updated LEDAnimation message

husarion · Feb 7, 2025 · 298281f · 298281f
1 parent b536d02
commit 298281f
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Showing 4 changed files with 34 additions and 37 deletions.
diff --git a/husarion_ugv_lights/config/panther_animations.yaml b/husarion_ugv_lights/config/panther_animations.yaml
@@ -175,7 +175,7 @@ led_animations:
           image_mirrored: true
           position_mirrored: true
 
-  - id: 9
+  - id: 8
     name: CHARGER_INSERTED
     priority: 1
     animations:
@@ -190,7 +190,7 @@ led_animations:
           image: $(find husarion_ugv_lights)/animations/panther/charger_inserted_rear.png
           duration: 8
 
-  - id: 10
+  - id: 9
     name: BATTERY_NOMINAL
     priority: 2
     animations:
@@ -201,7 +201,7 @@ led_animations:
           duration: 1
           repeat: 1
 
-  - id: 11
+  - id: 10
     name: AUTONOMOUS_READY
     priority: 3
     animations:
@@ -217,7 +217,7 @@ led_animations:
           duration: 10
 
 
-  - id: 12
+  - id: 11
     name: AUTONOMOUS_ACTION
     priority: 3
     animations:
@@ -232,7 +232,7 @@ led_animations:
           image: $(find husarion_ugv_lights)/animations/panther/autonomous_action_rear.png
           duration: 10
 
-  - id: 13
+  - id: 12
     name: GOAL_ACHIEVED
     priority: 1
     animations:
@@ -249,7 +249,7 @@ led_animations:
 
 
 
-  - id: 14
+  - id: 13
     name: BLINKER_LEFT
     priority: 1
     animations:
@@ -266,7 +266,7 @@ led_animations:
           image_mirrored: true
           position_mirrored: true
 
-  - id: 15
+  - id: 14
     name: BLINKER_RIGHT
     priority: 1
     animations:

diff --git a/husarion_ugv_manager/include/husarion_ugv_manager/lights_manager_node.hpp b/husarion_ugv_manager/include/husarion_ugv_manager/lights_manager_node.hpp
@@ -27,7 +27,7 @@
 
 #include "husarion_ugv_msgs/msg/led_animation.hpp"
 
-#include "lights_manager_parameters.hpp"
+#include <husarion_ugv_manager/lights_manager_parameters.hpp>
 
 #include "husarion_ugv_utils/moving_average.hpp"
 

diff --git a/husarion_ugv_manager/src/lights_manager_node.cpp b/husarion_ugv_manager/src/lights_manager_node.cpp
@@ -132,29 +132,21 @@ std::map<std::string, std::any> LightsManagerNode::CreateLightsInitialBlackboard
     {"LOW_BATTERY_ANIM_PERIOD", low_battery_anim_period},
     {"LOW_BATTERY_THRESHOLD_PERCENT", low_battery_threshold_percent},
     // anim constants
-    // {"E_STOP_ANIM_ID", unsigned(LEDAnimationMsg::E_STOP)},
-    // {"READY_ANIM_ID", unsigned(LEDAnimationMsg::READY)},
-    // {"ERROR_ANIM_ID", unsigned(LEDAnimationMsg::ERROR)},
-    // {"MANUAL_ACTION_ANIM_ID", unsigned(LEDAnimationMsg::MANUAL_ACTION)},
-    // {"AUTONOMOUS_ACTION_ANIM_ID", unsigned(LEDAnimationMsg::AUTONOMOUS_ACTION)},
-    // {"GOAL_ACHIEVED_ANIM_ID", unsigned(LEDAnimationMsg::GOAL_ACHIEVED)},
-    // {"LOW_BATTERY_ANIM_ID", unsigned(LEDAnimationMsg::LOW_BATTERY)},
-    // {"CRITICAL_BATTERY_ANIM_ID", unsigned(LEDAnimationMsg::CRITICAL_BATTERY)},
-    // {"BATTERY_STATE_ANIM_ID", unsigned(LEDAnimationMsg::BATTERY_STATE)},
-    // {"CHARGING_BATTERY_ANIM_ID", unsigned(LEDAnimationMsg::CHARGING_BATTERY)},
-    {"E_STOP_ANIM_ID", unsigned(0)},  // FIXME: temporary solution
-    {"READY_ANIM_ID", unsigned(1)},
-    {"ERROR_ANIM_ID", unsigned(2)},
-    {"MANUAL_ACTION_ANIM_ID", unsigned(3)},
-    {"LOW_BATTERY_ANIM_ID", unsigned(4)},
-    {"CRITICAL_BATTERY_ANIM_ID", unsigned(5)},
-    {"CHARGING_BATTERY_ANIM_ID", unsigned(6)},
-    {"BATTERY_CHARGED_ANIM_ID", unsigned(7)},
-    {"CHARGER_INSERTED_ANIM_ID", unsigned(9)},
-    {"BATTERY_NOMINAL_ANIM_ID", unsigned(10)},
-    {"AUTONOMOUS_READY_ANIM_ID", unsigned(11)},
-    {"AUTONOMOUS_ACTION_ANIM_ID", unsigned(12)},
-    {"GOAL_ACHIEVED_ANIM_ID", unsigned(13)},
+    {"E_STOP_ANIM_ID", unsigned(LEDAnimationMsg::E_STOP)},
+    {"READY_ANIM_ID", unsigned(LEDAnimationMsg::READY)},
+    {"ERROR_ANIM_ID", unsigned(LEDAnimationMsg::ERROR)},
+    {"MANUAL_ACTION_ANIM_ID", unsigned(LEDAnimationMsg::MANUAL_ACTION)},
+    {"LOW_BATTERY_ANIM_ID", unsigned(LEDAnimationMsg::LOW_BATTERY)},
+    {"CRITICAL_BATTERY_ANIM_ID", unsigned(LEDAnimationMsg::CRITICAL_BATTERY)},
+    {"CHARGING_BATTERY_ANIM_ID", unsigned(LEDAnimationMsg::CHARGING_BATTERY)},
+    {"BATTERY_CHARGED_ANIM_ID", unsigned(LEDAnimationMsg::BATTERY_CHARGED)},
+    {"CHARGER_INSERTED_ANIM_ID", unsigned(LEDAnimationMsg::CHARGER_INSERTED)},
+    {"BATTERY_NOMINAL_ANIM_ID", unsigned(LEDAnimationMsg::BATTERY_NOMINAL)},
+    {"AUTONOMOUS_READY_ANIM_ID", unsigned(LEDAnimationMsg::AUTONOMOUS_READY)},
+    {"AUTONOMOUS_ACTION_ANIM_ID", unsigned(LEDAnimationMsg::AUTONOMOUS_ACTION)},
+    {"GOAL_ACHIEVED_ANIM_ID", unsigned(LEDAnimationMsg::GOAL_ACHIEVED)},
+    {"BLINKER_LEFT_ANIM_ID", unsigned(LEDAnimationMsg::BLINKER_LEFT)},
+    {"BLINKER_RIGHT_ANIM_ID", unsigned(LEDAnimationMsg::BLINKER_RIGHT)},
     // battery status constants
     {"POWER_SUPPLY_STATUS_UNKNOWN", unsigned(BatteryStateMsg::POWER_SUPPLY_STATUS_UNKNOWN)},
     {"POWER_SUPPLY_STATUS_CHARGING", unsigned(BatteryStateMsg::POWER_SUPPLY_STATUS_CHARGING)},

diff --git a/husarion_ugv_msgs/msg/LEDAnimation.msg b/husarion_ugv_msgs/msg/LEDAnimation.msg
@@ -2,12 +2,17 @@ uint16 E_STOP = 0
 uint16 READY = 1
 uint16 ERROR = 2
 uint16 MANUAL_ACTION = 3
-uint16 AUTONOMOUS_ACTION = 4
-uint16 GOAL_ACHIEVED = 5
-uint16 LOW_BATTERY = 6
-uint16 CRITICAL_BATTERY = 7
-uint16 BATTERY_STATE = 8
-uint16 CHARGING_BATTERY = 9
+uint16 LOW_BATTERY = 4
+uint16 CRITICAL_BATTERY = 5
+uint16 CHARGING_BATTERY = 6
+uint16 BATTERY_CHARGED = 7
+uint16 CHARGER_INSERTED = 8
+uint16 BATTERY_NOMINAL = 9
+uint16 AUTONOMOUS_READY = 10
+uint16 AUTONOMOUS_ACTION = 11
+uint16 GOAL_ACHIEVED = 12
+uint16 BLINKER_LEFT = 13
+uint16 BLINKER_RIGHT = 14
 
 uint16 id
 string param