latest pushes

ros_web_api_bellande_adaptive_continuious_control_system/config/configs.json

@@ -18,5 +18,7 @@
   "url": "https://bellanderoboticssensorsresearchinnovationcenter-kot42qxp.b4a.run",
   "endpoint_path": {
     "bellande_control_system_base": "/api/Bellande_Adaptive_Continuious_Control_System/bellande_adaptive_continuious_control_system"
-  }
+  },
+  "connectivity_passcode": "user_input_passcode",
+  "Bellande_Framework_Access_Key": "bellande_web_api_opensource"
 }

ros_web_api_bellande_adaptive_continuious_control_system/launch/bellande_control_system.launch.py

@@ -29,12 +29,12 @@ def ros1_launch_description():
 def ros2_launch_description():
     initial_state_arg = DeclareLaunchArgument('initial_state', default_value='idle')
     name_arg = DeclareLaunchArgument('name', default_value='BellandeControlSystem')
-    action_parameters_arg = DeclareLaunchArgument('action_parameters', default_value='{}')
+    connectivity_passcode_arg = DeclareLaunchArgument('connectivity_passcode', default_value='default_passcode')
+    bellande_framework_access_key_arg = DeclareLaunchArgument('bellande_framework_access_key', default_value='bellande_web_api_opensource')
 
     nodes_to_launch = []
-
     ros_launch_arguments = [
-        initial_state_arg, name_arg, action_parameters_arg,
+        initial_state_arg, name_arg, connectivity_passcode_arg, bellande_framework_access_key_arg,
     ]
 
     nodes_to_launch.append(Node(
@@ -45,7 +45,8 @@ def ros2_launch_description():
         parameters=[
             {'initial_state': LaunchConfiguration('initial_state')},
             {'name': LaunchConfiguration('name')},
-            {'action_parameters': LaunchConfiguration('action_parameters')},
+            {'connectivity_passcode': LaunchConfiguration('connectivity_passcode')},
+            {'bellande_framework_access_key': LaunchConfiguration('bellande_framework_access_key')},
         ],
     ))
 

ros_web_api_bellande_adaptive_continuious_control_system/launch/ros1/bellande_control_system.launch

@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <!-- Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
-
 This program is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
@@ -19,12 +18,14 @@ along with this program.  If not, see <https://www.gnu.org/licenses/>.
   <!-- Arguments -->
   <arg name="initial_state" default="idle"/>
   <arg name="name" default="BellandeControlSystem"/>
-  <arg name="action_parameters" default="{}"/>
+  <arg name="connectivity_passcode" default="default_passcode"/>
+  <arg name="bellande_framework_access_key" default="bellande_web_api_opensource"/>
 
   <!-- Launch the BellandeControlSystem node -->
   <node name="bellande_control_system_node" pkg="bellande_control_system" type="bellande_control_system.py" output="screen">
     <param name="initial_state" value="$(arg initial_state)"/>
     <param name="name" value="$(arg name)"/>
-    <param name="action_parameters" value="$(arg action_parameters)"/>
+    <param name="connectivity_passcode" value="$(arg connectivity_passcode)"/>
+    <param name="bellande_framework_access_key" value="$(arg bellande_framework_access_key)"/>
   </node>
 </launch>

ros_web_api_bellande_adaptive_continuious_control_system/src/bellande_control_system.py

@@ -18,14 +18,16 @@ import os
 import requests
 from std_msgs.msg import String
 
-def bellande_control_system(state, action, parameters):
+def bellande_control_system(state, action, parameters, connectivity_passcode):
     payload = {
         "state": state,
         "action": action,
-        "parameters": parameters
+        "parameters": parameters,
+        "connectivity_passcode": connectivity_passcode
     }
     headers = {
-        "Authorization": f"Bearer {api_access_key}"
+        "Authorization": f"Bearer {Bellande_Framework_Access_Key}",
+        "X-Connectivity-Passcode": connectivity_passcode
     }
     response = requests.post(api_url, json=payload, headers=headers)
     if response.status_code == 200:
@@ -36,20 +38,26 @@ def bellande_control_system(state, action, parameters):
         return None, None
 
 def control_callback(msg):
-    current_state = rospy.get_param('current_state', 'idle')
-    action = msg.data
-    parameters = json.loads(rospy.get_param('action_parameters', '{}'))
+    data = json.loads(msg.data)
+    connectivity_passcode = data['connectivity_passcode']
+    current_state = rospy.get_param(f'current_state_{connectivity_passcode}', 'idle')
+    action = data['action']
+    parameters = data['parameters']
     
-    output, next_state = bellande_control_system(current_state, action, parameters)
+    output, next_state = bellande_control_system(current_state, action, parameters, connectivity_passcode)
     if output is not None:
         output_msg = String()
-        output_msg.data = json.dumps({"output": output, "next_state": next_state})
+        output_msg.data = json.dumps({
+            "output": output,
+            "next_state": next_state,
+            "connectivity_passcode": connectivity_passcode
+        })
         pub.publish(output_msg)
         if next_state:
-            rospy.set_param('current_state', next_state)
+            rospy.set_param(f'current_state_{connectivity_passcode}', next_state)
 
 def main():
-    global api_url, api_access_key, pub
+    global api_url, Bellande_Framework_Access_Key, pub
     config_file_path = os.path.join(os.path.dirname(__file__), '../config/configs.json')
     
     if not os.path.exists(config_file_path):
@@ -60,7 +68,7 @@ def main():
         config = json.load(config_file)
         url = config['url']
         endpoint_path = config['endpoint_path']["bellande_control_system_base"]
-        api_access_key = config["Bellande_Framework_Access_Key"]
+        Bellande_Framework_Access_Key = config["Bellande_Framework_Access_Key"]
     
     # Initialize ROS node
     if ros_version == "1":