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This commit is contained in:
acki
2025-05-15 19:56:32 -04:00
parent 1079ada472
commit 5fea49cdb7
2 changed files with 21 additions and 16 deletions
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32
src/modelec_com/src/pcb_action_interface.cpp
View File

@@ -75,42 +75,42 @@ namespace Modelec
}
asc_get_sub_ = this->create_subscription<modelec_interfaces::msg::ActionAscPos>(
"action/asc/get", 10,
"action/get/asc", 10,
[this](const modelec_interfaces::msg::ActionAscPos::SharedPtr)
{
GetData("ASC", {"POS"});
});
servo_get_sub_ = this->create_subscription<modelec_interfaces::msg::ActionServoPos>(
"action/servo/get", 10,
"action/get/servo", 10,
[this](const modelec_interfaces::msg::ActionServoPos::SharedPtr msg)
{
GetData("SERVO" + std::to_string(msg->id), {"POS"});
});
relay_get_sub_ = this->create_subscription<modelec_interfaces::msg::ActionRelayState>(
"action/relay/get", 10,
"action/get/relay", 10,
[this](const modelec_interfaces::msg::ActionRelayState::SharedPtr msg)
{
GetData("RELAY" + std::to_string(msg->id), {"STATE"});
});
asc_get_res_pub_ = this->create_publisher<modelec_interfaces::msg::ActionAscPos>(
"action/asc/get/res", 10);
"action/get/asc/res", 10);
servo_get_res_pub_ = this->create_publisher<modelec_interfaces::msg::ActionServoPos>(
"action/servo/get/res", 10);
"action/get/servo/res", 10);
relay_get_res_pub_ = this->create_publisher<modelec_interfaces::msg::ActionRelayState>(
"action/relay/get/res", 10);
"action/get/relay/res", 10);
asc_set_sub_ = this->create_subscription<modelec_interfaces::msg::ActionAscPos>(
"action/asc/set", 10,
"action/set/asc", 10,
[this](const modelec_interfaces::msg::ActionAscPos::SharedPtr msg)
{
SendOrder("ASC", {std::to_string(msg->pos), std::to_string(msg->value)});
});
servo_set_sub_ = this->create_subscription<modelec_interfaces::msg::ActionServoPos>(
"action/servo/set", 10,
"action/set/servo", 10,
[this](const modelec_interfaces::msg::ActionServoPos::SharedPtr msg)
{
SendOrder("SERVO" + std::to_string(msg->id), {
@@ -119,40 +119,40 @@ namespace Modelec
});
asc_set_res_pub_ = this->create_publisher<modelec_interfaces::msg::ActionAscPos>(
"action/asc/set/res", 10);
"action/set/asc/res", 10);
servo_set_res_pub_ = this->create_publisher<modelec_interfaces::msg::ActionServoPos>(
"action/servo/set/res", 10);
"action/set/servo/res", 10);
asc_move_sub_ = this->create_subscription<modelec_interfaces::msg::ActionAscPos>(
"action/asc/move", 10,
"action/move/asc", 10,
[this](const modelec_interfaces::msg::ActionAscPos::SharedPtr msg)
{
SendMove("ASC", {std::to_string(msg->pos)});
});
servo_move_sub_ = this->create_subscription<modelec_interfaces::msg::ActionServoPos>(
"action/servo/move", 10,
"action/move/servo", 10,
[this](const modelec_interfaces::msg::ActionServoPos::SharedPtr msg)
{
SendMove("SERVO" + std::to_string(msg->id), {"POS" + std::to_string(msg->pos)});
});
relay_move_sub_ = this->create_subscription<modelec_interfaces::msg::ActionRelayState>(
"action/relay/move", 10,
"action/move/relay", 10,
[this](const modelec_interfaces::msg::ActionRelayState::SharedPtr msg)
{
SendMove("RELAY" + std::to_string(msg->id), {std::to_string(msg->state)});
});
asc_move_res_pub_ = this->create_publisher<modelec_interfaces::msg::ActionAscPos>(
"action/asc/move/res", 10);
"action/mode/asc/res", 10);
servo_move_res_pub_ = this->create_publisher<modelec_interfaces::msg::ActionServoPos>(
"action/servo/move/res", 10);
"action/move/servo/res", 10);
relay_move_res_pub_ = this->create_publisher<modelec_interfaces::msg::ActionRelayState>(
"action/relay/move/res", 10);
"action/move/relay/res", 10);
}
PCBActionInterface::~PCBActionInterface()

5
src/modelec_strat/src/action_executor.cpp
View File

@@ -78,8 +78,11 @@ namespace Modelec
void ActionExecutor::Update()
{
RCLCPP_INFO(node_->get_logger(), "ActionExecutor::Update()");
if (step_.empty())
{
RCLCPP_INFO(node_->get_logger(), "action finished");
action_ = NONE;
action_done_ = true;
return;
@@ -87,6 +90,8 @@ namespace Modelec
if (step_running_ == 0)
{
RCLCPP_INFO(node_->get_logger(), "Running new action");
step_.pop();
switch (step_.front())