class queueRead():
def __init__(self):
rospy.init_node("queueRead", anonymous=True)
self.nodename = rospy.get_name()
rospy.loginfo("%s started" % self.nodename)
### initialize variables
self.topic_vel = 'cmd_vel'
self.topic_stop = 'motor_stop'
### get parameters ####
self.SAS_name = (rospy.get_param("~SAS_NAME"))
self.SAS_value = (rospy.get_param("~SAS_VALUE"))
self.namespace = (rospy.get_param("~TOPIC_NAMESPACE"))
self.bot_id = (rospy.get_param("~BOT_ID"))
self.bus_service = ServiceBusService(
service_namespace=self.namespace,
shared_access_key_name=self.SAS_name,
shared_access_key_value=self.SAS_value)
self.bus_service.create_subscription((self.topic_vel + self.bot_id),
self.bot_id)
self.bus_service.create_subscription((self.topic_stop + self.bot_id),
self.bot_id)
### setup ###
self.pub_lmotor = rospy.Publisher('lmotor_cmd', Float32, queue_size=10)
self.pub_rmotor = rospy.Publisher('rmotor_cmd', Float32, queue_size=10)
self.pub_motor_stop = rospy.Publisher('motorStop',
Int16,
queue_size=10)
def read(self):
while not rospy.is_shutdown():
try:
msg = self.bus_service.receive_subscription_message(
(self.topic_vel + self.bot_id),
self.bot_id,
peek_lock=False)
if msg.body is not None:
res = list(map(float, msg.body.split(' ')))
self.pub_lmotor.publish(res[0])
self.pub_lmotor.publish(res[1])
msg = self.bus_service.receive_subscription_message(
(self.topic_stop + self.bot_id),
self.bot_id,
peek_lock=False)
if msg.body is not None:
self.pub_lmotor.publish(int(msg.body))
except:
pass
from azure.servicebus.control_client import ServiceBusService, Message, Topic, Rule, DEFAULT_RULE_NAME
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BOARD)
GPIO.setup(8, GPIO.OUT, initial=GPIO.LOW)
bus_service = ServiceBusService(
service_namespace='***REPLACE ME, with your Service Bus Namespace Name***',
shared_access_key_name=
'***REPLACE ME, with your Shared Access Policy Name***',
shared_access_key_value=
'***REPLACE ME, with your Shared Access Key Value***')
while True:
msg = bus_service.receive_subscription_message(
'***REPLACE ME with your Service Bus Topic Name***',
'***REPLACE ME with your Service Bus Topic Subscription Name***',
peek_lock=True)
if msg.body is not None:
value = json.loads(msg.body.decode("utf-8"))
print(value["status"])
if value["status"] == 1:
GPIO.output(8, GPIO.HIGH)
print('The LED has been turned ON.')
elif value["status"] == 0:
GPIO.output(8, GPIO.LOW)
print('The LED has been turned OFF.')
else:
print("Please enter a valid value.")
msg.delete()
class queueRead():
def __init__(self):
### initialize variables
self.topic_vel = os.environ["TOPIC_VELOCITY"]
self.topic_stop = os.environ["TOPIC_STOP"]
### get parameters ####
self.SAS_name = os.environ["SAS_NAME"]
self.SAS_value = os.environ["SAS_VALUE"]
self.namespace = os.environ["TOPIC_NAMESPACE"]
self.bot_id = os.environ["BOT_ID"]
self.LGPWM = os.getenv('LGPWM', int(12))
self.LGIN1 = os.getenv('LGIN1', int(5))
self.LGIN2 = os.getenv('LGIN2', int(6))
self.RGPWM = os.getenv('RGPWM', int(13))
self.RGIN1 = os.getenv('RGIN1', int(16))
self.RGIN2 = os.getenv('RGIN2', int(26))
self.bus_service = ServiceBusService(
service_namespace=self.namespace,
shared_access_key_name=self.SAS_name,
shared_access_key_value=self.SAS_value)
self.bus_service.create_subscription((self.topic_vel + self.bot_id),
self.bot_id)
self.bus_service.create_subscription((self.topic_stop + self.bot_id),
self.bot_id)
### setup ###
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
GPIO.setup(self.LGPWM, GPIO.OUT)
GPIO.setup(self.LGIN1, GPIO.OUT)
GPIO.setup(self.LGIN2, GPIO.OUT)
self.Lpwm = GPIO.PWM(self.LGPWM, 1000)
self.Lpwm.start(0)
GPIO.setup(self.RGPWM, GPIO.OUT)
GPIO.setup(self.RGIN1, GPIO.OUT)
GPIO.setup(self.RGIN2, GPIO.OUT)
self.Rpwm = GPIO.PWM(self.RGPWM, 1000)
self.Rpwm.start(0)
@staticmethod
def motorCall(Gpwm, GIN1, GIN2, msg):
if (msg > 0):
GPIO.output(GIN1, GPIO.HIGH)
GPIO.output(GIN2, GPIO.LOW)
else:
GPIO.output(GIN1, GPIO.LOW)
GPIO.output(GIN2, GPIO.HIGH)
pwm_per = abs(msg)
Gpwm.ChangeDutyCycle(pwm_per)
def motorStop(self):
self.Lpwm.ChangeDutyCycle(0)
self.Rpwm.ChangeDutyCycle(0)
GPIO.output(self.LGIN1, GPIO.LOW)
GPIO.output(self.LGIN2, GPIO.LOW)
GPIO.output(self.RGIN1, GPIO.LOW)
GPIO.output(self.RGIN2, GPIO.LOW)
def read(self):
while (1):
try:
msg = self.bus_service.receive_subscription_message(
(self.topic_vel + self.bot_id),
self.bot_id,
peek_lock=False)
if msg.body is not None:
res = list(map(int, msg.body.split(' ')))
queueRead.motorCall(self.Lpwm, self.LGIN1, self.LGIN2,
res[0])
queueRead.motorCall(self.Rpwm, self.RGIN1, self.RGIN2,
res[1])
msg = self.bus_service.receive_subscription_message(
(self.topic_stop + self.bot_id),
self.bot_id,
peek_lock=False)
if msg.body is not None:
self.motorStop()
except:
pass
mongo_conn_str = os.getenv('PROD_MONGODB')
shared_access_key = os.getenv('shared_access_key')
shared_access_value = os.getenv('shared_access_value')
service_namespace = os.getenv('service_namespace')
print(service_namespace)
bus_service = ServiceBusService(service_namespace=service_namespace, shared_access_key_name=shared_access_key,
shared_access_key_value=shared_access_value)
topic_name = "on-prem-test" # the topic name already defined in azure
subscription = "heroku_consumer" # unique name for this application/consumer
bus_service.create_topic(topic_name)
# create subscription
bus_service.create_subscription(topic_name, subscription)
# get subscription message
msg = bus_service.receive_subscription_message(
topic_name, subscription, peek_lock=False)
msg_body = None
entity = None
if msg.body is None:
print('No messages to retrieve')
exit()
else:
msg_body = msg.body.decode("utf-8")
entity = json.loads(msg_body)
print(msg_body)
try:
# write to DB
mClient = MongoClient(mongo_conn_str)
# get db
db = mClient.neiss_test
