def __init__(self):
self.wifi_manager_enabled = rospy.get_param("~wifi_manager_enabled")
self.launch_ros_processes = rospy.get_param("~launch_ros_processes")
self.modbus_server_enabled = rospy.get_param("~modbus_server_enabled")
self.modbus_server_address = rospy.get_param("~modbus_server_address")
self.modbus_server_port = rospy.get_param("~modbus_server_port")
self.niryo_one_ros_setup = None
if self.launch_ros_processes:
self.niryo_one_ros_setup = NiryoOneRosSetup()
rospy.sleep(10) # let some time for other processes to launch (does not affect total launch time)
# Start wifi manager
if self.wifi_manager_enabled:
self.wifi_manager = WifiConnectionManager()
self.fans_manager = FansManager()
self.ros_log_manager = RosLogManager()
self.shutdown_manager = ShutdownManager()
self.led_manager = LEDManager()
self.niryo_one_button = NiryoButton()
self.digital_io_panel = DigitalIOPanel()
# Start Modbus server
if self.modbus_server_enabled:
self.modbus_server = ModbusServer(self.modbus_server_address, self.modbus_server_port)
rospy.on_shutdown(self.modbus_server.stop)
self.modbus_server.start()
class NiryoOneRpi:
def setup_fans(self):
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)
GPIO.setup(FAN_1_GPIO, GPIO.OUT)
GPIO.setup(FAN_2_GPIO, GPIO.OUT)
rospy.sleep(0.1)
GPIO.output(FAN_1_GPIO, GPIO.HIGH)
GPIO.output(FAN_2_GPIO, GPIO.HIGH)
rospy.loginfo("------ RPI FANS ON ------")
def __init__(self):
self.wifi_manager_enabled = rospy.get_param("~wifi_manager_enabled")
self.launch_ros_processes = rospy.get_param("~launch_ros_processes")
self.modbus_server_enabled = rospy.get_param("~modbus_server_enabled")
self.modbus_server_address = rospy.get_param("~modbus_server_address")
self.modbus_server_port = rospy.get_param("~modbus_server_port")
self.niryo_one_ros_setup = None
if self.launch_ros_processes:
self.niryo_one_ros_setup = NiryoOneRosSetup()
rospy.sleep(
10
) # let some time for other processes to launch (does not affect total launch time)
# Start wifi manager
if self.wifi_manager_enabled:
self.wifi_manager = WifiConnectionManager()
self.setup_fans()
self.ros_log_manager = RosLogManager()
self.led_manager = LEDManager()
self.niryo_one_button = NiryoButton()
self.digital_io_panel = DigitalIOPanel()
# Start Modbus server
if self.modbus_server_enabled:
self.modbus_server = ModbusServer(self.modbus_server_address,
self.modbus_server_port)
rospy.on_shutdown(self.modbus_server.stop)
self.modbus_server.start()
#!/usr/bin/env python
import rospy
from niryo_one_modbus.modbus_server import ModbusServer
if __name__ == '__main__':
rospy.init_node('modbus_server_test')
server = ModbusServer("0.0.0.0", 5020)
rospy.on_shutdown(server.stop)
server.start()
rospy.spin()