32 lines
1.1 KiB
Python
32 lines
1.1 KiB
Python
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#!/usr/bin/env python
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from enums.clutch_state import ClutchState as CS
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from enums.stop_state import StopState as SS
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class RobotInfo:
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def __init__(self,robot_id):
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self.robot_id = robot_id
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self.battery_voltage = None
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self.linear_velocity = None
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self.angular_velocity = None
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self.state = None
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self.clutch = None
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self.obstacle_detected = None
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def update_robot_info(self,robot_info_msg):
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self.robot_id = robot_info_msg.robot_id.data
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self.battery_voltage = robot_info_msg.battery_voltage.data
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self.linear_velocity = [robot_info_msg.twist.linear.x,robot_info_msg.twist.linear.y,robot_info_msg.twist.linear.z]
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self.angular_velocity = [robot_info_msg.twist.angular.x,robot_info_msg.twist.angular.y,robot_info_msg.twist.angular.z]
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self.obstacle_detected = robot_info_msg.obstacle_detected.data
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if robot_info_msg.state.data == True:
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self.state = SS.RUNNING
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else:
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self.state = SS.STOPPED
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if robot_info_msg.clutch.data == True:
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self.clutch = CS.ENGAGED
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else:
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self.clutch = CS.DISENGAGED
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