X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fsensor_board.py;h=c688ff9616c019d5f7b5c5c3b30cb1d8a54a6d3f;hp=337830ddb4407c9fad4c6b1511fdb81fb9cdd697;hb=2e1412681f31d74d078d532915017a22281bbcc1;hpb=14db607284e1f386fc7ded5cbee2c50da9928a47

diff --git a/scripts/sensor_board.py b/scripts/sensor_board.py
index 337830d..c688ff9 100755
--- a/scripts/sensor_board.py
+++ b/scripts/sensor_board.py
@@ -1,6 +1,7 @@
 #!/usr/bin/env python
 # -*- coding: iso-8859-15 -*-
 
+import sys
 import rospy
 import struct
 import prctl
@@ -11,8 +12,8 @@ from pyshared.humidity import *
 from wild_thumper.msg import Sensor
 
 # Board warming offset
-TEMP_ERROR = -2 # -5 # degree celsius
-PRESSURE_ERROR = -4.5
+TEMP_ERROR = 0 # -2.5 # -5 # degree celsius
+PRESSURE_ERROR = -2.5
 
 """
 LDR:
@@ -43,9 +44,13 @@ def get(addr=0x58):
 	pressure_kpa = P = (pressure_v/5 + 0.04) / 0.004 + PRESSURE_ERROR # datasheet
 
 	# fix temperature/humidity
-	temp_real = temp_mess + TEMP_ERROR 
-	humidity_abs = calc_humidity_abs(temp_mess, humidity_mess)
-	humidity_real = calc_humidity_rel(temp_real, humidity_abs)
+	if TEMP_ERROR:
+		temp_real = temp_mess + TEMP_ERROR
+		humidity_abs = calc_humidity_abs(temp_mess, humidity_mess)
+		humidity_real = calc_humidity_rel(temp_real, humidity_abs)
+	else:
+		temp_real = temp_mess
+		humidity_real = humidity_mess
 
 	return lux, temp_real, humidity_real, pressure_kpa, co
 
@@ -53,6 +58,11 @@ class SensorBoard:
 	def __init__(self):
 		rospy.init_node('sensor_board')
 		prctl.set_name("sensor_board")
+		try:
+			get()
+		except:
+			print >>sys.stderr, "No sensor board, shutting down"
+			exit(1)
 		self.pub = rospy.Publisher("sensors", Sensor, queue_size=16)
 		self.run()
 
@@ -66,8 +76,6 @@ class SensorBoard:
 				if (datetime.now() - t_last_check).seconds > 900:
 					ventilate = check_ventilate(temp, humidity)
 					t_last_check = datetime.now()
-				if (ventilate > 1.10):
-					print "Lüften!"
 				
 				msg = Sensor()
 				msg.header.stamp = rospy.Time.now()
@@ -76,7 +84,7 @@ class SensorBoard:
 				msg.humidity = humidity
 				msg.pressure = pressure
 				msg.co = co
-				msg.ventilate = ventilate
+				msg.ventilate = True if ventilate > 1.10 else False
 
 				self.pub.publish(msg)