Use non blocking function with timer

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