From: Erik Andresen <erik@vontaene.de>
Date: Fri, 1 May 2026 09:46:38 +0000 (+0200)
Subject: led 0 = all leds
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=7d33f3f7a1501a4c4bf77aba4a3cd79c1c0b1d71;p=a4wd3.git

led 0 = all leds
---

diff --git a/src/hw_node.cpp b/src/hw_node.cpp
index 18d1ee6..bc0e2a2 100644
--- a/src/hw_node.cpp
+++ b/src/hw_node.cpp
@@ -160,10 +160,17 @@ class A4wd3 : public rclcpp::Node {
 			}
 		}
 
+		void write_led(const uint8_t num, const std::vector<uint8_t> buf) {
+			int ret = i2c_write_reg(0x62, num, buf);
+			if (ret != 0) {
+				RCLCPP_ERROR(this->get_logger(), "Failed to write to LED Stripe err=%d", ret);
+			}
+		}
+
 		// ros2 topic pub -1 /led_stripe a4wd3/msg/LedStripe "{leds: [{num: 1, ww: 1}]}"
 		void led_stripe_callback(const a4wd3::msg::LedStripe::SharedPtr msg) {
 			for (size_t i=0; i<msg->leds.size(); i++) {
-				if (msg->leds[i].num < 1 || msg->leds[i].num > 10) {
+				if (msg->leds[i].num > 10) {
 					RCLCPP_ERROR(this->get_logger(), "Led %d out of range 1..10", msg->leds[i].num);
 					continue;
 				}
@@ -174,10 +181,14 @@ class A4wd3 : public rclcpp::Node {
 				buf.push_back(msg->leds[i].ww);
 				buf.push_back(msg->leds[i].cw);
 				buf.push_back(i == msg->leds.size()-1 ? 0x1 : 0x2); // commit
-				int ret = i2c_write_reg(0x62, msg->leds[i].num, buf);
-				if (ret != 0) {
-					RCLCPP_ERROR(this->get_logger(), "Failed to write to LED Stripe err=%d", ret);
-					break;
+				if (msg->leds[i].num == 0) {
+					// 0 = all leds
+					for(size_t k = 1; k<=10; k++) {
+						buf[5] = k == 10 ? 0x1 : 0x2;
+						write_led(k, buf);
+					}
+				} else {
+					write_led(msg->leds[i].num, buf);
 				}
 			}
 		}