{
    "version": "2.0.0",
    "tasks": [
        {
            "label": "编译轮椅状态机",
            "type": "shell",
            "command": "bash",
            "args": [
                "-c",
                "cd ${workspaceFolder} && source /opt/ros/humble/setup.bash && colcon build --packages-select wheelchair_state_machine --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_FLAGS='-O0 -g -Wall'"
            ],
            "group": {
                "kind": "build",
                "isDefault": true
            },
            "problemMatcher": [
                "$gcc"
            ],
            "presentation": {
                "reveal": "always",
                "panel": "new",
                "clear": true
            },
            "options": {
                "cwd": "${workspaceFolder}"
            }
        },
        {
            "label": "清理并重新编译",
            "type": "shell",
            "command": "bash",
            "args": [
                "-c",
                "cd ${workspaceFolder} && rm -rf build/ install/ log/ && source /opt/ros/humble/setup.bash && colcon build --packages-select wheelchair_state_machine --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_FLAGS='-O0 -g -Wall'"
            ],
            "group": "build",
            "problemMatcher": ["$gcc"],
            "presentation": {
                "reveal": "always",
                "panel": "new",
                "clear": true
            }
        },
        {
            "label": "运行节点",
            "type": "shell",
            "command": "bash",
            "args": [
                "-c",
                "cd ${workspaceFolder} && source install/setup.bash && ros2 run wheelchair_state_machine wheelchair_state_machine_node"
            ],
            "dependsOn": ["编译轮椅状态机"],
            "problemMatcher": [],
            "presentation": {
                "reveal": "always",
                "panel": "new"
            }
        },
        {
            "label": "运行节点（带参数）",
            "type": "shell",
            "command": "bash",
            "args": [
                "-c",
                "cd ${workspaceFolder} && source install/setup.bash && ros2 run wheelchair_state_machine wheelchair_state_machine_node --ros-args -p low_battery_threshold:=25.0 -p critical_battery_threshold:=15.0"
            ],
            "dependsOn": ["编译轮椅状态机"],
            "problemMatcher": [],
            "presentation": {
                "reveal": "always",
                "panel": "new"
            }
        },
        {
            "label": "查看话题列表",
            "type": "shell",
            "command": "bash",
            "args": [
                "-c",
                "cd ${workspaceFolder} && source install/setup.bash && ros2 topic list"
            ],
            "problemMatcher": [],
            "presentation": {
                "reveal": "always",
                "panel": "new"
            }
        },
        {
            "label": "查看电池状态话题",
            "type": "shell",
            "command": "bash",
            "args": [
                "-c",
                "cd ${workspaceFolder} && source install/setup.bash && ros2 topic echo /battery_state"
            ],
            "problemMatcher": [],
            "presentation": {
                "reveal": "always",
                "panel": "new"
            }
        }
    ]
}