add led dev

led_dev/led_dev/led_dev_node.py

@@ -0,0 +1,88 @@
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import String
+import serial
+import time
+class TM512AC_RS485_Driver:
+    def __init__(self, port='/dev/ttyUSB0', baudrate=250000, num_ic=5):
+        self.ser = serial.Serial(
+            port=port,
+            baudrate=baudrate,
+            bytesize=serial.EIGHTBITS,
+            parity=serial.PARITY_NONE,
+            stopbits=serial.STOPBITS_TWO,
+            timeout=0.1,
+            rtscts=False,
+            dsrdtr=False
+        )
+        self.num_ic = num_ic  # TM512芯片数量
+        self.channels = 3 * num_ic  # 总通道数（RGB模式）
+
+    def _send_break(self):
+        self.ser.sendBreak(0.000088)  # 88μs Break
+        time.sleep(0.000008)  # 8μs MAB
+
+    def _send_dmx_byte(self, value):
+        self.ser.write(bytes([value]))
+
+    def send_frame(self, rgb_data):
+        self._send_break()
+        self._send_dmx_byte(0x00)
+        for val in rgb_data[:self.channels]:
+            self._send_dmx_byte(val)
+        remaining = 512 - self.channels
+        if remaining > 0:
+            self.ser.write(bytes([0] * remaining))
+
+    def close(self):
+        self.ser.close()
+class LedCommand(Node):
+    def __init__(self):
+        super().__init__('led_dev_node')
+        self.create_subscription(String,'/led_cmd',self.led_cmd_cb,10)
+        self.driver = TM512AC_RS485_Driver(port='/dev/ttyUSB0', num_ic=5)
+        self.get_logger().info("led_dev_node start....")
+    def all_color(self,rgb_data,xnum):
+        num_ic=5
+        rgb = [0, 0, 0] * num_ic
+        start_id=0
+        end_id=256
+        if xnum<0:
+            start_id=256
+            end_id=0
+        for i in range(start_id,end_id,xnum):
+            offset=i*5
+            val=i#val+offset
+            if val > 255:
+                val=255
+            if rgb_data=='red':
+                rgb = [val, 0, 0,0] * num_ic 
+            elif rgb_data=='green':
+                rgb = [0, val, 0,0] * num_ic
+            elif rgb_data=='blue':
+                rgb = [0, 0, val,0] * num_ic
+            elif rgb_data=='cyan':#青色
+                rgb = [0, val, val,0] * num_ic
+            elif rgb_data=='yellow':#黄色
+                rgb = [val, val, 0,0] * num_ic
+            elif rgb_data=='purple':#紫色
+                rgb = [val, 0, val,0] * num_ic
+            elif rgb_data=='white':#紫色
+                rgb = [val, val, val,0] * num_ic
+            #print(rgb)
+            self.driver.send_frame(rgb)
+            time.sleep(0.1)
+    def led_blink(self,color,val):
+        self.all_color(color, -val)
+        self.all_color(color, val)
+    def led_cmd_cb(self,msg):
+        xcmd=msg.data
+        print('led cmd:',xcmd)
+        cmd,val=xcmd.split(',')
+        self.led_blink(cmd,int(val))
+if __name__=='__main__':
+    rclpy.init()
+    node=LedCommand()
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()

led_dev/package.xml

@@ -0,0 +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>led_dev</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="you@example.com">h</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>std_msgs</depend>
+  <depend>rclpy</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>

led_dev/setup.cfg

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

led_dev/setup.py

@@ -0,0 +1,25 @@
+from setuptools import find_packages, setup
+
+package_name = 'led_dev'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='h',
+    maintainer_email='you@example.com',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+        ],
+    },
+)

led_dev/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'

led_dev/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)

led_dev/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'