def setHikZoomAndFocus_Pub():
# init node
rospy.init_node('setHikZoomAndFocus_Pub', anonymous=True)
pub = rospy.Publisher('setHikZoomAndFocus', hikInfo, queue_size=10)
rate = rospy.Rate(0.2)
hk = hikInfo()
hk.zoom = 0 # min: 0 max: 16381
hk.focus = 49153 # min: 4096 max: 49152
hk.taskID = '123'
hk.deviceID = '158'
while not rospy.is_shutdown():
try:
# send
pub.publish(hk)
rospy.loginfo('send msg to the topic: %s', 'setHikZoomAndFocus')
rate.sleep()
except rospy.ROSException as e:
rospy.logerr('%s', e)
from dg_msgs.srv import getHikImg
from dg_msgs.msg import hikInfo
def hi_pic_client(hk, isInfrared):
rospy.wait_for_service('hik_pic',10)
try:
# create a handle to the add_two_ints service
hi_pic_handle = rospy.ServiceProxy('hik_pic', getHikImg)
rospy.loginfo("Requesting %s",hk)
resp1 = hi_pic_handle(hk, isInfrared)
return resp1.state
rospy.loginfo('return creamra state is: ', resp1.state)
except rospy.ServiceException, e:
print 'Service call failed: %s'%e
if __name__ == '__main__':
hk = hikInfo()
hk.zoom = 99
hk.focus = 31421 # min:4096
hk.taskID = 'd630a1f488af4aa2a4d5f366a0494fd6'
hk.deviceID = '4b43b0aee35624cd95b910189b3dc231'
isInfrared = False
hi_pic_client(hk,isInfrared)
from dg_msgs.msg import hikInfo
def hi_pic_client(hk, isInfrared):
rospy.wait_for_service('hik_pic', 10)
try:
# create a handle to the add_two_ints service
hi_pic_handle = rospy.ServiceProxy('hik_pic', getHikImg)
rospy.loginfo("Requesting %s", hk)
resp1 = hi_pic_handle(hk, isInfrared)
return resp1.state
rospy.loginfo('return creamra state is: ', resp1.state)
except rospy.ServiceException, e:
print 'Service call failed: %s' % e
if __name__ == '__main__':
hk = hikInfo()
hk.zoom = 99
hk.focus = 31421 # min:4096
hk.taskID = 'd630a1f488af4aa2a4d5f366a0494fd6'
hk.deviceID = '4b43b0aee35624cd95b910189b3dc231'
isInfrared = False
hi_pic_client(hk, isInfrared)
