diff --git a/rover/system_statuses/scripts/.idea/workspace.xml b/rover/system_statuses/scripts/.idea/workspace.xml
index f4b4512..36c5d6a 100644
--- a/rover/system_statuses/scripts/.idea/workspace.xml
+++ b/rover/system_statuses/scripts/.idea/workspace.xml
@@ -11,12 +11,26 @@
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diff --git a/rover/system_statuses/scripts/rover_statuses.py b/rover/system_statuses/scripts/rover_statuses.py
new file mode 100755
index 0000000..4f57045
--- /dev/null
+++ b/rover/system_statuses/scripts/rover_statuses.py
@@ -0,0 +1,51 @@
+#!/usr/bin/env python
+import rospy, os.path
+from system_statuses.msg import RoverSysStatus
+
+
+class RoverStatuses:
+
+ def __init__(self):
+
+ rospy.init_node('RoverStatuses')
+
+ self.pub = rospy.Publisher('rover_statuses_chatter', RoverSysStatus, queue_size=10)
+
+ # Test Subscription for updating camera_undercarriage
+ rospy.Subscriber('rover_system_status_chatter', RoverSysStatus, self.__sub_callback)
+
+ self.msg = RoverSysStatus()
+
+ def __sub_callback(self, data):
+ self.msg.UTC_GPS_time = data.UTC_GPS_time
+ self.msg.bogie_connection_1 = data.bogie_connection_1
+ self.msg.bogie_connection_2 = data.bogie_connection_2
+ self.msg.bogie_connection_3 = data.bogie_connection_3
+ self.msg.arm_connection_status = data.arm_connection_status
+ self.msg.arm_end_effector_connection_statuses = data.arm_end_effector_connection_statuses
+ self.msg.camera_zed = data.camera_zed
+ self.msg.camera_undercarriage = data.camera_undercarriage
+ self.msg.camera_chassis = data.camera_chassis
+ self.msg.camera_main_navigation = data.camera_main_navigation
+ self.msg.sample_containment_connection_status = data.sample_containment_connection_status
+ self.msg.tower_connection_status = data.tower_connection_status
+ self.msg.chassis_pan_tilt_connection_status = data.chassis_pan_tilt_connection_status
+ self.msg.GPS_connection_status = data.GPS_connection_status
+ self.msg.jetson_CPU = data.jetson_CPU
+ self.msg.jetson_RAM = data.jetson_RAM
+ self.msg.jetson_EMMC = data.jetson_EMMC
+ self.msg.jetson_NVME_SSD = data.jetson_NVME_SSD
+ self.msg.FrSky_controller_connection_status = data.FrSky_controller_connection_status
+ rospy.loginfo(self.msg)
+
+ def run(self):
+ rospy.Subscriber('rover_system_status_chatter', RoverSysStatus, self.__sub_callback)
+
+ # Update GUI Here? (Most likely)
+
+ rospy.spin()
+
+
+if __name__ == '__main__':
+ rover_statuses = RoverStatuses()
+ rover_statuses.run()
diff --git a/rover/system_statuses/scripts/system_statuses_node.py b/rover/system_statuses/scripts/system_statuses_node.py
index 23e8368..382f12a 100755
--- a/rover/system_statuses/scripts/system_statuses_node.py
+++ b/rover/system_statuses/scripts/system_statuses_node.py
@@ -22,8 +22,6 @@ class SystemStatuses:
self.msg = RoverSysStatus()
self.__set_msg_values()
- # self.__set_cameras()
- # self.__UTC_GPS_Time()
# Simple Subscriber test boolean -- camera_2_updated.py
# self.hasCameraUndercarriageChanged = False
@@ -107,16 +105,16 @@ class SystemStatuses:
def run(self):
r = rospy.Rate(10)
- rospy.loginfo(self.msg)
- self.pub.publish(self.msg)
+ # rospy.loginfo(self.msg)
+ # self.pub.publish(self.msg)
while not rospy.is_shutdown():
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)
- self.pub.publish(self.msg)
+ rospy.loginfo(self.msg)
+ self.pub.publish(self.msg)
r.sleep()