From 3d4cee2efe453d613aab1ec439ee485a1ee13598 Mon Sep 17 00:00:00 2001
From: acki <ackimixs@protonmail.com>
Date: Wed, 14 May 2025 12:07:00 -0400
Subject: [PATCH] start pcb action

---
 .../modelec_com/pcb_action_interface.hpp      |  5 +++
 src/modelec_com/src/pcb_action_interface.cpp  | 36 +++++++++++++++++++
 2 files changed, 41 insertions(+)

diff --git a/src/modelec_com/include/modelec_com/pcb_action_interface.hpp b/src/modelec_com/include/modelec_com/pcb_action_interface.hpp
index 11b7f5b..c78268d 100644
--- a/src/modelec_com/include/modelec_com/pcb_action_interface.hpp
+++ b/src/modelec_com/include/modelec_com/pcb_action_interface.hpp
@@ -16,6 +16,11 @@ namespace Modelec
 
         ~PCBActionInterface() override;
 
+    protected:
+        std::map<std::string, int> asc_v_;
+        std::map<int, std::map<int, int>> servo_pos_v_;
+        std::map<std::string, bool> relay_v_;
+
     private:
         rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pcb_publisher_;
         rclcpp::Subscription<std_msgs::msg::String>::SharedPtr pcb_subscriber_;
diff --git a/src/modelec_com/src/pcb_action_interface.cpp b/src/modelec_com/src/pcb_action_interface.cpp
index a20d453..57b80bd 100644
--- a/src/modelec_com/src/pcb_action_interface.cpp
+++ b/src/modelec_com/src/pcb_action_interface.cpp
@@ -73,6 +73,19 @@ namespace Modelec
         {
             RCLCPP_ERROR(this->get_logger(), "Service call failed");
         }
+
+
+        /**
+         *  TODO : def
+         *  action/x/y/...
+         *
+         *  x -> asc | servo | relay
+         *  y -> get | set | move
+         *
+         *
+         */
+
+
     }
 
     PCBActionInterface::~PCBActionInterface()
@@ -88,6 +101,29 @@ namespace Modelec
     {
         RCLCPP_DEBUG(this->get_logger(), "Received message: '%s'", msg->data.c_str());
         std::vector<std::string> tokens = split(msg->data, ';');
+
+        if (tokens.size() < 3)
+        {
+            RCLCPP_ERROR(this->get_logger(), "Invalid message format");
+            return;
+        }
+
+        if (tokens[0] == "SET")
+        {
+            if (tokens[1] == "ASC")
+            {
+
+            }
+            else if (startsWith(tokens[2], "SERVO"))
+            {
+                int servo_id = std::stoi(tokens[2].substr(5));
+
+            }
+        }
+        else if (tokens[0] == "OK")
+        {
+
+        }
     }
 
     void PCBActionInterface::SendToPCB(const std::string& data) const