Go to the documentation of this file.00001 from BAL.Header.Response.ParamBuildResponse import Rely
00002
00003 __author__ = 'tom1231'
00004 from BAL.Header.Requests.relayRequest import RelayRequest
00005 from BAL.Interfaces.Device import Device
00006 from rospy import Service
00007 from ric_board.srv import Relay, RelayResponse
00008
00009 class RiCRelay(Device):
00010 def __init__(self, param, relayNum, output):
00011 Device.__init__(self, param.getRelayName(relayNum), output)
00012 self._relayNum = relayNum
00013 Service('%s/setRelay' % self._name, Relay, self.setRelayCallBack)
00014
00015 def publish(self, data): pass
00016
00017 def setRelayCallBack(self, req):
00018 if req.req:
00019 self._output.write(RelayRequest(self._relayNum, 1).dataTosend())
00020 else:
00021 self._output.write(RelayRequest(self._relayNum, 0).dataTosend())
00022 return RelayResponse(True)
00023
00024 def getType(self): return Rely