added rgb stripes

[ros_wild_thumper.git] / scripts / wt_node.py

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index dcae6740c02b7fa35e07eb7416f75293cc0819eb..96d0db6f46532b78e7ed8ce16e458c279485e8bb 100755 (executable)
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -5,21 +5,50 @@ import rospy
 import tf
 import struct
 import prctl
 import tf
 import struct
 import prctl

+import spidev

 from i2c import *
 from math import *
 from geometry_msgs.msg import Twist
 from nav_msgs.msg import Odometry
 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
 from sensor_msgs.msg import Imu, Range
 from i2c import *
 from math import *
 from geometry_msgs.msg import Twist
 from nav_msgs.msg import Odometry
 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
 from sensor_msgs.msg import Imu, Range

+from wild_thumper.msg import LedStripe

 
 WHEEL_DIST = 0.248
 
 
 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 MoveBase:
        def __init__(self):
                rospy.init_node('wild_thumper')
                prctl.set_name("wild_thumper")
 class MoveBase:
        def __init__(self):
                rospy.init_node('wild_thumper')
                prctl.set_name("wild_thumper")

-               rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
-               rospy.Subscriber("imu", Imu, self.imuReceived)

                enable_odom_tf = rospy.get_param("~enable_odom_tf", True)
                if enable_odom_tf:
                        self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
                enable_odom_tf = rospy.get_param("~enable_odom_tf", True)
                if enable_odom_tf:
                        self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()


@@ -35,6 +64,10 @@ class MoveBase:
                rospy.loginfo("Init done")
                i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
                self.handicap_last = (-1, -1)
                rospy.loginfo("Init done")
                i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
                self.handicap_last = (-1, -1)

+               self.pStripe = LPD8806(1, 0, 12)
+               rospy.Subscriber("cmd_vel_out", Twist, self.cmdVelReceived)
+               rospy.Subscriber("imu", Imu, self.imuReceived)
+               rospy.Subscriber("led_stripe", LedStripe, self.led_stripe_received)

                self.run()
        
        def run(self):
                self.run()
        
        def run(self):


@@ -246,6 +279,11 @@ class MoveBase:
                        dist = self.read_dist_srf(0x17)
                        self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, 6, 40)
                        self.start_dist_srf(0x7) # get next value
                        dist = self.read_dist_srf(0x17)
                        self.send_range(self.pub_range_bwd, "sonar_backward", Range.ULTRASOUND, dist, 0.04, 6, 40)
                        self.start_dist_srf(0x7) # get next value

+       
+       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()

                
 
 if __name__ == "__main__":
                
 
 if __name__ == "__main__":