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SoonerRobotics · Mar 3, 2024 · df12eab · df12eab
1 parent 6c5125e
commit df12eab
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Showing 3 changed files with 8 additions and 8 deletions.
diff --git a/autonav_ws/src/scr/include/scr/states.hpp b/autonav_ws/src/scr/include/scr/states.hpp
@@ -14,7 +14,7 @@ namespace SCR
         ERRORED = 5
     };
 
-    std::string getAsString(DeviceState state)
+    std::string toString(DeviceState state)
     {
         switch (state)
         {
@@ -42,7 +42,7 @@ namespace SCR
         SHUTDOWN = 3
     };
 
-    std::string getAsString(SystemState state)
+    std::string toString(SystemState state)
     {
         switch (state)
         {
@@ -65,7 +65,7 @@ namespace SCR
         PRACTICE = 2,
     };
 
-    std::string getAsString(SystemMode state)
+    std::string toString(SystemMode state)
     {
         switch (state)
         {

diff --git a/autonav_ws/src/scr/src/node.cpp b/autonav_ws/src/scr/src/node.cpp
@@ -50,8 +50,8 @@ namespace SCR
         SCR::SystemMode newMode = static_cast<SCR::SystemMode>(msg.mode);
         SCR::SystemMode oldMode = static_cast<SCR::SystemMode>(oldState.mode);
 
-        RCLCPP_WARN(this->get_logger(), "SYSTEM STATE CHANGE: %s -> %s", SCR::getAsString(oldStateEnum).c_str(), SCR::getAsString(newStateEnum).c_str());
-        RCLCPP_WARN(this->get_logger(), "SYSTEM MODE CHANGE: %s -> %s", SCR::getAsString(oldMode).c_str(), SCR::getAsString(newMode).c_str());
+        RCLCPP_WARN(this->get_logger(), "SYSTEM STATE CHANGE: %s -> %s", SCR::toString(oldStateEnum).c_str(), SCR::toString(newStateEnum).c_str());
+        RCLCPP_WARN(this->get_logger(), "SYSTEM MODE CHANGE: %s -> %s", SCR::toString(oldMode).c_str(), SCR::toString(newMode).c_str());
         RCLCPP_WARN(this->get_logger(), "MOBILITY CHANGE: %d -> %d", oldState.mobility, msg.mobility);
 
         system_state_transition(oldState, msg);
@@ -76,7 +76,7 @@ namespace SCR
         }
 
         device_state = static_cast<SCR::DeviceState>(msg.state);
-        RCLCPP_INFO(this->get_logger(), "Received Topic: Device state changed to %s", SCR::getAsString(device_state).c_str());
+        RCLCPP_INFO(this->get_logger(), "Received Topic: Device state changed to %s", SCR::toString(device_state).c_str());
 
         if (device_state == SCR::DeviceState::BOOTING)
         {
@@ -166,7 +166,7 @@ namespace SCR
         auto result = result_future.get();
         if (!result)
         {
-            RCLCPP_ERROR(this->get_logger(), "Failed to set device state to: %s", SCR::getAsString(state).c_str());
+            RCLCPP_ERROR(this->get_logger(), "Failed to set device state to: %s", SCR::toString(state).c_str());
         }
     }
 

diff --git a/autonav_ws/src/scr_controller/src/core.cpp b/autonav_ws/src/scr_controller/src/core.cpp
@@ -95,7 +95,7 @@ class CoreNode : public rclcpp::Node
         }
 
         // Update the device state
-        RCLCPP_INFO(this->get_logger(), "Device %s state changed to %s", request->device.c_str(), SCR::getAsString((SCR::DeviceState)request->state).c_str());
+        RCLCPP_INFO(this->get_logger(), "Device %s state changed to %s", request->device.c_str(), SCR::toString((SCR::DeviceState)request->state).c_str());
         if (device_states.find(request->device) == device_states.end())
         {
             // This is the first time we've seen this device, so we need to publish the system state, device state, and all known configs