surface

ros2_ws/install/arduino_bridge/lib/arduino_bridge/arduino_bridge

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+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'arduino-bridge==0.0.0','console_scripts','arduino_bridge'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'arduino-bridge==0.0.0'
+
+try:
+    from importlib.metadata import distribution
+except ImportError:
+    try:
+        from importlib_metadata import distribution
+    except ImportError:
+        from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+    dist_name, _, _ = spec.partition('==')
+    matches = (
+        entry_point
+        for entry_point in distribution(dist_name).entry_points
+        if entry_point.group == group and entry_point.name == name
+    )
+    return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+    sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+    sys.exit(load_entry_point('arduino-bridge==0.0.0', 'console_scripts', 'arduino_bridge')())

ros2_ws/install/arduino_bridge/lib/python3.10/site-packages/arduino_bridge-0.0.0-py3.10.egg-info/PKG-INFO

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+Metadata-Version: 2.1
+Name: arduino-bridge
+Version: 0.0.0
+Summary: TODO: Package description
+Home-page: UNKNOWN
+Maintainer: koray
+Maintainer-email: koray@todo.todo
+License: TODO: License declaration
+Platform: UNKNOWN
+
+UNKNOWN
+

ros2_ws/install/arduino_bridge/lib/python3.10/site-packages/arduino_bridge-0.0.0-py3.10.egg-info/SOURCES.txt

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+package.xml
+setup.cfg
+setup.py
+../../build/arduino_bridge/arduino_bridge.egg-info/PKG-INFO
+../../build/arduino_bridge/arduino_bridge.egg-info/SOURCES.txt
+../../build/arduino_bridge/arduino_bridge.egg-info/dependency_links.txt
+../../build/arduino_bridge/arduino_bridge.egg-info/entry_points.txt
+../../build/arduino_bridge/arduino_bridge.egg-info/requires.txt
+../../build/arduino_bridge/arduino_bridge.egg-info/top_level.txt
+../../build/arduino_bridge/arduino_bridge.egg-info/zip-safe
+arduino_bridge/__init__.py
+arduino_bridge/arduino_bridge.py
+resource/arduino_bridge
+test/test_copyright.py
+test/test_flake8.py
+test/test_pep257.py

ros2_ws/install/arduino_bridge/lib/python3.10/site-packages/arduino_bridge-0.0.0-py3.10.egg-info/dependency_links.txt

@@ -0,0 +1 @@
+

ros2_ws/install/arduino_bridge/lib/python3.10/site-packages/arduino_bridge-0.0.0-py3.10.egg-info/entry_points.txt

@@ -0,0 +1,3 @@
+[console_scripts]
+arduino_bridge = arduino_bridge.arduino_bridge:main
+

ros2_ws/install/arduino_bridge/lib/python3.10/site-packages/arduino_bridge-0.0.0-py3.10.egg-info/requires.txt

@@ -0,0 +1 @@
+setuptools

ros2_ws/install/arduino_bridge/lib/python3.10/site-packages/arduino_bridge-0.0.0-py3.10.egg-info/top_level.txt

@@ -0,0 +1 @@
+arduino_bridge

ros2_ws/install/arduino_bridge/lib/python3.10/site-packages/arduino_bridge-0.0.0-py3.10.egg-info/zip-safe

@@ -0,0 +1 @@
+

ros2_ws/install/arduino_bridge/lib/python3.10/site-packages/arduino_bridge/arduino_bridge.py

@@ -0,0 +1,45 @@
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Int32
+import serial
+
+class ArduinoBridge(Node):
+    def __init__(self):
+        super().__init__('arduino_bridge')
+
+        self.publisher_ = self.create_publisher(Int32, 'water_level', 10)
+        self.subscription = self.create_subscription(
+            Int32,
+            'servo_angle',
+            self.servo_callback,
+            10)
+
+        self.ser = serial.Serial('/dev/ttyUSB0', 9600, timeout=1)
+
+        self.create_timer(0.5, self.read_sensor)
+
+    def read_sensor(self):
+        if self.ser.in_waiting > 0:
+            line = self.ser.readline().decode().strip()
+            if line.startswith('WATER:'):
+                level = int(line.split(':')[1])
+                msg = Int32()
+                msg.data = level
+                self.publisher_.publish(msg)
+                self.get_logger().info(f'Water level: {level}')
+
+    def servo_callback(self, msg):
+        angle = str(msg.data) + '\n'
+        self.ser.write(angle.encode())
+        self.get_logger().info(f'Sent servo angle: {msg.data}')
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = ArduinoBridge()
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
+