Devices¶

More devices can be seamlessly added in other packages.

Ampere Meter¶

Device type: Input device.

Message type: cras_msgs/ElectricCurrentStamped.

Pin requirements: One raw analog pin. Read required.

YAML config¶

topic: 'TOPIC NAME'  # Topic for the measurements. Set to empty string to disable topic publication.
type: electronic_io.AmpereMeter
queue_size: 1  # Optional. Topic queue size.
latch: True  # Optional. Topic latching status.
frame_id: 'frame'  # Optional. frame_id to be used in the messages; if not set, it is taken from the readings.
variance: 1.0  # Optional, default 0.0. The reported variance of the measurements.
input_pin:
  pin: 'Current1'  # Raw analog pin directly reporting the electrical current in A.

class electronic_io.devices.ampere_meter.AmpereMeter(name, config, io_board)¶

Bases: electronic_io.device.InputDevice

Ampere meter device. Publishes messages of type cras_msgs/ElectricCurrentStamped.

add_read_request(req)¶

Modify the passed read request to collect all information needed by this device.

Parameters:	req (ReadRequest) – The request to modify.

create_message(value, header)¶

Convert the given value to a ROS message that can be published by this device.

Parameters:	value – The value to convert. header (`std_msgs/Header`) – Header to be used in the message (if needed).
Returns:	The ROS message.
Return type:	genpy.Message

get_name()¶

Get a human-friendly name of the device.

Returns:	The name.
Return type:	str

get_value(readings)¶

Extract value of this device from the given pin readings.

Parameters:	readings (Readings) – Values of pins.
Returns:	The value.

Battery¶

Device type: Input device.

Message type: sensor_msgs/BatteryState.

Pin requirements: This is a composite device working on other devices (one or more Voltmeter devices; an optional: Ampere meter device). It can also read a raw analog pin with battery percentage and a digital pin telling whether the battery is present.

YAML config¶

topic: 'TOPIC NAME'  # Topic for the measurements. Set to empty string to disable topic publication.
type: electronic_io.Battery
queue_size: 1  # Optional. Topic queue size.
latch: True  # Optional. Topic latching status.
frame_id: 'frame'  # Optional. frame_id to be used in the messages; if not set, it is taken from the readings.
# overall_voltmeter and cell_voltmeters are optional, but at least one of them has to be specified.
overall_voltmeter: voltmeter_overall  # Optional. Voltmeter device. If missing, the overall voltage will be summed
                                      # from cells.
cell_voltmeters:  # Optional. Measurements of individual cells.
  - voltmeter_cell1  # Voltmeter device.
ampere_meter: ampere_meter_1  # Optional. AmpereMeter device.
percentage_pin:  # Optional. Raw analog pin with percentage in 0.0 - 1.0 or 0.0 - 100.0.
  pin: percentage_1
present_pin:  # Optional. Digital pin. Tells whether the battery is present.
  pin: input_1

class electronic_io.devices.battery.Battery(name, config, io_board, devices)¶

Bases: electronic_io.device.InputDevice, electronic_io.device.MetaDevice

Battery device. Publishes messages of type sensor_msgs/BatteryState.

add_read_request(req)¶

Modify the passed read request to collect all information needed by this device.

Parameters:	req (ReadRequest) – The request to modify.

create_message(value, header)¶

Convert the given value to a ROS message that can be published by this device.

Parameters:	value – The value to convert. header (`std_msgs/Header`) – Header to be used in the message (if needed).
Returns:	The ROS message.
Return type:	genpy.Message

get_name()¶

Get a human-friendly name of the device.

Returns:	The name.
Return type:	str

get_value(readings)¶

Extract value of this device from the given pin readings.

Parameters:	readings (Readings) – Values of pins.
Returns:	The value.

Dimmable LED¶

LED light with configurable brightness¶

Device type: Output device with readback.

Set output service type: cras_msgs/SetBrightness.

Readback messages type: cras_msgs/BrightnessStamped.

Pin requirements: One raw analog pin with PWM + one optional digital pin for turning on/off of the light.

YAML config¶

topic: 'TOPIC NAME'  # Base topic for readback and the services. Set to empty string to disable topics and services.
type: electronic_io.DimmableLED
queue_size: 1  # Optional. Readback topic queue size.
latch: True  # Optional. Readback topic latching status.
frame_id: 'frame'  # Optional. frame_id to be used in the messages; if not set, it is taken from the readings.
pwm_pin:
  pin: 'PWM3'  # Raw analog PWM pin (with 0.0 - 1.0 values). Write required, readback supported.
enable_pin:  # Optional. This pin turns the light on/off without the need to specify PWM value.
  pin: 'Output3'  # Digital pin. Write required, readback supported.
  inverted: False  # Optional. Whether to invert values of the pin.

class electronic_io.devices.dimmable_led.DimmableLED(name, config, io_board)¶

Bases: electronic_io.device.OutputDevice

Dimmable LED light controlled using cras_msgs/SetBrightness service.

get_name()¶

Get a human-friendly name of the device.

Returns:	The name.
Return type:	str

set_value_cb(request)¶

Callback called by the ~/set service.

Parameters:	request – The setter service request.

class electronic_io.devices.dimmable_led.DimmableLEDReadback(name, config, io_board)¶

Bases: electronic_io.device.InputDevice

Readback of a dimmable LED. Can also be used standalone without the write part. Publishes cras_msgs/BrightnessStamped readback messages.

add_read_request(req)¶

Modify the passed read request to collect all information needed by this device.

Parameters:	req (ReadRequest) – The request to modify.

create_message(value, header)¶

Convert the given value to a ROS message that can be published by this device.

Parameters:	value – The value to convert. header (`std_msgs/Header`) – Header to be used in the message (if needed).
Returns:	The ROS message.
Return type:	genpy.Message

get_name()¶

Get a human-friendly name of the device.

Returns:	The name.
Return type:	str

get_value(readings)¶

Extract value of this device from the given pin readings.

Parameters:	readings (Readings) – Values of pins.
Returns:	The value.

Output group¶

Group of Output Devices¶

Device type: Output device without readback.

Set output service type: Same as the service of the grouped devices.

Pin requirements: Does not use any pins itself.

This is a meta-device that offers easy synchronized control of multiple output devices of the same type.

YAML config¶

topic: 'TOPIC NAME'  # Base topic for readback and the services. Set to empty string to disable topics and services.
type: electronic_io.OutputGroup
devices:  # List of grouped devices. All devices must be defined in the same config and must have the same type.
  - device1  # Name of the device.

class electronic_io.devices.output_group.OutputGroup(name, config, io_board, devices)¶

Bases: electronic_io.device.OutputDevice, electronic_io.device.MetaDevice

A group of output devices

get_name()¶

Get a human-friendly name of the device.

Returns:	The name.
Return type:	str

set_value_cb(request)¶

Callback called by the ~/set service.

Parameters:	request – The setter service request.

Power Switch¶

Power Switch (Relay)¶

Device type: Output device with readback.

Set output service type: std_srvs/SetBool.

Readback messages type: cras_msgs/PowerSwitchStateStamped.

Pin requirements: At least one digital output pin (readback supported).

YAML config¶

topic: 'TOPIC NAME'  # Base topic for readback and the services. Set to empty string to disable topics and services.
type: electronic_io.DimmableLED
queue_size: 1  # Optional. Readback topic queue size.
latch: True  # Optional. Readback topic latching status.
frame_id: 'frame'  # Optional. frame_id to be used in the messages; if not set, it is taken from the readings.
output_pins:  # One or more output pins.
  - pin: 'C5'  # Digital pin. Write required, readback supported.
    inverted: False  # Whether to invert values of the pin.
readback_pin:  # Optional readback pin. If not specified, only one output pin is specified and it supports readback,
               # the readback is automatically provided.
  pin: 'C5'  # Digital pin. Readback required.
  inverted: False  # Whether to invert values of the pin.

class electronic_io.devices.power_switch.PowerSwitch(name, config, io_board)¶

Bases: electronic_io.device.DigitalOutputDevice

Power switch controlled using std_srvs/SetBool service.

get_name()¶

Get a human-friendly name of the device.

Returns:	The name.
Return type:	str

class electronic_io.devices.power_switch.PowerSwitchReadback(name, config, io_board)¶

Bases: electronic_io.device.InputDevice

Readback of a power switch. Can also be used standalone without the write part. Publishes cras_msgs/PowerSwitchStateStamped readback messages.

add_read_request(req)¶

Modify the passed read request to collect all information needed by this device.

Parameters:	req (ReadRequest) – The request to modify.

create_message(value, header)¶

Convert the given value to a ROS message that can be published by this device.

Parameters:	value – The value to convert. header (`std_msgs/Header`) – Header to be used in the message (if needed).
Returns:	The ROS message.
Return type:	genpy.Message

get_name()¶

Get a human-friendly name of the device.

Returns:	The name.
Return type:	str

get_value(readings)¶

Extract value of this device from the given pin readings.

Parameters:	readings (Readings) – Values of pins.
Returns:	The value.

Thermometer¶

Device type: Input device.

Message type: sensor_msgs/Temperature.

Pin requirements: One raw analog pin. Read required.

YAML config¶

topic: 'TOPIC NAME'  # Topic for the measurements. Set to empty string to disable topic publication.
type: electronic_io.Thermometer
queue_size: 1  # Optional. Topic queue size.
latch: True  # Optional. Topic latching status.
frame_id: 'frame'  # Optional. frame_id to be used in the messages; if not set, it is taken from the readings.
variance: 1.0  # Optional, default 0.0. the reported variance of the measurements; beware this is the variance in
               # Kelvins, so if you measure in degrees Fahrenheit, you need to scale the variance accordingly.
input_pin:
  pin: 'Temp1'  # Raw analog pin directly reporting the temperature. If the unit reported by the pin is K, F or °F,
                # the value is automatically converted to °C.

class electronic_io.devices.thermometer.Thermometer(name, config, io_board)¶

Bases: electronic_io.device.InputDevice

Thermometer device. Publishes sensor_msgs/Temperature messages.

add_read_request(req)¶

Modify the passed read request to collect all information needed by this device.

Parameters:	req (ReadRequest) – The request to modify.

create_message(value, header)¶

Convert the given value to a ROS message that can be published by this device.

Parameters:	value – The value to convert. header (`std_msgs/Header`) – Header to be used in the message (if needed).
Returns:	The ROS message.
Return type:	genpy.Message

get_name()¶

Get a human-friendly name of the device.

Returns:	The name.
Return type:	str

get_value(readings)¶

Extract value of this device from the given pin readings.

Parameters:	readings (Readings) – Values of pins.
Returns:	The value.

Voltmeter¶

Device type: Input device.

Message type: cras_msgs/VoltageStamped.

Pin requirements: One raw analog pin. Read required.

YAML config¶

topic: 'TOPIC NAME'  # Topic for the measurements. Set to empty string to disable topic publication.
type: electronic_io.Voltmeter
queue_size: 1  # Optional. Topic queue size.
latch: True  # Optional. Topic latching status.
frame_id: 'frame'  # Optional. frame_id to be used in the messages; if not set, it is taken from the readings.
variance: 1.0  # Optional, default 0.0. The reported variance of the measurements.
input_pin:
  pin: 'Voltage1'  # Raw analog pin directly reporting the voltage in V.

class electronic_io.devices.voltmeter.Voltmeter(name, config, io_board)¶

Bases: electronic_io.device.InputDevice

Voltmeter device. Publishes messages of type cras_msgs/VoltageStamped.

add_read_request(req)¶

Modify the passed read request to collect all information needed by this device.

Parameters:	req (ReadRequest) – The request to modify.

create_message(value, header)¶

Convert the given value to a ROS message that can be published by this device.

Parameters:	value – The value to convert. header (`std_msgs/Header`) – Header to be used in the message (if needed).
Returns:	The ROS message.
Return type:	genpy.Message

get_name()¶

Get a human-friendly name of the device.

Returns:	The name.
Return type:	str

get_value(readings)¶

Extract value of this device from the given pin readings.

Parameters:	readings (Readings) – Values of pins.
Returns:	The value.

Table of Contents

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Devices¶

Ampere Meter¶

Ampere Meter¶

YAML config¶

Battery¶

Battery¶

YAML config¶

Dimmable LED¶

LED light with configurable brightness¶

YAML config¶

Output group¶

Group of Output Devices¶

YAML config¶

Power Switch¶

Power Switch (Relay)¶

YAML config¶

Thermometer¶

Thermometer¶

YAML config¶

Voltmeter¶

Voltmeter¶

YAML config¶