#!/usr/bin/env python

import rospy
from bruin2_msgs.msg import RelayCommandMsg, RelayDataMsg
import os
from relayController import RelayController, FakeRelayController

pub = rospy.Publisher("RelayData", RelayDataMsg, queue_size=10)

relayController = FakeRelayController()

def handleMsg(msg):
    rospy.logdebug("Receieved relay msg: {} {} {}".format(msg.device_type, msg.device_number, msg.command))

    state = ""
    if msg.device_type == "relay":
        if msg.command == "on":
            state = relayController.turnOnRelay(msg.device_number)
        if msg.command == "off":
            state = relayController.turnOffRelay(msg.device_number)
        if msg.command == "read":
            state = relayController.readRelay(msg.device_number)
    else:
        # GPIO pin
        state = relayController.readGPIO(msg.device_number)
    
    pub.publish(msg.device_type, msg.device_number, state)

rospy.init_node('relay_board')
rospy.loginfo("Bruin-2 Relay Driver V2.0 Starting")

isDebug = "ROS_DEBUG" in os.environ

if not isDebug:
    relayController = RelayController()

rospy.Subscriber("RelayControl", RelayCommandMsg, handleMsg)
# keep listening till we're told to shut down
rospy.spin()

7da5610d91b7f1882fc84504dd8b7b702c092df6
<mask token>

<mask token>


def handleMsg(msg):
    rospy.logdebug('Receieved relay msg: {} {} {}'.format(msg.device_type,
        msg.device_number, msg.command))
    state = ''
    if msg.device_type == 'relay':
        if msg.command == 'on':
            state = relayController.turnOnRelay(msg.device_number)
        if msg.command == 'off':
            state = relayController.turnOffRelay(msg.device_number)
        if msg.command == 'read':
            state = relayController.readRelay(msg.device_number)
    else:
        state = relayController.readGPIO(msg.device_number)
    pub.publish(msg.device_type, msg.device_number, state)


rospy.init_node('relay_board')
rospy.loginfo('Bruin-2 Relay Driver V2.0 Starting')
<mask token>
if not isDebug:
    relayController = RelayController()
rospy.Subscriber('RelayControl', RelayCommandMsg, handleMsg)
rospy.spin()

<mask token>
pub = rospy.Publisher('RelayData', RelayDataMsg, queue_size=10)
relayController = FakeRelayController()


def handleMsg(msg):
    rospy.logdebug('Receieved relay msg: {} {} {}'.format(msg.device_type,
        msg.device_number, msg.command))
    state = ''
    if msg.device_type == 'relay':
        if msg.command == 'on':
            state = relayController.turnOnRelay(msg.device_number)
        if msg.command == 'off':
            state = relayController.turnOffRelay(msg.device_number)
        if msg.command == 'read':
            state = relayController.readRelay(msg.device_number)
    else:
        state = relayController.readGPIO(msg.device_number)
    pub.publish(msg.device_type, msg.device_number, state)


rospy.init_node('relay_board')
rospy.loginfo('Bruin-2 Relay Driver V2.0 Starting')
isDebug = 'ROS_DEBUG' in os.environ
if not isDebug:
    relayController = RelayController()
rospy.Subscriber('RelayControl', RelayCommandMsg, handleMsg)
rospy.spin()

import rospy
from bruin2_msgs.msg import RelayCommandMsg, RelayDataMsg
import os
from relayController import RelayController, FakeRelayController
pub = rospy.Publisher('RelayData', RelayDataMsg, queue_size=10)
relayController = FakeRelayController()


def handleMsg(msg):
    rospy.logdebug('Receieved relay msg: {} {} {}'.format(msg.device_type,
        msg.device_number, msg.command))
    state = ''
    if msg.device_type == 'relay':
        if msg.command == 'on':
            state = relayController.turnOnRelay(msg.device_number)
        if msg.command == 'off':
            state = relayController.turnOffRelay(msg.device_number)
        if msg.command == 'read':
            state = relayController.readRelay(msg.device_number)
    else:
        state = relayController.readGPIO(msg.device_number)
    pub.publish(msg.device_type, msg.device_number, state)


rospy.init_node('relay_board')
rospy.loginfo('Bruin-2 Relay Driver V2.0 Starting')
isDebug = 'ROS_DEBUG' in os.environ
if not isDebug:
    relayController = RelayController()
rospy.Subscriber('RelayControl', RelayCommandMsg, handleMsg)
rospy.spin()

#!/usr/bin/env python

import rospy
from bruin2_msgs.msg import RelayCommandMsg, RelayDataMsg
import os
from relayController import RelayController, FakeRelayController

pub = rospy.Publisher("RelayData", RelayDataMsg, queue_size=10)

relayController = FakeRelayController()

def handleMsg(msg):
    rospy.logdebug("Receieved relay msg: {} {} {}".format(msg.device_type, msg.device_number, msg.command))

    state = ""
    if msg.device_type == "relay":
        if msg.command == "on":
            state = relayController.turnOnRelay(msg.device_number)
        if msg.command == "off":
            state = relayController.turnOffRelay(msg.device_number)
        if msg.command == "read":
            state = relayController.readRelay(msg.device_number)
    else:
        # GPIO pin
        state = relayController.readGPIO(msg.device_number)
    
    pub.publish(msg.device_type, msg.device_number, state)

rospy.init_node('relay_board')
rospy.loginfo("Bruin-2 Relay Driver V2.0 Starting")

isDebug = "ROS_DEBUG" in os.environ

if not isDebug:
    relayController = RelayController()

rospy.Subscriber("RelayControl", RelayCommandMsg, handleMsg)
# keep listening till we're told to shut down
rospy.spin()
