public static HighLevelStateChangeStatusMessage createHighLevelStateChangeStatusMessage(HighLevelControllerName initialState, HighLevelControllerName endState) { HighLevelStateChangeStatusMessage message = new HighLevelStateChangeStatusMessage(); message.setInitialHighLevelControllerName(initialState == null ? -1 : initialState.toByte()); message.setEndHighLevelControllerName(endState == null ? -1 : endState.toByte()); return message; }
public static HighLevelStateMessage createHighLevelStateMessage(HighLevelControllerName highLevelControllerName) { HighLevelStateMessage message = new HighLevelStateMessage(); message.setHighLevelControllerName(highLevelControllerName.toByte()); return message; }
@Override public void receivedNewMessageStatus(HighLevelStateChangeStatusMessage statusMessage) { if (statusMessage != null) { currentHighLevelControllerState.set(HighLevelControllerName.fromByte(statusMessage.getEndHighLevelControllerName())); if (statusMessage.getInitialHighLevelControllerName() == HighLevelControllerName.CALIBRATION.toByte()) writeTorqueOffsets(); if (ValkyrieRosControlController.ENABLE_FINGER_JOINTS) { if (statusMessage.getEndHighLevelControllerName() == HighLevelControllerName.CALIBRATION.toByte()) fingerController.goToInitialConfiguration(); } } } };
public static HighLevelStateChangeStatusMessage nextHighLevelStateChangeStatusMessage(Random random) { HighLevelStateChangeStatusMessage next = new HighLevelStateChangeStatusMessage(); next.setInitialHighLevelControllerName(RandomNumbers.nextEnum(random, HighLevelControllerName.class).toByte()); next.setEndHighLevelControllerName(RandomNumbers.nextEnum(random, HighLevelControllerName.class).toByte()); return next; }
public static HighLevelStateMessage nextHighLevelStateMessage(Random random) { HighLevelStateMessage next = new HighLevelStateMessage(); next.setHighLevelControllerName(RandomNumbers.nextEnum(random, HighLevelControllerName.class).toByte()); return next; }
@Override public void sendStandRequest() { HighLevelStateMessage message = new HighLevelStateMessage(); message.setHighLevelControllerName(HighLevelControllerName.STAND_TRANSITION_STATE.toByte()); highLevelStatePublisher.publish(message); } }
@Override public void receivedPacket(HighLevelStateChangeStatusMessage packet) { if (packet.getEndHighLevelControllerName() != currentState.toByte()) { currentState = HighLevelControllerName.fromByte(packet.getEndHighLevelControllerName()); } }
@Override public void sendFreezeRequest() { HighLevelStateMessage message = new HighLevelStateMessage(); message.setHighLevelControllerName(HighLevelControllerName.EXIT_WALKING.toByte()); highLevelStatePublisher.publish(message); }