def talker(self):
while not rospy.is_shutdown():
if self.ser.in_waiting:
try:
data= self.ser.readline() # Read data from serial port
if data.startswith('_'):
msg=String()
msg.data=data
rospy.loginfo(msg)
self.pubRaw.publish(msg)
else:
try:
dataVec=data[0:-1].split("\t")
msg=serial_data()
msg.milliseconds=long(dataVec[0])
msg.rate=long(dataVec[1])
msg.data=map(float,dataVec[2:-1])
rospy.loginfo(msg)
self.pub.publish(msg)
except ValueError:
rospy.logerr('PRESSURE CONTROL: data was garbled...ignoring it')
except serial.serialutil.SerialException:
rospy.logerr('PRESSURE CONTROL: Serial read error...ignoring it')
self.rate.sleep()
def talker():
ser = serial_coms.resume(devname,baud)
serial_coms.initialize(ser)
pub = rospy.Publisher('/object_return/location', serial_data, queue_size=10)
pubRaw = rospy.Publisher('/object_return/raw', String, queue_size=10)
rospy.init_node('talker',anonymous=True)
while not rospy.is_shutdown():
if ser.in_waiting:
try:
data= ser.readline() # Read data from serial port
if data.startswith('_'):
msg=String()
msg.data=data
rospy.loginfo(msg)
pubRaw.publish(msg)
else:
try:
dataVec=data[0:-1].split("\t")
msg=serial_data()
msg.milliseconds=long(dataVec[0])
msg.rate=long(dataVec[1])
msg.data=map(float,dataVec[2:])
rospy.loginfo(msg)
pub.publish(msg)
except ValueError:
rospy.logerr('OBJECT RETURN: data was garbled...ignoring it')
except serial.serialutil.SerialException:
rospy.logerr('OBJECT RETURN: Serial read error...ignoring it')
