def Run(self):
# Get and broadcast status of all USB Relays.
while not rospy.is_shutdown():
relaystatus = usbRelayStatus()
relaystatus.relayOn = [False] * 8 # Fill array for use.
if self.relayExists: # Only poll if the relay exists.
relaystatus.relayPresent = True
# Gather USB Relay status for each relay and publish
for i in range(1,9):
relayEnabled = rospy.get_param("~relay" + str(i) + "enabled", False)
if relayEnabled: # Do not touch (poll or anything) Relays that are not listed as enabled.
relayLabel = rospy.get_param("~relay" + str(i) + "label", "No Label")
while self._Busy: # Prevent simultaneous polling of serial port by multiple processes within this app due to ROS threading.
print "BitBangDevice Busy . . ."
rospy.sleep(0.1)
self._Busy = True
state = get_relay_state( BitBangDevice(self.relaySerialNumber).port, str(i) )
self._Busy = False
if state == 0:
#print "Relay " + str(i) + " state:\tOFF (" + str(state) + ")"
#print str(i) + " - " + relayLabel + ": OFF"
relaystatus.relayOn[i-1] = False
else:
#print "Relay " + str(i) + " state:\tON (" + str(state) + ")"
#print str(i) + " - " + relayLabel + ": ON"
relaystatus.relayOn[i-1] = True
else: # If the relay does not exist just broadcast "False" to everything.
relaystatus.relayPresent = False
self._usbRelayStatusPublisher.publish(relaystatus) # Publish USB Relay status
self.r.sleep() # Sleep long enough to maintain the rate set in __init__
def Run(self):
# Get and broadcast status of all USB Relays.
while not rospy.is_shutdown():
relaystatus = usbRelayStatus()
relaystatus.relayOn = [False] * 8 # Fill array for use.
if self.relayExists: # Only poll if the relay exists.
relaystatus.relayPresent = True
# Gather USB Relay status for each relay and publish
for i in range(1,9):
relayEnabled = rospy.get_param("~relay" + str(i) + "enabled", False)
if relayEnabled: # Do not touch (poll or anything) Relays that are not listed as enabled.
relayLabel = rospy.get_param("~relay" + str(i) + "label", "No Label")
while self._Busy: # Prevent simultaneous polling of serial port by multiple processes within this app due to ROS threading.
rospy.loginfo("BitBangDevice Busy . . .")
rospy.sleep(0.2)
self._Busy = True
state = get_relay_state( BitBangDevice(self.relaySerialNumber).port, str(i) )
self._Busy = False
if state == 0:
#print "Relay " + str(i) + " state:\tOFF (" + str(state) + ")"
#print str(i) + " - " + relayLabel + ": OFF"
relaystatus.relayOn[i-1] = False
else:
#print "Relay " + str(i) + " state:\tON (" + str(state) + ")"
#print str(i) + " - " + relayLabel + ": ON"
relaystatus.relayOn[i-1] = True
else: # If the relay does not exist just broadcast "False" to everything.
relaystatus.relayPresent = False
self._usbRelayStatusPublisher.publish(relaystatus) # Publish USB Relay status
self.r.sleep() # Sleep long enough to maintain the rate set in __init__
def Run(self):
'''
Description: main loop for the service node which performs checking on the change state of the relays and
publishes a message when there is a change
:return: None
'''
while not rospy.is_shutdown():
relay_status = usbRelayStatus()
if self._relay_exists:
for key, io in self._relay_io_map.iteritems():
if not io.LastState is io.CommandedState:
relay_status.Name.append(key)
relay_status.States.append(io.ActualState)
else:
relay_status.Names = ["Unused"] * self.NUM_RELAYS
relay_status.States = [False] * self.NUM_RELAYS
self._usbRelayStatusPublisher.publish(relay_status) # Publish USB Relay status
self.r.sleep() # Sleep long enough to maintain the rate set in __init__
