def node_active():
fmsg = NECST_list_msg()
fmsg.from_node = node_name
nmsg = String_necst()
nmsg.from_node = node_name
while not rospy.is_shutdown():
#ct=dt.utcnow()
#date = ct.strftime("%Y-%m-%d")
#try:
#data1=db.SELECT("Node_status", date, date, num=1)
if func_status:
#data_dict1 = ast.literal_eval(data1[1])
#func_status.update(data_dict1)
param = func_status
fmsg.m2 = param["m2_controller"]
fmsg.m4 = param["m4_controller"]
fmsg.hot = param["abs_controller"]
fmsg.scan_linear = param["worldcoordinate_linear"]
fmsg.scan_onepoint = param["worldcoordinate_onepoint"]
fmsg.scan_planet = param["worldcoordinate_planet"]
fmsg.scan_otf = param["worldcoordinate_otf"]
fmsg.encoder = param["encoder_status"]
fmsg.azel_list = param["azel_list"]
fmsg.timestamp = time.time()
pub_func.publish(fmsg)
if node_status:
#node_status = ast.literal_eval(data1[2])
param = str(node_status)
nmsg.data = param
nmsg.timestamp = time.time()
pub_node.publish(nmsg)
#except Exception as e:
#rospy.logerr(e)
time.sleep(0.1)
return
def registration(self, name=""):
msg = String_necst()
msg.data = name
msg.from_node = self.node_name
msg.timestamp = time.time()
self.pub.publish(msg)
return
def authority_check(self):
msg = String_necst()
while not rospy.is_shutdown():
self.node_alive()
msg.data = self.authority
self.pub.publish(msg)
#print(msg)
time.sleep(1.)
return
def pub_status(self):
msg = String_necst()
msg.from_node = node_name
while not rospy.is_shutdown():
msg.data = self.position #dev.get_pos()
msg.timestamp = time.time()
self.pub.publish(msg)
time.sleep(0.1)
return
def pub_topic():
msg = String_necst()
while not rospy.is_shutdown():
ctopic = topic_dict
dump = json.dumps(ctopic)
msg.from_node = node_name
msg.timestamp = time.time()
msg.data = dump
pub.publish(msg)
time.sleep(1)
def alert(self, message, node_name="", emergency=False):
msg = String_necst()
msg.data = message
msg.from_node = node_name
msg.timestamp = time.time()
self.pub_alert.publish(msg)
if emergency:
self.pub_obs_stop.publish(message, self.node_name, time.time())
else:
pass
return
def move_hot(self, position):
"""hotload move
Parameter
---------
position : in or out
"""
status = String_necst()
status.data = position
status.from_node = self.node_name
status.timestamp = time.time()
self.pub_hot.publish(status)
return
def registration(self, name, user=""):
msg = String_necst()
if user == "master":
msg.data = name
msg.from_node = "master"
msg.timestamp = time.time()
else:
msg.data = name
msg.from_node = self.node_name
msg.timestamp = time.time()
self.pub_regist.publish(msg)
return
def drive(self, switch = ""):
"""change drive
Parameters
----------
swith : on or off
"""
msg = String_necst()
self.move_stop()
if not switch:
switch = str(input("drive change (on/off) : ")).lower()
msg.data = switch
msg.from_node = self.node_name
msg.timestamp = time.time()
if switch in ["on", "off", "ON", "OFF"]:
self.pub_drive.publish(msg)
self.pub_contactor.publish(msg)
print("drive : ", switch, "!!")
else:
rospy.logwarn("!!bad command!!")
pass
return
