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Merge pull request #1 from westonrobot/feature-light_control

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light: added light control
This commit is contained in:
Du Ruixiang
2021-10-06 17:35:55 +08:00
committed by GitHub
parent 4f5abff287 02929b958e
commit 8888b28dc6
1 changed files with 26 additions and 51 deletions
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77
scout_base/include/scout_base/scout_messenger.hpp
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@@ -118,58 +118,33 @@ class ScoutMessenger {
void LightCmdCallback(const scout_msgs::ScoutLightCmd::ConstPtr &msg) {
if (!simulated_robot_) {
// if (msg->cmd_ctrl_allowed) {
// ScoutLightCmd cmd;
if (msg->cmd_ctrl_allowed) {
AgxLightMode f_mode;
uint8_t f_value;
// switch (msg->front_mode) {
// case scout_msgs::ScoutLightCmd::LIGHT_CONST_OFF: {
// cmd.front_mode = CONST_OFF;
// break;
// }
// case scout_msgs::ScoutLightCmd::LIGHT_CONST_ON: {
// cmd.front_mode = CONST_ON;
// break;
// }
// case scout_msgs::ScoutLightCmd::LIGHT_BREATH: {
// cmd.front_mode = BREATH;
// break;
// }
// case scout_msgs::ScoutLightCmd::LIGHT_CUSTOM: {
// cmd.front_mode = CUSTOM;
// cmd.front_custom_value = msg->front_custom_value;
// break;
// }
// }
// // not meant to be controlled by user for now
// // switch (msg->rear_mode)
// // {
// // case scout_msgs::ScoutLightCmd::LIGHT_CONST_OFF:
// // {
// // cmd.rear_mode = CONST_OFF;
// // break;
// // }
// // case scout_msgs::ScoutLightCmd::LIGHT_CONST_ON:
// // {
// // cmd.rear_mode = CONST_ON;
// // break;
// // }
// // case scout_msgs::ScoutLightCmd::LIGHT_BREATH:
// // {
// // cmd.rear_mode = BREATH;
// // break;
// // }
// // case scout_msgs::ScoutLightCmd::LIGHT_CUSTOM:
// // {
// // cmd.rear_mode = CUSTOM;
// // cmd.rear_custom_value = msg->rear_custom_value;
// // break;
// // }
// // }
// cmd.cmd_ctrl_allowed = true;
// scout_->SetLightCommand(cmd);
// } else {
// scout_->DisableLightControl();
// }
switch (msg->front_mode) {
case scout_msgs::ScoutLightCmd::LIGHT_CONST_OFF: {
f_mode = AgxLightMode::CONST_OFF;
break;
}
case scout_msgs::ScoutLightCmd::LIGHT_CONST_ON: {
f_mode = AgxLightMode::CONST_ON;
break;
}
case scout_msgs::ScoutLightCmd::LIGHT_BREATH: {
f_mode = AgxLightMode::BREATH;
break;
}
case scout_msgs::ScoutLightCmd::LIGHT_CUSTOM: {
f_mode = AgxLightMode::CUSTOM;
f_value = msg->front_custom_value;
break;
}
}
scout_->SetLightCommand(f_mode, f_value, AgxLightMode::CONST_ON, 0);
} else {
scout_->DisableLightControl();
}
} else {
std::cout << "simulated robot received light control cmd" << std::endl;
}