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changes in operation: testing

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This commit is contained in:
Björn Ellensohn 2023-08-22 10:01:36 +02:00
parent 0b57cbd437
commit 2829156fd1
1 changed files with 3 additions and 2 deletions
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rmp220_middleware/rmp220_middleware.py
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@ -62,6 +62,7 @@ class StateMachineNode(Node):
def chassis_mode_callback(self, msg): def chassis_mode_callback(self, msg):
# Handle the incoming chassis status message, will update every second # Handle the incoming chassis status message, will update every second
# Need to figure out the type # Need to figure out the type
self.get_logger().info('Got chassis_mode =' + msg.chassis_mode + ' from chassis_mode_fb topic')
if msg.chassis_mode == 0: if msg.chassis_mode == 0:
self.chassis_mode = State.DISABLED self.chassis_mode = State.DISABLED
self.state = State.DISABLED self.state = State.DISABLED
@ -124,8 +125,8 @@ class StateMachineNode(Node):
self.timeout = 20.0 self.timeout = 20.0
def timer_callback(self): def timer_callback(self):
if self.chassis_mode == State.DISABLED or self.chassis_mode == State.STOPPED or self.chassis_mode == State.PASSIVE: # if self.chassis_mode == State.DISABLED or self.chassis_mode == State.STOPPED or self.chassis_mode == State.PASSIVE:
return # Do nothing if chassis is disabled, stopped or passive --> should save processing power # return # Do nothing if chassis is disabled, stopped or passive --> should save processing power
if self.state == State.ENABLED: if self.state == State.ENABLED:
if self.timeout <= 0: if self.timeout <= 0:
self.state = State.PAUSED self.state = State.PAUSED