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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,138 @@ | ||
| #!/usr/bin/env python | ||
| # -*- coding: utf-8 -*- | ||
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| import math | ||
| import time | ||
| import rospy | ||
| import std_msgs | ||
| import json | ||
| import os | ||
| from std_msgs.msg import String | ||
| from std_msgs.msg import Float32 | ||
| from arom.srv import * | ||
| from arom.msg import * | ||
| import numpy as np | ||
| from __init__ import AromNode | ||
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| aws_data = {} | ||
| btn_data = [] | ||
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| def callback_aws(recive): | ||
| global aws_data | ||
| for i, type in enumerate(recive.type): | ||
| aws_data[type] = recive.value[i] | ||
| #print aws_data | ||
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| def callback_btn(recive): | ||
| global btn_data | ||
| btn_data.append(recive.data) | ||
| #print recive, btn_data | ||
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| class lcdClient(AromNode): | ||
| node_name = "lcd_client" | ||
| node_type = "lcd_client" | ||
| node_pymlab = True | ||
| btn_data = [] | ||
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| def __init__(self): | ||
| print os.path.abspath(__file__) | ||
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| rospy.Subscriber("/arom/UI/buttons", std_msgs.msg.String, self.callback_btn) | ||
| rospy.Subscriber("/arom/node/lcdText", std_msgs.msg.String, self.callback_btn) | ||
| rospy.Subscriber("/arom/node/lcdText", std_msgs.msg.String, self.callback_btn) | ||
| self.lcdText_pub = rospy.Publisher('/arom/node/lcdText', std_msgs.msg.String, queue_size=5) | ||
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| AromNode.__init__(self) | ||
| self.set_feature('display_show',{'rows': 2, 'cols': 16, 'publish': '/arom/node/lcdText'}) | ||
| #self.set_feature('display_show',{'rows': rows, 'cols': cols, 'publish': '/arom/node/lcdText'}) | ||
| #self.set_feature('display_control', {'up': 'KEY_VOLUMEUP', 'down': 'KEY_VOLUMEDOWN', 'back': 'KEY_F2', 'enter': 'KEY_F3', 'subscrib': '/arom/UI/buttons'}) | ||
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| rospy.Subscriber(name = "/arom/node%s/rows" %(rospy.get_name()), data_class = std_msgs.msg.String, callback = self.RowData, callback_args=None) | ||
| rospy.Subscriber(name = "/arom/node%s/row1" %(rospy.get_name()), data_class = std_msgs.msg.String, callback = self.RowData, callback_args=1) | ||
| rospy.Subscriber(name = "/arom/node%s/row2" %(rospy.get_name()), data_class = std_msgs.msg.String, callback = self.RowData, callback_args=2) | ||
| rospy.Subscriber(name = "/arom/node%s/row3" %(rospy.get_name()), data_class = std_msgs.msg.String, callback = self.RowData, callback_args=3) | ||
| rospy.Subscriber(name = "/arom/node%s/row4" %(rospy.get_name()), data_class = std_msgs.msg.String, callback = self.RowData, callback_args=4) | ||
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| ## | ||
| ## Konec zakladni inicializace | ||
| ## | ||
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| self.rows = 2 | ||
| self.cols = 16 | ||
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| print "zinicializovano" | ||
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| self.pymlab(device="StatusLCD", method="reset") | ||
| self.pymlab(device="StatusLCD", method="init") | ||
| self.pymlab(device="StatusLCD", method="clear") | ||
| self.pymlab(device="StatusLCD", method="home") | ||
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| time.sleep(0.5) | ||
| self.pymlab(device="StatusLCD", method="putsFull", parameters=str(dict(lineA="Welcome...", lineB="AROM MLAB.cz"))) | ||
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| print "-------------" | ||
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| rate = rospy.Rate(10) | ||
| ra = 0 | ||
| dec = 90 | ||
| while not rospy.is_shutdown(): | ||
| try: | ||
| if len(self.btn_data) > 0: | ||
| print self.btn_data[0], len(self.btn_data) | ||
| lastBtn = self.btn_data[0] | ||
| last_data = lastBtn.split(" ") | ||
| self.btn_data.pop(0) | ||
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| print "incomming:", last_data | ||
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| if last_data[0] == 'KEY_MENU': | ||
| print "light" | ||
| self.pymlab(device="StatusLCD", method="lightToggle") | ||
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| elif last_data[0] == 'KEY_POWER': | ||
| print "lightOff" | ||
| self.pymlab(device="StatusLCD", method="light") | ||
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| except Exception, e: | ||
| print e | ||
| time.sleep(0.1) | ||
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| def setLCD(self, lineA, lineB): | ||
| self.pymlab(device="StatusLCD", method="putsFull", parameters=str(dict(lineA=str(lineA), lineB=str(lineB)))) | ||
| self.lcdText_pub.publish(str(lineA)+"\n"+str(lineB)) | ||
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| def callback_btn(self,recive): | ||
| self.btn_data.append(recive.data) | ||
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| def RowData(self, recive, arg = None): | ||
| print "RowData", arg, recive | ||
| recive = str(recive.data) | ||
|
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| if not arg: | ||
| recive += "\n " # tohle je ochrana pred tim, kdyz retezec nebude obsahovat EOL retezec | ||
| recive = recive.splitlines() | ||
| self.pymlab(device="StatusLCD", method="putsFull", parameters=str(dict(lineA=str(recive[0]), lineB=str(recive[1])))) | ||
| self.lcdText_pub.publish(str(recive[0])+"\n"+str(recive[1])) | ||
| elif arg == 1: | ||
| self.pymlab(device="StatusLCD", method="putsFull", parameters=str(dict(lineA=str(recive), lineB = None) )) | ||
| self.lcdText_pub.publish(str(recive)+"\n"+str("")) | ||
| elif arg == 2: | ||
| self.pymlab(device="StatusLCD", method="putsFull", parameters=str(dict(lineA=None, lineB = str(recive) ))) | ||
| self.lcdText_pub.publish(str("")+"\n"+str(recive)) | ||
| elif arg == 3: | ||
| self.pymlab(device="StatusLCD", method="putsFull", parameters=str(dict(lineA=None, lineB = None ))) | ||
| elif arg == 4: | ||
| self.pymlab(device="StatusLCD", method="putsFull", parameters=str(dict(lineA=None, lineB = None ))) | ||
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| if __name__ == '__main__': | ||
| m = lcdClient() | ||
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