def __init__(self):
global inventory_msg
global tag_dict
# Init our global vars...
inventory_msg = Inventory()
tag_dict = {}
# Get the ~private namespace parameters from command line or launch file.
self.tinventory = float(rospy.get_param('~tinventory', '2.0'))
self.trest = float(rospy.get_param('~trest', '1.0'))
self.txpower = int(rospy.get_param('~txpower', '2000'))
self.topic = rospy.get_param('~topic', 'Inventory')
rospy.loginfo('tinventory = %d', self.tinventory)
rospy.loginfo('txpower = %d', self.txpower)
rospy.loginfo('trest = %d', self.trest)
rospy.loginfo('topic = %s', self.topic)
# Configure reader and launch
m6e.init()
reader = m6e.startReader("tmr:///dev/rfid", rfidCallback)
m6e.setHopTime(reader, 40)
m6e.getPower(reader)
m6e.setPower(reader,self.txpower)
m6e.getPower(reader)
# Create a publisher
pub = rospy.Publisher(self.topic, Inventory,queue_size=10)
# Main while loop.
while not rospy.is_shutdown():
# Prepare custom mesage
#inventory_msg = Inventory()
inventory_msg.startTime = rospy.get_rostime()
inventory_msg.maxTimeMiliSecs = int(self.tinventory) # shall change msg to be a double...
inventory_msg.TxPower = self.txpower
inventory_msg.tagList = []
tag_dict = {}
# get inventory: read tags for specified time
self.getInventory()
inventory_msg.tagList = tag_dict.values()
# publish them
pub.publish(inventory_msg)
# Sleep for a while after publishing new messages
rospy.sleep(self.trest)
def __init__(self):
global inventory_msg
global tag_dict
# Init our global vars...
inventory_msg = Inventory()
tag_dict = {}
# Get the ~private namespace parameters from command line or launch file.
self.tinventory = float(rospy.get_param('~tinventory', '2.0'))
self.trest = float(rospy.get_param('~trest', '1.0'))
self.txpower = int(rospy.get_param('~txpower', '2000'))
self.topic = rospy.get_param('~topic', 'Inventory')
rospy.loginfo('tinventory = %d', self.tinventory)
rospy.loginfo('txpower = %d', self.txpower)
rospy.loginfo('trest = %d', self.trest)
rospy.loginfo('topic = %s', self.topic)
# Configure reader and launch
m6e.init()
reader = m6e.startReader("tmr:///dev/rfid", rfidCallback)
m6e.setHopTime(reader, 40)
m6e.getPower(reader)
m6e.setPower(reader, self.txpower)
m6e.getPower(reader)
# Create a publisher
pub = rospy.Publisher(self.topic, Inventory, queue_size=10)
# Main while loop.
while not rospy.is_shutdown():
# Prepare custom mesage
#inventory_msg = Inventory()
inventory_msg.startTime = rospy.get_rostime()
inventory_msg.maxTimeMiliSecs = int(
self.tinventory) # shall change msg to be a double...
inventory_msg.TxPower = self.txpower
inventory_msg.tagList = []
tag_dict = {}
# get inventory: read tags for specified time
self.getInventory()
inventory_msg.tagList = tag_dict.values()
# publish them
pub.publish(inventory_msg)
# Sleep for a while after publishing new messages
rospy.sleep(self.trest)
#!/usr/bin/env python
import rfid
def rfidCallback(message):
pass
if __name__ == "__main__":
rfid.init()
reader = rfid.startReader("tmr:///dev/rfid", rfidCallback)
print "Current hop time is: " + str(rfid.getHopTime(reader))
print "Setting hop time to 100ms"
rfid.setHopTime(reader, 100)
print "Current hop time is: " + str(rfid.getHopTime(reader))
_ = raw_input()
rfid.stopReader(reader)
rfid.close()
#!/usr/bin/env python
import rfid
def rfidCallback(message):
pass
if __name__ == "__main__":
rfid.init()
reader = rfid.startReader("tmr:///dev/rfid", rfidCallback)
print "Current hop time is: " + str(rfid.getHopTime(reader))
print "Setting hop time to 100ms"
rfid.setHopTime(reader, 100)
print "Current hop time is: " + str(rfid.getHopTime(reader))
_ = raw_input()
rfid.stopReader(reader)
rfid.close()
import rospy
import std_msgs
import rfid
pub = ""
def rfidCallback(message):
msg = str(message[0]) + ":" + str(message[1]) + ":" + str(message[2]) + ":" + str(message[3]) + ":"
# + ":" + str(message[4]) + ":" + str(message[5])
print str(msg)
pub.publish(str(msg))
if __name__ == "__main__":
rospy.init_node("rfid_detect")
pub = rospy.Publisher("rfid/rfid_detect", std_msgs.msg.String, queue_size=100)
rfid.init()
reader = rfid.startReader("tmr:///dev/rfid", rfidCallback)
print rfid.getHopTime(reader) #defaults to 375
rfid.setHopTime(reader, 40)
print rfid.getHopTime(reader)
rospy.spin()
rfid.stopReader(reader)
rfid.close()
