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Kawasaki-Robotics / khi_robot

ROS KHI robot meta-package
http://wiki.ros.org/khi_robot
BSD 3-Clause "New" or "Revised" License
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Bugfix about getting signal status #32

Closed d-nakamichi closed 4 years ago

d-nakamichi commented 4 years ago

get_signal of khi_robot_command_service has a problem. It cannot get a signal status whose number is multiple of 8.

Get Signal Status of [NUM]

string type-> "driver"
string cmd -> "get_signal [NUM]"
---
int32 driver_ret -> driver's return code. Refer KRNX_E_*** in krnx.h
int32 as_ret -> AS return code. Refer AS manual.
string cmd_ret -> "-1"(ON) or "0"(OFF)

[NUM] range (depended on AS system setting)

Output: 1~512
Input: 1001~1512
Internal: 2001~2512