From 19d9a07d1083d09ea6283373d419bbe30f0267e6 Mon Sep 17 00:00:00 2001
From: Cedric Hauber <chauber@onewealthplace.com>
Date: Sun, 20 Oct 2024 11:34:56 +0200
Subject: [PATCH] Added RPM to EscStatus

---
 pkg/msgs/mower_msgs/ESCStatus.go         | 1 +
 pkg/msgs/xbot_msgs/SensorInfo.go         | 3 ++-
 web/src/components/SettingsComponent.tsx | 2 +-
 web/src/components/StatusComponent.tsx   | 3 ++-
 web/src/types/ros.ts                     | 1 +
 5 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/pkg/msgs/mower_msgs/ESCStatus.go b/pkg/msgs/mower_msgs/ESCStatus.go
index 1a9bec3..782fce6 100644
--- a/pkg/msgs/mower_msgs/ESCStatus.go
+++ b/pkg/msgs/mower_msgs/ESCStatus.go
@@ -20,6 +20,7 @@ type ESCStatus struct {
 	Status           uint8
 	Current          float32
 	Tacho            uint32
+	Rpm              int16
 	TemperatureMotor float32
 	TemperaturePcb   float32
 }
diff --git a/pkg/msgs/xbot_msgs/SensorInfo.go b/pkg/msgs/xbot_msgs/SensorInfo.go
index fb832d0..b19a313 100644
--- a/pkg/msgs/xbot_msgs/SensorInfo.go
+++ b/pkg/msgs/xbot_msgs/SensorInfo.go
@@ -17,6 +17,7 @@ const (
 	SensorInfo_VALUE_DESCRIPTION_CURRENT               uint8  = 5
 	SensorInfo_VALUE_DESCRIPTION_PERCENT               uint8  = 6
 	SensorInfo_VALUE_DESCRIPTION_DISTANCE              uint8  = 7
+	SensorInfo_VALUE_DESCRIPTION_RPM                   uint8  = 8
 	SensorInfo_FLAG_GPS_RTK                            uint16 = 1
 	SensorInfo_FLAG_GPS_RTK_FIXED                      uint16 = 2
 	SensorInfo_FLAG_GPS_RTK_FLOAT                      uint16 = 4
@@ -27,7 +28,7 @@ const (
 
 type SensorInfo struct {
 	msg.Package        `ros:"xbot_msgs"`
-	msg.Definitions    `ros:"uint8 TYPE_STRING=1,uint8 TYPE_DOUBLE=2,uint8 VALUE_DESCRIPTION_UNKNOWN=0,uint8 VALUE_DESCRIPTION_TEMPERATURE=1,uint8 VALUE_DESCRIPTION_VELOCITY=2,uint8 VALUE_DESCRIPTION_ACCELERATION=3,uint8 VALUE_DESCRIPTION_VOLTAGE=4,uint8 VALUE_DESCRIPTION_CURRENT=5,uint8 VALUE_DESCRIPTION_PERCENT=6,uint8 VALUE_DESCRIPTION_DISTANCE=7,uint16 FLAG_GPS_RTK=1,uint16 FLAG_GPS_RTK_FIXED=2,uint16 FLAG_GPS_RTK_FLOAT=4,uint16 FLAG_GPS_DEAD_RECKONING=8,uint16 FLAG_SENSOR_FUSION_RECENT_ABSOLUTE_POSE=1,uint16 FLAG_SENSOR_FUSION_DEAD_RECKONING=8"`
+	msg.Definitions    `ros:"uint8 TYPE_STRING=1,uint8 TYPE_DOUBLE=2,uint8 VALUE_DESCRIPTION_UNKNOWN=0,uint8 VALUE_DESCRIPTION_TEMPERATURE=1,uint8 VALUE_DESCRIPTION_VELOCITY=2,uint8 VALUE_DESCRIPTION_ACCELERATION=3,uint8 VALUE_DESCRIPTION_VOLTAGE=4,uint8 VALUE_DESCRIPTION_CURRENT=5,uint8 VALUE_DESCRIPTION_PERCENT=6,uint8 VALUE_DESCRIPTION_DISTANCE=7,uint8 VALUE_DESCRIPTION_RPM=8,uint16 FLAG_GPS_RTK=1,uint16 FLAG_GPS_RTK_FIXED=2,uint16 FLAG_GPS_RTK_FLOAT=4,uint16 FLAG_GPS_DEAD_RECKONING=8,uint16 FLAG_SENSOR_FUSION_RECENT_ABSOLUTE_POSE=1,uint16 FLAG_SENSOR_FUSION_DEAD_RECKONING=8"`
 	SensorId           string
 	SensorName         string
 	ValueType          uint8
diff --git a/web/src/components/SettingsComponent.tsx b/web/src/components/SettingsComponent.tsx
index d9dd5a7..54cf3bc 100644
--- a/web/src/components/SettingsComponent.tsx
+++ b/web/src/components/SettingsComponent.tsx
@@ -107,7 +107,7 @@ export OM_AUTOMATIC_MODE=0
 
 export OM_OUTLINE_OFFSET=0.05
 
-export OM_NO_COMMS=true
+export OM_NO_COMMS=false
 
 # Set default GPS antenna offset
 export OM_ANTENNA_OFFSET_X=0.3
diff --git a/web/src/components/StatusComponent.tsx b/web/src/components/StatusComponent.tsx
index 3cf1bcd..1b3230b 100644
--- a/web/src/components/StatusComponent.tsx
+++ b/web/src/components/StatusComponent.tsx
@@ -10,6 +10,7 @@ export function StatusComponent() {
             <Col lg={8} xs={12}><Statistic title="Status" value={escStatus?.Status}/></Col>
             <Col lg={8} xs={12}><Statistic precision={2} title="Current" value={escStatus?.Current}/></Col>
             <Col lg={8} xs={12}><Statistic precision={0} title="Tacho" value={escStatus?.Tacho}/></Col>
+            <Col lg={8} xs={12}><Statistic precision={0} title="RPM" value={escStatus?.Rpm}/></Col>
             <Col lg={8} xs={12}><Statistic precision={2} title="Motor Temperature" value={escStatus?.TemperatureMotor}
                                            suffix={"°C"}/></Col>
             <Col lg={8} xs={12}><Statistic precision={2} title="PCB Temperature" value={escStatus?.TemperaturePcb}
@@ -68,4 +69,4 @@ export function StatusComponent() {
             </Card>
         </Col>
     </Row>;
-}
\ No newline at end of file
+}
diff --git a/web/src/types/ros.ts b/web/src/types/ros.ts
index 20c9ab2..5edba2b 100644
--- a/web/src/types/ros.ts
+++ b/web/src/types/ros.ts
@@ -173,6 +173,7 @@ export type ESCStatus = {
     Status?: string
     Current?: number
     Tacho?: number
+    Rpm?: number
     TemperatureMotor?: number
     TemperaturePcb?: number
 }