From d1b8283c4bbaf6a15b6f350c66c8ca901915ded2 Mon Sep 17 00:00:00 2001 From: robofob Date: Wed, 8 Jul 2026 20:27:22 +0300 Subject: [PATCH] _node fix --- wave_rover_controller/wave_rover_node.py | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/wave_rover_controller/wave_rover_node.py b/wave_rover_controller/wave_rover_node.py index 68f7fed..a8e34d7 100644 --- a/wave_rover_controller/wave_rover_node.py +++ b/wave_rover_controller/wave_rover_node.py @@ -25,9 +25,9 @@ class WaveRoverNode(Node): self._serial_port = self.get_parameter('serial_port').value self._baudrate = self.get_parameter('baudrate').value - fan_pin = self._node.get_parameter('fan_pin').value + fan_pin = self.get_parameter('fan_pin').value self._gpio_controller = GPIOController(fan_pin) - self._fan_time = self._node.get_parameter('fan_time').value + self._fan_time = self.get_parameter('fan_time').value self._fe_burst_timer = None wheel_max = 0.5 # popugais @@ -48,9 +48,9 @@ class WaveRoverNode(Node): port=self._serial_port, baudrate=self._baudrate, timeout=1.0 ) time.sleep(0.5) - self._node.get_logger().info(f'Подключено к {self._serial_port}') + self.get_logger().info(f'Подключено к {self._serial_port}') except SerialException as e: - self._node.get_logger().error(f'Ошибка serial: {e}') + self.get_logger().error(f'Ошибка serial: {e}') self._serial_conn = None def _send_json_command(self, command: dict): @@ -60,28 +60,28 @@ class WaveRoverNode(Node): try: json_str = json.dumps(command) self._serial_conn.write(json_str.encode() + b'\n') - self._node.get_logger().debug(f'Отправлено: {json_str}') + self.get_logger().debug(f'Отправлено: {json_str}') except SerialException as e: - self._node.get_logger().error(f'Ошибка отправки: {e}') + self.get_logger().error(f'Ошибка отправки: {e}') self._serial_conn.close() def fe_burst_cb(self, req, res): if self._fe_burst_timer is None: - self._fe_burst_timer = self._node.create_timer(self._fan_time, self._fe_burst_timer_cb) + self._fe_burst_timer = self.create_timer(self._fan_time, self._fe_burst_timer_cb) self._gpio_controller.enable() msg = "Fire extingusher burst is performing" res.success = True - self._node.get_logger().info(msg) + self.get_logger().info(msg) else: msg = "Fire extingusher burst is already performing" - self._node.get_logger().error(msg) + self.get_logger().error(msg) res.success = False res.message = msg return res def _fe_burst_timer_cb(self): - self._node.destroy_timer(self._fe_burst_timer) + self.destroy_timer(self._fe_burst_timer) self._fe_burst_timer = None self._gpio_controller.disable()