:param my_board: an pymata express instance
:param trigger_pin: Arduino pin number
:param echo_pin: Arduino pin number
:param callback: The callback function
"""
# set the pin mode for the trigger and echo pins
await my_board.set_pin_mode_sonar(trigger_pin, echo_pin, callback)
# wait forever
while True:
try:
await asyncio.sleep(.01)
except KeyboardInterrupt:
await my_board.shutdown()
sys.exit(0)
# get the event loop
loop = asyncio.get_event_loop()
# instantiate pymata_express
board = telemetrix_aio.TelemetrixAIO()
try:
# start the main function
loop.run_until_complete(sonar(board, TRIGGER_PIN, ECHO_PIN, the_callback))
except KeyboardInterrupt:
loop.run_until_complete(board.shutdown())
sys.exit(0)
This function will request that the supplied characters be
sent to the board and looped back and printed out to the console.
:param my_board: a pymata4 instance
:param loop_back_data: A list of characters to have looped back
"""
try:
for data in loop_back_data:
await my_board.loop_back(data, callback=the_callback)
print(f'Sending: {data}')
await asyncio.sleep(1)
except KeyboardInterrupt:
my_board.shutdown()
sys.exit(0)
# get the event loop
loop = asyncio.get_event_loop()
# instantiate pymata_express
board = telemetrix_aio.TelemetrixAIO(ip_address='192.168.2.220')
char_list = ['A', 'B', 'Z']
try:
# start the main function
loop.run_until_complete(loop_back(board, char_list))
loop.run_until_complete(board.shutdown())
except KeyboardInterrupt:
loop.run_until_complete(board.shutdown())
sys.exit(0)
os.kill(os.getpid(), signal.SIGINT)
if __name__ == "__main__":
loop = asyncio.get_event_loop()
# Catch signals to exit properly
# We need to do it this way instead of usgin the try/catch
# as in the telemetrix examples
signals = (signal.SIGHUP, signal.SIGTERM, signal.SIGINT)
for s in signals:
loop.add_signal_handler(
s, lambda: asyncio.ensure_future(shutdown(s, loop, board)))
# Initialize the telemetrix board
board = telemetrix_aio.TelemetrixAIO(loop=loop)
# Initialize the ROS node as anonymous since there
# should only be one instnace running.
rospy.init_node("zoef_telemetrix", anonymous=False, disable_signals=False)
rospy.on_shutdown(send_sigint)
# Start all tasks for sensors and actuators
device = "zoef"
sensor_tasks = sensors(loop, board, device)
actuator_tasks = actuators(loop, board, device)
all_tasks = sensor_tasks + actuator_tasks
for task in all_tasks:
loop.run_until_complete(task)
# Should not be: loop.run_forever() or rospy.spin()