Guide on Using the Terminal Commands: ROSSERVICE

service_list = rosservice.get_service_list()
print(service_list)

Code:

def motor_power_status():
    rospy.wait_for_service('/cobotta/get_motor_state', 3.0)
    try:
        get_motor_state = rospy.ServiceProxy('/cobotta/get_motor_state', GetMotorState)
        res = get_motor_state()
        return res.state
    except rospy.ServiceException, e:
        print >> sys.stderr, " Service call failed: %s" % e

Set Motor Status

Description:

This following function uses user input to turn the Motor Power ON or OFF. When a user enters a '1', the Motor Power turns ON while entering a '0' turns the Motor Power OFF, and entering anything else will print an "Invalid input, please try again!" and return to the beginning of the function. Notice how the set_motor_state() contains Boolean Logic inside the parenthesis, this is due to the Motor Power command using Boolean Logic to communicate with the driver to allow the driver to understand that a True converts to a binary '1', thus knowing to turn on the motor. The print(res) is used to print the success of turning the Motor Power ON or OFF.

Code:

def motor_power_switch():
    rospy.wait_for_service('/cobotta/set_motor_state', 3.0)
    motorstate = int(input("Enter '1' for motor on or '0' for motor off: "))
    if motorstate == 1:
        set_motor_state = rospy.ServiceProxy('/cobotta/set_motor_state', SetMotorState)
        res = set_motor_state(True)
        print(res)
    elif motorstate == 0:
        set_motor_state = rospy.ServiceProxy('/cobotta/set_motor_state', SetMotorState)
        res = set_motor_state(False)
        print(res)
    else:
        print('Invalid input, please try again!')
        motor_power_switch()

def brakes_status():
    rospy.wait_for_service('/cobotta/get_motor_state', 3.0)
    try:
        get_brake_state = rospy.ServiceProxy('/cobotta/get_brake_state', GetBrakeState)
        res = get_brake_state()
        print(res)
        return res.state
    except rospy.ServiceException, e:
        print >> sys.stderr, " Service call failed: %s" % e 

def manipulate_LED():
    rospy.wait_for_service('/cobotta/set_LED_state', 3.0)
    reds = int(input("Enter the amount of Red to use from 0 - 255: "))
    if reds > 255:
        print("Invalid Number! I said 0 - 255, START OVER!")
        manipulate_LED()
    elif reds < 0:
        print("Invalid Number! I said 0 - 255, START OVER!")
        manipulate_LED()
    else:
        print('Good Choice!')
    greens = int(input("Enter the amount of Green to use from 0 - 255: "))
    if greens > 255:
        print("Invalid Number! I said 0 - 255, START OVER!")
        manipulate_LED()
    elif greens < 0:
        print("Invalid Number! I said 0 - 255, START OVER!")
        manipulate_LED()
    else:
        print('Good Choice!')
    blues = int(input("Enter the amount of Blue to use from 0 - 255: "))
    if blues > 255:
        print("Invalid Number! I said 0 - 255, START OVER!")
        manipulate_LED()
    elif blues < 0:
        print("Invalid Number! I said 0 - 255, START OVER!")
        manipulate_LED()
    else:
        print('Good Choice!')
    blink_rates = int(input("Enter the amount of how fast to blink from 0 - 255: "))
    if blink_rates > 255:
        print("Invalid Number! I said 0 - 255, START OVER!")
        manipulate_LED()
    elif blink_rates < 0:
        print("Invalid Number! I said 0 - 255, START OVER!")
        manipulate_LED()
    else:
        print('Good Choice!')
    set_LED_state = rospy.ServiceProxy('/cobotta/set_LED_state', SetLEDState)
    res = set_LED_state(reds, greens, blues, blink_rates)
    print(res)

Clearing Errors:

Description:

The following function clears 3 types of errors: clearing all errors except for fatal ones, clearing robot errors, and clearing the safe state. Before running the function, turn OFF the Motor Power to avoid a Bus Voltage Failure. This function first checks if the user would like to clear an error or not, if '1' is entered, the function enters to another user input to see what clearing error the user would like to choose. The print(res) statement prints the success of the clearing of the error. The clear_safe_state() works only if there needs to be a clearing of the safe state, if the safe state is working, then it will print that it is unavailable just as if it was entered using the rosservice command in the terminal (refer to the Guide on Using the Terminal Commands: ROSSERVICE document).

Code:

def error_clearer():
    rospy.wait_for_service('/cobotta/clear_error', 3.0)
    rospy.wait_for_service('/cobotta/clear_robot_error', 3.0)
    rospy.wait_for_service('/cobotta/clear_safe_state', 3.0)
    check = int(input("Would you like to clear an error?\nEnter '1' for Yes or '0' for No: "))
    if check == 0:
        print('No errors here, moving on!')
    elif check == 1:
        error = int(input("What clearing error option do you want to use?\nEnter '1' for clear error, '2' for clear robot error, '3' for clear safe state: "))
        if error == 1:
            clear_error = rospy.ServiceProxy('/cobotta/clear_error', ClearError)
            res = clear_error()
            print(res)
        elif error == 2:
            clear_robot_error = rospy.ServiceProxy('/cobotta/clear_robot_error', ClearRobotError)
            res = clear_robot_error()
            print(res)
        elif error == 3:
            clear_safe_state = rospy.ServiceProxy('/cobotta/clear_safe_error', ClearSafeState)
            res = clear_safe_state()
            print(res)
        else:
            print("Invalid input! Try Again!")
            error_clearer()
    else:
        print("Invalid input! Try again!")
        error_clearer()