instance._msgid = msg.msgid
instance._payload = msg.payload
"4. publish the output using the protocol"
if __name__ == "__main__":
param_config = utils.read_yaml('xilva_core', 'config')
_RATE = param_config['rate']
nh = rospy.init_node('X_encoder')
rate = rospy.Rate(_RATE)
message = Received_msg()
"activate logging"
logtext = logs.Roslog('X_encoder')
"receive the mixer message from the bus"
sub = rospy.Subscriber(topics.comm['bus'], Evans, callback, message)
"decide the protocol to use"
if (dev_name == "ibuki_gazebo"):
protocol = xprotocols.ibuki_gazebo()
robot = Ibuki()
elif (dev_name == "aoi_gazebo"):
protocol = xprotocols.ibuki_gazebo()
robot = Aoi()
elif (dev_name == "ibuki"):
protocol = xprotocols.ibuki()
elif (dev_name == "commu_with_mobility"):
protocol = xprotocols.commu_with_mobility()
else:
instance.payload = msg.payload
"socket initialization"
"a subscriber to receive and send"
"get ip, port"
if __name__ == "__main__":
motorsock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
nh = rospy.init_node('ibuki_actuators_'+dev_name, anonymous = True)
param_config = utils.read_yaml('xilva_core', 'ibuki')
_IP = param_config['IP']
_PORT = param_config['PORT']
rate = rospy.Rate(_RATE)
mbed_joint = Joint()
logtext = logs.Roslog("ibuki_actuator")
sub = rospy.Subscriber('/ibuki/encoded_commands', EvansString, callback, mbed_joint)
while not rospy.is_shutdown():
if (mbed_joint.payload != ''):
break
rospy.sleep(0.5)
rospy.loginfo("Waiting commands...")
while not rospy.is_shutdown():
embed_msg = mbed_joint.payload
try:
motorsock.sendto(embed_msg, (_IP[dev_name], _PORT[dev_name]))
except socket.error as error:
if error.errno == errno.ENETUNREACH:
#!/usr/bin/env python
# -*- coding: utf-8 -*-
import rospy
from xilva_core.msg import EvansString
import socket, errno, sys, os
import modules.utils as utils
import modules.logging as logs
network_flag = 0
if __name__ == "__main__":
nh = rospy.init_node('ibuki_netlistener', anonymous = True)
logtext = logs.Roslog('ibuki_netlistener')
param_config = utils.read_yaml('xilva_core', 'ibuki')
_IP = param_config['IP']
_PORT = param_config['PORT']
parts_name = ['neck', 'arml', 'armr', 'handl', 'handr', 'headl', 'headc', 'headr', 'hip', 'wheel']
rate =rospy.Rate(1)
while not rospy.is_shutdown():
for dev_name in parts_name:
response = os.system("ping -c 1 " +_IP[dev_name]+" -w 1 >/dev/null 2>&1")
if response != 0:
"interrupt 0 in the future"
network_flag = 99
rospy.logwarn('network erros')
# rospy.logwarn(logtext(2))
"blend tree to merge normal payloads"
Evans_payload = self.merge()
"interrupt mechanism: if interrupt is triggered:"
"make message"
utils.make_message(self._pub_msg, 'mixer', 1, 1, Evans_payload)
self.pub_p.publish(self._pub_msg)
loop_rate.sleep()
if __name__ == "__main__":
nh = rospy.init_node("XBus")
param_config = utils.read_yaml('xilva_core', 'config')
"start xilva roslog"
logtext = logs.Roslog("XBus")
if (param_config == 0):
rospy.logfatal(logtext.report_log(10))
"Load Static Variables."
dev_name = param_config['ref_robot']
"dofs: the dofs can be more than 50, but not less than 50"
_DRIVEUNITS = param_config['dofs']
_RATE = param_config['rate']
_TRATE = param_config['broadcast']
"Set ROS parameters."
rospy.set_param(
dev_name, {
'joint_mask_h': param_config['joint_mask_h'],
'joint_mask_l': param_config['joint_mask_l'],