merge core headless

src/headless_pkg/headless_pkg/headless_ctrl_node.py

@@ -1,132 +0,0 @@
-import rclpy
-from rclpy.node import Node
-
-import pygame
-
-import time
-
-import serial
-import sys
-import threading
-import glob
-import os
-
-import importlib
-from std_msgs.msg import String
-from ros2_interfaces_pkg.msg import CoreControl
-
-
-os.environ["SDL_VIDEODRIVER"] = "dummy"  # Prevents pygame from trying to open a display
-os.environ["SDL_AUDIODRIVER"] = "dummy"  # Force pygame to use a dummy audio driver before pygame.init()
-
-
-max_speed = 75 #Max speed as a duty cycle percentage (1-100)
-
-class Headless(Node):
-    def __init__(self):
-        # Initalize node with name
-        super().__init__("headless_ctrl")
-
-        self.create_timer(0.20, self.send_controls)
-
-
-        # Create a publisher to publish any output the pico sends
-        self.publisher = self.create_publisher(CoreControl, '/core/control', 10) 
-
-
-        self.lastMsg = String() #Used to ignore sending controls repeatedly when they do not change
-
-        pygame.init()
-
-        # Initialize the gamepad module
-        pygame.joystick.init()
-
-        # Check if any gamepad is connected
-        if pygame.joystick.get_count() == 0:
-            print("No gamepad found.")
-            pygame.quit()
-            exit()
-        for event in pygame.event.get():
-            if event.type == pygame.QUIT:
-                pygame.quit()
-                exit()
-
-        # Initialize the first gamepad, print name to terminal
-        self.gamepad = pygame.joystick.Joystick(0)
-        self.gamepad.init()
-        print(f'Gamepad Found: {self.gamepad.get_name()}')
-        #
-        #
-
-
-    def run(self):
-        # This thread makes all the update processes run in the background
-        thread = threading.Thread(target=rclpy.spin, args={self}, daemon=True)
-        thread.start()
-        
-
-        try:
-            while rclpy.ok():
-                #Check the pico for updates
-                self.send_controls()
-
-                if pygame.joystick.get_count() == 0: #if controller disconnected, wait for it to be reconnected
-                    print(f"Gamepad disconnected: {self.gamepad.get_name()}")
-                    
-                    while pygame.joystick.get_count() == 0:
-                        self.send_controls()
-                    self.gamepad = pygame.joystick.Joystick(0)
-                    self.gamepad.init() #re-initialized gamepad
-                    print(f"Gamepad reconnected: {self.gamepad.get_name()}")
-                    
-
-        except KeyboardInterrupt:
-            sys.exit(0)
-        
-
-    def send_controls(self):
-        
-        for event in pygame.event.get():
-            if event.type == pygame.QUIT:
-                pygame.quit()
-                exit()
-        input = CoreControl()
-
-        input.max_speed = max_speed
-
-        input.right_stick = round(self.gamepad.get_axis(4),2)#right y-axis
-        if self.gamepad.get_axis(5) > 0:
-            input.left_stick = input.right_stick
-        else:
-            input.left_stick = round(self.gamepad.get_axis(1),2)#lext y-axis
-
-
-
-        if pygame.joystick.get_count() != 0:
-            output = f'L: {input.left_stick}, R: {input.right_stick}, M: {max_speed}' #stop the rover if there is no controller connected
-            self.get_logger().info(f"[Ctrl] {output}")
-            self.publisher.publish(input)
-        else:
-            input.left_stick = 0
-            input.right_stick = 0
-            input.max_speed = 0
-            self.get_logger().info(f"[Ctrl] Stopping. No Gamepad Connected. ")
-            self.publisher.publish(input)
-
-
-        
-
-def main(args=None):
-    rclpy.init(args=args)
-
-    node = Headless()
-    
-    rclpy.spin(node)
-    rclpy.shutdown()
-
-    #tb_bs = BaseStation()
-    #node.run()
-
-
-if __name__ == '__main__':
-    main()