Adjusting wait times in led config, and separating the led config tes…

…t script

install/install_on_real_UAV.sh

@@ -214,41 +214,8 @@ then
 fi 
 ###############################################################
 
-##################### LED Configuration #######################
-read -n 2 -p $'\e[1;32mDo you want to test the LEDs? [y/n]\e[0m\n' resp_led
-response_led=`echo $resp_led | sed -r 's/(.*)$/\1=/'`
-if [[ $response_led =~ ^(y|Y)=$ ]]; then 
-    source $workspace/devel/setup.bash
-
-    echo "####################### LED Configuration #######################"
-    echo $'\e[0;33mLED testing works only with a battery as the power source!\e[0m'
-    echo $'\e[1;32mWhich module is the UVDAR board connected to?\e[0m'
-    echo "Enter:"
-    echo "1 = /dev/MRS_MODULE1"
-    echo "2 = /dev/MRS_MODULE2"
-    echo "3 = /dev/MRS_MODULE3" 
-    echo "4 = /dev/MRS_MODULE4"
-    read -n 2 resp_module 
-    echo "Starting with LED initialization on:/dev/MRS_MODULE$resp_module... This will take about 20 seconds."
-    path_to_led_config=/opt/ros/noetic/share/uvdar_core/config/blinking_sequences/test_assignment.txt
-    roslaunch uvdar_core led_manager.launch sequence_file:=$path_to_led_config portname:=/dev/MRS_MODULE$resp_module &> $tmp_file_LED_launch & 
-    pid_led_manager=$! 
-    sleep 5; rosservice call /$UAV_NAME/uvdar_led_manager_node/quick_start 0
-    sleep 2; rosservice call /$UAV_NAME/uvdar_led_manager_node/load_sequences
-    sleep 2; rosservice call /$UAV_NAME/uvdar_led_manager_node/select_sequences [0,1,2,3]
-    sleep 2; rosservice call /$UAV_NAME/uvdar_led_manager_node/set_frequency 1
-    sleep 5
-
-    # kill the LED manager and remove temporary file
-    kill -9 "$pid_led_manager"
-    rm $tmp_file_LED_launch
-    echo "##################### LED Configuration done! ###################"
-    echo $'\e[1;32mPlease verify that the LEDs are correctly wired!\e[0m'
-    echo "Blinking Pattern: Clockwise blinking circle starting at the left front arm!"
-    echo $'\e[0;33mIf the blinking pattern didn\'t change: Please shutdown the NUC, detach the battery, attach it again and call this script again!\e[0m'
-else
-    echo "OK. Exiting script..."
-fi 
+$(rospack find uvdar_core)/install/test_leds.sh
+
 ###############################################################
 
 exit 0

install/test_leds.sh

@@ -0,0 +1,37 @@
+#!/bin/bash
+tmp_file_LED_launch="/tmp/led_manager.txt"
+##################### LED Configuration #######################
+read -n 2 -p $'\e[1;32mDo you want to test the LEDs? [y/n]\e[0m\n' resp_led
+response_led=`echo $resp_led | sed -r 's/(.*)$/\1=/'`
+if [[ $response_led =~ ^(y|Y)=$ ]]; then 
+    source $workspace/devel/setup.bash
+
+    echo "####################### LED Configuration #######################"
+    echo $'\e[0;33mLED testing works only with a battery as the power source!\e[0m'
+    echo $'\e[1;32mWhich module is the UVDAR board connected to?\e[0m'
+    echo "Enter:"
+    echo "1 = /dev/MRS_MODULE1"
+    echo "2 = /dev/MRS_MODULE2"
+    echo "3 = /dev/MRS_MODULE3" 
+    echo "4 = /dev/MRS_MODULE4"
+    read -n 2 resp_module 
+    echo "Starting with LED initialization on:/dev/MRS_MODULE$resp_module... This will take about 20 seconds."
+    path_to_led_config=/opt/ros/noetic/share/uvdar_core/config/blinking_sequences/test_assignment.txt
+    roslaunch uvdar_core led_manager.launch sequence_file:=$path_to_led_config portname:=/dev/MRS_MODULE$resp_module &> $tmp_file_LED_launch & 
+    pid_led_manager=$! 
+    sleep 5; rosservice call /$UAV_NAME/uvdar_led_manager_node/quick_start 0
+    sleep 2; rosservice call /$UAV_NAME/uvdar_led_manager_node/load_sequences
+    sleep 2; rosservice call /$UAV_NAME/uvdar_led_manager_node/select_sequences [0,1,2,3]
+    sleep 2; rosservice call /$UAV_NAME/uvdar_led_manager_node/set_frequency 1
+    sleep 5
+
+    # kill the LED manager and remove temporary file
+    kill -9 "$pid_led_manager"
+    rm $tmp_file_LED_launch
+    echo "##################### LED Configuration done! ###################"
+    echo $'\e[1;32mPlease verify that the LEDs are correctly wired!\e[0m'
+    echo "Blinking Pattern: Clockwise blinking circle starting at the left front arm!"
+    echo $'\e[0;33mIf the blinking pattern didn\'t change: Please shutdown the NUC, detach the battery, attach it again and call this script again!\e[0m'
+else
+    echo "OK. Exiting script..."
+fi 

src/led_manager.cpp

@@ -183,6 +183,7 @@ namespace uvdar {
 
 
         unsigned char i = 0;
+        ros::Duration local_sleeper(0.25 + 0.1*(sequences_[0].size()));
         for (auto sq : sequences_){
           serial_msg.payload.clear();
           serial_msg.payload.push_back(0x99); //write sequences
@@ -196,7 +197,8 @@ namespace uvdar {
 
           /* if (i == 3) */
           baca_protocol_publisher.publish(serial_msg);
-          sleeper.sleep();
+
+          local_sleeper.sleep();
           i++;
         }