X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fwt_node.py;h=2672fed1d2bc636bb4ca3b7f40bed22e3e2f0b54;hp=dcae6740c02b7fa35e07eb7416f75293cc0819eb;hb=9349f21c7fb8f1629fe4154cc054fc894a9e600d;hpb=fb692fdbf76fda0e13adb284b6ccd09cb3fa7afb

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index dcae674..2672fed 100755
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -5,21 +5,51 @@ import rospy
 import tf
 import struct
 import prctl
-from i2c import *
+import spidev
+from time import sleep
+from i2c import i2c, i2c_write_reg, i2c_read_reg
 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
 
+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")
-		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()
@@ -35,6 +65,10 @@ class MoveBase:
 		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):
@@ -82,10 +116,18 @@ class MoveBase:
 		stat.level = DiagnosticStatus.ERROR if reset & 0x0c else DiagnosticStatus.OK
 		stat.message = "0x%02x" % reset
 
-		stat.values.append(KeyValue("Watchdog Reset Flag", str(bool(reset & (1 << 3)))))
-		stat.values.append(KeyValue("Brown-out Reset Flag", str(bool(reset & (1 << 2)))))
-		stat.values.append(KeyValue("External Reset Flag", str(bool(reset & (1 << 1)))))
-		stat.values.append(KeyValue("Power-on Reset Flag", str(bool(reset & (1 << 0)))))
+		wdrf = bool(reset & (1 << 3))
+		if wdrf: rospy.loginfo("Watchdog Reset")
+		borf = bool(reset & (1 << 2))
+		if borf: rospy.loginfo("Brown-out Reset Flag")
+		extrf = bool(reset & (1 << 1))
+		if extrf: rospy.loginfo("External Reset Flag")
+		porf = bool(reset & (1 << 0))
+		if porf: rospy.loginfo("Power-on Reset Flag")
+		stat.values.append(KeyValue("Watchdog Reset Flag", str(wdrf)))
+		stat.values.append(KeyValue("Brown-out Reset Flag", str(borf)))
+		stat.values.append(KeyValue("External Reset Flag", str(extrf)))
+		stat.values.append(KeyValue("Power-on Reset Flag", str(porf)))
 
 		msg.status.append(stat)
 		self.pub_diag.publish(msg)
@@ -203,16 +245,7 @@ class MoveBase:
 		dev.close()
 
 	def read_dist_srf(self, num):
-		dev = i2c(0x52)
-		s = struct.pack("B", num)
-		dev.write(s)
-		dev.close()
-
-		dev = i2c(0x52)
-		s = dev.read(2)
-		dev.close()
-
-		return struct.unpack(">H", s)[0]/1000.0
+		return struct.unpack(">H", i2c_read_reg(0x52, num, 2))[0]/1000.0
 
 	def send_range(self, pub, frame_id, typ, dist, min_range, max_range, fov_deg):
 		msg = Range()
@@ -227,13 +260,15 @@ class MoveBase:
 
 	def get_dist_left(self):
 		if self.pub_range_left.get_num_connections() > 0:
-			dist = 30.553/(self.get_dist_ir(0x1) - -67.534)
-			self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, dist, 0.04, 0.3, 1)
+			dist = self.get_dist_ir(0x1)
+			if dist > -67:
+				self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, 30.553/(dist - -67.534), 0.04, 0.3, 1)
 
 	def get_dist_right(self):
 		if self.pub_range_right.get_num_connections() > 0:
-			dist = 17.4/(self.get_dist_ir(0x3) - 69)
-			self.send_range(self.pub_range_right, "ir_right", Range.INFRARED, dist, 0.04, 0.3, 1)
+			dist = self.get_dist_ir(0x3)
+			if dist > 69:
+				self.send_range(self.pub_range_right, "ir_right", Range.INFRARED, 17.4/(dist - 69), 0.04, 0.3, 1)
 
 	def get_dist_forward(self):
 		if self.pub_range_fwd.get_num_connections() > 0:
@@ -246,6 +281,11 @@ 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
+	
+	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__":