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Feat mode types #40

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Merged
jorgenfj merged 7 commits into from
Feb 18, 2026
Merged

Feat mode types #40

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77fd3b3
Added mode conversion and types
eirisak Feb 11, 2026
da797bb
Removed .vscode and changed .gitignore
eirisak Feb 11, 2026
65bb610
Merge remote-tracking branch 'origin/main' into feat-mode-types
eirisak Feb 11, 2026
d23d6b9
Added transient local profile to qos_profiles.py
eirisak Feb 11, 2026
2675aca
Added conversion to ros for operation mode
eirisak Feb 12, 2026
b2b681e
Removed accidentally committed file
eirisak Feb 18, 2026
f448946
Merge remote-tracking branch 'origin/main' into feat-mode-types
eirisak Feb 18, 2026
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5 changes: 3 additions & 2 deletions vortex_utils/include/vortex/utils/types.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -403,7 +403,7 @@ struct LineSegment2D {
/**
* @brief Enum class for operation modes.
*/
enum class Mode : uint8_t { manual, autonomous, reference };
enum class Mode : int { autonomous, manual, reference };

/**
* @brief Convert Mode enum to string for logging or display purposes.
Expand All @@ -419,7 +419,8 @@ inline std::string mode_to_string(Mode mode) {
case Mode::reference:
return "reference mode";
default:
throw std::runtime_error("Invalid operation mode.");
throw std::runtime_error(
"String conversion failed, invalid mode value");
}
}

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27 changes: 26 additions & 1 deletion vortex_utils_ros/include/vortex/utils/ros/ros_conversions.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -193,7 +193,32 @@ inline vortex::utils::types::Mode convert_from_ros(
case vortex_msgs::msg::OperationMode::REFERENCE:
return vortex::utils::types::Mode::reference;
}
throw std::runtime_error("Invalid operation mode.");
throw std::runtime_error("Conversion failed, invalid operation mode value");
}

/**
* @brief Converts an internal Mode enum to a ROS
* vortex_msgs::msg::OperationMode.
* @param mode vortex::utils::types::Mode
* @return vortex_msgs::msg::OperationMode ROS mode message
*/
inline vortex_msgs::msg::OperationMode convert_to_ros(
const vortex::utils::types::Mode& mode) {
vortex_msgs::msg::OperationMode mode_msg;
switch (mode) {
case vortex::utils::types::Mode::manual:
mode_msg.operation_mode = vortex_msgs::msg::OperationMode::MANUAL;
return mode_msg;
case vortex::utils::types::Mode::autonomous:
mode_msg.operation_mode =
vortex_msgs::msg::OperationMode::AUTONOMOUS;
return mode_msg;
case vortex::utils::types::Mode::reference:
mode_msg.operation_mode =
vortex_msgs::msg::OperationMode::REFERENCE;
return mode_msg;
}
throw std::runtime_error("Conversion failed, invalid operation mode value");
}

} // namespace vortex::utils::ros_conversions
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