Add support for defining and playing songs

AutonomyLab · jacobperron · Apr 9, 2017 · jacobperron · Apr 9, 2017 · clydemcqueen
diff --git a/ca_driver/src/create_driver.cpp b/ca_driver/src/create_driver.cpp
@@ -222,6 +224,16 @@ void CreateDriver::undockCallback(const std_msgs::EmptyConstPtr& msg)
  robot_->setMode(create::MODE_FULL);
 }

+void CreateDriver::defineSongCallback(const ca_msgs::DefineSongConstPtr& msg)
+{
+  robot_->defineSong(msg->song, msg->length, &(msg->notes.front()), &(msg->durations.front()));
diff --git a/ca_driver/src/create_driver.cpp b/ca_driver/src/create_driver.cpp
+
+void CreateDriver::playSongCallback(const ca_msgs::PlaySongConstPtr& msg)
+{
+  robot_->playSong(msg->song);
diff --git a/ca_msgs/CMakeLists.txt b/ca_msgs/CMakeLists.txt
@@ -11,6 +11,8 @@ add_message_files(
  Bumper.msg
  ChargingState.msg
  Mode.msg
+  PlaySong.msg
+  DefineSong.msg
diff --git a/ca_msgs/msg/DefineSong.msg b/ca_msgs/msg/DefineSong.msg
@@ -0,0 +1,5 @@
+Header header         # ignored
diff --git a/ca_msgs/msg/PlaySong.msg b/ca_msgs/msg/PlaySong.msg
@@ -0,0 +1,2 @@
+Header header   # ignored