def dome_track(self):
"""Dome\u3068\u671b\u9060\u93e1\u306esync"""
#self.ant.dome_track()
#return
dome = Dome_msg()
dome.name = 'command'
dome.value = 'dome_tracking'
self.pub13.publish(dome)
def dome_track_end(self):
"""Dome\u3068\u671b\u9060\u93e1\u306esync\u306e\u7d42\u4e86"""
#self.ant.dome_track_end()
#return
dome = Dome_msg()
dome.name = 'command'
dome.value = 'dome_track_end'
self.pub13.publish(dome)
def memb_close(self):
#"""\u30e1\u30f3\u30d6\u30ec\u30f3\u306eopenclose"""
#self.ant.memb_close()
#return
dome = Dome_msg()
dome.name = 'command'
dome.value = 'memb_close'
self.pub13.publish(dome)
def dome_close(self):
#"""Dome\u306eclose"""
#self.ant.dome_close()
#return
dome = Dome_msg()
dome.name = 'command'
dome.value = 'dome_close'
self.pub13.publish(dome)
def memb_open(self):
"""\u30e1\u30f3\u30d6\u30ec\u30f3\u306eopen"""
#self.ant.memb_open()
#return
dome = Dome_msg()
dome.name = 'command'
dome.value = 'memb_open'
self.pub13.publish(dome)
def dome_open(self):
#"""Dome\u306eopen"""
#self.ant.dome_open()
#return
dome = Dome_msg()
dome.name = 'command'
dome.value = 'dome_open'
self.pub13.publish(dome)
def dome_stop(self):
"""Dome\u306eclose\u52d5\u4f5c\u3092\u505c\u6b62"""
#self.dome_track_end()
#self.ant.dome_stop()
#return
dome = Dome_msg()
dome.name = 'command'
dome.value = 'dome_stop'
self.pub13.publish(dome)
def dome_move(self,dist):
dome = Dome_msg()
dome.name = 'command'
dome.value = 'dome_move'
self.pub13.publish(dome)
dome = Dome_msg()
dome.name = 'target_az'
dome.value = str(dist)
self.pub13.publish(dome)
def dome_track_end(self):
"""Dome stop antenna_az sync"""
dome = Dome_msg()
dome.name = 'command'
dome.value = 'dome_track_end'
dome.from_node = self.node_name
dome.timestamp = time.time()
self.pub_dome.publish(dome)
return
def dome_stop(self):
"""Dome stop"""
dome = Dome_msg()
dome.name = 'command'
dome.value = 'dome_stop'
dome.from_node = self.node_name
dome.timestamp = time.time()
self.pub_dome.publish(dome)
return
def memb_close(self):
"""membrane close"""
dome = Dome_msg()
dome.name = 'command'
dome.value = 'memb_close'
dome.from_node = self.node_name
dome.timestamp = time.time()
self.pub_dome.publish(dome)
return
def check_thread(self):
""" checking alert """
emergency = Bool()
dome = Dome_msg()
while not rospy.is_shutdown():
print(self.state, self.wind_speed, self.rain, self.out_humi,
self.memb, self.dome_r, self.dome_l)
if self.rain > 1.:
self.state = "Warning : probably rainning...\n"
rospy.logwarn(self.state)
else:
pass
if self.out_humi > 80:
self.state = "Warning : out_humi over 80 % \n"
rospy.logwarn(self.state)
else:
pass
if 10. < self.wind_speed < 15.:
self.state = "Warning : wind_speed over 10.\n"
rospy.logwarn(self.state)
elif self.wind_speed > 15:
self.state = "Emergency : wind_speed over 15.\n"
rospy.logfatal(self.state)
emergency.data = True
self.pub_emergency.publish(emergency)
if self.memb.lower() == 'open':
dome.name = 'command'
dome.value = 'memb_close'
self.pub_dome.publish(dome)
if self.dome_r.lower() == 'open' or self.dome_l.lower(
) == 'open':
dome.name = 'command'
dome.value = 'dome_close'
self.pub_dome.publish(dome)
else:
pass
time.sleep(0.1)
return
def dome_move(self,dist):
""" dome move
Parameters
----------
dist : distance [deg]
"""
dome = Dome_msg()
dome.name = 'command'
dome.value = 'dome_move'
dome.from_node = self.node_name
dome.timestamp = time.time()
self.pub_dome.publish(dome)
dome_move = Dome_msg()
dome_move.name = 'target_az'
dome_move.value = str(dist)
dome_move.from_node = self.node_name
dome_move.timestamp = time.time()
self.pub_dome_move.publish(dome_move)
return