From 94f542d3b9d61a8d609b14bb45deef3d2a22e7da Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Thu, 27 Sep 2018 21:14:56 +0200
Subject: [PATCH] Move led stripe out of wt_node into own node in ruby

---
 scripts/ledstripe.rb | 79 ++++++++++++++++++++++++++++++++++++++++++++
 scripts/wt_node.py   | 37 ---------------------
 2 files changed, 79 insertions(+), 37 deletions(-)
 create mode 100755 scripts/ledstripe.rb

diff --git a/scripts/ledstripe.rb b/scripts/ledstripe.rb
new file mode 100755
index 0000000..9f4119e
--- /dev/null
+++ b/scripts/ledstripe.rb
@@ -0,0 +1,79 @@
+#!/usr/bin/env ruby
+
+require "spi"
+require "ros"
+require 'wild_thumper/LedStripe'
+
+class LPD8806
+	def initialize(device, num_leds)
+		@spi = SPI.new(device: device)
+		@spi.driver.mode=[0b00]
+		@spi.speed=2e6
+		@num_leds = num_leds
+		self.latch()
+		@l = [[0, 0, 0]] * num_leds
+		self.update()
+	end
+	
+	def set(i, red=0, green=0, blue=0)
+		if red > 127 or green > 127 or blue > 127 or red < 0 or green < 0 or blue < 0
+			raise Exception("Bad RGB Value")
+		end
+		@l[i] = [red, green, blue]
+	end
+
+	def latch
+		@spi.xfer(txdata: (0...(@num_leds+31)/32).map { |i| 0 })
+	end
+	
+	def update
+		l = []
+		(0...@num_leds).each do |i|
+			red, green, blue = @l[i]
+			l.push(0x80 | green)
+			l.push(0x80 | red)
+			l.push(0x80 | blue)
+		end
+		@spi.xfer(txdata: l)
+		self.latch()
+	end
+end
+
+if __FILE__ == $0
+	def test
+		puts "Starting.."
+		(0...16).each do |i|
+			stripe.set(i, 10, 0, 0)
+			stripe.update()
+			sleep(0.1)
+		end
+		(0...16).each do |i|
+			stripe.set(i, 0, 10, 0)
+			stripe.update()
+			sleep(0.1)
+		end
+		(0...16).each do |i|
+			stripe.set(i, 0, 0, 10)
+			stripe.update()
+			sleep(0.1)
+		end
+		(0...16).each do |i|
+			stripe.set(i, 0, 0, 0)
+		end
+		stripe.update()
+	end
+
+	stripe = LPD8806.new("/dev/spidev1.0", 16)
+	node = ROS::Node.new('wild_thumper/led_stripe')
+	node.subscribe('led_stripe', Wild_thumper::LedStripe) do |msg|
+		msg.leds.each do |led|
+			stripe.set(led.num, red=led.red, green=led.green, blue=led.blue)
+			stripe.update()
+		end
+	end
+
+	while node.ok?
+		node.spin_once
+		sleep(1)
+	end
+end
diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index f7b02f5..dfa69b0 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -15,40 +15,10 @@ from nav_msgs.msg import Odometry
 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
 from dynamic_reconfigure.server import Server
 from sensor_msgs.msg import Imu, Range, BatteryState
-from wild_thumper.msg import LedStripe
 from wild_thumper.cfg import WildThumperConfig
 
 WHEEL_DIST = 0.248
 
-class LPD8806:
-	def __init__(self, bus, device, num_leds):
-		self.spi = spidev.SpiDev()
-		self.spi.open(bus, device)
-		self.spi.mode=0b00
-		self.spi.max_speed_hz=int(2e6)
-		self.num_leds = num_leds
-		self.latch()
-		self.l = [(0, 0, 0)] * num_leds
-		self.update()
-	
-	def set(self, i, red=0, green=0, blue=0):
-		if red > 127 or green > 127 or blue > 127 or red < 0 or green < 0 or blue < 0:
-			raise Exception("Bad RGB Value")
-		self.l[i] = (red, green, blue)
-
-	def latch(self):
-		self.spi.writebytes([0x0 for i in range((self.num_leds+31)/32)])
-	
-	def update(self):
-		l = []
-		for i in range(self.num_leds):
-			red, green, blue = self.l[i]
-			l.append(0x80 | green)
-			l.append(0x80 | red)
-			l.append(0x80 | blue)
-		self.spi.writebytes(l)
-		self.latch()
-
 class WTBase:
 	def __init__(self):
 		rospy.init_node('wild_thumper')
@@ -74,9 +44,7 @@ class WTBase:
 		self.volt_last_warn = rospy.Time.now()
 		rospy.loginfo("Init done")
 		i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
-		self.pStripe = LPD8806(1, 0, 16)
 		rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
-		rospy.Subscriber("led_stripe", LedStripe, self.led_stripe_received)
 		rospy.Subscriber("imu", Imu, self.imuReceived)
 		self.bDocked = False
 		self.bDocked_last = False
@@ -370,11 +338,6 @@ class WTBase:
 		if self.pub_range_fwd_right.get_num_connections() > 0:
 			self.start_dist_srf(0xb)
 	
-	def led_stripe_received(self, msg):
-		for led in msg.leds:
-			self.pStripe.set(led.num, red=led.red, green=led.green, blue=led.blue)
-			self.pStripe.update()
-
 	def check_docked(self):
 		if self.bDocked and not self.bDocked_last:
 			rospy.loginfo("Docking event")
-- 
2.39.5