deleted global variables

Author: sawada10

include/emotion.hpp

@@ -22,26 +22,30 @@ class EmotionManager
 {
 private:
     EyeManager& eyeManager; // EyeManager の参照を保持
-    int current_eye_status = -1;
+    int eye_status = -1;
     int frame = 0;
 
 public:
-    // コンストラクタで EyeManager の参照を受け取る
+  // コンストラクタで EyeManager の参照を受け取る
     EmotionManager(EyeManager& manager) : eyeManager(manager) {}
 
-    // 感情ごとの表示設定
-    void set_emotion(int eye_status) {
-      if (current_eye_status != eye_status && eye_assets_map.find(eye_status) != eye_assets_map.end()) {
-        current_eye_status = eye_status;
+  // emotionに応じて画像セットを読み込む
+    void set_emotion(int received_eye_status = 0) {
+      if (eye_status != received_eye_status && eye_assets_map.find(received_eye_status) != eye_assets_map.end()) {
+        eye_status = received_eye_status;
         eyeManager.set_picture_files_asset(eye_assets_map[eye_status]);
         frame = 0;
       }
     }
 
+    int get_emotion(){
+      return eye_status;
+    }
+
     void update_emotion() {
-      float upperlid_y = upperlid_position_map[current_eye_status][frame % upperlid_position_map[current_eye_status].size()];
+      float upperlid_y = upperlid_position_map[eye_status][frame % upperlid_position_map[eye_status].size()];
       eyeManager.set_upperlid_position(upperlid_y);
       eyeManager.update();
       frame ++;
     }
-};
+};

rosserial_version/src/main.cpp

@@ -32,10 +32,6 @@ ros::NodeHandle_<ArduinoHardware> nh;
 ros::Subscriber<geometry_msgs::Point> sub_point("~look_at", &callback_look_at);
 ros::Subscriber<std_msgs::UInt16> sub_eye_status("eye_status", &callback_emotion);
 
-int eye_status = 0;
-bool emotion_changed_flag = true;
-static int frame = 0;
-
 void callback_look_at(const geometry_msgs::Point &msg)
 {
   look_x = (float)msg.x;
@@ -46,8 +42,7 @@ void callback_look_at(const geometry_msgs::Point &msg)
 void callback_emotion(const std_msgs::UInt16 &msg)
 {
   nh.loginfo("in the callback emotion func");
-  eye_status = msg.data;
-  emotion_changed_flag = true;
+  emotion.set_emotion(msg.data);
 }
 
 void setup()
@@ -89,19 +84,18 @@ void setup()
     eye.init(image_width, image_height, 1);
   }
   eye.set_gaze_direction(look_x, look_y);
-  emotion.set_emotion(eye_status); 
+  emotion.set_emotion(); // emotionの初期化
   emotion.update_emotion();
 }
 
 void loop()
 {
   delay(100);
-  frame ++;
+
   eye.set_gaze_direction(look_x, look_y);
-  emotion.set_emotion(eye_status);
   emotion.update_emotion();
   nh.spinOnce();
   char log_msg[50];
-  sprintf(log_msg, "Eye status: %d, Emotion changed: %s", eye_status, emotion_changed_flag ? "true" : "false");
+  sprintf(log_msg, "Eye status: %d", emotion.get_emotion());
   nh.loginfo(log_msg);
 }