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This commit is contained in:
Ronaldson Bellande 2024-07-29 12:32:16 -04:00
parent 6e05e79256
commit 97bb453ebf
4 changed files with 31 additions and 19 deletions
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4
ros_web_api_bellande_adaptive_continuious_control_system/config/configs.json
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@ -18,5 +18,7 @@
"url": "https://bellanderoboticssensorsresearchinnovationcenter-kot42qxp.b4a.run", "url": "https://bellanderoboticssensorsresearchinnovationcenter-kot42qxp.b4a.run",
"endpoint_path": { "endpoint_path": {
"bellande_control_system_base": "/api/Bellande_Adaptive_Continuious_Control_System/bellande_adaptive_continuious_control_system" "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"
} }

9
ros_web_api_bellande_adaptive_continuious_control_system/launch/bellande_control_system.launch.py
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@ -29,12 +29,12 @@ def ros1_launch_description():
def ros2_launch_description(): def ros2_launch_description():
initial_state_arg = DeclareLaunchArgument('initial_state', default_value='idle') initial_state_arg = DeclareLaunchArgument('initial_state', default_value='idle')
name_arg = DeclareLaunchArgument('name', default_value='BellandeControlSystem') 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 = [] nodes_to_launch = []
ros_launch_arguments = [ 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( nodes_to_launch.append(Node(
@ -45,7 +45,8 @@ def ros2_launch_description():
parameters=[ parameters=[
{'initial_state': LaunchConfiguration('initial_state')}, {'initial_state': LaunchConfiguration('initial_state')},
{'name': LaunchConfiguration('name')}, {'name': LaunchConfiguration('name')},
{'action_parameters': LaunchConfiguration('action_parameters')}, {'connectivity_passcode': LaunchConfiguration('connectivity_passcode')},
{'bellande_framework_access_key': LaunchConfiguration('bellande_framework_access_key')},
], ],
)) ))

7
ros_web_api_bellande_adaptive_continuious_control_system/launch/ros1/bellande_control_system.launch
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@ -1,6 +1,5 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<!-- Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande <!-- Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
This program is free software: you can redistribute it and/or modify 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 it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or 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 --> <!-- Arguments -->
<arg name="initial_state" default="idle"/> <arg name="initial_state" default="idle"/>
<arg name="name" default="BellandeControlSystem"/> <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 --> <!-- Launch the BellandeControlSystem node -->
<node name="bellande_control_system_node" pkg="bellande_control_system" type="bellande_control_system.py" output="screen"> <node name="bellande_control_system_node" pkg="bellande_control_system" type="bellande_control_system.py" output="screen">
<param name="initial_state" value="$(arg initial_state)"/> <param name="initial_state" value="$(arg initial_state)"/>
<param name="name" value="$(arg name)"/> <param name="name" value="$(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> </node>
</launch> </launch>

30
ros_web_api_bellande_adaptive_continuious_control_system/src/bellande_control_system.py
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@ -18,14 +18,16 @@ import os
import requests import requests
from std_msgs.msg import String from std_msgs.msg import String
def bellande_control_system(state, action, parameters): def bellande_control_system(state, action, parameters, connectivity_passcode):
payload = { payload = {
"state": state, "state": state,
"action": action, "action": action,
"parameters": parameters "parameters": parameters,
"connectivity_passcode": connectivity_passcode
} }
headers = { 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) response = requests.post(api_url, json=payload, headers=headers)
if response.status_code == 200: if response.status_code == 200:
@ -36,20 +38,26 @@ def bellande_control_system(state, action, parameters):
return None, None return None, None
def control_callback(msg): def control_callback(msg):
current_state = rospy.get_param('current_state', 'idle') data = json.loads(msg.data)
action = msg.data connectivity_passcode = data['connectivity_passcode']
parameters = json.loads(rospy.get_param('action_parameters', '{}')) 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: if output is not None:
output_msg = String() 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) pub.publish(output_msg)
if next_state: if next_state:
rospy.set_param('current_state', next_state) rospy.set_param(f'current_state_{connectivity_passcode}', next_state)
def main(): 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') config_file_path = os.path.join(os.path.dirname(__file__), '../config/configs.json')
if not os.path.exists(config_file_path): if not os.path.exists(config_file_path):
@ -60,7 +68,7 @@ def main():
config = json.load(config_file) config = json.load(config_file)
url = config['url'] url = config['url']
endpoint_path = config['endpoint_path']["bellande_control_system_base"] 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 # Initialize ROS node
if ros_version == "1": if ros_version == "1":