ellensohn/rmp220_middleware
1
0
Fork 0
mirror of https://github.com/bjoernellens1/rmp220_middleware.git synced 2024-11-24 16:45:07 +00:00
Code Issues Packages Projects Releases Wiki Activity

changes in operation: testing

Browse Source
This commit is contained in:
Björn Ellensohn 2023-08-22 08:48:42 +02:00
parent c07ee727d7
commit 812b58ac89
1 changed files with 15 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

22
rmp220_middleware/rmp220_middleware.py
View File

@ -15,9 +15,11 @@ import signal
import sys
class State(Enum): # is this best-practice?
DISABLED = 0
PAUSED = 1
ENABLED = 2
DISABLED = 0 # solid yellow
ENABLED = 1 # solid green
PASSIVE = 2 # solid white (push)
STOPPED = 3 # solid red
PAUSED = 4 # no extra visual feedback, solid yellow
class StateMachineNode(Node):
def __init__(self):
@ -58,12 +60,17 @@ class StateMachineNode(Node):
self.chassis_mode = State.DISABLED
def chassis_mode_callback(self, msg):
# Handle the incoming chassis status message
# Handle the incoming chassis status message, will update every second
# Need to figure out the type
if msg.chassis_mode == 0:
self.chassis_mode = State.DISABLED
if msg.chassis_mode == 1: # Assuming 1 represents enabled and 0 represents disabled
self.chassis_mode = State.ENABLED
else:
self.chassis_mode = State.DISABLED
if msg.chassis_mode == 2:
self.chassis_mode = State.PASSIVE
if msg.chassis_mode == 3:
self.chassis_mode = State.STOPPED
def get_chassis_mode(self):
return self.chassis_mode
@ -114,7 +121,8 @@ class StateMachineNode(Node):
self.timeout = 20.0
def timer_callback(self):
#if self.state == State.ENABLED:
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
if self.chassis_mode == State.ENABLED:
if self.timeout <= 0:
self.state = State.PAUSED