Expose More Internal Superstructure State in Status Message
Signed-off-by: Niko Sohmers <nikolai@sohmers.com>
Change-Id: I17aaff27e8bf5b70d39734040506c7b4bbe61b10
diff --git a/y2024/control_loops/superstructure/superstructure.cc b/y2024/control_loops/superstructure/superstructure.cc
index 6b262c1..dc9369e 100644
--- a/y2024/control_loops/superstructure/superstructure.cc
+++ b/y2024/control_loops/superstructure/superstructure.cc
@@ -615,6 +615,13 @@
status_builder.add_state(state_);
status_builder.add_uncompleted_note_goal(uncompleted_note_goal_status);
status_builder.add_extend_ready_for_transfer(extend_at_retracted);
+ status_builder.add_extend_at_retracted(extend_at_retracted);
+ status_builder.add_turret_ready_for_load(turret_ready_for_load);
+ status_builder.add_altitude_ready_for_load(altitude_ready_for_load);
+ status_builder.add_extend_ready_for_catapult_transfer(
+ extend_ready_for_catapult_transfer);
+ status_builder.add_extend_beambreak(position->extend_beambreak());
+ status_builder.add_catapult_beambreak(position->catapult_beambreak());
(void)status->Send(status_builder.Finish());
}
diff --git a/y2024/control_loops/superstructure/superstructure_status.fbs b/y2024/control_loops/superstructure/superstructure_status.fbs
index 0420c26..8d6b14f 100644
--- a/y2024/control_loops/superstructure/superstructure_status.fbs
+++ b/y2024/control_loops/superstructure/superstructure_status.fbs
@@ -157,6 +157,23 @@
turret_ready_for_extend_move:bool (id: 13, deprecated);
uncompleted_note_goal:NoteStatus = NONE (id: 14);
+
+ // Indicates if the extend is close enough to the retracted position to be
+ // considered ready to accept note from the transfer rollers.
+ extend_at_retracted:bool (id: 15);
+
+ // Indicates if the turret is at the position to accept the note from extend
+ turret_ready_for_load:bool (id: 16);
+
+ // Indicates if the altitude is at the position to accept the note from
+ // extend
+ altitude_ready_for_load:bool (id: 17);
+
+ // Indicates if the extend is at the position to load the catapult
+ extend_ready_for_catapult_transfer:bool (id: 18);
+
+ extend_beambreak:bool (id: 19);
+ catapult_beambreak:bool (id: 20);
}
root_type Status;