Merge branch 'temp-sensor' of github.com:cwruRobotics/rov-24 into tem…

…p-sensor

src/pi/temp_sensor/temp_sensor/temp_sensor.py

@@ -1,37 +1,36 @@
 import rclpy
 from rclpy.node import Node
+from rov_msgs.msg import Temperature
 
-# Pins used for GPIO
-DETECT_PIN = 17
+import tsys01
 
 
-class FloodDetector(Node):
+class TempSensor(Node):
 
     def __init__(self) -> None:
-        super().__init__('gpio_reader', parameter_overrides=[])
-        self.publisher = self.create_publisher(Flooding, 'flooding', 10)
-        self.gpio_chip = lgpio.gpiochip_open(0)
-        lgpio.gpio_claim_input(self.gpio_chip, DETECT_PIN)
+        super().__init__('temp_sensor', parameter_overrides=[])
+        self.publisher = self.create_publisher(Temperature, 'temperature', 10)
+        self.sensor = tsys01.TSYS01()
+        self.sensor.init()
+
         timer_period = 0.1  # seconds
         self.timer = self.create_timer(timer_period, self.timer_callback)
 
     def timer_callback(self) -> None:
-        # If any of the sensors detect water, send true to /tether/flooding
-        flood_reading = lgpio.gpio_read(self.gpio_chip, DETECT_PIN)
+        self.sensor.read()
+        temp_reading = self.sensor.temperature()
 
         # If any of the sensors detect water, send true to /tether/flooding
-        msg = Flooding()
-        msg.flooding = (flood_reading == lgpio.HIGH)
-        if msg.flooding:
-            self.get_logger().error("The ebay is flooding")
+        msg = Temperature()
+        msg.reading = temp_reading
         self.publisher.publish(msg)
 
 
 def main(args: None = None) -> None:
     rclpy.init()
-    flood_detector = FloodDetector()
-    rclpy.spin(flood_detector)
-    flood_detector.destroy_node()
+    temp_sensor = TempSensor()
+    rclpy.spin(temp_sensor)
+    temp_sensor.destroy_node()
     rclpy.shutdown()
 
 

src/pi/temp_sensor/temp_sensor/temp_sensor_dry_run.py

@@ -1,15 +1,21 @@
-import tsys01
-# https://github.com/bluerobotics/tsys01-python
+from time import sleep
+
+import tsys01  # https://github.com/bluerobotics/tsys01-python
 
 
 def debug_log() -> None:
     sensor = tsys01.TSYS01()  # Use default I2C bus 1
 
     sensor.init()
 
-    sensor.read()
-
-    sensor.temperature()  # Get temperature in default units (Centigrade)
+    while True:
+        sensor.read()
+        print(
+            sensor.temperature(),  # Get temperature in default units (Centigrade)
+            '\t',
+            sensor.temperature(tsys01.UNITS_Farenheit)
+        )
+        sleep(1)
 
 
 if __name__ == "__main__":

src/rov_msgs/CMakeLists.txt

@@ -29,6 +29,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/Manip.msg"
   "msg/CameraControllerSwitch.msg"
   "msg/Flooding.msg"
+  "msg/Temperature.msg"
   "msg/IPAddress.msg"
   "msg/VehicleState.msg"
   "msg/ValveManip.msg"

src/rov_msgs/msg/Temperature.msg

@@ -0,0 +1 @@
+float64 reading