Miscellaneous.cpp

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#include <muse_v2_driver/Miscellaneous.h>
 
void muse_v2_driver::Miscellaneous::setupInputCommands(ros::NodeHandle& node) {
        node.getParam("get_battery_charge", input_command.get_battery_charge);
        node.getParam("get_battery_voltage", input_command.get_battery_voltage);
}
 
bool muse_v2_driver::Miscellaneous::getBattery(Battery::Request& req, Battery::Response& res, MuseV2* muse_v2)
{
        bool out = false;
 
        ROS_INFO("request: get_battery_charge=%s, get_battery_voltage=%s", 
                req.get_battery_charge ? "true" : "false", 
                req.get_battery_voltage ? "true" : "false");
 
        if (req.get_battery_charge) {
                if (!received_command.get_battery_charge) {
                        received_command.get_battery_charge = true;
                        ROS_INFO("Asking Battery Charge.");
                }
 
                if (muse_v2->serial->getBatteryCharge() > -1) {
                        res.battery_charge = muse_v2->serial->getBatteryCharge();
                        out = true;
                        ROS_INFO("Sending back battery charge (%%): %.2f", res.battery_charge);
                }
        }
        if (req.get_battery_voltage) {
                if (!received_command.get_battery_voltage) {
                        received_command.get_battery_voltage = true;
                        ROS_INFO("Asking Battery Voltage.");
                }
                if (muse_v2->serial->getBatteryVoltage() > -1) {
                        res.battery_voltage = muse_v2->serial->getBatteryVoltage();
                        out = true;
                        ROS_INFO("Sending back battery voltage: %.2f", res.battery_voltage);
                }
        }
 
        return out;
}