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renamed crtk_state to operating state, StringStamped data renamed to …
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@adeguet1
adeguet1 committed Jun 10, 2019
1 parent ed6473d commit 22c8db9
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Showing 4 changed files with 43 additions and 43 deletions.
8 changes: 4 additions & 4 deletions src/crtk_lib_cpp/include/crtk_lib_cpp/crtk_robot_state.h
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
/* Raven 2 Control - Control software for the Raven II robot
* Copyright (C) 2005-2018 Andrew Lewis, Yun-Hsuan Su, Blake Hannaford,
* Copyright (C) 2005-2018 Andrew Lewis, Yun-Hsuan Su, Blake Hannaford,
* and the University of Washington BioRobotics Laboratory
*
* This file is part of Raven 2 Control.
Expand Down Expand Up @@ -37,10 +37,10 @@
#include <crtk_msgs/StringStamped.h>


class CRTK_robot_state
class CRTK_robot_state
{
public:

// methods
CRTK_robot_state();
CRTK_robot_state(ros::NodeHandle n);
Expand Down Expand Up @@ -73,7 +73,7 @@ class CRTK_robot_state
bool set_connected(bool);

bool init_ros(ros::NodeHandle);
void crtk_state_cb(crtk_msgs::operating_state msg);
void operating_state_cb(crtk_msgs::operating_state msg);
void crtk_command_pb(CRTK_robot_command);

char state_char();
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44 changes: 22 additions & 22 deletions src/crtk_lib_cpp/src/crtk_robot_state.cpp
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
/* Raven 2 Control - Control software for the Raven II robot
* Copyright (C) 2005-2018 Andrew Lewis, Yun-Hsuan Su, Blake Hannaford,
* Copyright (C) 2005-2018 Andrew Lewis, Yun-Hsuan Su, Blake Hannaford,
* and the University of Washington BioRobotics Laboratory
*
* This file is part of Raven 2 Control.
Expand Down Expand Up @@ -73,7 +73,7 @@ CRTK_robot_state::CRTK_robot_state(ros::NodeHandle n){
bool CRTK_robot_state::init_ros(ros::NodeHandle n){

pub = n.advertise<crtk_msgs::StringStamped>("state_command", 1);
sub = n.subscribe("crtk_state", 1, &CRTK_robot_state::crtk_state_cb,this);
sub = n.subscribe("operating_state", 1, &CRTK_robot_state::operating_state_cb,this);

return true;
}
Expand All @@ -84,7 +84,7 @@ bool CRTK_robot_state::init_ros(ros::NodeHandle n){
*
* @param[in] msg The message from ROS
*/
void CRTK_robot_state::crtk_state_cb(crtk_msgs::operating_state msg){
void CRTK_robot_state::operating_state_cb(crtk_msgs::operating_state msg){

std::string state = msg.state;

Expand Down Expand Up @@ -127,46 +127,46 @@ void CRTK_robot_state::crtk_state_cb(crtk_msgs::operating_state msg){
* @param[in] command The command
*/
void CRTK_robot_state::crtk_command_pb(CRTK_robot_command command){

static int count = 0;
static crtk_msgs::StringStamped msg_command;

//robot command supports ("ENABLE", "DISABLE", "PAUSE", "RESUME", "NULL")
switch(command)
{
case CRTK_ENABLE:
msg_command.data = "enable";
ROS_INFO("Sent ENABLE: May need to press start button.");
msg_command.string = "enable";
ROS_INFO("Sent ENABLE: May need to press start button.");
break;

case CRTK_DISABLE:
msg_command.data = "disable";
ROS_INFO("Sent DISABLE.");
msg_command.string = "disable";
ROS_INFO("Sent DISABLE.");
break;

case CRTK_PAUSE:
msg_command.data = "pause";
ROS_INFO("Sent PAUSE.");
msg_command.string = "pause";
ROS_INFO("Sent PAUSE.");
break;

case CRTK_RESUME:
msg_command.data = "resume";
ROS_INFO("Sent RESUME.");
msg_command.string = "resume";
ROS_INFO("Sent RESUME.");
break;

case CRTK_UNHOME:
msg_command.data = "unhome";
ROS_INFO("Sent UNHOME.");
msg_command.string = "unhome";
ROS_INFO("Sent UNHOME.");
break;

case CRTK_HOME:
msg_command.data = "home";
ROS_INFO("Sent HOME.");
msg_command.string = "home";
ROS_INFO("Sent HOME.");
break;

default:
msg_command.data = "NULL";
ROS_INFO("Sent NULL.");
msg_command.string = "NULL";
ROS_INFO("Sent NULL.");
break;
}
msg_command.header.stamp = msg_command.header.stamp.now();
Expand Down Expand Up @@ -259,7 +259,7 @@ bool CRTK_robot_state::ready_logic(){
bool CRTK_robot_state::set_disabled_state(){
is_disabled = 1;
is_enabled = 0;
is_paused = 0;
is_paused = 0;
is_fault = 0;

return 0;
Expand All @@ -275,7 +275,7 @@ bool CRTK_robot_state::set_disabled_state(){
bool CRTK_robot_state::set_enabled_state(){
is_disabled = 0;
is_enabled = 1;
is_paused = 0;
is_paused = 0;
is_fault = 0;

return 0;
Expand All @@ -291,7 +291,7 @@ bool CRTK_robot_state::set_enabled_state(){
bool CRTK_robot_state::set_paused_state(){
is_disabled = 0;
is_enabled = 0;
is_paused = 1;
is_paused = 1;
is_fault = 0;

return 0;
Expand All @@ -307,7 +307,7 @@ bool CRTK_robot_state::set_paused_state(){
bool CRTK_robot_state::set_fault_state(){
is_disabled = 0;
is_enabled = 0;
is_paused = 0;
is_paused = 0;
is_fault = 1;

return 0;
Expand Down
14 changes: 7 additions & 7 deletions src/crtk_test_state/src/state_tests.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@ int state_testing(CRTK_robot_state robot_state, time_t current_time){
static int current_test = 0;
static int finished = 0;
static int errors = 0;


int test_status;
int num_of_tests = 8; //update when adding or removing tests
Expand Down Expand Up @@ -92,7 +92,7 @@ int state_testing(CRTK_robot_state robot_state, time_t current_time){
case 3:
{
// VI-2. {paused, p_up} + disable → {disabled / e-stop}
// VIII-2. {disabled, homed} + unhome → {disabled, ~homed / e-stop}
// VIII-2. {disabled, homed} + unhome → {disabled, ~homed / e-stop}
test_status = test_3(robot_state, current_time);
if (test_status < 0) {
errors += 1;
Expand Down Expand Up @@ -454,7 +454,7 @@ int test_2(CRTK_robot_state robot_state, time_t current_time){


/**
* @brief The test function 3: VI-2. {paused, p_up} + disable → {disabled / e-stop}
* @brief The test function 3: VI-2. {paused, p_up} + disable → {disabled / e-stop}
* VIII-2. {disabled, homed} + unhome → {disabled, ~homed / e-stop} (starting at case 8)
*
* @param[in] robot_state The robot state
Expand Down Expand Up @@ -612,7 +612,7 @@ int test_3(CRTK_robot_state robot_state, time_t current_time){


/**
* @brief The test function 4: IV-1. {enabled, homing} + pause → {disabled / e-stop}
* @brief The test function 4: IV-1. {enabled, homing} + pause → {disabled / e-stop}
* VIII-1. {disabled, ~homed} + unhome → {disabled, ~homed / e-stop}
*
* @param[in] robot_state The robot state
Expand Down Expand Up @@ -787,7 +787,7 @@ int test_4(CRTK_robot_state robot_state, time_t current_time){


/**
* @brief The test function 5: III-1. {enabled, homing} + disable → {disabled / e-stop}
* @brief The test function 5: III-1. {enabled, homing} + disable → {disabled / e-stop}
* III-2. {enabled, busy} + disable → {disabled / e-stop}
*
* @param[in] robot_state The robot state
Expand Down Expand Up @@ -816,7 +816,7 @@ int test_5(CRTK_robot_state robot_state, time_t current_time){
getline(std::cin,start);
if(start == ""){
current_step ++;
}
}
break;
}
case 2:
Expand Down Expand Up @@ -919,7 +919,7 @@ int test_5(CRTK_robot_state robot_state, time_t current_time){


/**
* @brief The test function 6: VIII-3. {enabled, homing} + unhome → {disabled, ~homed / e-stop}
* @brief The test function 6: VIII-3. {enabled, homing} + unhome → {disabled, ~homed / e-stop}
* VIII-4. {enabled, busy} + unhome → {disabled, ~homed / e-stop}
*
* @param[in] robot_state The robot state
Expand Down
20 changes: 10 additions & 10 deletions src/crtk_util_footkey/src/main.cpp
View file
Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
/* Raven 2 Control - Control software for the Raven II robot
* Copyright (C) 2005-2018 Andrew Lewis, Yun-Hsuan Su, Blake Hannaford,
* Copyright (C) 2005-2018 Andrew Lewis, Yun-Hsuan Su, Blake Hannaford,
* and the University of Washington BioRobotics Laboratory
*
* This file is part of Raven 2 Control.
Expand Down Expand Up @@ -73,8 +73,8 @@ int main(int argc, char **argv)

//start ros node
ros::init(argc, argv, "crtk_util_footkey");
static ros::NodeHandle n;
ros::Rate loop_rate(LOOP_RATE);
static ros::NodeHandle n;
ros::Rate loop_rate(LOOP_RATE);

ROS_INFO("!~~~~~~~~~~~~ Starting keyboard node ~~~~~~~~~~~");
ROS_INFO("Press 'Z' or 'R' twice to do a barrel roll");
Expand Down Expand Up @@ -102,19 +102,19 @@ int main(int argc, char **argv)


/**
* @brief checks terminal for 'e' or 'd'
* @brief checks terminal for 'e' or 'd'
*
* @return -1 for pedal down (d)
* 0 for null or unsupported entry
* 1 for pedal up
*
*
*/
int foot_pedal(){
int key_in;

key_in = getkey();

if(key_in == 'd') return -1;
if(key_in == 'd') return -1;
else if(key_in == 'e') return 1;
else return 0;

Expand All @@ -133,14 +133,14 @@ int pub_foot(int foot){

if(foot == 1){
//pub pedal up
msg_command.data = "pause";
ROS_INFO("Sent pause.");
msg_command.string = "pause";
ROS_INFO("Sent pause.");
}

else if(foot == -1){
//pub pedal down
msg_command.data = "resume";
ROS_INFO("Sent resume.");
msg_command.string = "resume";
ROS_INFO("Sent resume.");

} else return 0;

Expand Down

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