Merge pull request #112 from vortexntnu/feature/temperature

Feature/temperature

sensors/temperature/launch/temperature_system_launch.py

@@ -0,0 +1,10 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='temperature',
+            executable='temperature_publisher_node'
+        )
+    ])

sensors/temperature/package.xml

@@ -0,0 +1,22 @@
+<?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>temperature</name>
+  <version>1.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">vortex</maintainer>
+  <license>MIT</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>freya_bms</exec_depend>
+  <exec_depend>ros2launch</exec_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

sensors/temperature/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/temperature
+[install]
+install_scripts=$base/lib/temperature

sensors/temperature/setup.py

@@ -0,0 +1,29 @@
+import os
+from glob import glob
+from setuptools import find_packages, setup
+
+package_name = 'temperature'
+
+setup(
+    name=package_name,
+    version='1.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name), glob('launch/*.py')),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='vortex',
+    maintainer_email='[email protected]',
+    description='Temperature sensor data gartehring from temperature sensor system',
+    license='MIT',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            "temperature_publisher_node = temperature.temperature_publisher_node:main"
+        ],
+    },
+)

sensors/temperature/temperature/temperature_lib.py

@@ -0,0 +1,32 @@
+import smbus
+import time
+import struct
+
+class TemperatureModule:
+    def __init__(self):
+        # to read temperature from arduino through I2C
+        self.i2c_address = 0x22  
+
+        # init of I2C bus communication
+        self.bus = smbus.SMBus(1)
+        time.sleep(1)
+
+    def get_data(self):
+        try:
+            # Define the number of floats and the corresponding byte length
+            num_floats = 6
+            byte_length = num_floats * 4  # Each float is 4 bytes
+
+            # Read a block of bytes from the I2C device
+            data = self.bus.read_i2c_block_data(self.i2c_address, 0, byte_length)
+
+            # Convert the byte list to a list of floats
+            floats = struct.unpack('<' + 'f' * num_floats, bytes(data[:byte_length]))
+
+            return floats
+        except Exception as e:
+            print(f"Error: {e}")
+            return None
+
+    def shutdown(self):
+        self.bus.close()

sensors/temperature/temperature/temperature_publisher_node.py

@@ -0,0 +1,65 @@
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Float32  # Import the Float32MultiArray message type
+
+import temperature.temperature_lib  # Import your custom temperature library
+
+class TemperaturePublisher(Node):
+    def __init__(self):
+        super().__init__("temperature_publisher")
+        # Create a publisher that publishes Float32MultiArray messages on the 'temperature_data' topic
+        self.publisher_ESC1_ = self.create_publisher(Float32, "/asv/temperature/ESC1", 10)
+        self.publisher_ESC2_ = self.create_publisher(Float32, "/asv/temperature/ESC2", 10)
+        self.publisher_ESC3_ = self.create_publisher(Float32, "/asv/temperature/ESC3", 10)
+        self.publisher_ESC4_ = self.create_publisher(Float32, "/asv/temperature/ESC4", 10)
+        self.publisher_ambient1_ = self.create_publisher(Float32, "/asv/temperature/ambient1", 10)
+        self.publisher_ambient2_ = self.create_publisher(Float32, "/asv/temperature/ambient2", 10)
+
+        # Create a timer that calls the timer_callback method every 1.0 seconds
+        timer_period = 1.0
+        self.timer = self.create_timer(timer_period, self.timer_callback)
+
+        # Initialize the TemperatureModule to interact with the temperature sensor
+        self.TemperatureObjcet = temperature.temperature_lib.TemperatureModule()
+
+    def timer_callback(self):
+        # Get the temperature data from the sensor
+        temperature_data_array = self.TemperatureObjcet.get_data()
+        if temperature_data_array is not None:
+            # If data is received, create a Float32 messages
+            msg_ESC1 = Float32()
+            msg_ESC2 = Float32()
+            msg_ESC3 = Float32()
+            msg_ESC4 = Float32()
+            msg_ambient1 = Float32()
+            msg_ambient2 = Float32()
+
+            # Assign the received temperature data to the correct message
+            msg_ESC1.data = temperature_data_array[0]
+            msg_ESC2.data = temperature_data_array[1]
+            msg_ESC3.data = temperature_data_array[2]
+            msg_ESC4.data = temperature_data_array[3]
+            msg_ambient1.data = temperature_data_array[5] # Inverse because of conections
+            msg_ambient2.data = temperature_data_array[4] # Inverse because of conections
+
+            # Publish the messages
+            self.publisher_ESC1_.publish(msg_ESC1)
+            self.publisher_ESC2_.publish(msg_ESC2)
+            self.publisher_ESC3_.publish(msg_ESC3)
+            self.publisher_ESC4_.publish(msg_ESC4)
+            self.publisher_ambient1_.publish(msg_ambient1)
+            self.publisher_ambient2_.publish(msg_ambient2)
+
+            # Log the published data for debugging purposes
+            self.get_logger().info(f"Temperature: {temperature_data_array}")
+
+def main(args=None):
+    rclpy.init(args=args)  # Initialize the ROS2 Python client library
+    temperature_publisher = TemperaturePublisher()  # Create the TemperaturePublisher node
+    rclpy.spin(temperature_publisher)  # Spin the node so the callback function is called
+    # After shutdown, destroy the node and shutdown rclpy
+    temperature_publisher.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()  # Run the main function if the script is executed

sensors/temperature/test/test_copyright.py

@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

sensors/temperature/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

sensors/temperature/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'