Move led stripe out of wt_node into own node in ruby
authorErik Andresen <erik@vontaene.de>
Thu, 27 Sep 2018 19:14:56 +0000 (21:14 +0200)
committerErik Andresen <erik@vontaene.de>
Thu, 27 Sep 2018 19:14:56 +0000 (21:14 +0200)
scripts/ledstripe.rb [new file with mode: 0755]
scripts/wt_node.py

diff --git a/scripts/ledstripe.rb b/scripts/ledstripe.rb
new file mode 100755 (executable)
index 0000000..9f4119e
--- /dev/null
@@ -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
index f7b02f5..dfa69b0 100755 (executable)
@@ -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")