| 79 | } |
| 80 | |
| 81 | void proceed(const ros::TimerEvent& event) |
| 82 | { |
| 83 | counter++; |
| 84 | uint8_t r, g, b; |
| 85 | set_leds.request.leds.clear(); |
| 86 | set_leds.request.leds.resize(led_count); |
| 87 | |
| 88 | if (current_effect.effect == "blink" || current_effect.effect == "blink_fast") { |
| 89 | // enable on odd counter |
| 90 | if (counter % 2 != 0) { |
| 91 | fill(current_effect.r, current_effect.g, current_effect.b); |
| 92 | } else { |
| 93 | fill(0, 0, 0); |
| 94 | } |
| 95 | |
| 96 | } else if (current_effect.effect == "fade") { |
| 97 | // fade all leds from starting state |
| 98 | double passed = std::min((event.current_real - start_time).toSec() / fade_period, 1.0); |
| 99 | double one_minus_passed = 1 - passed; |
| 100 | for (int i = 0; i < led_count; i++) { |
| 101 | set_leds.request.leds[i].index = i; |
| 102 | set_leds.request.leds[i].r = one_minus_passed * start_state.leds[i].r + passed * current_effect.r; |
| 103 | set_leds.request.leds[i].g = one_minus_passed * start_state.leds[i].g + passed * current_effect.g; |
| 104 | set_leds.request.leds[i].b = one_minus_passed * start_state.leds[i].b + passed * current_effect.b; |
| 105 | } |
| 106 | callSetLeds(); |
| 107 | if (passed >= 1.0) { |
| 108 | // fade finished |
| 109 | timer.stop(); |
| 110 | } |
| 111 | |
| 112 | } else if (current_effect.effect == "wipe") { |
| 113 | set_leds.request.leds.resize(1); |
| 114 | set_leds.request.leds[0].index = counter - 1; |
| 115 | set_leds.request.leds[0].r = current_effect.r; |
| 116 | set_leds.request.leds[0].g = current_effect.g; |
| 117 | set_leds.request.leds[0].b = current_effect.b; |
| 118 | callSetLeds(); |
| 119 | if (counter == led_count) { |
| 120 | // wipe finished |
| 121 | timer.stop(); |
| 122 | } |
| 123 | |
| 124 | } else if (current_effect.effect == "rainbow_fill") { |
| 125 | rainbow(counter % 255, r, g, b); |
| 126 | for (int i = 0; i < led_count; i++) { |
| 127 | set_leds.request.leds[i].index = i; |
| 128 | set_leds.request.leds[i].r = r; |
| 129 | set_leds.request.leds[i].g = g; |
| 130 | set_leds.request.leds[i].b = b; |
| 131 | } |
| 132 | callSetLeds(); |
| 133 | |
| 134 | } else if (current_effect.effect == "rainbow") { |
| 135 | for (int i = 0; i < led_count; i++) { |
| 136 | int pos = (int)round(counter + (255.0 * i / led_count)) % 255; |
| 137 | rainbow(pos % 255, r, g, b); |
| 138 | set_leds.request.leds[i].index = i; |