From 32049198dc2ed66a666a49524c1d8450b58fdaf0 Mon Sep 17 00:00:00 2001
From: Rousseau Vincent <vincent.rousseau@irstea.fr>
Date: Mon, 30 Jul 2018 12:08:44 +0200
Subject: [PATCH] Use non blocking function with timer
---
scripts/stream_node.py | 26 ++++++++++++++++++++++++--
1 file changed, 24 insertions(+), 2 deletions(-)
diff --git a/scripts/stream_node.py b/scripts/stream_node.py
index 1332a7b..b299ec6 100755
--- a/scripts/stream_node.py
+++ b/scripts/stream_node.py
@@ -36,7 +36,6 @@ class Labjack(object):
self.d.streamStart()
- # Anonymous topic ?
self.pub = rospy.Publisher('chatter', Float32, queue_size=10)
#timer_period = 0.01 # in second
@@ -59,7 +58,30 @@ class Labjack(object):
self.pub.publish(msg)
+class LabjackAIN(object):
+ def __init__(self, channel, resolution=16):
+ self.channel_name = "AIN"+str(channel)
+ self.d = ue9.UE9()
+ self.d.getCalibrationData()
+
+ self.pub = rospy.Publisher('chatter', Float32, queue_size=10)
+
+ timer_period = 0.01 # in second
+ self.timer = rospy.Timer(rospy.Duration(timer_period), self.timer_callback)
+ rospy.spin()
+
+ self.d.close()
+
+ def timer_callback(self, event):
+ msg = Float32()
+ # Conversion in milli volt for gain 1
+ data = self.d.getAIN(1)
+ if data is not None:
+ msg.data = data
+ rospy.loginfo('Publishing: "{0}"'.format(msg.data))
+ self.pub.publish(msg)
+
if __name__ == '__main__':
rospy.init_node('labjack', anonymous=True)
- node = Labjack(1)
\ No newline at end of file
+ node = LabjackAIN(1)
\ No newline at end of file
--
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