def publish_vision_info(client, topic, info):
#Use same device name as in vision_commands.py
mid1 = master.publish_cmd(client,
topic,
SetAttrMessage('Vision', 'class_name',
repr(info[0])),
qos=0)
mid2 = master.publish_cmd(
client,
topic,
SetAttrMessage('Vision', 'distance_angle', repr((info[1], info[2]))),
qos=0
) #do we care about quality of service here??? probably not,want speed
return mid1, mid2
def addVisionDevices(client, topic, qos=0):
return master.publish_cmd(client,
topic,
AddDeviceMessage('Vision', "VisualFeedback()"),
delay=1,
qos=qos)
def publish_all(client, config_topics_to_publish):
for topic in config_topics_to_publish:
if topic == "IR":
sensor = "IR_control"
for property_name in items_to_publish[sensor]:
prop = getattr(publishable_names_dict["IR_control"],
property_name)
master.publish_cmd(
client, topic,
SetAttrMessage(sensor, property_name, repr(prop)))
elif topic == "actuators":
for pub, property_names in items_to_publish.items():
if ("out" in pub):
for property_name in property_names:
val = getattr(publishable_names_dict[pub],
property_name)
master.publish_cmd(
client, topic,
SetAttrMessage(pub, property_name, repr(val)))
elif topic == "odometry":
sensor = "Odometer"
for property_name in items_to_publish[sensor]:
prop = getattr(publishable_names_dict[sensor], property_name)
master.publish_cmd(
client, topic,
SetAttrMessage(sensor, property_name, repr(prop)))
def addSensorDevices(client,topic):
#Use same names as in sensors_names_dict
#Add remote controller
master.publish_cmd(client,topic, AddDeviceMessage("IR_control", "remoteControl.InfraredSensor()"),1)
master.publish_cmd(client,topic, SetAttrMessage("IR_control", "mode","IR-REMOTE"),1)
master.publish_cmd(client,"data_collect",AddDeviceMessage("data_collector","DataCollector()"),1)
print("added data")
def addOdometryDevices(client,topic,qos):
master.publish_cmd(client, topic,AddDeviceMessage('Odometer', "Odometry()"),1,qos=qos)
def addActuatorDevices(client,topic):
#Use same names as in actuators_and_names_dict
#Motors
master.publish_cmd(client, topic,AddDeviceMessage('LargeMotor(outA)', "ev3.LargeMotor()"),1)
master.publish_cmd(client, topic,SetAttrMessage('LargeMotor(outA)', "address","outA"),1)
master.publish_cmd(client, topic,AddDeviceMessage('LargeMotor(outB)', "ev3.LargeMotor()"),1)
master.publish_cmd(client, topic,SetAttrMessage('LargeMotor(outB)', "address","outB"),1)
master.publish_cmd(client, topic,AddDeviceMessage('LargeMotor(outD)', "ev3.LargeMotor()"),1)
master.publish_cmd(client, topic,SetAttrMessage('LargeMotor(outD)', "address","outD"),1)
master.publish_cmd(client, topic,AddDeviceMessage('MediumMotor(outC)', "ev3.MediumMotor()"),1)
master.publish_cmd(client, topic,SetAttrMessage('MediumMotor(outC)', "address","outD"),1)