Merge pull request #2 from project-march/feature/PM-285-control-led

Feature: control RGB LED

Author: RutgerVanBeek

.vscode/extensions.json

@@ -1,7 +1,7 @@
-{
-	// See http://go.microsoft.com/fwlink/?LinkId=827846
-	// for the documentation about the extensions.json format
-	"recommendations": [
-		"platformio.platformio-ide"
-	]
-}
+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ]
+}

include/color.h

@@ -0,0 +1,16 @@
+#ifndef COLOR_H
+#define COLOR_H
+#include <Arduino.h>
+
+struct Color
+{
+  Color(uint8_t red, uint8_t green, uint8_t blue) : r(red), g(green), b(blue)
+  {
+  }
+
+  const uint8_t r;
+  const uint8_t g;
+  const uint8_t b;
+};
+
+#endif  // COLOR_H

lib/ros_lib/march_shared_resources/GaitInstruction.h

@@ -19,6 +19,7 @@ namespace march_shared_resources
       _type_type type;
       typedef const char* _gait_name_type;
       _gait_name_type gait_name;
+      enum { UNKNOWN =  -1 };
       enum { STOP =  0 };
       enum { GAIT =  1 };
       enum { PAUSE =  2 };
@@ -77,7 +78,7 @@ namespace march_shared_resources
     }
 
     const char * getType(){ return "march_shared_resources/GaitInstruction"; };
-    const char * getMD5(){ return "f655c02301e6cc940112aec0256d56ae"; };
+    const char * getMD5(){ return "c548bd1201c18293dcff8514a06fc253"; };
 
   };
 

lib/ros_lib/march_shared_resources/GaitNameAction.h

@@ -48,7 +48,7 @@ namespace march_shared_resources
     }
 
     const char * getType(){ return "march_shared_resources/GaitNameAction"; };
-    const char * getMD5(){ return "17daf8d4908f7456b080321810756286"; };
+    const char * getMD5(){ return "3d9dbfcd7eb406596122704f6e675e77"; };
 
   };
 

lib/ros_lib/march_shared_resources/GaitNameActionGoal.h

@@ -48,7 +48,7 @@ namespace march_shared_resources
     }
 
     const char * getType(){ return "march_shared_resources/GaitNameActionGoal"; };
-    const char * getMD5(){ return "0608001a75969b5f789ca36c4a8c7c0c"; };
+    const char * getMD5(){ return "c3fcbf5324c7c2a9996a8ed899520f78"; };
 
   };
 

lib/ros_lib/march_shared_resources/GaitNameGoal.h

@@ -14,11 +14,14 @@ namespace march_shared_resources
     public:
       typedef const char* _name_type;
       _name_type name;
+      typedef const char* _old_name_type;
+      _old_name_type old_name;
       typedef const char* _subgait_name_type;
       _subgait_name_type subgait_name;
 
     GaitNameGoal():
       name(""),
+      old_name(""),
       subgait_name("")
     {
     }
@@ -31,6 +34,11 @@ namespace march_shared_resources
       offset += 4;
       memcpy(outbuffer + offset, this->name, length_name);
       offset += length_name;
+      uint32_t length_old_name = strlen(this->old_name);
+      varToArr(outbuffer + offset, length_old_name);
+      offset += 4;
+      memcpy(outbuffer + offset, this->old_name, length_old_name);
+      offset += length_old_name;
       uint32_t length_subgait_name = strlen(this->subgait_name);
       varToArr(outbuffer + offset, length_subgait_name);
       offset += 4;
@@ -51,6 +59,15 @@ namespace march_shared_resources
       inbuffer[offset+length_name-1]=0;
       this->name = (char *)(inbuffer + offset-1);
       offset += length_name;
+      uint32_t length_old_name;
+      arrToVar(length_old_name, (inbuffer + offset));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_old_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_old_name-1]=0;
+      this->old_name = (char *)(inbuffer + offset-1);
+      offset += length_old_name;
       uint32_t length_subgait_name;
       arrToVar(length_subgait_name, (inbuffer + offset));
       offset += 4;
@@ -64,7 +81,7 @@ namespace march_shared_resources
     }
 
     const char * getType(){ return "march_shared_resources/GaitNameGoal"; };
-    const char * getMD5(){ return "e4f9d9eca41dac8a80cbbd410479e54f"; };
+    const char * getMD5(){ return "80ea09d68b3242bfdc28492fd72d785d"; };
 
   };