From 858196f001f1864c4bbce49f8381f835122490e2 Mon Sep 17 00:00:00 2001
From: TiaSinghania <samanvita.singhania@gmail.com>
Date: Tue, 22 Oct 2024 21:11:31 -0400
Subject: [PATCH] implemented callback in loop with timer

---
 rb_ws/src/buggy/buggy/simulator/engine.py   | 49 +++++++++++++++++++++
 rb_ws/src/buggy/launch/sim_2d_single.xml    | 10 ++---
 rb_ws/src/buggy/scripts/simulator/engine.py | 32 --------------
 rb_ws/src/buggy/setup.py                    |  7 ++-
 4 files changed, 57 insertions(+), 41 deletions(-)
 create mode 100644 rb_ws/src/buggy/buggy/simulator/engine.py
 delete mode 100644 rb_ws/src/buggy/scripts/simulator/engine.py

diff --git a/rb_ws/src/buggy/buggy/simulator/engine.py b/rb_ws/src/buggy/buggy/simulator/engine.py
new file mode 100644
index 00000000..346ae3aa
--- /dev/null
+++ b/rb_ws/src/buggy/buggy/simulator/engine.py
@@ -0,0 +1,49 @@
+#! /usr/bin/env python3
+import sys
+import time
+import rclpy
+from rclpy.node import Node
+
+from std_msgs.msg import String, Float64
+
+class Simulator(Node):
+    # simulator constants:
+
+    def __init__(self):
+        super().__init__('SC_sim_single')
+        self.get_logger().info("INITIALIZING")
+        self.number_publisher = self.create_publisher(Float64, 'numbers', 1)
+        self.test_publisher = self.create_publisher(String, 'test', 1)
+        self.i = 0
+
+        self.buggy_name = "NONE"
+
+        if (self.get_namespace() == "/SC"):
+            self.buggy_name = "SC"
+
+        if (self.get_namespace() == "/NAND"):
+            self.buggy_name = "NAND"
+
+        freq = 10
+        timer_period = 1/freq  # seconds
+        self.timer = self.create_timer(timer_period, self.loop)
+
+    def loop(self):
+
+        self.get_logger().info("LOOPING")
+
+        msg = String()
+        msg.data = self.buggy_name
+        self.test_publisher.publish(msg)
+        msg2 = Float64()
+        msg2.data = float(self.i)
+        self.number_publisher.publish(msg2)
+        self.i += 1
+
+def main(args=None):
+    rclpy.init(args=args)
+    sim = Simulator()
+    sim.get_logger().info("CREATED NODE")
+    rclpy.spin(sim)
+
+
diff --git a/rb_ws/src/buggy/launch/sim_2d_single.xml b/rb_ws/src/buggy/launch/sim_2d_single.xml
index 0aed958d..550c2591 100755
--- a/rb_ws/src/buggy/launch/sim_2d_single.xml
+++ b/rb_ws/src/buggy/launch/sim_2d_single.xml
@@ -1,9 +1,9 @@
 <launch>
     <node pkg="foxglove_bridge" exec="foxglove_bridge" name="foxglove" namespace="SC"/>
-    <node pkg="buggy" exec="hello_world" name="hello_world" namespace="SC"/>
-    <node pkg="buggy" exec="sim-single" name="SC-sim-single" namespace="SC"/>
-    <node pkg="buggy" exec="sim-single" name="NAND-sim-single" namespace="NAND"/>
+    <node pkg="buggy" exec="hello_world" name="hello_world" namespace="SC" />
+    <node pkg="buggy" exec="sim_single" name="SC_sim_single" namespace="SC"/>
+    <node pkg="buggy" exec="sim_single" name="NAND_sim_single" namespace="NAND"/>
 
-    <!-- <node name="foxglove" pkg="foxglove_bridge" type="foxglove_bridge" /> -->
-    <!-- <node name="hello_world" pkg="buggy" type="hello_world" /> -->
+    <!-- <node name="foxglove" pkg="foxglove_bridge" type="foxglove_bridge" />
+    <node name="hello_world" pkg="buggy" type="hello_world" /> -->
 </launch>
\ No newline at end of file
diff --git a/rb_ws/src/buggy/scripts/simulator/engine.py b/rb_ws/src/buggy/scripts/simulator/engine.py
deleted file mode 100644
index d0bab707..00000000
--- a/rb_ws/src/buggy/scripts/simulator/engine.py
+++ /dev/null
@@ -1,32 +0,0 @@
-#! /usr/bin/env python3
-import sys
-import time
-import rclpy
-from std_msgs.msg import String
-
-class Simulator():
-    # simulator constants:
-
-    def __init__(self):
-        self.test_publisher = self.create_publisher(String, 'test', 10)
-        if (self.get_namespace() == "SC"):
-            self.buggy_name = "SC"
-
-        if (self.get_namespace() == "NAND"):
-            self.buggy_name = "NAND"
-
-    def loop(self):
-        print("hello")
-        self.test_publisher.publish(self.buggy_name)
-
-if __name__ == "__main__":
-    rclpy.init()
-    sim = Simulator()
-
-    # publish initial position, then sleep
-    # so that auton stack has time to initialize
-    # before buggy moves
-    time.sleep(15.0)
-    sim.loop()
-
-
diff --git a/rb_ws/src/buggy/setup.py b/rb_ws/src/buggy/setup.py
index b8edf928..42b86b1a 100644
--- a/rb_ws/src/buggy/setup.py
+++ b/rb_ws/src/buggy/setup.py
@@ -13,7 +13,7 @@
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
-        (os.path.join("share", package_name), glob("launch/*.xml")),
+        (os.path.join("share", package_name), glob("launch/*.xml"))
     ],
     install_requires=['setuptools'],
     zip_safe=True,
@@ -24,9 +24,8 @@
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-            'hello_world = buggy.hello_world:main'
-            'sim-single = buggy.engine:main'
-
+            'hello_world = buggy.hello_world:main',
+            'sim_single = buggy.simulator.engine:main'
         ],
     },
 )