osrf
diff --git a/‎.gitignore‎
Lines changed: 129 additions & 7 deletions b/‎.gitignore‎
Lines changed: 129 additions & 7 deletions
diff --git a/‎buoy_api_py/buoy_api/interface.py‎
Lines changed: 24 additions & 4 deletions b/‎buoy_api_py/buoy_api/interface.py‎
Lines changed: 24 additions & 4 deletions
diff --git a/‎pbcmd/pbcmd/pbcmd.py‎
Lines changed: 2 additions & 2 deletions b/‎pbcmd/pbcmd/pbcmd.py‎
Lines changed: 2 additions & 2 deletions
@@ -2,10 +2,132 @@ __pycache__
 *.swp
 *.save*
 
-splinter/include/splinter
-splinter/lib
-splinter/splinter
-splinter/assets
-splinter/CREDITS.md
-splinter/docs
-splinter/README_SPLINTER.md
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+pip-wheel-metadata/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+.python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
@@ -233,36 +233,56 @@ def use_sim_time(self, enable=True):
         self.set_parameters([Parameter('use_sim_time', Parameter.Type.BOOL, enable)])
 
     # set publish rate of PC Microcontroller telemetry
-    def set_pc_pack_rate_param(self, rate_hz=50.0):
+    def set_pc_pack_rate_param(self, rate_hz=50.0, blocking=True):
+        return asyncio.run(self._set_pc_pack_rate_param(rate_hz, blocking))
+
+    async def _set_pc_pack_rate_param(self, rate_hz=50.0, blocking=True):
         request = SetParameters.Request()
         request.parameters = [Parameter(name='publish_rate',
                                         value=float(rate_hz)).to_parameter_msg()]
         self.pc_pack_rate_param_future_ = self.pc_pack_rate_param_client_.call_async(request)
         self.pc_pack_rate_param_future_.add_done_callback(self.param_response_callback)
+        if blocking:
+            await self.pc_pack_rate_param_future_
 
     # set publish rate of SC Microcontroller telemetry
-    def set_sc_pack_rate_param(self, rate_hz=50.0):
+    def set_sc_pack_rate_param(self, rate_hz=50.0, blocking=True):
+        return asyncio.run(self._set_sc_pack_rate_param(rate_hz, blocking))
+
+    async def _set_sc_pack_rate_param(self, rate_hz=50.0, blocking=True):
         request = SetParameters.Request()
         request.parameters = [Parameter(name='publish_rate',
                                         value=float(rate_hz)).to_parameter_msg()]
         self.sc_pack_rate_param_future_ = self.sc_pack_rate_param_client_.call_async(request)
         self.sc_pack_rate_param_future_.add_done_callback(self.param_response_callback)
+        if blocking:
+            await self.sc_pack_rate_param_future_
 
     # set publish rate of PC Microcontroller telemetry
-    def set_pc_pack_rate(self, rate_hz=50):
+    def set_pc_pack_rate(self, rate_hz=50, blocking=True):
+        return asyncio.run(self._set_pc_pack_rate(rate_hz, blocking))
+
+    async def _set_pc_pack_rate(self, rate_hz=50, blocking=True):
         request = PCPackRateCommand.Request()
         request.rate_hz = int(rate_hz)
 
         self.pc_pack_rate_future_ = self.pc_pack_rate_client_.call_async(request)
         self.pc_pack_rate_future_.add_done_callback(self.default_service_response_callback)
+        if blocking:
+            await self.pc_pack_rate_future_
 
     # set publish rate of SC Microcontroller telemetry
-    def set_sc_pack_rate(self, rate_hz=50):
+    def set_sc_pack_rate(self, rate_hz=50, blocking=True):
+        return asyncio.run(self._set_sc_pack_rate(rate_hz, blocking))
+
+    async def _set_sc_pack_rate(self, rate_hz=50, blocking=True):
         request = SCPackRateCommand.Request()
         request.rate_hz = int(rate_hz)
 
         self.sc_pack_rate_future_ = self.sc_pack_rate_client_.call_async(request)
         self.sc_pack_rate_future_.add_done_callback(self.default_service_response_callback)
+        if blocking:
+            await self.sc_pack_rate_future_
 
     def send_pump_command(self, duration_mins, blocking=True):
         return asyncio.run(self._send_pump_command(duration_mins, blocking))
 
@@ -156,7 +156,7 @@ def sc_pack_rate(parser):
     print('Executing sc_pack_rate to Set the CANBUS packet rate ' +
           f'from the Spring Controller: {args.rate_hz} Hz')
     _pbcmd = _PBCmd()
-    _pbcmd.set_sc_pack_rate_param(args.rate_hz)
+    _pbcmd.set_sc_pack_rate(args.rate_hz)
 
 
 def pc_PackRate(parser):
@@ -169,7 +169,7 @@ def pc_PackRate(parser):
     print('Executing pc_PackRate to Set the CANBUS packet rate ' +
           f'from the Power Controller: {args.rate_hz} Hz')
     _pbcmd = _PBCmd()
-    _pbcmd.set_pc_pack_rate_param(args.rate_hz)
+    _pbcmd.set_pc_pack_rate(args.rate_hz)
 
 
 def pc_Scale(parser):