update trigger file

Author: KingRichord

infinite_sense_core/include/config.h

@@ -42,14 +42,4 @@ enum TriggerDevice {
   LASER = 6,  // laser pps
   GPS = 7,    // gps pps
 };
-//
-std::map<TriggerDevice, std::string> device_topics{
-    {IMU_1, "imu_1_trigger"},
-    {IMU_2, "imu_2_trigger"},
-    {CAM_1, "cam_1_trigger"},
-    {CAM_2, "cam_2_trigger"},
-    {CAM_3, "cam_3_trigger"},
-    {CAM_4, "cam_4_trigger"},
-    {LASER, "laser_trigger"},
-    {GPS, "gps_trigger"}};
 }  // namespace infinite_sense

infinite_sense_core/src/trigger.cpp

@@ -2,6 +2,16 @@
 
 namespace infinite_sense {
 
+std::map<TriggerDevice, std::string> device_map_topics{
+    {IMU_1, "imu_1_trigger"},
+    {IMU_2, "imu_2_trigger"},
+    {CAM_1, "cam_1_trigger"},
+    {CAM_2, "cam_2_trigger"},
+    {CAM_3, "cam_3_trigger"},
+    {CAM_4, "cam_4_trigger"},
+    {LASER, "laser_trigger"},
+    {GPS, "gps_trigger"}};
+
 TriggerManger::TriggerManger() {
   uint64_t time = std::numeric_limits<uint64_t>::max();
   const std::tuple<bool, uint64_t> empty = std::tuple(0, time);
@@ -47,9 +57,9 @@ void TriggerManger::PublishDeviceStatus(const TriggerDevice dev, const uint64_t
       uint64_t timestamp;
       bool status;
     } dev_data{time, status};
-    Messenger::GetInstance().PubStruct(device_topics[dev], &dev_data, sizeof(DeviceStatus));
+    Messenger::GetInstance().PubStruct(device_map_topics[dev], &dev_data, sizeof(DeviceStatus));
   } catch (const std::exception& e) {
-    LOG(ERROR) << "Failed to publish " << device_topics[dev] << " status: " << e.what();
+    LOG(ERROR) << "Failed to publish " << device_map_topics[dev] << " status: " << e.what();
   }
 }
 }  // namespace infinite_sense