Merge pull request #62 from LexxPluss/AMRSW-1112-fix-actuator-init-issue

AMRSW-1112 send state is emergency state or not
LexxPluss · Nov 17, 2024 · 28921f2 · 28921f2
2 parents 55e6479 + 7f5c692
commit 28921f2
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Showing 3 changed files with 9 additions and 6 deletions.
diff --git a/lexxpluss_apps/src/board_controller.cpp b/lexxpluss_apps/src/board_controller.cpp
@@ -1278,13 +1278,13 @@ class state_controller { // Variables Implemented
         if (state != POWER_STATE::OFF) {
             rtn = esw.is_asserted() ||
                bsw.is_asserted() ||
-               state == POWER_STATE::SUSPEND ||
-               state == POWER_STATE::RESUME_WAIT ||
                mbd.emergency_stop_from_ros() ||
-               sl.is_asserted();
+               sl.is_asserted() ||
+               is_emergency_state();
         }
         return rtn;
     }
+
 private:
     static void static_poll_100ms_callback(struct k_timer *timer_id) {
         auto* instance = static_cast<state_controller*>(k_timer_user_data_get(timer_id));
@@ -1759,7 +1759,7 @@ class state_controller { // Variables Implemented
         board2ros.auto_charging_status = ac.is_docked();
         board2ros.shutdown_reason = static_cast<uint32_t>(shutdown_reason);
         board2ros.wait_shutdown_state = state == POWER_STATE::OFF_WAIT || state == POWER_STATE::TIMEROFF;
-        board2ros.emergency_stop = is_emergency();
+        board2ros.emergency_state = is_emergency_state();
         board2ros.wheel_enable = wsw.is_enabled();
 
         bool v24{false}, v_peripheral{false}, v_wheel_motor_left{false}, v_wheel_motor_right{false};
@@ -1805,6 +1805,9 @@ class state_controller { // Variables Implemented
     bool should_lockdown() const {
         return mbd.is_dead() && !esw.is_asserted();
     }
+    bool is_emergency_state() const {
+        return state == POWER_STATE::SUSPEND || state == POWER_STATE::RESUME_WAIT;
+    }
 
     power_switch psw;
     resume_switch rsw;

diff --git a/lexxpluss_apps/src/can_controller.hpp b/lexxpluss_apps/src/can_controller.hpp
@@ -61,7 +61,7 @@ struct msg_board {
     bool c_act_pgood, l_act_pgood, r_act_pgood;
     bool wheel_enable;
     bool charge_temperature_good;
-    bool emergency_stop;
+    bool emergency_state;
 } __attribute__((aligned(4)));
 
 struct msg_control {

diff --git a/lexxpluss_apps/src/zcan_board.hpp b/lexxpluss_apps/src/zcan_board.hpp
@@ -81,7 +81,7 @@ class zcan_board {
             if (message.wait_shutdown_state) {
                 packedData[0] |= 0b00001000;
             }
-            if (message.emergency_stop) {
+            if (message.emergency_state) {
                 packedData[0] |= 0b00000100;
             }
             if (message.safety_lidar_asserted) {