From 97bb453ebf40327c118e9924db4c3c61a9305ef2 Mon Sep 17 00:00:00 2001 From: RonaldsonBellande Date: Mon, 29 Jul 2024 12:32:16 -0400 Subject: [PATCH] latest pushes --- .../config/configs.json | 4 ++- .../launch/bellande_control_system.launch.py | 9 +++--- .../ros1/bellande_control_system.launch | 7 +++-- .../src/bellande_control_system.py | 30 ++++++++++++------- 4 files changed, 31 insertions(+), 19 deletions(-) diff --git a/ros_web_api_bellande_adaptive_continuious_control_system/config/configs.json b/ros_web_api_bellande_adaptive_continuious_control_system/config/configs.json index 0ceecdd..4def0b6 100644 --- a/ros_web_api_bellande_adaptive_continuious_control_system/config/configs.json +++ b/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" } diff --git a/ros_web_api_bellande_adaptive_continuious_control_system/launch/bellande_control_system.launch.py b/ros_web_api_bellande_adaptive_continuious_control_system/launch/bellande_control_system.launch.py index b2614ea..428ebc3 100644 --- a/ros_web_api_bellande_adaptive_continuious_control_system/launch/bellande_control_system.launch.py +++ b/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')}, ], )) diff --git a/ros_web_api_bellande_adaptive_continuious_control_system/launch/ros1/bellande_control_system.launch b/ros_web_api_bellande_adaptive_continuious_control_system/launch/ros1/bellande_control_system.launch index 699eaf0..8b21291 100644 --- a/ros_web_api_bellande_adaptive_continuious_control_system/launch/ros1/bellande_control_system.launch +++ b/ros_web_api_bellande_adaptive_continuious_control_system/launch/ros1/bellande_control_system.launch @@ -1,6 +1,5 @@ - + + - + + diff --git a/ros_web_api_bellande_adaptive_continuious_control_system/src/bellande_control_system.py b/ros_web_api_bellande_adaptive_continuious_control_system/src/bellande_control_system.py index f812d44..9a1c3bf 100755 --- a/ros_web_api_bellande_adaptive_continuious_control_system/src/bellande_control_system.py +++ b/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":