From: Erik Andresen <erik@vontaene.de>
Date: Wed, 6 May 2026 19:01:09 +0000 (+0200)
Subject: Add script for auto brightness
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=6126eb1245ab76375d8684360e8f715539c075f3;p=a4wd3.git

Add script for auto brightness
---

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 28f0b09..72c9340 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -38,10 +38,17 @@ add_executable(display src/display.cpp)
 ament_target_dependencies(display rclcpp sensor_msgs)
 target_compile_features(display PUBLIC cxx_std_20)
 
+add_executable(light_brightness src/light_brightness.cpp)
+target_link_libraries(light_brightness "${cpp_typesupport_target}")
+ament_target_dependencies(light_brightness rclcpp sensor_msgs)
+target_compile_features(light_brightness PUBLIC cxx_std_20)
+
 install(TARGETS hw_node
   DESTINATION lib/${PROJECT_NAME})
 install(TARGETS display
   DESTINATION lib/${PROJECT_NAME})
+install(TARGETS light_brightness
+  DESTINATION lib/${PROJECT_NAME})
 install(DIRECTORY launch
   DESTINATION share/${PROJECT_NAME})
 install(DIRECTORY params
diff --git a/src/hw_node.cpp b/src/hw_node.cpp
index bc0e2a2..7f3cfab 100644
--- a/src/hw_node.cpp
+++ b/src/hw_node.cpp
@@ -343,6 +343,9 @@ class A4wd3 : public rclcpp::Node {
 			auto msg = sensor_msgs::msg::Illuminance();
 			msg.header.stamp = this->get_clock()->now();
 			msg.illuminance = lux*2.0183-5.2079;
+			if (msg.illuminance < 0) {
+				msg.illuminance = 0;
+			}
 			pub_light->publish(msg);
 		}
 
diff --git a/src/light_brightness.cpp b/src/light_brightness.cpp
new file mode 100644
index 0000000..cdcfdf9
--- /dev/null
+++ b/src/light_brightness.cpp
@@ -0,0 +1,50 @@
+#include <memory>
+#include "sensor_msgs/msg/illuminance.hpp"
+#include "a4wd3/msg/led_stripe.hpp"
+#include "a4wd3/msg/led.hpp"
+
+#include "rclcpp/rclcpp.hpp"
+using std::placeholders::_1;
+
+class LightBrightness : public rclcpp::Node
+{
+	public:
+		LightBrightness() : Node("light_brightness") {
+			sub_light = this->create_subscription<sensor_msgs::msg::Illuminance>("/light", 10, std::bind(&LightBrightness::light_callback, this, _1));
+			pub_led = this->create_publisher<a4wd3::msg::LedStripe>("/led_stripe", 10);
+		}
+
+	private:
+		void light_callback(const sensor_msgs::msg::Illuminance msg) {
+			bool changed=false;
+			if (msg.illuminance == 0 && val < 254) {
+				val++;
+				changed=true;
+			} else if (msg.illuminance > 0 && val > 0) {
+				val--;
+				changed=true;
+			}
+			RCLCPP_INFO(this->get_logger(), "'%.2lflx -> light=%d'", msg.illuminance, val);
+			if (changed) {
+				auto ledmsg = a4wd3::msg::LedStripe();
+				auto led=a4wd3::msg::Led();
+				led.num=0;
+				led.cw=val;
+				led.ww=val;
+				ledmsg.leds.push_back(led);
+				pub_led->publish(ledmsg);
+			}
+		}
+
+		rclcpp::Subscription<sensor_msgs::msg::Illuminance>::SharedPtr sub_light;
+		rclcpp::Publisher<a4wd3::msg::LedStripe>::SharedPtr pub_led;
+		uint8_t val=0;
+};
+
+int main(int argc, char * argv[])
+{
+	rclcpp::init(argc, argv);
+	rclcpp::spin(std::make_shared<LightBrightness>());
+	rclcpp::shutdown();
+	return 0;
+}