CHG: remove hardcoded values from protocol logic

Author: slimasziom

robotiq_hande_driver/include/protocol_logic.hpp

@@ -57,18 +57,21 @@ constexpr uint8_t kForceRequestByte = 5;
 // Gripper Status
 constexpr uint8_t kStatusByte = 0;
 constexpr uint8_t kActivationStatusPositionByte = 0;         // gACT
+constexpr auto kActivationStatusBits = 0b1;
 enum ActivationStatus{
     GRIPPER_RESET,
     GRIPPER_ACTIVATION
 };
 
 constexpr uint8_t kActionStatusPositionByte = 3;               // gGTO
+constexpr auto kActionStatusBits = 0b1;
 enum ActionStatus{
     STOPPED,
     GO_TO_POSITION_REQUEST
 };
 
 constexpr uint8_t kGripperStatusPositionByte = 4;            // gSTA
+constexpr auto kGripperStatusBits = 0b11;
 enum GripperStatus{
     GRIPPER_IN_RESET,
     ACTIVATION_IN_PROGRESS,
@@ -77,6 +80,7 @@ enum GripperStatus{
 };
 
 constexpr uint8_t kObjectDetectionStatusPositionByte = 6;    // gObj
+constexpr auto kObjectDetectionStatusBits = 0b11;
 enum ObjectDetectionStatus{
     MOTION_NO_OBJECT,
     STOPPED_OPENING_DETECTED,

robotiq_hande_driver/src/protocol_logic.cpp

@@ -119,10 +119,17 @@ void ProtocolLogic::refresh_registers(){
 
     status_ = communication_.get_input_byte(INPUT_BYTES_GRIPPER_STATUS);
 
-    activation_status_ = (ActivationStatus)((status_>>kActivationStatusPositionByte) & 1u);
-    action_status_ = (ActionStatus)((status_>>kActionStatusPositionByte) & 1u);
-    gripper_status_ = (GripperStatus)((status_>>kGripperStatusPositionByte) & 3u);
-    object_detection_status_ = (ObjectDetectionStatus)((status_>>kObjectDetectionStatusPositionByte) & 3u);
+    activation_status_ = (ActivationStatus)(
+        (status_>>kActivationStatusPositionByte) & kActivationStatusBits);
+
+    action_status_ = (ActionStatus)(
+        (status_>>kActionStatusPositionByte) & kActionStatusBits);
+
+    gripper_status_ = (GripperStatus)(
+        (status_>>kGripperStatusPositionByte) & kGripperStatusBits);
+
+    object_detection_status_ = (ObjectDetectionStatus)(
+        (status_>>kObjectDetectionStatusPositionByte) & kObjectDetectionStatusBits);
 
     fault_status_ = communication_.get_input_byte(INPUT_BYTES_FAULT_STATUS);
     //To bo specified