mod. messages and wait_for_server() in switchbot_ros_client.py to set…

… timeout.
jsk-ros-pkg · Apr 16, 2024 · 261c360 · 261c360
1 parent c567159
commit 261c360
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Showing 4 changed files with 26 additions and 9 deletions.
diff --git a/switchbot_ros/msg/Bot.msg b/switchbot_ros/msg/Bot.msg
@@ -1,6 +1,10 @@
+string DEVICEMODE_PRESS     = "pressMode"
+string DEVICEMODE_SWITCH    = "switchMode"
+string DEVICEMODE_CUSTOMIZE = "customizeMode"
+
 Header  header       # timestamp
 
 float64 battery      # the current battery level, 0-100
 
-string  power        # ON/OFF state
+bool    power        # ON/OFF state True/False
 string  device_mode  # pressMode, switchMode, or customizeMode
diff --git a/switchbot_ros/msg/StripLight.msg b/switchbot_ros/msg/StripLight.msg
@@ -1,6 +1,8 @@
 Header  header       # timestamp
 
-string  power        # ON/OFF state
-string  color        # the color value, RGB "255:255:255"
+bool    power        # ON/OFF state True/False
 
 int64   brightness   # the brightness value, range from 1 to 100
+int64   color_r      # Red   color value 0-255
+int64   color_g      # Green color value 0-255
+int64   color_b      # Blue  color value 0-255
diff --git a/switchbot_ros/scripts/switchbot_status_publisher.py b/switchbot_ros/scripts/switchbot_status_publisher.py
@@ -140,14 +140,24 @@ def spin(self):
                         msg = Bot()
                         msg.header.stamp = time
                         msg.battery      = status['battery']
-                        msg.power        = status['power']
+                        if status['power'] == 'on':
+                            msg.power    = True
+                        else:
+                            msg.power    = False
                         msg.device_mode  = status['deviceMode']
                     elif self.msg_class == StripLight:
                         msg = StripLight()
                         msg.header.stamp = time
-                        msg.power        = status['power']
-                        msg.color        = status['color']
+                        if status['power'] == 'on':
+                            msg.power    = True
+                        else:
+                            msg.power    = False
                         msg.brightness   = status['brightness']
+                        rgb_string       = status['color']
+                        r, g, b = map(int, rgb_string.split(':'))
+                        msg.color_r      = r
+                        msg.color_g      = g
+                        msg.color_b      = b
                     else:
                         return
 

diff --git a/switchbot_ros/src/switchbot_ros/switchbot_ros_client.py b/switchbot_ros/src/switchbot_ros/switchbot_ros_client.py
@@ -9,16 +9,17 @@ class SwitchBotROSClient(object):
 
     def __init__(self,
                  actionname='switchbot_ros/switch',
-                 topicname='switchbot_ros/devices'):
+                 topicname='switchbot_ros/devices',
+                 timeout=5):
 
         self.actionname = actionname
         self.topicname = topicname
         self.action_client = actionlib.SimpleActionClient(
                 actionname,
                 SwitchBotCommandAction
                 )
-        rospy.loginfo("Waiting for action server to start.")
-        self.action_client.wait_for_server()
+        rospy.loginfo("Waiting " + str(timeout) + "[sec] for action server to start .")
+        self.action_client.wait_for_server(timeout=rospy.Duration(timeout,0))
 
     def get_devices(self, timeout=None):