diff --git a/cfg/AdcCarLights.cfg b/cfg/AdcCarLights.cfg
index f5a4fe9ea79a7300065f43feda98dcd6873164ba..366358636368b7cec1cc1d29e2d56b1fbce12fea 100755
--- a/cfg/AdcCarLights.cfg
+++ b/cfg/AdcCarLights.cfg
@@ -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"))
diff --git a/config/intermitent_left.ppm b/config/intermitent_left.ppm
new file mode 100644
index 0000000000000000000000000000000000000000..f28e8597e20d6dab042a0f84aa91feda85fabf52
Binary files /dev/null and b/config/intermitent_left.ppm differ
diff --git a/config/intermitent_right.ppm b/config/intermitent_right.ppm
new file mode 100644
index 0000000000000000000000000000000000000000..72735f9395c515c73982f2acf38fb359ec033e1d
Binary files /dev/null and b/config/intermitent_right.ppm differ
diff --git a/launch/node.launch b/launch/node.launch
index 6f27a49f833db4784b912f29f9739fc687e79c06..51aed6f47a228ffb8a90bdebec3f1d560767da97 100644
--- a/launch/node.launch
+++ b/launch/node.launch
@@ -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>
diff --git a/launch/test.launch b/launch/test.launch
index 63f134511a0ea22ea6f2927b4c3fcdb9b17d0e76..b6fe6b2b09f86182d9bd406d2e35941bf9dfe29b 100644
--- a/launch/test.launch
+++ b/launch/test.launch
@@ -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"/>
diff --git a/src/adc_car_lights_driver.cpp b/src/adc_car_lights_driver.cpp
index a45e6c8fd2cc682ab5b6c87de6b97b7949b985ac..9e61b7588c793220ee0b7da14abafeeb16dd14b6 100644
--- a/src/adc_car_lights_driver.cpp
+++ b/src/adc_car_lights_driver.cpp
@@ -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;