class Bulb:
def __init__(self):
print("Starting lamp_bulb driver!")
self.sub = rospy.Subscriber(
rospy.get_param('/driver_params/bulb_topic'), Bool, self.callback)
self.state = False
self.ch = rospy.get_param("/driver_params/relay_channel")
while True:
try:
self.relay = Relay(rospy.get_param('/driver_params/relay_tty'))
except SerialException as se:
print(
"Could not configure relay board! Trying again in 3 seconds."
)
print(se.message)
rospy.sleep(3)
continue
break
def update(self, timerEvent):
self.relay.setRelay(self.ch, self.state)
def callback(self, msg):
self.state = msg.data
def start(self):
rospy.Timer(rospy.Duration(1.0 / 50), self.update)
rospy.spin()
