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add service for controlling relais

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Sem van der Hoeven
2023-05-17 11:31:22 +02:00
parent e8f7c1610a
commit e16e083dd0
4 changed files with 44 additions and 12 deletions
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1
src/drone_services/CMakeLists.txt
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@@ -28,6 +28,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
"srv/SetVehicleControl.srv"
"srv/ArmDrone.srv"
"srv/DisarmDrone.srv"
"srv/ControlRelais.srv"
"msg/DroneControlMode.msg"
)

5
src/drone_services/srv/ControlRelais.srv Normal file
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@@ -0,0 +1,5 @@
#to turn the relais on or off
bool relais1_on false
bool relais2_on false
---
int8 bits # relais 1 = bit 0, relais 2 is bit 1

26
src/relais_control/package.xml
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@@ -1,19 +1,21 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>relais_control</name>
<version>0.0.0</version>
<description>package to control the relais that enables Pixhawk RX and TX communication</description>
<name>relais_control</name>
<version>0.0.0</version>
<description>package to control the relais that enables Pixhawk RX and TX communication</description>
<maintainer email="semmer99@gmail.com">ubuntu</maintainer>
<license>Apache License 2.0</license>
<license>Apache License 2.0</license>
<exec_depend>rclpy</exec_depend>
<exec_depend>drone_services</exec_depend>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>

24
src/relais_control/relais_control/relais_controller.py
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@@ -1,13 +1,17 @@
import rclpy
from rclpy.node import Node
try:
import RPi.GPIO as GPIO
except RuntimeError:
print("Error importing RPi.GPIO! This is probably because you need superuser privileges. You can achieve this by using 'sudo' to run your script")
from drone_services.srv import ControlRelais
class RelaisController(Node):
def __init__(self):
super().__init__('relais_controller')
self.srv = self.create_service(ControlRelais, 'control_relais', self.control_relais_callback)
self.relais1_pin = 17
self.relais2_pin = 27
self.init_gpio()
@@ -29,6 +33,26 @@ class RelaisController(Node):
GPIO.output(self.relais2_pin, GPIO.HIGH)
self.get_logger().info("Relais turned on")
def control_relais_callback(self, request, response):
if request.relais1:
GPIO.output(self.relais1_pin, GPIO.HIGH)
else:
GPIO.output(self.relais1_pin, GPIO.LOW)
if request.relais2:
GPIO.output(self.relais2_pin, GPIO.HIGH)
else:
GPIO.output(self.relais2_pin, GPIO.LOW)
if GPIO.output(17) == GPIO.LOW:
response.bits = response.bits & 0
else:
response.bits = response.bits | 1
if GPIO.output(27) == GPIO.LOW:
response.bits = response.bits & ~(1 << 1)
else:
response.bits = response.bits | (1 << 1)
return response
def main(args=None):
rclpy.init(args=args)