- Removed the need for _extra in eye_asset/name. Introduced asset_param_list.py to provide a list of parameters, since rosserial_client does not support param_list.

- Added support for iris_zoom (controls iris and pupil reflex), upperlid_zoom, and extra_zoom.

Author: k-okada

eye_display/node_scripts/asset_param_list.py

@@ -0,0 +1,59 @@
+#!/usr/bin/env python
+
+import os
+import rospy
+import rosparam
+from rosserial_msgs.srv import RequestParam, RequestParamResponse
+
+# This node provides a list of parameters related to eye_asset.
+# When getParam is called from the ESP32 with non-existent names, it takes a long time to timeout and returns an error.
+# To prevent this delay, we first retrieve the list of available parameter names before requesting their values.
+
+def main():
+    rospy.init_node('asset_param_list')
+
+    # get eye_asset param
+    param_ns = rospy.get_namespace().rstrip('/')
+    eye_asset_names = rospy.get_param("{}/eye_asset/names".format(param_ns))
+
+    for name in eye_asset_names:
+        eye_asset_param_names = rospy.get_param("{}/eye_asset/{}".format(param_ns, name)).keys()
+
+        eye_types = []
+        for key in eye_asset_param_names:
+            # image path : cehck if key start with path_
+            if key.startswith("path_"):
+                eye_type = key[len("path_"):]
+                eye_types.append(eye_type)
+        rospy.set_param("{}/eye_asset_{}_eye_types".format(param_ns, name), eye_types)
+
+        positions = []
+        for eye_type in eye_types:
+            positions.extend([n for n in eye_asset_param_names if n.startswith("{}_position".format(eye_type))])
+        if not positions:
+            positions.append('NONE')
+        rospy.set_param("{}/eye_asset_{}_positions".format(param_ns, name), positions)
+
+        rotations = []
+        for eye_type in eye_types:
+            rotations.extend([n for n in eye_asset_param_names if n.startswith("{}_rotation".format(eye_type))])
+        if not rotations:
+            rotations.append('NONE')
+        rospy.set_param("{}/eye_asset_{}_rotations".format(param_ns, name), rotations)
+
+        defaults = []
+        for eye_type in eye_types:
+            defaults.extend([n for n in eye_asset_param_names if n.startswith("{}_default".format(eye_type))])
+        if not defaults:
+            defaults.append('NONE')
+        rospy.set_param("{}/eye_asset_{}_defaults".format(param_ns, name), defaults)
+
+        zooms = []
+        for eye_type in eye_types:
+            zooms.extend([n for n in eye_asset_param_names if n.startswith("{}_zoom".format(eye_type))])
+        if not zooms:
+            zooms.append('NONE')
+        rospy.set_param("{}/eye_asset_{}_zooms".format(param_ns, name), zooms)
+
+if __name__ == "__main__":
+    main()