.

src/hos_philips_hue/nodes/test.py

@@ -42,7 +42,7 @@ if __name__ == '__main__':
         msg_body["color"]["type"] = "core/types/color/command"
         msg_body["color"]["colormode"] = "hs"
 #        msg_body["color"]["set"] = [300]
-        msg_body["color"]["set"] = [1.0, 1.0]
+        msg_body["color"]["set"] = [0.5, 1.0]
         
         msg_body["alert"] = dict()
         msg_body["alert"]["type"] = "hue/huelight/command/alert"

src/hos_philips_hue/python/hos_huecontroller/huecontroller.py

@@ -33,7 +33,7 @@ class HueController(object):
         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', 3000)
+        self.statusmsg_interval = rospy.get_param('~statusmsg_interval', 6000000)
         self.bridge_ip = rospy.get_param('~bridge_ip', "192.168.168.90")
         self.bridge_secret = rospy.get_param('~bridge_secret', "matzman666")
         self.device_name_base = rospy.get_param('~device_name_base', "huelight")
@@ -204,6 +204,9 @@ class HueController(object):
                     light.light.setStateAttr("transitiontime", value["transitiontime"])
         light.light.commitStateAttrs()
         light.light.refreshAttrs()
+        stamp = rospy.get_rostime()
+        self.statusPublisher.publish(self.createStatusMsg(light.light, light.name, self.msg_sequence, stamp))
+        self.msg_sequence += 1
     
     
     def deviceStatusCallback(self):
@@ -226,11 +229,31 @@ class HueController(object):
                 status_timer += 1
             rate.sleep()
         # Remove devices from device repository
+        del_devices = list()
         for key in self.lights:
             light = self.lights[key]
+            del_devices.append(light.name)
             key_base = "/hos/devices/repository/" + light.name
             print "Remove device " + light.name + " from repository"
             rospy.delete_param(key_base)
+        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"]["removed"] = del_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)
+        sleep(2)