Warning Systems

Hardware

Warning system outputs are configured to control standard components such as warning lights and buzzers. Two drivers are allocated for the lighting system, and one driver is designated for a warning buzzer/horn.

Connector Pinout

Connector

Development Breakout Board

Warning Systems Specifications

Parameter	Value
Onstate	Sinks up to 24V
Drive Current	2A
Controllability	ON/OFF
Number of Sinks	3

ROS API

Subscribers

Topic	Type	Description
/io/warning_system_out	automatepro_interfaces/msg/WarningSystems	Publish the desired states for the warning system to this topic. Inputs: warning_system_id: DataType: uint8 (Use ENUM constants defined in msg definition. Options WarningSystems.WARNING_BUZZER, WarningSystems.WARNING_LIGHT1, WarningSystems.WARNING_LIGHT_2) state: DataType: bool (Use ENUM constants defined in msg definiton. Options WarningSystems.ON, WarningSystems.OFF) Response Rate: 200 ms

Example

Example code snippet toggles the Warning Buzzer ON/OFF by publishing to the /io/warning_system_out topic.
ROS package can be found here.

Python

import rclpy
from rclpy.node import Node
from automatepro_interfaces.msg import WarningSystems

class WarningSystemsPublisher(Node):

    def __init__(self):
        super().__init__('warning_systems_publisher')
        self.publisher_ = self.create_publisher(WarningSystems, '/io/warning_system_out', 10)
        self.timer = self.create_timer(1.0, self.timer_callback)  # 1s
        self.state = False

    def timer_callback(self):
        msg = WarningSystems()
        msg.warning_system_id = WarningSystems.WARNING_BUZZER
        msg.state = self.state
        self.publisher_.publish(msg)
        self.get_logger().info(
            'Publishing WarningSystems: warning_system_id=%d, state=%d' %
            (msg.warning_system_id, msg.state))
        self.state = not self.state # Toggle state

def main(args=None):
    rclpy.init(args=args)
    node = WarningSystemsPublisher()
    rclpy.spin(node)
    node.destroy_node()
    rclpy.shutdown()

if __name__ == '__main__':
    main()

Run the node using the following command:

ros2 run automatepro_python_tutorials warning_system_out_node 

C++

#include <rclcpp/rclcpp.hpp>
#include <automatepro_interfaces/msg/warning_systems.hpp>

class WarningSystemsPublisher : public rclcpp::Node
{
public:
    WarningSystemsPublisher()
        : Node("warning_systems_publisher"), state_(false)
    {
        publisher_ = this->create_publisher<automatepro_interfaces::msg::WarningSystems>("/io/warning_system_out", 10);
        timer_ = this->create_wall_timer(
            std::chrono::seconds(1),
            std::bind(&WarningSystemsPublisher::timer_callback, this));
    }

private:
    void timer_callback()
    {
        auto msg = automatepro_interfaces::msg::WarningSystems();
        msg.warning_system_id = automatepro_interfaces::msg::WarningSystems::WARNING_BUZZER;  // Change to WARNING_LIGHT1 or WARNING_LIGHT2 as needed
        msg.state = state_;
        publisher_->publish(msg);
        RCLCPP_INFO(this->get_logger(), "Publishing WarningSystems: warning_system_id=%d, state=%d",
                    msg.warning_system_id, msg.state);
        state_ = !state_;  // Toggle state
    }

    rclcpp::Publisher<automatepro_interfaces::msg::WarningSystems>::SharedPtr publisher_;
    rclcpp::TimerBase::SharedPtr timer_;
    bool state_;
};

int main(int argc, char *argv[])
{
    rclcpp::init(argc, argv);
    rclcpp::spin(std::make_shared<WarningSystemsPublisher>());
    rclcpp::shutdown();
    return 0;
}

Run the node using the following command:

ros2 run automatepro_cpp_tutorials warning_system_out_node