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changes in operation: testing

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This commit is contained in:
Björn Ellensohn 2023-08-22 10:25:57 +02:00
parent f588a72960
commit 1104c8024c
1 changed files with 19 additions and 16 deletions
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35
rmp220_middleware/rmp220_middleware.py
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@ -65,22 +65,25 @@ class StateMachineNode(Node):
self.get_logger().info('Got chassis_mode from chassis_mode_fb topic') self.get_logger().info('Got chassis_mode from chassis_mode_fb topic')
self.get_logger().info(str(msg.chassis_mode)) self.get_logger().info(str(msg.chassis_mode))
if msg.chassis_mode == 0: if self.state == State.PAUSED:
self.chassis_mode = State.DISABLED return
self.state = State.DISABLED else:
self.get_logger().info('Set chassis_mode to ' + str(self.state.value)) if msg.chassis_mode == 0:
if msg.chassis_mode == 1: # Assuming 1 represents enabled and 0 represents disabled self.chassis_mode = State.DISABLED
self.chassis_mode = State.ENABLED self.state = State.DISABLED
self.state = State.ENABLED self.get_logger().info('Set chassis_mode to ' + str(self.state.value))
self.get_logger().info('Set chassis_mode to ' + str(self.state.value)) if msg.chassis_mode == 1: # Assuming 1 represents enabled and 0 represents disabled
if msg.chassis_mode == 2: self.chassis_mode = State.ENABLED
self.chassis_mode = State.PASSIVE self.state = State.ENABLED
self.state = State.PASSIVE self.get_logger().info('Set chassis_mode to ' + str(self.state.value))
self.get_logger().info('Set chassis_mode to ' + str(self.state.value)) if msg.chassis_mode == 2:
if msg.chassis_mode == 3: self.chassis_mode = State.PASSIVE
self.chassis_mode = State.STOPPED self.state = State.PASSIVE
self.state = State.STOPPED self.get_logger().info('Set chassis_mode to ' + str(self.state.value))
self.get_logger().info('Set chassis_mode to ' + str(self.state.value)) if msg.chassis_mode == 3:
self.chassis_mode = State.STOPPED
self.state = State.STOPPED
self.get_logger().info('Set chassis_mode to ' + str(self.state.value))
def get_chassis_mode(self): def get_chassis_mode(self):
return self.chassis_mode return self.chassis_mode