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refactoring

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This commit is contained in:
acki
2025-05-23 15:01:08 -04:00
parent bab7a60bb9
commit eddc697253
4 changed files with 23 additions and 12 deletions
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6
simulated_pcb/action.py
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@@ -87,12 +87,12 @@ class SimulatedPCB:
if category == "ASC": if category == "ASC":
self.ascenseur_pos = data self.ascenseur_pos = data
self.send_response(f"OK;{category};{data}") self.send_response(f"OK;{category};{data}")
time.sleep(2) time.sleep(.5)
elif category.startswith("SERVO") and data.startswith("POS"): elif category.startswith("SERVO") and data.startswith("POS"):
sid = int(category[5:]) sid = int(category[5:])
pos_index = int(data[3:]) pos_index = int(data[3:])
if sid in self.servo_angles and pos_index in self.servo_angles[sid]: if sid in self.servo_angles and pos_index in self.servo_angles[sid]:
time.sleep(0.5) time.sleep(0.1)
self.servos[sid] = pos_index self.servos[sid] = pos_index
self.send_response(f"OK;{category};{data}") self.send_response(f"OK;{category};{data}")
else: else:
@@ -100,7 +100,7 @@ class SimulatedPCB:
elif category.startswith("RELAY"): elif category.startswith("RELAY"):
rid = int(category[5:]) rid = int(category[5:])
self.relais[rid] = 1 if data == "1" else 0 self.relais[rid] = 1 if data == "1" else 0
time.sleep(.2) time.sleep(.1)
self.send_response(f"OK;{category};{data}") self.send_response(f"OK;{category};{data}")
else: else:
self.send_response(f"KO;{category};{data}") self.send_response(f"KO;{category};{data}")

3
src/modelec_strat/src/missions/banner_mission.cpp
View File

@@ -29,19 +29,16 @@ namespace Modelec
{ {
if (status_ != MissionStatus::RUNNING) if (status_ != MissionStatus::RUNNING)
{ {
RCLCPP_INFO(node_->get_logger(), "Mission not running");
return; return;
} }
if (!action_executor_->IsActionDone()) if (!action_executor_->IsActionDone())
{ {
RCLCPP_INFO(node_->get_logger(), "Waiting for action to finish");
return; return;
} }
if (!nav_->HasArrived()) if (!nav_->HasArrived())
{ {
RCLCPP_INFO(node_->get_logger(), "Waiting for navigation to finish");
return; return;
} }

5
src/modelec_strat/src/missions/go_home_mission.cpp
View File

@@ -34,7 +34,10 @@ namespace Modelec
void GoHomeMission::Update() void GoHomeMission::Update()
{ {
if (!nav_->HasArrived()) return; if (!nav_->HasArrived())
{
return;
}
switch (step_) switch (step_)
{ {

21
src/modelec_strat/src/missions/prepare_concert_mission.cpp
View File

@@ -5,7 +5,8 @@
namespace Modelec namespace Modelec
{ {
PrepareConcertMission::PrepareConcertMission(const std::shared_ptr<NavigationHelper>& nav, PrepareConcertMission::PrepareConcertMission(const std::shared_ptr<NavigationHelper>& nav,
const std::shared_ptr<ActionExecutor>& action_executor, bool two_floor) : const std::shared_ptr<ActionExecutor>& action_executor,
bool two_floor) :
step_(GO_TO_COLUMN), step_(GO_TO_COLUMN),
status_(MissionStatus::READY), nav_(nav), action_executor_(action_executor), two_floor_(two_floor) status_(MissionStatus::READY), nav_(nav), action_executor_(action_executor), two_floor_(two_floor)
{ {
@@ -18,7 +19,8 @@ namespace Modelec
if (two_floor_) if (two_floor_)
{ {
mission_score_ = Config::get<int>("config.mission_score.concert.niv_2", 0); mission_score_ = Config::get<int>("config.mission_score.concert.niv_2", 0);
} else }
else
{ {
mission_score_ = Config::get<int>("config.mission_score.concert.niv_1", 0); mission_score_ = Config::get<int>("config.mission_score.concert.niv_1", 0);
} }
@@ -68,11 +70,20 @@ namespace Modelec
void PrepareConcertMission::Update() void PrepareConcertMission::Update()
{ {
if (status_ != MissionStatus::RUNNING) return; if (status_ != MissionStatus::RUNNING)
{
return;
}
if (!nav_->HasArrived()) return; if (!nav_->HasArrived())
{
return;
}
if (!action_executor_->IsActionDone()) return; if (!action_executor_->IsActionDone())
{
return;
}
switch (step_) switch (step_)
{ {