Adding a neopixel light control node

scripts/NeopixelDriver.py

@@ -18,15 +18,16 @@ class NeopixelDriverNode:
 
     def listen(self):
         rospy.init_node("light_ctrl", anonymous=True)
-        rospy.Subscriber("/neopixel", Neopixels, self.neopixel_ctrl_callback)
+        rospy.Subscriber("/neopixel", self._msg, self.neopixel_ctrl_callback)
         rate = rospy.spin()
 
     def neopixel_ctrl_callback(self, data):
+        rospy.loginfo(f"Recieved: {data}")
         cmds = ""
         for i, pixel in data.pixels:
             cmds += f"{i},{pixel.r},{pixel.g},{pixel.b};"
         cmds += "\n"
-        rospy.logdebug(f"Sending: {cmds}")
+        rospy.loginfo(f"Sending to ESP32: {cmds}")
         self.serial.write(cmds.encode("ascii"))
 
 

scripts/light_command_node.py

@@ -0,0 +1,55 @@
+#!/usr/bin/env python3
+import random
+import rospy
+from simple_example.msg import Neopixel, Neopixels
+
+COLORS = {
+    "red": Neopixel(r=255, b=0, g=0, w=0),
+    "blue": Neopixel(r=125, b=204, g=223, w=0),
+    "yellow": Neopixel(r=120, b=153, g=23, w=0),
+    "purple": Neopixel(r=255, b=0, g=153, w=0),
+}
+
+last_color = Neopixel()
+
+msg = """
+Starting Light Control.
+
+This example is intended to work with a esp32 connected 
+with via usb uart. It is listening for stdin lines of 
+this format:
+
+ "<pixel number: int>,<red: int>,<blue int>,<green: int>;\n"
+------------------------------------------------------------
+"""
+
+
+def broadcaster():
+
+    pub = rospy.Publisher("/neopixel", Neopixels, queue_size=1)
+    rospy.init_node("light_control", anonymous=True, log_level=rospy.INFO)
+
+    print(msg)
+
+    while not rospy.is_shutdown():
+        neo_pixel = pick_color()
+        pub.publish(Neopixel(pixels=[neo_pixel]))
+        rospy.sleep(2)
+
+
+def pick_color():
+    """Picks a random color from the color map"""
+    global last_color
+
+    color = random.choice(list(COLORS.keys()))
+    while last_color == color:
+        color = random.choice(list(COLORS.keys()))
+    rospy.loginfo(f"Selected: {color}")
+    return COLORS[color]
+
+
+if __name__ == "__main__":
+    try:
+        broadcaster()
+    except rospy.ROSInterruptException:
+        pass