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modes: make available modes user selectable with a registration option

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Some modes should only be run within the context of a mode executor and the user should not be able
to select them in the GCS. With this change, the external component registration request can be
used to set if a mode is selectable or not.
This commit is contained in:
Michael Schaeuble
2025-11-24 10:13:53 +01:00
committed by Beat Küng
parent 276cab8d3c
commit a2299b02c8
9 changed files with 155 additions and 3 deletions
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msg/versioned/RegisterExtComponentRequest.msg
+2 -2
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@@ -1,6 +1,6 @@
# Request to register an external component
uint32 MESSAGE_VERSION = 0
uint32 MESSAGE_VERSION = 1
uint64 timestamp # time since system start (microseconds)
@@ -19,6 +19,6 @@ bool register_mode_executor # registering an executor also requires a mod
bool enable_replace_internal_mode # set to true if an internal mode should be replaced
uint8 replace_internal_mode # vehicle_status::NAVIGATION_STATE_*
bool activate_mode_immediately # switch to the registered mode (can only be set in combination with an executor)
bool not_user_selectable # mode cannot be selected by the user
uint8 ORB_QUEUE_LENGTH = 2