get_config_msg_for_sc_v1 #41
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vladushked
requested changes
Apr 13, 2023
| } | ||
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| std::vector<uint8_t> output_vector = toDriverMessage.formVector(); | ||
| switch (gui_vector.front()) { | ||
| case //from gui: |
| @@ -32,6 +32,81 @@ enum ControlConstantNames { CONTROL_K1 = 0, CONTROL_K2, CONTROL_K3, CONTROL_K4, | |||
| */ | |||
| enum DevNames { DEV_LIGHT = 0, DEV_TILT, DEV_GRAB, DEV_GRAB_ROTATE, DEV_ADDITIONAL_1, DEV_ADDITIONAL_2 }; | |||
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| struct FromConfigMessage { | |||
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это будет то что приходит с пульта и уходит на стм
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| bool parseVector(std::vector<uint8_t> &input); | ||
| }; | ||
| struct ToConfigMessage { |
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это дублирование структуры выше?
| @@ -145,6 +145,9 @@ bool UartDriver::receiveData() | |||
| void UartDriver::inputMessage_callback(const std_msgs::msg::UInt8MultiArray::SharedPtr msg) | |||
| { | |||
| inputMessage.data.clear(); | |||
| for (auto copy : msg->data) { | |||
| inputMessage.data.push_back(copy); | |||
| } | |||
| for (int i = 0; i < ToDriverMessage::length; i++) | |||
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вот тут ты два раза наполняешь вектор
…ig, direct. fix some code. success build
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