Made a functioning subscriber and shell for callback function

vortexntnu · Sep 28, 2023 · 78e8ae2 · 78e8ae2
1 parent 7d9f22b
commit 78e8ae2
Show file tree

Hide file tree

Showing 2 changed files with 23 additions and 33 deletions.
diff --git a/mission/joystick_interface/scripts/joystick_interface.py b/mission/joystick_interface/scripts/joystick_interface.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 import rclpy
 from rclpy.node import Node
 from geometry_msgs.msg import Wrench
@@ -8,8 +9,8 @@
 class JoystickInterface(Node):
 
     def __init__(self):
-        #rclpy.init()
-        super().__init__('joystick_interface_node')
+        rclpy.init() 
+
         #Mapping copy pasted from the original file
         self.joystick_buttons_map = [
             "A",
@@ -36,12 +37,13 @@ def __init__(self):
             "dpad_vertical",
         ]
 
-        #self.wrench_publisher = self.create_publisher(Wrench, 'wrench_topic', 1)
 
-        #self.node = rclpy.create_node('joystick_interface')
+
+        super().__init__('joystick_interface_node')
         self.subscriber = self.create_subscription(Joy, 'joy',
                                                    self.joystick_cb, 1)
-        #rclpy.shutdown()
+
+        #self.wrench_publisher = self.create_publisher(Wrench, 'wrench_topic', 1)
 
     def create_2d_wrench_message(self, x, y, yaw):
         wrench_msg = Wrench()
@@ -58,13 +60,16 @@ def publish_wrench_message(self, wrench):
 
     def joystick_cb(self, msg):
         #print(f"Received message: {msg.buttons}")
+        print("hello")
         a = msg.buttons
         return a
 
-    def main(args=None):
-        rclpy.init(args=args)
-        joystick_interface = JoystickInterface()
-        rclpy.spin(joystick_interface)
-        joystick_interface.destroy_node()
-        rclpy.shutdown()
-        return
+def main(args=None):
+    #rclpy.init(args=args)
+    print("hello from main")
+    joystick_interface = JoystickInterface().subscriber
+    rclpy.spin(joystick_interface)
+    joystick_interface.destroy_node()
+
+    rclpy.shutdown()
+    return
diff --git a/mission/joystick_interface/scripts/test/test_joystick_interface.py b/mission/joystick_interface/scripts/test/test_joystick_interface.py
@@ -8,34 +8,19 @@
 
 class TestJoystickInterface:
 
-    def start(self):
-        rclpy.init()
-        j = JoystickInterface()
-        rclpy.shutdown()
-
     def test_2d_wrench_msg(self):
-        self.start()
+        #self.start()
         msg = JoystickInterface().create_2d_wrench_message(2.0, 3.0, 4.0)
         assert msg.force.x == 2.0
         assert msg.force.y == 3.0
         assert msg.torque.z == 4.0
+        rclpy.shutdown()
 
-    #def test_publish_wrench_msg(self):
-    #msg = JoystickInterface().create_2d_wrench_message(2.0, 3.0, 4.0)
-    #publisher = JoystickInterface().publish_wrench_message(msg)
-    #assert self.get_logger() == msg
-
-    #def test_joystick_input_output(self):
-    #    return
-    #
-    #
     def test_suscriber(self):
-        self.start()
-        #subscriber = JoystickInterface().subscriber
-        #joystick = JoystickInterface()
         joy_msg = Joy()
-        joy_msg.axes = [0.1, 0.2, 0.3]  # Customize axes values as needed
+        joy_msg.axes = [0.1, 0.2, 0.3]
         joy_msg.buttons = [1, 0, 1]
-        #JoystickInterface().joystick_cb(joy_msg, subscriber)
-        #assert JoystickInterface().node.joy_msg
         assert JoystickInterface().joystick_cb(joy_msg) == joy_msg.buttons
+        rclpy.shutdown()
+
+