ROS-Thymio: thymio_msgs reference
=================================

Interfaces
----------

Messages
^^^^^^^^

.. _Comm:

Comm
"""""

.. code-block:: IDL

   int16 value
   int16[7] payloads
   int16[7] intensities


:value: the 11-bit payload
:source: the 11-bit payloads received by each sensor (0 if the sensor has not received the message)
:intensities: the intensity of the received IR pulse.

.. _Led:

Led
"""""

.. code-block:: IDL

   uint8 CIRCLE=0
   uint8 PROXIMITY=1
   uint8 BUTTONS=2
   uint8 GROUND=3
   uint8 TEMPERATURE=4
   uint8 MICROPHONE=5
   uint8 REMOTE=6

   uint8 id
   float32[] values

:id:  an enum ``{CIRCLE, PROXIMITY, BUTTONS, GROUND, TEMPERATURE, MICROPHONE, REMOTE}`` that identifies a group of LED.
:values: an array of intensities (one per LED) between 0 and 1.

.. _LedGesture:

LedGesture
""""""""""
.. code-block:: IDL

   uint8 OFF=0
   uint8 WAVE=1

   uint8 RECT=0
   uint8 HARMONIC=1

   uint8 CIRCLE=0
   uint8 PROXIMITY=1
   uint8 BUTTONS=2

   uint8 gesture
   uint8 wave
   uint8 leds
   float32 period
   uint16 length
   uint8 mirror
   bool[] mask


:gesture: an enum ``{OFF, WAVE}``: ``OFF`` stop the gesture, ``WAVE`` start a waving pattern.
:wave: an enum ``{RECT, HARMONIC}``: the function used to generate the LED intensity wave.
:leds:  an enum ``{CIRCLE, PROXIMITY, BUTTONS}`` that identifies a group of LED.
:period: the period of the wave in seconds
:length: the length of the wave (in number of LED)
:mirror: whenever to generate a standing wave
:mask: a bit mask to set which individual LED will be used.

.. _Sound:

Sound
"""""""""""

.. tabs::

   .. code-tab:: IDL ROS1

      duration duration
      float32 frequency

   .. code-tab:: IDL ROS2

      builtin_interfaces/Duration duration
      float32 frequency

:duration: the duration of the sound.
:frequency: The frequency in Hz of the [pure] sound.

.. _SystemSound:

SystemSound
"""""""""""

.. code-block:: IDL

   int8 STOP=-1
   int8 STARTUP=0
   int8 SHUTDOWN=1
   int8 ARROW_BUTTON=2
   int8 CENTRAL_BUTTON=3
   int8 FREE_FALL=4
   int8 COLLISION=5
   int8 TARGET_OK=6
   int8 TARGET_DETECT=7

   int8 sound


:sound: an enum ``{STOP, STARTUP, SHUTDOWN, ARROW_BUTTON, CENTRAL_BUTTON, FREE_FALL, COLLISION, TARGET_OK, TARGET_DETECT}`` that idenifies the sound