Activate/Deactivate RPi depending on learning mode

niryo_one_rpi/scripts/fans_manager.py

@@ -0,0 +1,60 @@
+#!/usr/bin/env python
+
+# fans_manager.py
+# Copyright (C) 2017 Niryo
+# All rights reserved.
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+import rospy
+from std_msgs.msg import Bool
+
+import RPi.GPIO as GPIO
+
+FAN_1_GPIO = 27
+FAN_2_GPIO = 23
+
+class FansManager:
+
+    def setup_fans(self):
+        GPIO.setwarnings(False) 
+        GPIO.setmode(GPIO.BCM)
+        GPIO.setup(FAN_1_GPIO, GPIO.OUT)
+        GPIO.setup(FAN_2_GPIO, GPIO.OUT)
+        rospy.sleep(0.05)
+        rospy.loginfo("------ RPI FANS SETUP OK ------")
+
+    def set_fans(self, activate):
+        if activate:
+            GPIO.output(FAN_1_GPIO, GPIO.HIGH)
+            GPIO.output(FAN_2_GPIO, GPIO.HIGH)
+        else:
+            GPIO.output(FAN_1_GPIO, GPIO.LOW)
+            GPIO.output(FAN_2_GPIO, GPIO.LOW)
+
+    def __init__(self):
+        self.setup_fans()
+        self.learning_mode_on = True
+        self.set_fans(not self.learning_mode_on)
+
+        self.learning_mode_subscriber = rospy.Subscriber(
+                '/niryo_one/learning_mode', Bool, self.callback_learning_mode)
+
+
+    def callback_learning_mode(self, msg):
+        if msg.data != self.learning_mode_on:
+            self.learning_mode_on = msg.data
+            self.set_fans(not self.learning_mode_on)
+
+

niryo_one_rpi/scripts/niryo_one_rpi_node.py

@@ -21,34 +21,22 @@
 # All nodes related to Raspberry Pi are running here with only one node
 # ( lower RAM usage )
 #
-#
 
 import rospy
 import RPi.GPIO as GPIO
 
 from ros_log_manager import RosLogManager
 from led_manager import LEDManager
+from fans_manager import FansManager
 from niryo_one_button import NiryoButton
 from digital_io_panel import DigitalIOPanel
 from wifi_connection import WifiConnectionManager
 from niryo_one_ros_setup import *
 from niryo_one_modbus.modbus_server import ModbusServer
 
-FAN_1_GPIO = 23
-FAN_2_GPIO = 27
 
 class NiryoOneRpi:
 
-    def setup_fans(self):
-        GPIO.setwarnings(False) 
-        GPIO.setmode(GPIO.BCM)
-        GPIO.setup(FAN_1_GPIO, GPIO.OUT)
-        GPIO.setup(FAN_2_GPIO, GPIO.OUT)
-        rospy.sleep(0.1)
-        GPIO.output(FAN_1_GPIO, GPIO.HIGH)
-        GPIO.output(FAN_2_GPIO, GPIO.HIGH)
-        rospy.loginfo("------ RPI FANS ON ------")
-
     def __init__(self):
         self.wifi_manager_enabled = rospy.get_param("~wifi_manager_enabled")
         self.launch_ros_processes = rospy.get_param("~launch_ros_processes")
@@ -65,7 +53,7 @@ def __init__(self):
         if self.wifi_manager_enabled:
             self.wifi_manager = WifiConnectionManager()
 
-        self.setup_fans()
+        self.fans_manager = FansManager()
         self.ros_log_manager = RosLogManager()
         self.led_manager = LEDManager()
         self.niryo_one_button = NiryoButton()