Add support for defining and playing songs #37
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ca_driver/src/create_driver.cpp
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| @@ -222,6 +224,16 @@ void CreateDriver::undockCallback(const std_msgs::EmptyConstPtr& msg) | |||
| robot_->setMode(create::MODE_FULL); | |||
| } | |||
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| void CreateDriver::defineSongCallback(const ca_msgs::DefineSongConstPtr& msg) | |||
| { | |||
| robot_->defineSong(msg->song, msg->length, &(msg->notes.front()), &(msg->durations.front())); | |||
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This function returns a bool. At the very least we can check the return type and output an error message on failure. Something like ROS_ERROR_STREAM("[CREATE] Failed to define song " << msg->song << " of length " << msg->length);
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Done. It would be nice to add more error checking to libcreate create::Create::defineSong. Perhaps that is a 2nd PR.
ca_driver/src/create_driver.cpp
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| void CreateDriver::playSongCallback(const ca_msgs::PlaySongConstPtr& msg) | ||
| { | ||
| robot_->playSong(msg->song); |
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Same here with the bool value returned.
ca_msgs/CMakeLists.txt
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| @@ -11,6 +11,8 @@ add_message_files( | |||
| Bumper.msg | |||
| ChargingState.msg | |||
| Mode.msg | |||
| PlaySong.msg | |||
| DefineSong.msg | |||
ca_msgs/msg/DefineSong.msg
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| @@ -0,0 +1,5 @@ | |||
| Header header # ignored | |||
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Remove the header field if it's not useful.
ca_msgs/msg/PlaySong.msg
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| @@ -0,0 +1,2 @@ | |||
| Header header # ignored | |||
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Similarly, remove this header too.
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Looks great 👍 Finally, could you squash the latest commits and update the README (adding the new topics to the subscribers section). Cheers! |
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OK! README updated and commits squashed. Thanks. |
Add support for defining and playing songs. Tested on a Create 2.
The Create 2 Open Interface Spec is somewhat confusing: it says that you can create "up to four songs," but then suggests that song numbers can be "0 - 4". In my tests the only valid song numbers are 0, 1, 2 and 3.