.

src/hos_dummy/CMakeLists.txt

@@ -0,0 +1,169 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hos_dummy)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  hos_core_msgs
+  hos_python_json
+  rospy
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   hos_core_msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES hos_dummy
+   CATKIN_DEPENDS hos_core_msgs hos_python_json rospy
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+# add_library(hos_dummy
+#   src/${PROJECT_NAME}/hos_dummy.cpp
+# )
+
+## Declare a cpp executable
+# add_executable(hos_dummy_node src/hos_dummy_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(hos_dummy_node hos_dummy_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(hos_dummy_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+
+#And this will install python nodes
+catkin_install_python(PROGRAMS 
+	nodes/hos_dummy_devices.py
+	DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS hos_dummy hos_dummy_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_hos_dummy.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

src/hos_dummy/nodes/hos_dummy_controller.py

@@ -0,0 +1,28 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+import sys
+import socket
+import rospy
+import traceback
+from hos_core_msgs.msg import DeviceCommand
+from hos_dummy.HosDummyController import HosDummyController
+
+import Tkinter as tk
+import Tkconstants
+
+
+if __name__ == '__main__':
+    try:
+        root = tk.Tk();
+        app = HosDummyController(root)
+        root.geometry("+200+200")
+        app.master.title('HOS Dummy Controller')
+        
+        app.mainloop()
+    except socket.error as e:
+        print "Could not connect to master"
+    except Exception as inst:
+        print type(inst)     # the exception instance
+        print inst           # __str__ allows args to be printed directly
+        traceback.print_exc()

src/hos_dummy/nodes/hos_dummy_devices.py

@@ -0,0 +1,33 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+import sys
+import socket
+import rospy
+import traceback
+from hos_core_msgs.msg import DeviceCommand
+from hos_dummy.HosDummyDevices import HosDummyDevices 
+
+import Tkinter as tk
+import Tkconstants
+
+
+def deviceCmdCallback(data):
+    app.deviceCmdCallback(data)
+
+if __name__ == '__main__':
+    try:
+        root = tk.Tk();
+        app = HosDummyDevices(root)
+        root.geometry("+200+200")
+        app.master.title('HOS Dummy Devices')
+
+        rospy.Subscriber(app.cmd_topic, DeviceCommand, deviceCmdCallback)
+        
+        app.mainloop()
+    except socket.error as e:
+        print "Could not connect to master"
+    except Exception as inst:
+        print type(inst)     # the exception instance
+        print inst           # __str__ allows args to be printed directly
+        traceback.print_exc()

src/hos_dummy/package.xml

@@ -0,0 +1,56 @@
+<?xml version="1.0"?>
+<package>
+  <name>hos_dummy</name>
+  <version>0.0.0</version>
+  <description>The hos_dummy package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="matzman@todo.todo">matzman</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/hos_dummy</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>hos_core_msgs</build_depend>
+  <build_depend>hos_python_json</build_depend>
+  <build_depend>rospy</build_depend>
+  <run_depend>hos_core_msgs</run_depend>
+  <run_depend>hos_python_json</run_depend>
+  <run_depend>rospy</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

src/hos_dummy/python/hos_dummy/HosDummyController.py

@@ -0,0 +1,144 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+import sys
+import rospy
+import json
+from hos_pyhue import pyhue
+from hos_core_msgs.msg import DeviceCommand
+from hos_core_msgs.msg import DeviceStatusUpdate
+from hos_core_msgs.msg import HosStatusUpdate
+from jsonspec_hos.reference.providers import HOSParamServerProvider
+from jsonspec.validators import load
+from time import sleep
+
+import Tkinter as tk
+import Tkconstants
+
+
+class HosDummyController(tk.Frame):
+    def __init__(self, master=None):
+        # Init ROS node
+        rospy.init_node('hos_dummy_controller', argv=sys.argv)
+        # Get ROS parameter
+        self.status_topic = rospy.get_param('~status_topic', "/hos/devices/status")
+        self.cmd_topic = rospy.get_param('~cmd_topic', "/hos/devices/cmd")
+        self.hos_update_topic = rospy.get_param('~hos_update_topic', "/hos/status/updates")
+        self.loop_frequency = rospy.get_param('~loop_frequency', 100)
+        self.statusmsg_interval = rospy.get_param('~statusmsg_interval', 6000000)
+        # Init Variables
+        self.msg_sequence = 0
+        # Init devices
+        self.switches = dict()
+        self.dimmers = dict()
+        for i in range(4):
+            # switches
+            name = "dummySwitch" + str(i)
+            self.switches[i] = dict()
+            self.switches[i]["value"] = False
+            self.switches[i]["id"] = name
+            self.switches[i]["name"] = "Switch " + str(i)
+            key_base = "/hos/devices/repository/" + name
+            rospy.set_param(key_base + "/type", "core/devices/switch")
+            rospy.set_param(key_base + "/status_topic", self.status_topic)
+            rospy.set_param(key_base + "/cmd_topic", self.cmd_topic)
+            print "Added dummy switch \"" + name + "\""
+            # dimmers
+            name = "dummyDimmer" + str(i)
+            self.dimmers[i] = dict()
+            self.dimmers[i]["value"] = 0.0
+            self.dimmers[i]["id"] = name
+            self.dimmers[i]["name"] = "Dimmer " + str(i)
+            key_base = "/hos/devices/repository/" + name
+            rospy.set_param(key_base + "/type", "core/devices/switch")
+            rospy.set_param(key_base + "/status_topic", self.status_topic)
+            rospy.set_param(key_base + "/cmd_topic", self.cmd_topic)
+            print "Added dummy dimmer \"" + name + "\""
+        # Create JSON schema provider
+        self.schemaProvider = HOSParamServerProvider()
+        # Create message publisher
+        self.commandPublisher = rospy.Publisher(self.cmd_topic, DeviceCommand, queue_size=10)
+        # Init GUI
+        tk.Frame.__init__(self, master, padx="10px", pady="10px")
+        self.grid()
+        self.createWidgets()
+        
+
+    def createWidgets(self):
+        self.switchframe = tk.LabelFrame(self, text = "Switches", relief=Tkconstants.SUNKEN, bd=1)
+        self.switchframe.grid(column=0, row=0)
+        for i in range(4):
+            self.switches[i]["intvar"] = tk.IntVar(value=int(self.switches[i]["value"]))
+            self.switches[i]["checkbutton"] = tk.Checkbutton(self.switchframe, text=self.switches[i]["name"], variable = self.switches[i]["intvar"], onvalue = 1, offvalue = 0, height=5, width = 20, command=self.switchCallback)
+            self.switches[i]["checkbutton"].grid(column=0, row=i)
+            
+        self.dimmerframe = tk.LabelFrame(self, text = "Dimmers", relief=Tkconstants.SUNKEN, bd=1)
+        self.dimmerframe.grid(column=1, row=0)
+        for i in range(4):
+            self.dimmers[i]["doublevar"] = tk.DoubleVar(value=float(self.dimmers[i]["value"]))
+            self.dimmers[i]["label"] = tk.Label(self.dimmerframe, text=self.dimmers[i]["name"])
+            self.dimmers[i]["label"].grid(column=0, row=i)
+            self.dimmers[i]["scale"] = tk.Scale( self.dimmerframe, variable = self.dimmers[i]["doublevar"], from_=0.0, to=100.0, command=self.scaleCallback)
+            self.dimmers[i]["scale"].grid(column=1, row=i)
+        
+        #self.quitButton = tk.Button(self, text='Quit', command=self.quit)
+        #self.quitButton.grid()
+    
+    
+    def createSwitchMsg(self, switch, seq, stamp):
+        msg = DeviceCommand()
+        msg.seq = seq
+        msg.device_id = switch["id"]
+        msg.device_type = "core/devices/switch"
+        msg.stamp = stamp
+                           
+        msg_body = dict()
+        
+        msg_body["switch"] = dict()
+        msg_body["switch"]["set"] = switch["value"]
+        
+        msg_schema = self.schemaProvider.getTypeSchema("core/devices/switch/command")
+        validator = load(msg_schema, provider=self.schemaProvider)
+        
+        validator.validate(msg_body)
+        
+        msg.msg_body = json.dumps(msg_body)
+        return msg
+    
+    
+    def createDimmerMsg(self, dimmer, seq, stamp):
+        msg = DeviceCommand()
+        msg.seq = seq
+        msg.device_id = dimmer["id"]
+        msg.device_type = "core/devices/dimmer"
+        msg.stamp = stamp
+                           
+        msg_body = dict()
+        
+        msg_body["dimmer"] = dict()
+        msg_body["dimmer"]["set"] = dimmer["value"]/100.0
+        
+        msg_schema = self.schemaProvider.getTypeSchema("core/devices/dimmer/command")
+        validator = load(msg_schema, provider=self.schemaProvider)
+        validator.validate(msg_body)
+        
+        msg.msg_body = json.dumps(msg_body)
+        return msg
+
+
+    def scaleCallback(self, newvalue):
+        stamp = rospy.get_rostime()
+        for i in self.dimmers:
+            if (self.dimmers[i]["value"] != self.dimmers[i]["doublevar"].get()):
+                self.dimmers[i]["value"] = float(self.dimmers[i]["doublevar"].get())
+                self.commandPublisher.publish(self.createDimmerMsg(self.dimmers[i], self.msg_sequence, stamp))
+        self.msg_sequence += 1
+
+
+    def switchCallback(self):
+        stamp = rospy.get_rostime()
+        for i in self.switches:
+            if (self.switches[i]["value"] != bool(self.switches[i]["intvar"].get())):
+                self.switches[i]["value"] = bool(self.switches[i]["intvar"].get())
+                self.commandPublisher.publish(self.createSwitchMsg(self.switches[i], self.msg_sequence, stamp))
+        self.msg_sequence += 1

src/hos_dummy/python/hos_dummy/HosDummyDevices.py

@@ -0,0 +1,206 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+import sys
+import rospy
+import json
+from hos_pyhue import pyhue
+from hos_core_msgs.msg import DeviceCommand
+from hos_core_msgs.msg import DeviceStatusUpdate
+from hos_core_msgs.msg import HosStatusUpdate
+from jsonspec_hos.reference.providers import HOSParamServerProvider
+from jsonspec.validators import load
+from time import sleep
+
+import Tkinter as tk
+import Tkconstants
+
+
+class HosDummyDevices(tk.Frame):
+    def __init__(self, master=None):
+        # Init ROS node
+        rospy.init_node('hos_dummy_devices', argv=sys.argv)
+        # Get ROS parameter
+        self.status_topic = rospy.get_param('~status_topic', "/hos/devices/status")
+        self.cmd_topic = rospy.get_param('~cmd_topic', "/hos/devices/cmd")
+        self.hos_update_topic = rospy.get_param('~hos_update_topic', "/hos/status/updates")
+        self.loop_frequency = rospy.get_param('~loop_frequency', 100)
+        self.statusmsg_interval = rospy.get_param('~statusmsg_interval', 6000000)
+        # Init Variables
+        self.msg_sequence = 0
+        # Init devices
+        new_devices = list()
+        self.switches = dict()
+        self.dimmers = dict()
+        for i in range(4):
+            # switches
+            name = "dummySwitch" + str(i)
+            self.switches[i] = dict()
+            self.switches[i]["value"] = False
+            self.switches[i]["id"] = name
+            self.switches[i]["name"] = "Switch " + str(i)
+            key_base = "/hos/devices/repository/" + name
+            rospy.set_param(key_base + "/type", "core/devices/switch")
+            rospy.set_param(key_base + "/status_topic", self.status_topic)
+            rospy.set_param(key_base + "/cmd_topic", self.cmd_topic)
+            print "Added dummy switch \"" + name + "\""
+            new_devices.append(name)
+            # dimmers
+            name = "dummyDimmer" + str(i)
+            self.dimmers[i] = dict()
+            self.dimmers[i]["value"] = 0.0
+            self.dimmers[i]["id"] = name
+            self.dimmers[i]["name"] = "Dimmer " + str(i)
+            key_base = "/hos/devices/repository/" + name
+            rospy.set_param(key_base + "/type", "core/devices/switch")
+            rospy.set_param(key_base + "/status_topic", self.status_topic)
+            rospy.set_param(key_base + "/cmd_topic", self.cmd_topic)
+            print "Added dummy dimmer \"" + name + "\""
+            new_devices.append(name)
+        # Create JSON schema provider
+        self.schemaProvider = HOSParamServerProvider()
+        # Create message publisher
+        self.statusPublisher = rospy.Publisher(self.status_topic, DeviceStatusUpdate, queue_size=10)
+        self.hosUpdatePublisher = rospy.Publisher(self.hos_update_topic, HosStatusUpdate, queue_size=10)
+        # Send HOS Status Update Message
+        updMsg = HosStatusUpdate()
+        stamp = rospy.get_rostime()
+        updMsg.stamp = stamp
+        updMsg.tags.append("devices")
+        updBody = dict()
+        updBody["type"] = "core/msgs/hosstatusupdate"
+        updBody["devices"] = dict()
+        updBody["devices"]["type"] = "core/msgs/hosstatusupdate/devices";
+        updBody["devices"]["added"] = new_devices
+        
+        msg_schema = self.schemaProvider.getTypeSchema("core/msgs/hosstatusupdate")
+        validator = load(msg_schema, provider=self.schemaProvider)
+        validator.validate(updBody)
+        
+        updMsg.msg_body = json.dumps(updBody)
+        sleep(1) # Apparently we need to wait before we can send messages
+        self.hosUpdatePublisher.publish(updMsg)
+        
+        # Init GUI
+        tk.Frame.__init__(self, master, padx="10px", pady="10px")
+        self.grid()
+        self.createWidgets()
+        
+        self.deviceStatusCallback()
+        
+
+    def createWidgets(self):
+        self.switchframe = tk.LabelFrame(self, text = "Switches", relief=Tkconstants.SUNKEN, bd=1)
+        self.switchframe.grid(column=0, row=0)
+        for i in range(4):
+            self.switches[i]["stringvar"] = tk.StringVar(value=str(self.switches[i]["value"]))
+            self.switches[i]["label1"] = tk.Label(self.switchframe, text=self.switches[i]["name"])
+            self.switches[i]["label1"].grid(column=0, row=i)
+            self.switches[i]["label2"] = tk.Label(self.switchframe, textvariable=self.switches[i]["stringvar"], relief=Tkconstants.GROOVE, width = 4)
+            self.switches[i]["label2"].grid(column=1, row=i)
+            
+        self.dimmerframe = tk.LabelFrame(self, text = "Dimmers", relief=Tkconstants.SUNKEN, bd=1)
+        self.dimmerframe.grid(column=1, row=0)
+        for i in range(4):
+            self.dimmers[i]["stringvar"] = tk.StringVar(value=str(self.dimmers[i]["value"]))
+            self.dimmers[i]["label1"] = tk.Label(self.dimmerframe, text=self.dimmers[i]["name"])
+            self.dimmers[i]["label1"].grid(column=0, row=i)
+            self.dimmers[i]["label2"] = tk.Label(self.dimmerframe, textvariable=self.dimmers[i]["stringvar"], relief=Tkconstants.GROOVE, width = 4)
+            self.dimmers[i]["label2"].grid(column=1, row=i)
+        
+        #self.quitButton = tk.Button(self, text='Quit', command=self.quit)
+        #self.quitButton.grid()
+    
+    
+    def createSwitchMsg(self, switch, seq, stamp):
+        msg = DeviceStatusUpdate()
+        msg.seq = seq
+        msg.device_id = switch["id"]
+        msg.device_type = "core/devices/switch"
+        msg.stamp = stamp
+                           
+        msg_body = dict()
+        
+        msg_body["switch"] = dict()
+        msg_body["switch"]["value"] = switch["value"]
+        
+        msg_schema = self.schemaProvider.getTypeSchema("core/devices/switch/status")
+        validator = load(msg_schema, provider=self.schemaProvider)
+        
+        validator.validate(msg_body)
+        
+        msg.msg_body = json.dumps(msg_body)
+        return msg
+    
+    
+    def createDimmerMsg(self, dimmer, seq, stamp):
+        msg = DeviceStatusUpdate()
+        msg.seq = seq
+        msg.device_id = dimmer["id"]
+        msg.device_type = "core/devices/dimmer"
+        msg.stamp = stamp
+                           
+        msg_body = dict()
+        
+        msg_body["dimmer"] = dict()
+        msg_body["dimmer"]["value"] = dimmer["value"]
+        
+        msg_schema = self.schemaProvider.getTypeSchema("core/devices/dimmer/status")
+        validator = load(msg_schema, provider=self.schemaProvider)
+        validator.validate(msg_body)
+        
+        msg.msg_body = json.dumps(msg_body)
+        return msg
+    
+    
+    def deviceStatusCallback(self):
+        stamp = rospy.get_rostime()
+        for switch in self.switches:
+            self.statusPublisher.publish(self.createSwitchMsg(self.switches[switch], self.msg_sequence, stamp))
+        for dimmer in self.dimmers:
+            self.statusPublisher.publish(self.createDimmerMsg(self.dimmers[dimmer], self.msg_sequence, stamp))
+        self.msg_sequence += 1
+        self.after(10000, self.deviceStatusCallback)
+
+
+    def deviceCmdCallback(self, data):
+        rospy.loginfo(rospy.get_caller_id() + ": I heard %s", str(data))
+        for i in self.switches:
+            if self.switches[i]["id"] == data.device_id:
+                self.deviceSwitchCmdCallback(self.switches[i], data)
+                return
+        for i in self.dimmers:
+            if self.dimmers[i]["id"] == data.device_id:
+                self.deviceDimmerCmdCallback(self.dimmers[i], data)
+                return
+        
+        
+    def deviceSwitchCmdCallback(self, switch, data):
+        msg_body = json.loads(data.msg_body)
+        msg_schema = self.schemaProvider.getTypeSchema("core/devices/switch/command")
+        validator = load(msg_schema, provider=self.schemaProvider)
+        validator.validate(msg_body)
+        
+        value = msg_body["switch"]["set"]
+        switch["value"] = bool(value)
+        switch["stringvar"].set(str(value))
+        
+        stamp = rospy.get_rostime()
+        self.statusPublisher.publish(self.createSwitchMsg(switch, self.msg_sequence, stamp))
+        self.msg_sequence += 1
+        
+        
+    def deviceDimmerCmdCallback(self, dimmer, data):
+        print 
+        msg_body = json.loads(data.msg_body)
+        msg_schema = self.schemaProvider.getTypeSchema("core/devices/dimmer/command")
+        validator = load(msg_schema, provider=self.schemaProvider)
+        validator.validate(msg_body)
+        value = msg_body["dimmer"]["set"]
+        dimmer["value"] = float(value)
+        dimmer["stringvar"].set(value)
+        
+        stamp = rospy.get_rostime()
+        self.statusPublisher.publish(self.createDimmerMsg(dimmer, self.msg_sequence, stamp))
+        self.msg_sequence += 1
+

src/hos_dummy/setup.py

@@ -0,0 +1,11 @@
+ #!/usr/bin/env python
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+package_info = generate_distutils_setup(
+    packages=['hos_dummy'],
+    package_dir={'': 'python'},
+)
+
+setup(**package_info)