From b624c3e1cc718867ae00082ef1381edddeb89211 Mon Sep 17 00:00:00 2001 From: Matous Pokorny Date: Tue, 2 Oct 2012 06:10:10 +0200 Subject: [PATCH] cand: Add color sensor status publisher --- src/cand/cand.cc | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/cand/cand.cc b/src/cand/cand.cc index 906edd78..072216e9 100644 --- a/src/cand/cand.cc +++ b/src/cand/cand.cc @@ -165,6 +165,10 @@ void cand_parse_frame(struct robottype_orte_data *orte, struct can_frame frame) switch(frame.can_id) { /* robot commands (start, ..) */ + case CAN_CL_SENSOR_STATUS: + orte->cl_sensor_status.pattern_match = frame.data[0]; + ORTEPublicationSend(orte->publication_cl_sensor_status); + break; case CAN_JAW_LEFT_STATUS: orte->jaws_status.act_pos.left = (frame.data[0] << 8) | frame.data[1]; orte->jaws_status.response.left = (frame.data[2] << 8) | frame.data[3]; @@ -405,6 +409,7 @@ int main(int argc, char *argv[]) robottype_publisher_robot_bumpers_create(&orte, NULL, NULL); robottype_publisher_jaws_status_create(&orte, NULL, NULL); robottype_publisher_lift_status_create(&orte, NULL, NULL); + robottype_publisher_cl_sensor_status_create(&orte, NULL, NULL); printf("Publishers OK\n"); /* creating subscribers */ -- 2.39.2