modelec/modelec-marcel-ROS
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This commit is contained in:
acki
2025-05-29 07:09:12 -04:00
parent d200c88b61
commit 955e9b07a7
1 changed files with 21 additions and 21 deletions
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42
src/modelec_com/src/pcb_action_interface.cpp
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@@ -427,32 +427,32 @@ namespace Modelec
relay_move_res_pub_->publish(relay_msg);
}
}
else if (tokens[0] == "EVENT")
{
if (tokens[1] == "TIR")
{
if (tokens[2] == "START")
{
tir_start_pub_->publish(std_msgs::msg::Empty());
RespondEvent(tokens[1], {tokens[2]});
}
else if (tokens[2] == "ARM")
{
tir_arm_pub_->publish(std_msgs::msg::Empty());
RespondEvent(tokens[1], {tokens[2]});
}
else if (tokens[2] == "DIS")
{
tir_disarm_pub_->publish(std_msgs::msg::Empty());
RespondEvent(tokens[1], {tokens[2]});
}
}
}
else
{
RCLCPP_WARN(this->get_logger(), "Unknown message format: '%s'", msg->data.c_str());
}
}
else if (tokens[0] == "EVENT")
{
if (tokens[1] == "TIR")
{
if (tokens[2] == "START")
{
tir_start_pub_->publish(std_msgs::msg::Empty());
RespondEvent(tokens[1], {tokens[2]});
}
else if (tokens[2] == "ARM")
{
tir_arm_pub_->publish(std_msgs::msg::Empty());
RespondEvent(tokens[1], {tokens[2]});
}
else if (tokens[2] == "DIS")
{
tir_disarm_pub_->publish(std_msgs::msg::Empty());
RespondEvent(tokens[1], {tokens[2]});
}
}
}
}
void PCBActionInterface::SendToPCB(const std::string& data) const