ir_node.py

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#!/usr/bin/env python
# Copyright (c) 2013, Oregon State University
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# Author Dan Lazewatsky/lazewatd@engr.orst.edu

import roslib; roslib.load_manifest('ir_comm')
import sys, rospy
from ir_comm.device import ROSIr
from ir_comm.utils import loadIRCode
import glob, os
from std_msgs.msg import String

class IRTransmitter(object):
        codes = {}
        def __init__(self, code_dir):
                self.code_dir = code_dir
                self.ir = ROSIr()
                self.load_codes()

        def load_codes(self):
                print 'Loading...'
                for path in glob.glob(self.code_dir + '/*.pkl'):
                        name = '_'.join(os.path.split(path)[-1].split('.')[:-1])
                        self.codes[name] = loadIRCode(path)
                        print '  ', name

        def code_cb(self, msg):
                if msg.data in self.codes:
                        self.ir.ir.transmit(*self.codes[msg.data])
                        rospy.loginfo('Transmitted %s' % msg.data)

if __name__ == '__main__':
        rospy.init_node('ir_node')
        try:
                transmitter = IRTransmitter(rospy.get_param('~code_dir'))
                rospy.Subscriber('ir_code_name', String, transmitter.code_cb)
                rospy.spin()
        except KeyError:
                rospy.logerr('code_dir parameter is not set')