Fixing colorperiod message, small formatting changes for led cpp

luxonis · Jan 4, 2024 · 71d790d · 71d790d
1 parent f578b2b
commit 71d790d
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Showing 3 changed files with 13 additions and 16 deletions.
diff --git a/rae_bringup/scripts/led_test.py b/rae_bringup/scripts/led_test.py
@@ -31,18 +31,18 @@ def listener_callback(self, msg):
         # Set LEDs based on battery level
         # Define colors for LEDs
         colors = {
-            "white": ColorPeriod(r=1.0, g=1.0, b=1.0, a=1.0, f =2.0),
-            "yellow": ColorPeriod(r=1.0, g=1.0, b=0.0, a=1.0, f =8.0),
-            "red": ColorPeriod(r=1.0, g=0.0, b=0.0, a=1.0, f =0.0),
-            "blue": ColorPeriod(r=0.0, g=0.0, b=1.0, a=1.0, f =0.0)
+            "white": ColorPeriod(r=1.0, g=1.0, b=1.0, a=1.0, frequency =2.0),
+            "yellow": ColorPeriod(r=1.0, g=1.0, b=0.0, a=1.0, frequency =8.0),
+            "red": ColorPeriod(r=1.0, g=0.0, b=0.0, a=1.0, frequency =0.0),
+            "blue": ColorPeriod(r=0.0, g=0.0, b=1.0, a=1.0, frequency =0.0)
         }
 
 
 
         # Create and publish LEDControl message for each LED
         led_msg = LEDControl()
         led_msg.header.stamp = self.get_clock().now().to_msg()
-        led_msg.data = [ColorPeriod(r=0.0, g=0.0, b=0.0, a=0.0, f =0.0)]*40
+        led_msg.data = [ColorPeriod(r=0.0, g=0.0, b=0.0, a=0.0, frequency =0.0)]*40
 
         for i in range(39):
             led_msg.single_led_n = 0

diff --git a/rae_hw/src/peripherals/led.cpp b/rae_hw/src/peripherals/led.cpp
@@ -79,7 +79,7 @@ namespace rae_hw
 
         setAllPixels(150, 10, 150, 0);
         transmitSPI();
-        
+
         timer_ = this->create_wall_timer(std::chrono::milliseconds(50), std::bind(&LEDNode::timer_callback, this));
         RCLCPP_INFO(this->get_logger(), "LED node running!");
     }
@@ -104,28 +104,28 @@ namespace rae_hw
             uint8_t r = convertColor(currentData_->data[0].r);
             uint8_t g = convertColor(currentData_->data[0].g);
             uint8_t b = convertColor(currentData_->data[0].b);
-            setAllPixels(r, g, b, currentData_-> data[0].f);
+            setAllPixels(r, g, b, currentData_-> data[0].frequency);
         }
         else if (currentData_->control_type == currentData_->CTRL_TYPE_SINGLE)
         {
             uint8_t r = convertColor(currentData_->data[0].r);
             uint8_t g = convertColor(currentData_->data[0].g);
             uint8_t b = convertColor(currentData_->data[0].b);
-            setSinglePixel(currentData_->single_led_n, r, g, b, currentData_-> data[0].f);
+            setSinglePixel(currentData_->single_led_n, r, g, b, currentData_-> data[0].frequency);
         }
         else if (currentData_->control_type == currentData_->CTRL_TYPE_SPINNER)
         {
             uint8_t r = convertColor(currentData_->data[0].r);
             uint8_t g = convertColor(currentData_->data[0].g);
             uint8_t b = convertColor(currentData_->data[0].b);
-            spinner(r, g, b, currentData_ -> animation_size, currentData_ -> animation_quantity, currentData_-> data[0].f);
+            spinner(r, g, b, currentData_ -> animation_size, currentData_ -> animation_quantity, currentData_-> data[0].frequency);
         }
         else if (currentData_->control_type == currentData_->CTRL_TYPE_FAN)
         {
             uint8_t r = convertColor(currentData_->data[0].r);
             uint8_t g = convertColor(currentData_->data[0].g);
             uint8_t b = convertColor(currentData_->data[0].b);
-            fan(r, g, b, true, currentData_ -> animation_quantity, currentData_-> data[0].f);
+            fan(r, g, b, true, currentData_ -> animation_quantity, currentData_-> data[0].frequency);
         }
         else
         {
@@ -134,7 +134,7 @@ namespace rae_hw
                 uint8_t r = convertColor(currentData_->data[i].r);
                 uint8_t g = convertColor(currentData_->data[i].g);
                 uint8_t b = convertColor(currentData_->data[i].b);
-                setSinglePixel(i, r, g, b, currentData_-> data[i].f);
+                setSinglePixel(i, r, g, b, currentData_-> data[i].frequency);
             }
         }
         transmitSPI();

diff --git a/rae_msgs/msg/ColorPeriod.msg b/rae_msgs/msg/ColorPeriod.msg
@@ -1,5 +1,2 @@
-float32 r
-float32 g
-float32 b
-float32 a
-float32 f
+std_msgs/ColorRGBA color
+float32 frequency