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32 task operation mode msg srv #39

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32 task operation mode msg srv #39

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d108ac8
Operation mode msg type + Operation mode srv type
eirisak Jan 8, 2026
d88e725
Merge branch 'main' into 32-task-operation-mode-msg-srv
eirisak Jan 8, 2026
9549a9d
Added SetKillswitch and ToggleKillswitch and other minor changes
eirisak Jan 9, 2026
19f6956
Fixed naming error
eirisak Jan 9, 2026
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7 changes: 7 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -32,11 +32,15 @@ set(msg_files
"msg/Line2D.msg"
"msg/Line2DArray.msg"
"msg/SonarInfo.msg"
"msg/OperationMode.msg"
)

set(srv_files
"srv/MissionParameters.srv"
"srv/SendWaypoints.srv"
"srv/OperationModeSRV.srv"
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@jorgenfj jorgenfj Jan 13, 2026

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Consider renaming this to somethign more descriptive like SetOperationMode

"srv/SetKillswitch.srv"
"srv/ToggleKillswitch.srv"
)

set(action_files
Expand Down Expand Up @@ -80,3 +84,6 @@ ament_package()
# Omg hello 😊
# Can we be friends, jk lul hihi 🤭
# Unless... 😳👉👈

# Okie :3
# Friendship accepted!1!!
8 changes: 8 additions & 0 deletions msg/OperationMode.msg
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Original file line number Diff line number Diff line change
@@ -0,0 +1,8 @@
# Enum operation mode
uint8 mode

# Operation mode
uint8 AUTONOMOUS = 1
uint8 MANUAL = 2
uint8 REFERENCE = 3

10 changes: 10 additions & 0 deletions srv/OperationModeSRV.srv
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Original file line number Diff line number Diff line change
@@ -0,0 +1,10 @@
#request
uint8 mode
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@jorgenfj jorgenfj Jan 8, 2026

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This field should be the operation mode msg to be more explicit


vortex_msgs/OperationMode[] modes
Comment on lines +2 to +4
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@jorgenfj jorgenfj Jan 13, 2026

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Do we need both? Also do we need an array of modes?


---
#response
uint8 mode
bool killswitch_status

7 changes: 7 additions & 0 deletions srv/SetKillswitch.srv
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Original file line number Diff line number Diff line change
@@ -0,0 +1,7 @@
#request
bool killswitch_on

---
#response
uint8 mode
bool killswitch_status
5 changes: 5 additions & 0 deletions srv/ToggleKillswitch.srv
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@Andeshog Andeshog Jan 9, 2026

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Why have both SetKillswitch and ToggleKillswitch? Is it not sufficient with one of them?

Original file line number Diff line number Diff line change
@@ -0,0 +1,5 @@
#request
---
#response
uint8 mode
bool killswitch_status