 control_mode
uint16 error_code
float64 battery_voltage
# motor state
ScoutActuatorState[4] actuator_states
# light state
bool light_control_enabled
ScoutLightState front_light_state
ScoutLightState rear_light_state

23
scout_msgs/msg/ScoutSystemState.msg
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@@ -1,23 +0,0 @@
# uint8 VehicleStateNormal = 0
# uint8 VehicleStateEStop = 1
# uint8 VehicleStateException = 2
# uint8 CONTROL_MODE_RC = 0
# uint8 CONTROL_MODE_CAN = 1
# uint8 CONTROL_MODE_UART = 2
# uint16 SYSTEM_ERROR_MOTOR_DRIVER_MASK 0x0100
# uint16 SYSTEM_ERROR_HL_COMM_MASK 0x0200
# uint16 SYSTEM_ERROR_BATTERY_FAULT_MASK ((uint16_t)0x0001)
# uint16 SYSTEM_ERROR_BATTERY_WARNING_MASK ((uint16_t)0x0002)
# uint16 SYSTEM_ERROR_RC_SIGNAL_LOSS_MASK ((uint16_t)0x0004)
# uint16 SYSTEM_ERROR_MOTOR1_COMM_MASK ((uint16_t)0x0008)
# uint16 SYSTEM_ERROR_MOTOR2_COMM_MASK ((uint16_t)0x0010)
# uint16 SYSTEM_ERROR_MOTOR3_COMM_MASK ((uint16_t)0x0020)
# uint16 SYSTEM_ERROR_MOTOR4_COMM_MASK ((uint16_t)0x0040)
# uint16 SYSTEM_ERROR_STEER_ENCODER_MASK ((uint16_t)0x0080)
uint8 vehicle_state
uint8 control_mode
float32 battery_voltage
uint16 error_code

10
scout_msgs/srv/ScoutCheckActuatorState.srv
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@@ -1,10 +0,0 @@
uint8 motor_id
---
int16 rpm
float64 current
int32 pulse_count
float32 driver_voltage
float32 driver_temperature
int8 motor_temperature
uint8 driver_state

12
scout_msgs/srv/ScoutCheckLightState.srv
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@@ -1,12 +0,0 @@
bool is_check
---
bool cmd_ctrl_allowed
uint8 front_mode
uint8 front_custom_value
uint8 rear_mode
uint8 rear_custom_value
# uint8 LIGHT_CONST_OFF = 0
# uint8 LIGHT_CONST_ON = 1
# uint8 LIGHT_BREATH = 2
# uint8 LIGHT_CUSTOM = 3

12
scout_msgs/srv/ScoutCheckRCState.srv
View File

@@ -1,12 +0,0 @@
bool is_check
---
uint8 swa
uint8 swb
uint8 swc
uint8 swd
int8 stick_right_v
int8 stick_right_h
int8 stick_left_v
int8 stick_left_h
int8 var_a

25
scout_msgs/srv/ScoutCheckSystemState.srv
View File

@@ -1,25 +0,0 @@
bool is_check
---
uint8 vehicle_state
uint8 control_mode
float32 battery_voltage
uint16 error_code
# uint8 VehicleStateNormal = 0
# uint8 VehicleStateEStop = 1
# uint8 VehicleStateException = 2
# uint8 CONTROL_MODE_RC = 0
# uint8 CONTROL_MODE_CAN = 1
# uint8 CONTROL_MODE_UART = 2
# uint16 SYSTEM_ERROR_MOTOR_DRIVER_MASK 0x0100
# uint16 SYSTEM_ERROR_HL_COMM_MASK 0x0200
# uint16 SYSTEM_ERROR_BATTERY_FAULT_MASK ((uint16_t)0x0001)
# uint16 SYSTEM_ERROR_BATTERY_WARNING_MASK ((uint16_t)0x0002)
# uint16 SYSTEM_ERROR_RC_SIGNAL_LOSS_MASK ((uint16_t)0x0004)
# uint16 SYSTEM_ERROR_MOTOR1_COMM_MASK ((uint16_t)0x0008)
# uint16 SYSTEM_ERROR_MOTOR2_COMM_MASK ((uint16_t)0x0010)
# uint16 SYSTEM_ERROR_MOTOR3_COMM_MASK ((uint16_t)0x0020)
# uint16 SYSTEM_ERROR_MOTOR4_COMM_MASK ((uint16_t)0x0040)
# uint16 SYSTEM_ERROR_STEER_ENCODER_MASK ((uint16_t)0x0080)