semin ahn
/
zeta_stm_kinetic
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Diff: src/callbackHeader.hpp
- Revision:
- 0:4ff8aeb3e4d1
- Child:
- 1:2594a70c1ddd
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/src/callbackHeader.hpp Fri Apr 02 05:24:49 2021 +0000
@@ -0,0 +1,20 @@
+#ifndef ZETA_STM_KINETIC_CALLBACKHEADER_H_
+#define ZETA_STM_KINETIC_CALLBACKHEADER_H_
+#include "rosHeader.hpp"
+#include "mbed.h"
+#include "myUtil.hpp"
+
+extern zetabot_main::ModuleControlMsgs moduleControlMsg;
+extern volatile bool isSubscribe;
+extern volatile uint8_t NUC_sub_state;
+
+void ModuleControlCB(const zetabot_main::ModuleControlMsgs& msg) {
+ memcpy(moduleControlMsg.module_power,msg.module_power,sizeof(msg.module_power)/sizeof(bool));
+ moduleControlMsg.pulifier = msg.pulifier;
+ isSubscribe = true;
+}
+
+void BluetoothCB(const std_msgs::UInt8& msg) {
+ NUC_sub_state = msg.data;
+}
+#endif
\ No newline at end of file