From 774b2731b56651c5ee4e6ddcd17eea77bf868f37 Mon Sep 17 00:00:00 2001 From: "pinloon.lee" Date: Thu, 1 Apr 2021 14:33:12 +0800 Subject: [PATCH] removed service file and rearranged message --- scout_msgs/CMakeLists.txt | 16 ++++++------- scout_msgs/msg/ScoutLightCmd.msg | 8 +++---- scout_msgs/msg/ScoutLightState.msg | 2 ++ scout_msgs/msg/ScoutMotionState.msg | 4 ---- scout_msgs/msg/ScoutStatus.msg | 27 ++++++++++++++++++++++ scout_msgs/msg/ScoutSystemState.msg | 23 ------------------ scout_msgs/srv/ScoutCheckActuatorState.srv | 10 -------- scout_msgs/srv/ScoutCheckLightState.srv | 12 ---------- scout_msgs/srv/ScoutCheckRCState.srv | 12 ---------- scout_msgs/srv/ScoutCheckSystemState.srv | 25 -------------------- 10 files changed, 40 insertions(+), 99 deletions(-) create mode 100644 scout_msgs/msg/ScoutLightState.msg delete mode 100644 scout_msgs/msg/ScoutMotionState.msg create mode 100644 scout_msgs/msg/ScoutStatus.msg delete mode 100644 scout_msgs/msg/ScoutSystemState.msg delete mode 100644 scout_msgs/srv/ScoutCheckActuatorState.srv delete mode 100644 scout_msgs/srv/ScoutCheckLightState.srv delete mode 100644 scout_msgs/srv/ScoutCheckRCState.srv delete mode 100644 scout_msgs/srv/ScoutCheckSystemState.srv diff --git a/scout_msgs/CMakeLists.txt b/scout_msgs/CMakeLists.txt index 334c928..e1bbc91 100644 --- a/scout_msgs/CMakeLists.txt +++ b/scout_msgs/CMakeLists.txt @@ -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( diff --git a/scout_msgs/msg/ScoutLightCmd.msg b/scout_msgs/msg/ScoutLightCmd.msg index ba16d86..74440c9 100644 --- a/scout_msgs/msg/ScoutLightCmd.msg +++ b/scout_msgs/msg/ScoutLightCmd.msg @@ -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 diff --git a/scout_msgs/msg/ScoutLightState.msg b/scout_msgs/msg/ScoutLightState.msg new file mode 100644 index 0000000..cf67389 --- /dev/null +++ b/scout_msgs/msg/ScoutLightState.msg @@ -0,0 +1,2 @@ +uint8 mode +uint8 custom_value \ No newline at end of file diff --git a/scout_msgs/msg/ScoutMotionState.msg b/scout_msgs/msg/ScoutMotionState.msg deleted file mode 100644 index 070f0a7..0000000 --- a/scout_msgs/msg/ScoutMotionState.msg +++ /dev/null @@ -1,4 +0,0 @@ -Header header - -float32 linear_velocity -float32 angular_velocity \ No newline at end of file diff --git a/scout_msgs/msg/ScoutStatus.msg b/scout_msgs/msg/ScoutStatus.msg new file mode 100644 index 0000000..e77587a --- /dev/null +++ b/scout_msgs/msg/ScoutStatus.msg @@ -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 \ No newline at end of file diff --git a/scout_msgs/msg/ScoutSystemState.msg b/scout_msgs/msg/ScoutSystemState.msg deleted file mode 100644 index 2400aad..0000000 --- a/scout_msgs/msg/ScoutSystemState.msg +++ /dev/null @@ -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 \ No newline at end of file diff --git a/scout_msgs/srv/ScoutCheckActuatorState.srv b/scout_msgs/srv/ScoutCheckActuatorState.srv deleted file mode 100644 index 74857e1..0000000 --- a/scout_msgs/srv/ScoutCheckActuatorState.srv +++ /dev/null @@ -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 \ No newline at end of file diff --git a/scout_msgs/srv/ScoutCheckLightState.srv b/scout_msgs/srv/ScoutCheckLightState.srv deleted file mode 100644 index 46669cb..0000000 --- a/scout_msgs/srv/ScoutCheckLightState.srv +++ /dev/null @@ -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 diff --git a/scout_msgs/srv/ScoutCheckRCState.srv b/scout_msgs/srv/ScoutCheckRCState.srv deleted file mode 100644 index 9cf433a..0000000 --- a/scout_msgs/srv/ScoutCheckRCState.srv +++ /dev/null @@ -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 \ No newline at end of file diff --git a/scout_msgs/srv/ScoutCheckSystemState.srv b/scout_msgs/srv/ScoutCheckSystemState.srv deleted file mode 100644 index 9d1a70a..0000000 --- a/scout_msgs/srv/ScoutCheckSystemState.srv +++ /dev/null @@ -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) \ No newline at end of file