Move led stripe out of wt_node into own node in ruby

[ros_wild_thumper.git] / scripts / ledstripe.rb

diff --git a/scripts/ledstripe.rb b/scripts/ledstripe.rb
new file mode 100755 (executable)
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