def __init__(self,*args,**kwargs):
rospy.loginfo('Initializing mightex_controller_node...')
self._initialized = False
self._cmd_current_sub = rospy.Subscriber('~cmd_current',CmdCurrent,self._cmd_current_callback)
self._cmd_off_sub = rospy.Subscriber('~cmd_off',CmdChannel,self._cmd_off_callback)
self._cmd_all_off_sub = rospy.Subscriber('~cmd_all_off',Empty,self._cmd_all_off_callback)
self._dev = MightexDevice()
rospy.loginfo('mightex_controller_node initialized!')
self._setup = False
self._setup_device()
self._initialized = True
class MightexController(object):
def __init__(self,*args,**kwargs):
rospy.loginfo('Initializing mightex_controller_node...')
self._initialized = False
self._cmd_current_sub = rospy.Subscriber('~cmd_current',CmdCurrent,self._cmd_current_callback)
self._cmd_off_sub = rospy.Subscriber('~cmd_off',CmdChannel,self._cmd_off_callback)
self._cmd_all_off_sub = rospy.Subscriber('~cmd_all_off',Empty,self._cmd_all_off_callback)
self._dev = MightexDevice()
rospy.loginfo('mightex_controller_node initialized!')
self._setup = False
self._setup_device()
self._initialized = True
def _setup_device(self):
setup_attempts_max = 10
setup_attempt = 0
while (not self._setup) and (setup_attempt < setup_attempts_max):
setup_attempt += 1
try:
self._channel_count = self._dev.get_channel_count()
self._enabled = []
for channel in range(self._channel_count):
self._enabled.append(False)
if self._channel_count == 0:
rospy.loginfo('mightex_controller found no device channels!')
else:
rospy.loginfo('mightex_controller found {0} device channels!'.format(self._channel_count))
self._setup = True
current_max = rospy.get_param('~current_max')
for channel in range(self._channel_count):
self._dev.set_normal_parameters(channel,current_max,1)
except ReadError:
pass
def _cmd_current_callback(self,data):
if self._initialized:
# rospy.loginfo('mightex_controller channel: {0}, current {1}'.format(data.channel,data.current))
if not self._setup:
self._setup_device()
channel = data.channel
current = data.current
if (channel >= 0) and (channel < self._channel_count):
if current > 0:
self._dev.set_normal_current(channel,current)
if not self._enabled[channel]:
self._dev.set_mode_normal(channel)
self._enabled[channel] = True
else:
self._dev.set_mode_disable(channel)
self._enabled[channel] = False
def _cmd_off_callback(self,data):
if self._initialized:
# rospy.loginfo('mightex_controller cmd_off')
if not self._setup:
self._setup_device()
channel = data.channel
if (channel >= 0) and (channel < self._channel_count):
self._dev.set_mode_disable(channel)
self._enabled[channel] = False
def _cmd_all_off_callback(self,data):
if self._initialized:
# rospy.loginfo('mightex_controller cmd_all_off')
if not self._setup:
self._setup_device()
self.all_off()
def all_off(self):
if self._initialized:
if not self._setup:
self._setup_device()
for channel in range(self._channel_count):
self._dev.set_mode_disable(channel)
self._enabled[channel] = False
