void handleButtonEventMessage(int messageId, uint64_t data,
CanSignal* signals, int signalCount, Listener* listener) {
CanSignal* buttonTypeSignal = lookupSignal("button_type", signals,
signalCount);
CanSignal* buttonStateSignal = lookupSignal("button_state", signals,
signalCount);
if(buttonTypeSignal == NULL || buttonStateSignal == NULL) {
debug("Unable to find button type and state signals");
return;
}
float rawButtonType = decodeCanSignal(buttonTypeSignal, data);
float rawButtonState = decodeCanSignal(buttonStateSignal, data);
bool send = true;
const char* buttonType = stateHandler(buttonTypeSignal, signals,
signalCount, rawButtonType, &send);
if(!send || buttonType == NULL) {
debug("Unable to find button type corresponding to %f",
rawButtonType);
return;
}
const char* buttonState = stateHandler(buttonStateSignal, signals,
signalCount, rawButtonState, &send);
if(!send || buttonState == NULL) {
debug("Unable to find button state corresponding to %f",
rawButtonState);
return;
}
sendEventedStringMessage(BUTTON_EVENT_GENERIC_NAME, buttonType,
buttonState, listener);
}
void ContainerGrabber::update() {
stateHandler(leftArm);
stateHandler(rightArm);
SmartDashboard::PutNumber("Left Arm State: ", leftArm->state);
}