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wave_rover_controller
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_node fix

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robofob 2 weeks ago
parent cab4642446
commit d1b8283c4b
1 changed files with 10 additions and 10 deletions
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20
wave_rover_controller/wave_rover_node.py
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@ -25,9 +25,9 @@ class WaveRoverNode(Node):
self._serial_port = self.get_parameter('serial_port').value self._serial_port = self.get_parameter('serial_port').value
self._baudrate = self.get_parameter('baudrate').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._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 self._fe_burst_timer = None
wheel_max = 0.5 # popugais wheel_max = 0.5 # popugais
@ -48,9 +48,9 @@ class WaveRoverNode(Node):
port=self._serial_port, baudrate=self._baudrate, timeout=1.0 port=self._serial_port, baudrate=self._baudrate, timeout=1.0
) )
time.sleep(0.5) 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: 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 self._serial_conn = None
def _send_json_command(self, command: dict): def _send_json_command(self, command: dict):
@ -60,28 +60,28 @@ class WaveRoverNode(Node):
try: try:
json_str = json.dumps(command) json_str = json.dumps(command)
self._serial_conn.write(json_str.encode() + b'\n') 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: 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() self._serial_conn.close()
def fe_burst_cb(self, req, res): def fe_burst_cb(self, req, res):
if self._fe_burst_timer is None: 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() self._gpio_controller.enable()
msg = "Fire extingusher burst is performing" msg = "Fire extingusher burst is performing"
res.success = True res.success = True
self._node.get_logger().info(msg) self.get_logger().info(msg)
else: else:
msg = "Fire extingusher burst is already performing" msg = "Fire extingusher burst is already performing"
self._node.get_logger().error(msg) self.get_logger().error(msg)
res.success = False res.success = False
res.message = msg res.message = msg
return res return res
def _fe_burst_timer_cb(self): 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._fe_burst_timer = None
self._gpio_controller.disable() self._gpio_controller.disable()

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