def __init__(self,*args,**kwargs):
self.hardware = rospy.get_param('/fs_actuation/fs_actuation_web_server/hardware')
self.mode = str(rospy.get_param('/fs_actuation/fs_actuation_web_server/mode')).lower()
self.parameters = rospy.get_param('/fs_parameters')
if self.hardware:
arduino_ports = rospy.get_param('/fs_parameters/serial_port/arduino')
self.relay_controllers = ArduinoRelayControllers(use_ports=arduino_ports)
atexit.register(self._exitActuation)
self.time_puff_last = time.time()
self.puff_duration = self.parameters['puff']['duration']
self.puff_offset = self.parameters['puff']['offset']
self.min_time_between_puffs = self.parameters['puff']['min_time_between']
self.turntable_parameters = self.parameters['animatics'][2]
self.turntable_vel = self.turntable_parameters['vel_default']
self.turntable_pos_dict = self.turntable_parameters['pos_dict']
self.travel_full_rev = self.turntable_pos_dict['full_revolution']
self.deg_per_in = 360.0/self.travel_full_rev
self.pixels_per_deg = self.parameters['camera']['y_pixels_per_degree']
self.seconds_per_pixel = 1.0/(self.pixels_per_deg*self.deg_per_in*self.turntable_vel)
self.seconds_travel_per_frame = self.parameters['camera']['y_pixels']*self.seconds_per_pixel
self.travel_camera_to_origin = self.turntable_pos_dict['full_revolution'] - self.turntable_pos_dict['camera_center']
self.travel_camera_to_puffer_male = self.travel_camera_to_origin + (self.turntable_pos_dict['puffer_male'] - self.turntable_pos_dict['origin'])
self.travel_camera_to_puffer_female = self.travel_camera_to_origin + (self.turntable_pos_dict['puffer_female'] - self.turntable_pos_dict['origin'])
self.travel_camera_to_puffer_unknown = self.travel_camera_to_origin + (self.turntable_pos_dict['puffer_unknown'] - self.turntable_pos_dict['origin'])
