Merge branch 'dev' into 'rolling'

[Modify]: Fixed aiting for voice to connect to the network cannot be stopped See merge request MiRoboticsLab/rop/interaction!65
MiRoboticsLab · Dec 25, 2023 · 015d963 · 015d963
2 parents 79a32f1 + 9d777f5
commit 015d963
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diff --git a/connector/include/connector/connector.hpp b/connector/include/connector/connector.hpp
@@ -215,6 +215,7 @@ class Connector final : public rclcpp::Node
   bool connect_network_status = true;
   int connect_code = -1;
   bool bledfu_progress_status = true;
+  bool camera_callback_flag = false;
 };  // class Connector
 }  // namespace interaction
 }  // namespace cyberdog

diff --git a/connector/src/connector.cpp b/connector/src/connector.cpp
@@ -563,6 +563,7 @@ void Connector::CameraSignalCallback(const CameraMsg::SharedPtr msg)
                 connect_document.HasMember(ip.c_str()) &&
                 connect_document[ip.c_str()].IsString())
               {
+                this->camera_callback_flag = true;
                 if (this->DoConnect(
                     connect_document[wifi_name.c_str()].GetString(),
                     connect_document[wifi_password.c_str()].GetString(),
@@ -687,6 +688,13 @@ bool Connector::DoConnect(std::string name, std::string password, std::string pr
       return return_false("Wifi provider is empty.");
     }
     if (name == this->state_msg_.ssid) {
+      if (this->camera_callback_flag) {
+        this->camera_callback_flag = false;
+        this->Interaction(AudioMsg::PID_WIFI_CONNECTION_SUCCEEDED_0);
+      } else {
+        this->CtrlAudio(9999);
+        this->CtrlLed(AudioMsg::PID_WIFI_CONNECTION_SUCCEEDED_0);
+      }
       return return_true(
         "The target wifi and the currently connected wifi are the same wifi.",
         true);