SwitchBot を ROS から利用する – コマンド操作編２

client.control_device('bot74a', 'turnOn')

client.control_device('デバイス名', 'コマンド')

$ source ~/switchbot_ws/devel/setup.bash
$ roslaunch switchbot_ros switchbot.launch token:=YOUR_TOKEN secret:=YOUR_SECRET

... logging to /home/robotuser/.ros/log/87b6e5c8-c1a2-11ee-bce7-1d89a9d14e1f/roslaunch-robotuser-PC-62866.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://robotuser-PC:40731/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /switchbot_ros/secret: （シークレットの上位数桁が表示）...
 * /switchbot_ros/token: （トークンの上位数桁が表示）...

NODES
  /
    switchbot_ros (switchbot_ros/switchbot_ros_server.py)

auto-starting new master
process[master]: started with pid [62874]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 87b6e5c8-c1a2-11ee-bce7-1d89a9d14e1f
process[rosout-1]: started with pid [62884]
started core service [/rosout]
process[switchbot_ros-2]: started with pid [62891]
[INFO] [1706861436.195243]: Switchbot API Client initialized.
[INFO] [1706861436.199678]: Using SwitchBot API v1.1
[INFO] [1706861436.204957]: Switchbot Device List:
6 Item(s)
deviceName: bot74a, deviceID: （固有のID番号が表示）, deviceType: Bot
deviceName: hub2a, deviceID: （固有のID番号が表示）, deviceType: Hub 2
deviceName: plugmini7a1, deviceID: （固有のID番号が表示）, deviceType: Plug Mini (JP)
deviceName: remote-button10a, deviceID: （固有のID番号が表示）, deviceType: Remote
deviceName: tapelight7a1, deviceID: （固有のID番号が表示）, deviceType: Strip Light
deviceName: thermo-hygrometer-f7a, deviceID: （固有のID番号が表示）, deviceType: Meter

[INFO] [1706861436.208853]: Switchbot Remote List:
2 Item(s)
deviceName: air-conditioner, deviceID: （固有のID番号が表示）, remoteType: Air Conditioner
deviceName: pendant-light, deviceID: （固有のID番号が表示）, remoteType: DIY Light

[INFO] [1706861436.214168]: Switchbot Scene List:
3 Item(s)
sceneName: turnoff-all-lights, sceneID: （固有のID番号が表示）
sceneName: turnon-all-lights, sceneID: （固有のID番号が表示）
sceneName: turnon-all-lights, sceneID: （固有のID番号が表示）

[INFO] [1706861436.254126]: Ready.

deviceName: plugmini7a1, deviceID: （固有のID番号が表示）, deviceType: Plug Mini (JP)

#!/usr/bin/env python

import rospy
from switchbot_ros.switchbot_ros_client import SwitchBotROSClient

rospy.init_node('controler_node')
client = SwitchBotROSClient()

devices = client.get_devices()
print(devices)

# client.control_device('pendant-light', 'turnOn')

# client.control_device('bot74a', 'turnOn')

client.control_device('plugmini7a1', 'toggle')

$ source ~/switchbot_ws/devel/setup.bash
$ roslaunch switchbot_ros switchbot.launch token:=YOUR_TOKEN secret:=YOUR_SECRET

$ source ~/switchbot_ws/devel/setup.bash
$ rosrun switchbot_ros control_switchbot.py 

#!/usr/bin/env python

import rospy
from switchbot_ros.switchbot_ros_client import SwitchBotROSClient

rospy.init_node('controler_node')
client = SwitchBotROSClient()

devices = client.get_devices()
print(devices)

# client.control_device('pendant-light', 'turnOn')

# client.control_device('bot74a', 'turnOn')

# client.control_device('plugmini7a1', 'toggle')

client.control_device('tapelight7a1', 'turnOff', wait=True)
client.control_device('tapelight7a1', 'turnOn', wait=True)
client.control_device('tapelight7a1', 'setBrightness', parameter='100', wait=True)
client.control_device('tapelight7a1', 'setColor', parameter='255:255:255', wait=True)
client.control_device('tapelight7a1', 'setColor', parameter='255:0:0', wait=True)
client.control_device('tapelight7a1', 'setColor', parameter='0:255:0', wait=True)
client.control_device('tapelight7a1', 'setColor', parameter='0:0:255', wait=True)
client.control_device('tapelight7a1', 'setBrightness', parameter='1', wait=True)
client.control_device('tapelight7a1', 'turnOff', wait=True)

import rospy
import actionlib
from switchbot_ros.msg import SwitchBotCommandAction
from switchbot_ros.msg import SwitchBotCommandGoal
from switchbot_ros.msg import DeviceArray


class SwitchBotROSClient(object):

    def __init__(self,
                 actionname='switchbot_ros/switch',
                 topicname='switchbot_ros/devices'):

        self.actionname = actionname
        self.topicname = topicname
        self.action_client = actionlib.SimpleActionClient(
                actionname,
                SwitchBotCommandAction
                )
        rospy.loginfo("Waiting for action server to start.")
        self.action_client.wait_for_server()

    def get_devices(self, timeout=None):

        return rospy.wait_for_message(
                self.topicname,
                DeviceArray,
                timeout=timeout
                )

    def control_device(self,
                       device_name,
                       command,
                       parameter='',
                       command_type='',
                       wait=False
                       ):

        goal = SwitchBotCommandGoal()
        goal.device_name = device_name
        goal.command = command
        goal.parameter = parameter
        goal.command_type = command_type
        self.action_client.send_goal(goal)
        if wait:
            self.action_client.wait_for_result()
            return self.action_client.get_result()