x52_mfd_writer_node

Printing values from std_msgs topics to the displays can be easily done with the x52_mfd_writer_node.

For each topic which you want to see information on the display you need a mfd_writer node.

All supported message types can be seen in the following table, in a launch file, they are specified by the parameter "input_type"

input_type	Description
0a	float64
1	float32
2	int64
3	int32
4	int16
5b	int8
6	uint64
7	uint32
8	uint16
9b	uint8
10	bool
11c	Joy

b)When using a one byte value (mainly known as char in C/C++), it is normally treated as character.
If the number value is wanted instead you have to set the value "char_as_int" to true.

c)Requires additional setup information, see following table:

Parameter	Description
axis_or_button	Defines if the value being used comes from an axis(false) or a button(true)
axis_button	Defines the axis or button number

To specify the arangement in the display the following parameters are used.

Parameter	Description
line	Defines the line, where the field should be placed
pos	Defines the start of the field inside the line
field_length	Defines the length of the field

To specify what happens to the value alignment when the size of it is smaller the field length, the parameter align is used.

Align	Description
0a	Left - The field is filled with spaces from the right side, so that the value is on the left
1	Center - The field is filled with spaces from both sides
2	Right - The field is filled with spaces from the left side, so that the value is on the right

If the integer part of any value exceeds the field size, the user should be notified somehow, that there is a problem. This is done by specifiying the oversize parameters:

Parameter	Description
positive_oversize	String shown when value is positiv and it's integer value does not fit into the field
negative_oversize	String shown when value is negative and it's integer value does not fit into the field

At least there is the option to print strings instead of values, this uses the same specification method as known from the value2buttonColor node.

Parameter	Description
strintprint	if true the stringprint_setup variable specifies the ranges in which a string is printed
stringprint_setup	Specification when to write which string, see following paragraph

The first given string is printed if the value is lower than any given value, the last one is printed when the value is higher than any given value.

In between the values are printed when the given value is exceeded.

Example:

    Low|-4|One|3|Two|6|High

Example Results:

Value	Result
-6	Low
-4	Low
3	One
5	Two
7	High

Example Conditions:

String	Prints when
Low	Value <=-4
One	Value <=3
Two	Value <=6
High	Value >6

Copy&Paste Launchfile Code:

    <node pkg="h4r_x52_joyext" type="x52_mfd_writer_node" name="x52_mfd_writer_string" output="screen">
            <param name="input_type" value="11"/>
            <param name="line" value="1"/>
            <param name="pos" value="0"/>
            <param name="field_length" value="16"/>
            <param name="align" value="1"/>
            <param name="positive_oversize" value="++EE++"/>
            <param name="negative_oversize" value="--EE--"/>
            <param name="axis_or_button" value="false"/>
            <param name="axis_button" value="4"/>
            <param name="stringprint" value="true"/>
            <param name="stringprint_setup" value="Green|-0.5|Yellow|0.5|Red"/>
            <param name="char_as_int" value="0"/>


            <remap from="~/in" to="/joy" />
            <remap from="~/mfd_text" to="/x52/mfd_text" />
    </node>

a)Standard value