mirror of
https://github.com/CopterExpress/clever-show.git
synced 2026-06-07 04:29:33 +00:00
65 lines
1.9 KiB
Python
65 lines
1.9 KiB
Python
import os
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import time
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import rospy
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from FlightLib import FlightLib
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from FlightLib import LedLib
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import client
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import messaging_lib as messaging
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import play_animation
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def
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class CopterClient(client.Client):
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def load_config(self):
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super(CopterClient, self).load_config()
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self.FRAME_ID = self.config.get('COPTERS', 'frame_id') # TODO in play_animation
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self.TAKEOFF_HEIGHT = self.config.getfloat('COPTERS', 'takeoff_height')
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self.TAKEOFF_TIME = self.config.getfloat('COPTERS', 'takeoff_time')
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self.RFP_TIME = self.config.getfloat('COPTERS', 'reach_first_point_time')
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self.SAFE_TAKEOFF = self.config.getboolean('COPTERS', 'safe_takeoff')
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self.X0_COMMON = self.config.getfloat('COPTERS', 'x0_common')
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self.Y0_COMMON = self.config.getfloat('COPTERS', 'y0_common')
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self.X0 = self.config.getfloat('PRIVATE', 'x0')
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self.Y0 = self.config.getfloat('PRIVATE', 'y0')
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self.USE_LEDS = self.config.getboolean('PRIVATE', 'use_leds')
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play_animation.USE_LEDS = self.USE_LEDS
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def start(self):
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super(CopterClient, self).start()
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rospy.init_node('Swarm_client', anonymous=True)
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if self.USE_LEDS:
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LedLib.init_led()
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@messaging.request_callback("selfcheck")
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def _response_selfcheck():
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return FlightLib.selfcheck()
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@messaging.request_callback("batt_voltage")
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def _response_batt():
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return FlightLib.get_telemetry('body').voltage
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@messaging.request_callback("cell_voltage")
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def _response_cell():
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return FlightLib.get_telemetry('body').cell_voltage
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@messaging.message_callback("service_restart")
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def _message_service_restart(*args, **kwargs):
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os.system("systemctl restart"+kwargs["name"])
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@messaging.message_callback("led_test")
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def _command_config_write(*args, **kwargs):
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LedLib.chase(255, 255, 255)
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time.sleep(2)
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LedLib.off()
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if __name__ == "__main__":
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copter_client = CopterClient()
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copter_client.start()
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