def publish_state(self):
state = DrinksStatus()
for n in range(0,8):
state.status.append((self.digital_state >> n) & 1)
state.status = map(lambda x: not (x[0] ^ x[1]), zip(MASK,state.status))
reorder = map(lambda x: state.status[x], REORDER)
state.status = reorder
self._drinks_pub.publish(state)
def publish_state(self):
state = DrinksStatus()
for n in range(0, 8):
state.status.append((self.digital_state >> n) & 1)
state.status = map(lambda x: not (x[0] ^ x[1]),
zip(MASK, state.status))
reorder = map(lambda x: state.status[x], REORDER)
state.status = reorder
self._drinks_pub.publish(state)
def request_digital(self, req):
self._requested_digital=True
self._serial.write("!R")
while (self._requested_digital):
rospy.sleep(0.1)
state = DrinksStatus()
for n in range(0,8):
state.status.append((self.digital_state >> n) & 1)
state.status = map(lambda x: not (x[0] ^ x[1]), zip(MASK,state.status))
state.status = map(lambda x: state.status[x], REORDER)
resp = RequestDrinksStatusResponse(state)
return resp
def request_digital(self, req):
self._requested_digital = True
self._serial.write("!R")
while (self._requested_digital):
rospy.sleep(0.1)
state = DrinksStatus()
for n in range(0, 8):
state.status.append((self.digital_state >> n) & 1)
state.status = map(lambda x: not (x[0] ^ x[1]),
zip(MASK, state.status))
state.status = map(lambda x: state.status[x], REORDER)
resp = RequestDrinksStatusResponse(state)
return resp
