def __init__(self, dxl_io, controller_namespace, port_namespace):
# Only argument stuff
self.running = False
self.dxl_io = dxl_io
self.controller_namespace = controller_namespace
self.port_namespace = port_namespace
self.led = LedHW(dxl_io, dev_id=1)
self.state = Bool()
class LedController:
def __init__(self, dxl_io, controller_namespace, port_namespace):
# Only argument stuff
self.running = False
self.dxl_io = dxl_io
self.controller_namespace = controller_namespace
self.port_namespace = port_namespace
self.led = LedHW(dxl_io, dev_id=1)
self.state = Bool()
def initialize(self):
# Get params and allocate msgs
self.state_update_rate = rospy.get_param(
self.controller_namespace + '/rate', 2)
self.state.data = False
def start(self):
# Create subs, services, publishers, threads
self.running = True
self.command_sub = rospy.Subscriber(
self.controller_namespace + '/command', Bool, self.process_command)
self.state_pub = rospy.Publisher(self.controller_namespace + '/state',
Bool,
queue_size=5)
Thread(target=self.update_state).start()
def stop(self):
self.running = False
self.command_sub.unregister()
self.state_pub.unregister()
def process_command(self, msg):
com = 0
if msg.data:
com = 1
self.led.command(com)
def update_state(self):
rate = rospy.Rate(self.state_update_rate)
while self.running and not rospy.is_shutdown():
current_state = self.led.get_state()
if current_state == LED_ON:
self.state.data = True
else:
self.state.data = False
self.state_pub.publish(self.state)
rate.sleep()
def __init__(self, dxl_io, controller_namespace, port_namespace):
# Only argument stuff
self.running = False
self.dxl_io = dxl_io
self.controller_namespace = controller_namespace
self.port_namespace = port_namespace
self.led = LedHW(dxl_io, dev_id = 1)
self.state = Bool()
class LedController:
def __init__(self, dxl_io, controller_namespace, port_namespace):
# Only argument stuff
self.running = False
self.dxl_io = dxl_io
self.controller_namespace = controller_namespace
self.port_namespace = port_namespace
self.led = LedHW(dxl_io, dev_id = 1)
self.state = Bool()
def initialize(self):
# Get params and allocate msgs
self.state_update_rate = rospy.get_param(self.controller_namespace + '/rate', 2)
self.state.data = False
def start(self):
# Create subs, services, publishers, threads
self.running = True
self.command_sub = rospy.Subscriber(self.controller_namespace + '/command', Bool, self.process_command)
self.state_pub = rospy.Publisher(self.controller_namespace + '/state', Bool, queue_size = 5)
Thread(target=self.update_state).start()
def stop(self):
self.running = False
self.command_sub.unregister()
self.state_pub.unregister()
def process_command(self, msg):
com = 0
if msg.data:
com = 1
self.led.command(com)
def update_state(self):
rate = rospy.Rate(self.state_update_rate)
while self.running and not rospy.is_shutdown():
current_state = self.led.get_state()
if current_state == LED_ON:
self.state.data = True
else:
self.state.data = False
self.state_pub.publish(self.state)
rate.sleep()
