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Modified rover_statuses.py for subscriber example on how to pull data from system_statuses_node.py for ground control station -- very rough idea, I expect only the subscription calls really being used in actual implementation

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MatthewTaylor24
2018-01-22 20:03:13 -08:00
parent 299674b726
commit 86ad1f141a
2 changed files with 71 additions and 44 deletions
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28
rover/system_statuses/scripts/.idea/workspace.xml generated
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@@ -14,8 +14,8 @@
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@@ -57,8 +57,8 @@
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87
rover/system_statuses/scripts/rover_statuses.py
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@@ -1,48 +1,75 @@
#!/usr/bin/env python
import rospy
from system_statuses.msg import RoverSysStatus
from system_statuses.msg import CameraStatuses, BogieStatuses, FrSkyStatus, GPSInfo, MiscStatuses, JetsonInfo
# THIS IS A SUPER ROUGH EXAMPLE OF HOW TO PULL THE DATA
# You can create your own message formats in the msg folder
# This is a simple example of pulling data from system_statuses_node.py
# and storing them into self values.
# The ground control code sounds like it'll be fairly different in format.
class RoverStatuses:
def __init__(self):
rospy.init_node('RoverStatuses')
self.pub = rospy.Publisher('rover_statuses_chatter', RoverSysStatus, queue_size=10)
# 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)
# Subscription examples on pulling data from system_statuses_node.py
rospy.Subscriber('camera_system_status_chatter', CameraStatuses, self.__camera_callback)
rospy.Subscriber('bogie_system_status_chatter', BogieStatuses, self.__camera_callback)
rospy.Subscriber('FrSky_system_status_chatter', FrSkyStatus, self.__camera_callback)
rospy.Subscriber('GPS_system_status_chatter', GPSInfo, self.__camera_callback)
rospy.Subscriber('jetson_system_status_chatter', JetsonInfo, self.__camera_callback)
rospy.Subscriber('misc_system_status_chatter', MiscStatuses, self.__camera_callback)
self.msg = RoverSysStatus()
self.camera_msg = CameraStatuses()
self.bogie_msg = BogieStatuses()
self.FrSky_msg = FrSkyStatus()
self.GPS_msg = GPSInfo()
self.jetson_msg = JetsonInfo()
self.misc_msg = MiscStatuses()
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 __camera_callback(self, data):
self.camera_msg.camera_zed = data.camera_zed
self.camera_msg.camera_undercarriage = data.camera_undercarriage
self.camera_msg.camera_chassis = data.camera_chassis
self.camera_msg.camera_main_navigation = data.camera_main_navigation
def __frsky_callback(self, data):
self.FrSky_msg.FrSky_controller_connection_status = data.FrSky_controller_connection_status
def __bogie_callback(self, data):
self.bogie_msg.bogie_connection_1 = data.bogie_connection_1
self.bogie_msg.bogie_connection_2 = data.bogie_connection_2
self.bogie_msg.bogie_connection_3 = data.bogie_connection_3
def __jetson_callback(self, data):
self.jetson_msg.jetson_CPU = data.jetson_CPU
self.jetson_msg.jetson_RAM = data.jetson_RAM
self.jetson_msg.jetson_EMMC = data.jetson_EMMC
self.jetson_msg.jetson_NVME_SSD = data.jetson_NVME_SSD
def __gps_callback(self, data):
self.GPS_msg.UTC_GPS_time = data.UTC_GPS_time
self.GPS_msg.GPS_connection_status = data.GPS_connection_status
def __misc_callback(self, data):
self.misc_msg.arm_connection_status = data.arm_connection_status
self.misc_msg.arm_end_effector_connection_statuses = data.arm_end_effector_connection_statuses
self.misc_msg.sample_containment_connection_status = data.sample_containment_connection_status
self.misc_msg.tower_connection_status = data.tower_connection_status
self.misc_msg.chassis_pan_tilt_connection_status = data.chassis_pan_tilt_connection_status
def run(self):
rospy.Subscriber('rover_system_status_chatter', RoverSysStatus, self.__sub_callback)
# Update GUI Here? (Most likely)
rospy.Subscriber('camera_system_status_chatter', CameraStatuses, self.__camera_callback)
rospy.Subscriber('bogie_system_status_chatter', BogieStatuses, self.__camera_callback)
rospy.Subscriber('FrSky_system_status_chatter', FrSkyStatus, self.__camera_callback)
rospy.Subscriber('GPS_system_status_chatter', GPSInfo, self.__camera_callback)
rospy.Subscriber('jetson_system_status_chatter', JetsonInfo, self.__camera_callback)
rospy.Subscriber('misc_system_status_chatter', MiscStatuses, self.__camera_callback)
rospy.spin()