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Commit aaec7cca authored by Sergi Hernandez's avatar Sergi Hernandez
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Added images to generate an animated intermitent effect.

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cfg/AdcCarLights.cfg
+ 6
− 4
View file @ aaec7cca
......@@ -39,9 +39,11 @@ from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator()
# Name Type Reconf.level Description standard Min Max
gen.add("rate", double_t, SensorLevels.RECONFIGURE_STOP, "Main loop rate (Hz)", 10.0, 0.1, 1000.0)
gen.add("serial_port", str_t, SensorLevels.RECONFIGURE_STOP, "Serial port Linux device", "/dev/ttyACM0")
gen.add("baudrate", int_t, SensorLevels.RECONFIGURE_STOP, "Serial port baudrate", 56700, 9600, 1000000)
gen.add("device_id", int_t, SensorLevels.RECONFIGURE_STOP, "car_lights device ID", 1, 1, 254)
gen.add("rate", double_t, SensorLevels.RECONFIGURE_STOP, "Main loop rate (Hz)", 10.0, 0.1, 1000.0)
gen.add("serial_port", str_t, SensorLevels.RECONFIGURE_STOP, "Serial port Linux device", "/dev/ttyACM0")
gen.add("baudrate", int_t, SensorLevels.RECONFIGURE_STOP, "Serial port baudrate", 56700, 9600, 1000000)
gen.add("device_id", int_t, SensorLevels.RECONFIGURE_STOP, "car_lights device ID", 1, 1, 254)
gen.add("left_intermitent_file", str_t, SensorLevels.RECONFIGURE_STOP, "Image to use for the rear left intermitent lights", "")
gen.add("right_intermitent_file", str_t, SensorLevels.RECONFIGURE_STOP, "Image to use for the rear right intermitent lights", "")
exit(gen.generate(PACKAGE, "AdcCarLightsDriver", "AdcCarLights"))
config/intermitent_left.ppm 0 → 100644
+ 0
− 0
View file @ aaec7cca
File added
config/intermitent_right.ppm 0 → 100644
+ 0
− 0
View file @ aaec7cca
File added
launch/node.launch
+ 2
− 0
View file @ aaec7cca
......@@ -13,6 +13,8 @@
output="$(arg output)"
launch-prefix="$(arg launch_prefix)">
<rosparam file="$(arg config_file)" command="load"/>
<param name="left_intermitent_file" value="$(find iri_adc_car_lights)/config/intermitent_left.ppm"/>
<param name="right_intermitent_file" value="$(find iri_adc_car_lights)/config/intermitent_right.ppm"/>
<remap from="~/set_lights" to="$(arg set_lights_service)"/>
</node>
......
launch/test.launch
+ 1
− 1
View file @ aaec7cca
......@@ -3,7 +3,7 @@
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<arg name="dr" default="true"/>
<arg name="dr" default="false"/>
<include file="$(find iri_adc_car_lights)/launch/node.launch">
<arg name="node_name" value="iri_adc_car_lights"/>
......
src/adc_car_lights_driver.cpp
+ 36
− 30
View file @ aaec7cca
......@@ -214,11 +214,11 @@ void AdcCarLightsDriver::set_standard(void)
if(this->frame_buffer!=NULL)
{
this->frame_buffer->clear_all_patterns();
color.R=255;
color.G=255;
color.B=255;
color.R=32;
color.G=32;
color.B=32;
this->frame_buffer->set_color(color,this->whole_front_area);
color.R=128;
color.R=16;
color.G=0;
color.B=0;
this->frame_buffer->set_color(color,this->whole_rear_area);
......@@ -237,19 +237,19 @@ void AdcCarLightsDriver::set_brake(void)
if(this->frame_buffer!=NULL)
{
this->frame_buffer->clear_all_patterns();
color.R=255;
color.G=255;
color.B=255;
color.R=32;
color.G=32;
color.B=32;
this->frame_buffer->set_color(color,this->whole_front_area);
color.R=255;
color.R=32;
color.G=0;
color.B=0;
this->frame_buffer->set_color(color,this->rear_left_area);
color.R=255;
color.R=32;
color.G=0;
color.B=0;
this->frame_buffer->set_color(color,this->rear_right_area);
color.R=128;
color.R=16;
color.G=0;
color.B=0;
this->frame_buffer->set_color(color,this->rear_center_area);
......@@ -263,24 +263,27 @@ void AdcCarLightsDriver::set_brake(void)
void AdcCarLightsDriver::set_turn_left(void)
{
TPixelRGB max,min,color;
unsigned int index_mtn=-1;
try{
if(this->frame_buffer!=NULL)
{
this->frame_buffer->clear_all_patterns();
color.R=255;
color.G=255;
color.B=255;
color.R=32;
color.G=32;
color.B=32;
this->frame_buffer->set_color(color,this->front_right_area);
max.R=255;
max.G=64;
max.R=32;
max.G=8;
max.B=0;
min.R=0;
min.G=0;
min.B=0;
this->frame_buffer->add_square_waveform(1.0,0.5,max,min,this->front_left_area);
this->frame_buffer->add_square_waveform(1.0,0.5,max,min,this->rear_left_area);
color.R=128;
index_mtn=this->frame_buffer->add_ramp_motion(0.02,7,0,-12,0,0,false);
this->frame_buffer->load_image(0,this->config_.left_intermitent_file);
this->frame_buffer->add_image_display(0,0,0,0,index_mtn,-1,this->rear_left_area);
color.R=16;
color.G=0;
color.B=0;
this->frame_buffer->set_color(color,this->rear_center_area);
......@@ -295,24 +298,27 @@ void AdcCarLightsDriver::set_turn_left(void)
void AdcCarLightsDriver::set_turn_right(void)
{
TPixelRGB max,min,color;
unsigned int index_mtn=-1;
try{
if(this->frame_buffer!=NULL)
{
this->frame_buffer->clear_all_patterns();
color.R=255;
color.G=255;
color.B=255;
color.R=32;
color.G=32;
color.B=32;
this->frame_buffer->set_color(color,this->front_left_area);
max.R=255;
max.G=64;
max.R=32;
max.G=8;
max.B=0;
min.R=0;
min.G=0;
min.B=0;
this->frame_buffer->add_square_waveform(1.0,0.5,max,min,this->front_right_area);
this->frame_buffer->add_square_waveform(1.0,0.5,max,min,this->rear_right_area);
color.R=128;
index_mtn=this->frame_buffer->add_ramp_motion(0.02,12,0,-7,0,0,true);
this->frame_buffer->load_image(0,this->config_.right_intermitent_file);
this->frame_buffer->add_image_display(0,0,0,0,index_mtn,-1,this->rear_right_area);
color.R=16;
color.G=0;
color.B=0;
this->frame_buffer->set_color(color,this->rear_center_area);
......@@ -334,7 +340,7 @@ void AdcCarLightsDriver::set_parked(void)
this->frame_buffer->clear_all_patterns();
color.R=0;
color.G=0;
color.B=255;
color.B=32;
this->frame_buffer->set_color(color,this->whole_area);
}
}catch(CException &e){
......@@ -351,8 +357,8 @@ void AdcCarLightsDriver::set_emergency(void)
if(this->frame_buffer!=NULL)
{
this->frame_buffer->clear_all_patterns();
max.R=255;
max.G=64;
max.R=32;
max.G=8;
max.B=0;
min.R=0;
min.G=0;
......@@ -373,12 +379,12 @@ void AdcCarLightsDriver::set_health(void)
if(this->frame_buffer!=NULL)
{
this->frame_buffer->clear_all_patterns();
max.R=255;
max.R=32;
max.G=0;
max.B=0;
min.R=0;
min.G=0;
min.B=255;
min.B=32;
this->frame_buffer->add_square_waveform(1.0,0.5,max,min,this->whole_area);
}
}catch(CException &e){
......@@ -396,7 +402,7 @@ void AdcCarLightsDriver::set_charge(void)
{
this->frame_buffer->clear_all_patterns();
max.R=0;
max.G=255;
max.G=32;
max.B=0;
min.R=0;
min.G=0;
......
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