caperren/osurc_mars_rover_2017_2018
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First attempt: checks if camera is added/removed & updates

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MatthewTaylor24
2018-01-13 19:23:09 -08:00
parent efedcefaa9
commit 52e17669d1
2 changed files with 21 additions and 20 deletions
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8
rover/system_statuses/scripts/.idea/workspace.xml generated
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@@ -14,8 +14,8 @@
<file leaf-file-name="system_statuses_node.py" pinned="false" current-in-tab="true"> <file leaf-file-name="system_statuses_node.py" pinned="false" current-in-tab="true">
<entry file="file://$PROJECT_DIR$/system_statuses_node.py"> <entry file="file://$PROJECT_DIR$/system_statuses_node.py">
<provider selected="true" editor-type-id="text-editor"> <provider selected="true" editor-type-id="text-editor">
<state relative-caret-position="504"> <state relative-caret-position="84">
<caret line="31" column="0" lean-forward="true" selection-start-line="31" selection-start-column="0" selection-end-line="31" selection-end-column="0" /> <caret line="29" column="48" lean-forward="false" selection-start-line="29" selection-start-column="48" selection-end-line="29" selection-end-column="48" />
<folding /> <folding />
</state> </state>
</provider> </provider>
@@ -167,8 +167,8 @@
</entry> </entry>
<entry file="file://$PROJECT_DIR$/system_statuses_node.py"> <entry file="file://$PROJECT_DIR$/system_statuses_node.py">
<provider selected="true" editor-type-id="text-editor"> <provider selected="true" editor-type-id="text-editor">
<state relative-caret-position="504"> <state relative-caret-position="84">
<caret line="31" column="0" lean-forward="true" selection-start-line="31" selection-start-column="0" selection-end-line="31" selection-end-column="0" /> <caret line="29" column="48" lean-forward="false" selection-start-line="29" selection-start-column="48" selection-end-line="29" selection-end-column="48" />
<folding /> <folding />
</state> </state>
</provider> </provider>

33
rover/system_statuses/scripts/system_statuses_node.py
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@@ -21,22 +21,10 @@ class SystemStatuses:
rospy.Subscriber('camera_2_changer_chatter', Camera2Changer, self.__sub_callback) rospy.Subscriber('camera_2_changer_chatter', Camera2Changer, self.__sub_callback)
self.msg = RoverSysStatus() self.msg = RoverSysStatus()
# Check if camera_zed is found self.__set_cameras()
self.msg.camera_zed = 1 if os.path.exists(self.system_path_locations[0]) else 0
# Check if camera_undercarriage is found
self.msg.camera_undercarriage = 1 if os.path.exists(self.system_path_locations[1]) else 0
# Check if camera_chassis is found
self.msg.camera_chassis = 1 if os.path.exists(self.system_path_locations[2]) else 0
# Check if camera_main_navigation is found
self.msg.camera_main_navigation = 1 if os.path.exists(self.system_path_locations[3]) else 0
# self.msg.camera_zed = 0
# self.msg.camera_undercarriage = 0
# self.msg.camera_gimbal = 0
# self.msg.camera_main_navigation = 0
# Simple Subscriber test boolean -- camera_2_updated.py # Simple Subscriber test boolean -- camera_2_updated.py
self.hasCameraUndercarriageChanged = False # self.hasCameraUndercarriageChanged = False
# Callback for test Subscription of camera_2_updater.py -- checks if camera_undercarriage # Callback for test Subscription of camera_2_updater.py -- checks if camera_undercarriage
# has changed, updates value, and updates bool for run->pub.publish to execute # has changed, updates value, and updates bool for run->pub.publish to execute
@@ -46,13 +34,26 @@ class SystemStatuses:
self.msg.camera_undercarriage = data.camera_2_value self.msg.camera_undercarriage = data.camera_2_value
self.hasCameraUndercarriageChanged = True self.hasCameraUndercarriageChanged = True
def __set_cameras(self):
# Check if camera_zed is found
self.msg.camera_zed = 1 if os.path.exists(self.system_path_locations[0]) else 0
# Check if camera_undercarriage is found
self.msg.camera_undercarriage = 1 if os.path.exists(self.system_path_locations[1]) else 0
# Check if camera_chassis is found
self.msg.camera_chassis = 1 if os.path.exists(self.system_path_locations[2]) else 0
# Check if camera_main_navigation is found
self.msg.camera_main_navigation = 1 if os.path.exists(self.system_path_locations[3]) else 0
def run(self): def run(self):
r = rospy.Rate(10) r = rospy.Rate(10)
while not rospy.is_shutdown(): while not rospy.is_shutdown():
if self.hasCameraUndercarriageChanged: if (self.msg.camera_zed != os.path.exists(self.system_path_locations[0]) or
self.msg.camera_undercarriage != os.path.exists(self.system_path_locations[1]) or
self.msg.camera_chassis != os.path.exists(self.system_path_locations[2]) or
self.msg.camera_main_navigation != os.path.exists(self.system_path_locations[3])):
self.__set_cameras()
rospy.loginfo(self.msg) rospy.loginfo(self.msg)
self.pub.publish(self.msg) self.pub.publish(self.msg)
self.hasCameraUndercarriageChanged = False
r.sleep() r.sleep()