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Added 2017-2018 mars rover repository.
This commit is contained in:
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#!/usr/bin/env python
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# import rospy
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# from system_statuses.msg import Camera2Changer
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# def camera_2_changer():
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# pub = rospy.Publisher('camera_2_changer_chatter', Camera2Changer, queue_size=10)
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# rospy.init_node('camera_2_changer_talker', anonymous=True)
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# # r = rospy.sleep(10) # 10hz
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# msg = Camera2Changer()
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# msg.camera_2_value = 0
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# while not rospy.is_shutdown():
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# msg.camera_2_value = (msg.camera_2_value + 1) % 2
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# rospy.loginfo(msg)
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# pub.publish(msg)
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# r.sleep()
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## rospy.sleep(2.)
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#if __name__ == '__main__':
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# try:
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# camera_2_changer()
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# except rospy.ROSInterruptException:
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# pass
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@@ -0,0 +1,78 @@
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#!/usr/bin/env python
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import rospy
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from rover_status.msg import CameraStatuses, BogieStatuses, FrSkyStatus, GPSInfo, MiscStatuses, JetsonInfo
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# THIS IS A SUPER ROUGH EXAMPLE OF HOW TO PULL THE DATA
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# You can create your own message formats in the msg folder
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# This is a simple example of pulling data from system_statuses_node.py
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# and storing them into self values.
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# The ground control code sounds like it'll be fairly different in format.
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class RoverStatuses:
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def __init__(self):
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rospy.init_node('RoverStatuses')
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# self.pub = rospy.Publisher('rover_statuses_chatter', RoverSysStatus, queue_size=10)
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# Subscription examples on pulling data from system_statuses_node.py
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rospy.Subscriber('camera_system_status_chatter', CameraStatuses, self.__camera_callback)
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rospy.Subscriber('bogie_system_status_chatter', BogieStatuses, self.__bogie_callback)
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rospy.Subscriber('FrSky_system_status_chatter', FrSkyStatus, self.__frsky_callback)
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rospy.Subscriber('GPS_system_status_chatter', GPSInfo, self.__gps_callback)
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rospy.Subscriber('jetson_system_status_chatter', JetsonInfo, self.__jetson_callback)
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rospy.Subscriber('misc_system_status_chatter', MiscStatuses, self.__misc_callback)
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self.camera_msg = CameraStatuses()
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self.bogie_msg = BogieStatuses()
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self.FrSky_msg = FrSkyStatus()
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self.GPS_msg = GPSInfo()
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self.jetson_msg = JetsonInfo()
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self.misc_msg = MiscStatuses()
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def __camera_callback(self, data):
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self.camera_msg.camera_zed = data.camera_zed
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self.camera_msg.camera_undercarriage = data.camera_undercarriage
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self.camera_msg.camera_chassis = data.camera_chassis
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self.camera_msg.camera_main_navigation = data.camera_main_navigation
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def __frsky_callback(self, data):
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self.FrSky_msg.FrSky_controller_connection_status = data.FrSky_controller_connection_status
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def __bogie_callback(self, data):
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self.bogie_msg.bogie_connection_1 = data.bogie_connection_1
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self.bogie_msg.bogie_connection_2 = data.bogie_connection_2
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self.bogie_msg.bogie_connection_3 = data.bogie_connection_3
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def __jetson_callback(self, data):
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self.jetson_msg.jetson_CPU = data.jetson_CPU
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self.jetson_msg.jetson_RAM = data.jetson_RAM
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self.jetson_msg.jetson_EMMC = data.jetson_EMMC
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self.jetson_msg.jetson_NVME_SSD = data.jetson_NVME_SSD
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self.jetson_msg.jetson_GPU_temp = data.jetson_GPU_temp
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rospy.loginfo(self.jetson_msg)
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def __gps_callback(self, data):
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self.GPS_msg.UTC_GPS_time = data.UTC_GPS_time
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self.GPS_msg.GPS_connection_status = data.GPS_connection_status
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def __misc_callback(self, data):
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self.misc_msg.arm_connection_status = data.arm_connection_status
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self.misc_msg.arm_end_effector_connection_statuses = data.arm_end_effector_connection_statuses
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self.misc_msg.sample_containment_connection_status = data.sample_containment_connection_status
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self.misc_msg.tower_connection_status = data.tower_connection_status
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self.misc_msg.chassis_pan_tilt_connection_status = data.chassis_pan_tilt_connection_status
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def run(self):
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rospy.Subscriber('camera_system_status_chatter', CameraStatuses, self.__camera_callback)
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rospy.Subscriber('bogie_system_status_chatter', BogieStatuses, self.__bogie_callback)
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rospy.Subscriber('FrSky_system_status_chatter', FrSkyStatus, self.__frsky_callback)
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rospy.Subscriber('GPS_system_status_chatter', GPSInfo, self.__gps_callback)
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rospy.Subscriber('jetson_system_status_chatter', JetsonInfo, self.__jetson_callback)
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rospy.Subscriber('misc_system_status_chatter', MiscStatuses, self.__misc_callback)
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rospy.spin()
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if __name__ == '__main__':
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rover_statuses = RoverStatuses()
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rover_statuses.run()
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@@ -0,0 +1,398 @@
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#!/usr/bin/env python
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#####################################
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# Imports
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#####################################
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# Python native imports
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import rospy
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import os.path
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import psutil
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import pynmea2
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import subprocess
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from rover_status.msg import BatteryStatusMessage, CameraStatuses, WheelStatuses, FrSkyStatus, GPSInfo, MiscStatuses, JetsonInfo
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from rover_control.msg import DriveCommandMessage, DriveStatusMessage, IrisStatusMessage
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from std_msgs.msg import Empty
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from nmea_msgs.msg import Sentence
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from time import time
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#####################################
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# Global Variables
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#####################################
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# Publishers
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DEFAULT_BATTERY_TOPIC_NAME = "battery_status"
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DEFAULT_CAMERA_TOPIC_NAME = "camera_status"
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DEFAULT_WHEEL_TOPIC_NAME = "wheel_status"
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DEFAULT_FRSKY_TOPIC_NAME = "frsky_status"
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DEFAULT_GPS_TOPIC_NAME = "gps_status"
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DEFAULT_JETSON_TOPIC_NAME = "jetson_status"
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DEFAULT_MISC_TOPIC_NAME = "misc_status"
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MAX_JETSON_UPDATE_HERTZ = 0.2
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MAX_IRIS_UPDATE_HERTZ = 0.2
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# Subscribers
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DEFAULT_REQUEST_UPDATE_TOPIC_NAME = "update_requested"
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DEFAULT_IRIS_STATUS_TOPIC_NAME = "/rover_control/iris_status"
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DEFAULT_BOGIE_LEFT_TOPIC_NAME = '/rover_control/drive_status/left'
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DEFAULT_BOGIE_RIGHT_TOPIC_NAME = '/rover_control/drive_status/right'
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DEFAULT_BOGIE_REAR_TOPIC_NAME = '/rover_control/drive_status/rear'
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DEFAULT_GPS_NMEA_TOPIC_NAME = '/rover_odometry/gps/sentence'
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#####################################
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# SystemStatuses Class Definition
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#####################################
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class SystemStatuses:
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def __init__(self):
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# Camera path locations
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self.system_path_locations = [
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'/dev/rover/camera_zed',
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'/dev/rover/camera_undercarriage',
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'/dev/rover/camera_chassis',
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'/dev/rover/camera_main_navigation'
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]
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# filesystem paths for EMMC [0] and NVME_SSD [1]
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# -- UPDATE [1] FOR JETSON --
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self.file_systems_EMMC_NVMe_SSD = [
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'/',
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'/dev/shm'
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]
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rospy.init_node('SystemStatuses')
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# Get Topic Names
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self.battery_topic_name = rospy.get_param("~pub_battery_status_topic", DEFAULT_BATTERY_TOPIC_NAME)
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self.camera_topic_name = rospy.get_param("~pub_camera_status_topic", DEFAULT_CAMERA_TOPIC_NAME)
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self.wheel_topic_name = rospy.get_param("~pub_wheel_status_topic", DEFAULT_WHEEL_TOPIC_NAME)
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self.frsky_topic_name = rospy.get_param("~pub_frsky_status_topic", DEFAULT_FRSKY_TOPIC_NAME)
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self.gps_topic_name = rospy.get_param("~pub_gps_status_topic", DEFAULT_GPS_TOPIC_NAME)
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self.jetson_topic_name = rospy.get_param("~pub_jetson_status_topic", DEFAULT_JETSON_TOPIC_NAME)
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self.misc_topic_name = rospy.get_param("~pub_misc_status_topic", DEFAULT_MISC_TOPIC_NAME)
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# Subscribers
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self.request_update_topic_name = rospy.get_param("~sub_request_update_status_topic",
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DEFAULT_REQUEST_UPDATE_TOPIC_NAME)
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self.iris_status_topic_name = rospy.get_param("~sub_iris_status_topic", DEFAULT_IRIS_STATUS_TOPIC_NAME)
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self.bogie_left_topic_name = rospy.get_param("~sub_bogie_left_topic", DEFAULT_BOGIE_LEFT_TOPIC_NAME)
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self.bogie_right_topic_name = rospy.get_param("~sub_bogie_right_topic", DEFAULT_BOGIE_RIGHT_TOPIC_NAME)
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self.bogie_rear_topic_name = rospy.get_param("~sub_bogie_rear_topic", DEFAULT_BOGIE_REAR_TOPIC_NAME)
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self.gps_nmea_topic_name = rospy.get_param("~sub_gps_nmea_topic", DEFAULT_GPS_NMEA_TOPIC_NAME)
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# init all publisher functions
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self.pub_battery = rospy.Publisher(self.battery_topic_name, BatteryStatusMessage, queue_size=1)
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self.pub_camera = rospy.Publisher(self.camera_topic_name, CameraStatuses, queue_size=1)
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self.pub_wheel = rospy.Publisher(self.wheel_topic_name, WheelStatuses, queue_size=1)
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self.pub_FrSky = rospy.Publisher(self.frsky_topic_name, FrSkyStatus, queue_size=1)
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self.pub_GPS = rospy.Publisher(self.gps_topic_name, GPSInfo, queue_size=1)
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self.pub_jetson = rospy.Publisher(self.jetson_topic_name, JetsonInfo, queue_size=1)
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self.pub_Misc = rospy.Publisher(self.misc_topic_name, MiscStatuses, queue_size=1)
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# Subscribers
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self.request_update_subscriber = rospy.Subscriber(self.request_update_topic_name, Empty,
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self.on_update_requested)
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# Manual update variable
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self.manual_update_requested = False
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# init all message variables
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self.battery_message = BatteryStatusMessage()
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self.camera_msg = CameraStatuses()
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self.wheel_msg = WheelStatuses()
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self.FrSky_msg = FrSkyStatus()
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self.GPS_msg = GPSInfo()
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self.jetson_msg = JetsonInfo()
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self.misc_msg = MiscStatuses()
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# init all message values
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self.__pull_new_message_values()
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self.__instantiate_subscribers()
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# init all previous values
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self.__update_all_previous_values()
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self.last_jetson_message_sent = time()
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self.last_iris_message_sent = time()
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# init all RoverSysMessage values
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def __pull_new_message_values(self):
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self.__set_arm_connection_status()
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self.__set_arm_end_effector_connection_statuses()
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self.__set_cameras()
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self.__set_sample_containment_connection_status()
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self.__set_tower_connection_status()
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self.__set_chassis_pan_tilt_connection_status()
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self.__set_jetson_usage_information()
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self.__set_frsky_controller_connection_status()
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# Pulls the UTC GPS Information (WIP v2.0)
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def __set_gps_info(self, data):
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self.GPS_msg.gps_connected = True
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try:
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self.Nmea_Message = pynmea2.parse(data.sentence)
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except:
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return
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if self.Nmea_Message.sentence_type == 'GGA':
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if int(self.Nmea_Message.gps_qual) != 0:
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self.GPS_msg.gps_fix = True
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else:
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self.GPS_msg.gps_fix = False
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self.GPS_msg.num_satellites = int(self.Nmea_Message.num_sats)
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self.GPS_msg.horizontal_dilution = float(self.Nmea_Message.horizontal_dil)
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if self.Nmea_Message.sentence_type == 'VTG':
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try:
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self.GPS_msg.kmph = float(self.Nmea_Message.spd_over_grnd_kmph)
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except:
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pass
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if self.Nmea_Message.true_track is not None:
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self.GPS_msg.gps_heading = float(self.Nmea_Message.true_track)
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else:
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self.GPS_msg.gps_heading = -1.0
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# Instantiates all subscriber methods
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def __instantiate_subscribers(self):
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# Iris Status Subscriber
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self.iris_status_sub = rospy.Subscriber(self.iris_status_topic_name, IrisStatusMessage, self.__iris_status_callback)
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# Bogie Wheel Subscribers
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self.bogie_left_sub = rospy.Subscriber(self.bogie_left_topic_name, DriveStatusMessage, self.__left_wheel_callback)
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self.bogie_right_sub = rospy.Subscriber(self.bogie_right_topic_name, DriveStatusMessage, self.__right_wheel_callback)
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self.bogie_rear_sub = rospy.Subscriber(self.bogie_rear_topic_name, DriveStatusMessage, self.__rear_wheel_callback)
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# GPS NMEA subscriber
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self.gps_nmea_sub = rospy.Subscriber(self.gps_nmea_topic_name, Sentence, self.__set_gps_info)
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def __iris_status_callback(self, data):
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self.battery_message.battery_voltage = data.voltage_24v
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def __left_wheel_callback(self, data):
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self.wheel_msg.front_left = data.first_motor_connected
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self.wheel_msg.middle_left = data.second_motor_connected
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def __right_wheel_callback(self, data):
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self.wheel_msg.front_right = data.first_motor_connected
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self.wheel_msg.middle_right = data.second_motor_connected
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def __rear_wheel_callback(self, data):
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self.wheel_msg.rear_left = data.first_motor_connected
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self.wheel_msg.rear_right = data.second_motor_connected
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# Checks arm connection status (WIP)
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def __set_arm_connection_status(self):
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self.misc_msg.arm_connection_status = 0
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# Checks Arm End Effector Connection Statuses (WIP)
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def __set_arm_end_effector_connection_statuses(self):
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self.misc_msg.arm_end_effector_connection_statuses = 0
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# Sets the Camera values (zed, undercarriage, chassis, and main_nav
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def __set_cameras(self):
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# Check if camera_zed is found
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self.camera_msg.camera_zed = 1 if os.path.exists(self.system_path_locations[0]) else 0
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# Check if camera_undercarriage is found
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self.camera_msg.camera_undercarriage = 1 if os.path.exists(self.system_path_locations[1]) else 0
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# Check if camera_chassis is found
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self.camera_msg.camera_chassis = 1 if os.path.exists(self.system_path_locations[2]) else 0
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# Check if camera_main_navigation is found
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self.camera_msg.camera_main_navigation = 1 if os.path.exists(self.system_path_locations[3]) else 0
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# Checks Sample Containment Connection Status (WIP)
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def __set_sample_containment_connection_status(self):
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self.misc_msg.sample_containment_connection_status = 0
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def __set_tower_connection_status(self):
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self.misc_msg.tower_connection_status = 0
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# Checks Tower Connection Status (WIP)
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def __set_chassis_pan_tilt_connection_status(self):
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self.misc_msg.chassis_pan_tilt_connection_status = 0
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# Get Jetson Statuses (WIP)
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def __set_jetson_usage_information(self):
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self.jetson_msg.jetson_CPU = psutil.cpu_percent()
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mem = psutil.virtual_memory()
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self.jetson_msg.jetson_RAM = mem.percent
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self.jetson_msg.jetson_EMMC = self.__used_percent_fs(self.file_systems_EMMC_NVMe_SSD[0])
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self.jetson_msg.jetson_NVME_SSD = self.__used_percent_fs(self.file_systems_EMMC_NVMe_SSD[1])
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# Temperature
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# This try except causes a bunch of annoying messages, but lets it run on non-jetson devices
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# sets to -1.0 if sensor fails to give it a default value notifying failure to pull
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try:
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sensor_temperatures = subprocess.check_output("sensors | grep temp", shell=True)
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parsed_temps = sensor_temperatures.replace("\xc2\xb0C","").replace("(crit = ","").replace("temp1:","")\
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.replace("\n", "").replace("+", "").split()
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self.jetson_msg.jetson_GPU_temp = float(parsed_temps[4])
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except subprocess.CalledProcessError:
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print('sensors call failed (potential reason: on VM)')
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self.jetson_msg.jetson_GPU_temp = -1.0
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# EMMC and NVMe_SSD used % calculation
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def __used_percent_fs(self, pathname):
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statvfs = os.statvfs(pathname)
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# percentage :: USED:
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# used amount: blocks - bfree
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# used%: used_amount / (used_amount + bavail)
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used_available = (statvfs.f_frsize * statvfs.f_blocks / 1024) - (statvfs.f_frsize * statvfs.f_bfree / 1024.0)
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used_percent = used_available / (used_available + (statvfs.f_frsize * statvfs.f_bavail / 1024.0))
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# Round 4 for 2 decimal accuracy
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value = 100 * round(used_percent, 4)
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return value
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# Check FrSky Controller Connection Status (WIP)
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def __set_frsky_controller_connection_status(self):
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rospy.Subscriber('/rover_control/command_control/iris_drive', DriveCommandMessage, self.__frsky_callback)
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def __frsky_callback(self, data):
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self.FrSky_msg.FrSky_controller_connection_status = data.controller_present
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# Used mainly for init, sets all previous values in one go
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def __update_all_previous_values(self):
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self.__set_previous_battery_values()
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self.__set_previous_camera_values()
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self.__set_previous_jetson_values()
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self.__set_previous_frsky_value()
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self.__set_previous_wheel_values()
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self.__set_previous_gps_values()
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self.__set_previous_misc_values()
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def __set_previous_camera_values(self):
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self.previous_camera_zed = self.camera_msg.camera_zed
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self.previous_camera_undercarriage = self.camera_msg.camera_undercarriage
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||||
self.previous_camera_chassis = self.camera_msg.camera_chassis
|
||||
self.previous_camera_main_navigation = self.camera_msg.camera_main_navigation
|
||||
|
||||
def __set_previous_jetson_values(self):
|
||||
self.previous_jetson_CPU = self.jetson_msg.jetson_CPU
|
||||
self.previous_jetson_RAM = self.jetson_msg.jetson_RAM
|
||||
self.previous_jetson_EMMC = self.jetson_msg.jetson_EMMC
|
||||
self.previous_jetson_NVME_SSD = self.jetson_msg.jetson_NVME_SSD
|
||||
self.previous_jetson_GPU_temp = self.jetson_msg.jetson_GPU_temp
|
||||
|
||||
def __set_previous_frsky_value(self):
|
||||
self.previous_FrSky_controller_connection_status = self.FrSky_msg.FrSky_controller_connection_status
|
||||
|
||||
def __set_previous_wheel_values(self):
|
||||
self.previous_wheel_front_left = self.wheel_msg.front_left
|
||||
self.previous_wheel_middle_left = self.wheel_msg.middle_left
|
||||
self.previous_wheel_rear_left = self.wheel_msg.rear_left
|
||||
self.previous_wheel_front_right = self.wheel_msg.front_right
|
||||
self.previous_wheel_middle_right = self.wheel_msg.middle_right
|
||||
self.previous_wheel_rear_right = self.wheel_msg.rear_right
|
||||
|
||||
def __set_previous_gps_values(self):
|
||||
self.previous_gps_connected = self.GPS_msg.gps_connected
|
||||
self.previous_gps_fix = self.GPS_msg.gps_fix
|
||||
self.previous_gps_num_satellites = self.GPS_msg.num_satellites
|
||||
self.previous_gps_horizontal_dilution = self.GPS_msg.horizontal_dilution
|
||||
self.previous_gps_kmph = self.GPS_msg.kmph
|
||||
self.previous_gps_heading = self.GPS_msg.gps_heading
|
||||
|
||||
def __set_previous_misc_values(self):
|
||||
self.previous_arm_connection_status = self.misc_msg.arm_connection_status
|
||||
self.previous_arm_end_effector_connection_statuses = self.misc_msg.arm_end_effector_connection_statuses
|
||||
self.previous_chassis_pan_tilt_connection_status = self.misc_msg.chassis_pan_tilt_connection_status
|
||||
self.previous_sample_containment_connection_status = self.misc_msg.sample_containment_connection_status
|
||||
self.previous_tower_connection_status = self.misc_msg.tower_connection_status
|
||||
|
||||
def __set_previous_battery_values(self):
|
||||
self.previous_battery_voltage = self.battery_message.battery_voltage
|
||||
|
||||
def on_update_requested(self, _):
|
||||
self.manual_update_requested = True
|
||||
|
||||
def run(self):
|
||||
r = rospy.Rate(10) # 10Hz
|
||||
while not rospy.is_shutdown():
|
||||
# Update all message values
|
||||
self.__pull_new_message_values()
|
||||
|
||||
if (self.battery_message.battery_voltage != self.previous_battery_voltage or
|
||||
self.manual_update_requested):
|
||||
if (time() - self.last_iris_message_sent) > (1.0 / MAX_IRIS_UPDATE_HERTZ):
|
||||
self.__set_previous_battery_values()
|
||||
self.pub_battery.publish(self.battery_message)
|
||||
self.last_iris_message_sent = time()
|
||||
|
||||
# Camera Check -- if current value is now different from previous value,
|
||||
# update the previous value for cameras and publish to listening Subscribers
|
||||
if (self.camera_msg.camera_zed != self.previous_camera_zed or
|
||||
self.camera_msg.camera_undercarriage != self.previous_camera_undercarriage or
|
||||
self.camera_msg.camera_chassis != self.previous_camera_chassis or
|
||||
self.camera_msg.camera_main_navigation != self.previous_camera_main_navigation or
|
||||
self.manual_update_requested):
|
||||
self.__set_previous_camera_values()
|
||||
self.pub_camera.publish(self.camera_msg)
|
||||
|
||||
# Placeholder Jetson Info Check
|
||||
if (self.jetson_msg.jetson_CPU != self.previous_jetson_CPU or
|
||||
self.jetson_msg.jetson_RAM != self.previous_jetson_RAM or
|
||||
self.jetson_msg.jetson_EMMC != self.previous_jetson_EMMC or
|
||||
self.jetson_msg.jetson_NVME_SSD != self.previous_jetson_NVME_SSD or
|
||||
self.jetson_msg.jetson_GPU_temp != self.previous_jetson_GPU_temp or
|
||||
self.manual_update_requested):
|
||||
if (time() - self.last_jetson_message_sent) > (1.0 / MAX_JETSON_UPDATE_HERTZ):
|
||||
self.__set_previous_jetson_values()
|
||||
self.pub_jetson.publish(self.jetson_msg)
|
||||
self.last_jetson_message_sent = time()
|
||||
|
||||
# Placeholder FrSky Controller Check
|
||||
if (self.FrSky_msg.FrSky_controller_connection_status != self.previous_FrSky_controller_connection_status or
|
||||
self.manual_update_requested):
|
||||
self.__set_previous_frsky_value()
|
||||
self.pub_FrSky.publish(self.FrSky_msg)
|
||||
|
||||
# bogie wheel status check
|
||||
if (self.wheel_msg.front_left != self.previous_wheel_front_left or
|
||||
self.wheel_msg.middle_left != self.previous_wheel_middle_left or
|
||||
self.wheel_msg.rear_left != self.previous_wheel_rear_left or
|
||||
self.wheel_msg.front_right != self.previous_wheel_front_right or
|
||||
self.wheel_msg.middle_right != self.previous_wheel_middle_right or
|
||||
self.wheel_msg.rear_right != self.previous_wheel_rear_right or
|
||||
self.manual_update_requested):
|
||||
self.__set_previous_wheel_values()
|
||||
self.pub_wheel.publish(self.wheel_msg)
|
||||
|
||||
# Placeholder GPS Information check
|
||||
# if (self.GPS_msg.UTC_GPS_time != self.previous_UTC_GPS_time or
|
||||
# self.GPS_msg.UTC_GPS_time != self.previous_GPS_connection_status or
|
||||
# self.manual_update_requested):
|
||||
# self.__set_previous_gps_values()
|
||||
# self.pub_GPS.publish(self.GPS_msg)
|
||||
|
||||
# GPS info status -- connected, fix, satellites, horizontal dilution, kmph, and heading
|
||||
if (self.GPS_msg.gps_connected != self.previous_gps_connected or
|
||||
self.GPS_msg.gps_fix != self.previous_gps_fix or
|
||||
self.GPS_msg.num_satellites != self.previous_gps_num_satellites or
|
||||
self.GPS_msg.horizontal_dilution != self.previous_gps_horizontal_dilution or
|
||||
self.GPS_msg.kmph != self.previous_gps_kmph or
|
||||
self.GPS_msg.gps_heading != self.previous_gps_heading):
|
||||
self.__set_previous_gps_values()
|
||||
self.pub_GPS.publish(self.GPS_msg)
|
||||
|
||||
# Placeholder Misc Information check
|
||||
if (self.misc_msg.arm_connection_status !=
|
||||
self.previous_arm_connection_status or
|
||||
self.misc_msg.arm_end_effector_connection_statuses !=
|
||||
self.previous_arm_end_effector_connection_statuses or
|
||||
self.misc_msg.chassis_pan_tilt_connection_status !=
|
||||
self.previous_chassis_pan_tilt_connection_status or
|
||||
self.misc_msg.sample_containment_connection_status !=
|
||||
self.previous_sample_containment_connection_status or
|
||||
self.misc_msg.tower_connection_status != self.previous_tower_connection_status or
|
||||
self.manual_update_requested):
|
||||
self.__set_previous_misc_values()
|
||||
self.pub_Misc.publish(self.misc_msg)
|
||||
|
||||
if self.manual_update_requested:
|
||||
self.manual_update_requested = False
|
||||
|
||||
r.sleep()
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
system_status = SystemStatuses()
|
||||
system_status.run()
|
||||
Reference in New Issue
Block a user