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This commit is contained in:
Ronaldson Bellande 2024-07-29 14:00:02 -04:00
parent 97bb453ebf
commit 9a468a116c
3 changed files with 13 additions and 23 deletions
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10
ros_web_api_bellande_adaptive_continuious_control_system/launch/bellande_control_system.launch.py
View File

@ -23,30 +23,26 @@ from launch.substitutions import LaunchConfiguration
def ros1_launch_description():
args = sys.argv[1:]
roslaunch_command = ["roslaunch", "bellande_control_system", "bellande_control_system.launch"] + args
roslaunch_command = ["roslaunch", "ros_web_api_bellande_adaptive_continuious_control_system", "bellande_control_system.launch"] + args
subprocess.call(roslaunch_command)
def ros2_launch_description():
initial_state_arg = DeclareLaunchArgument('initial_state', default_value='idle')
name_arg = DeclareLaunchArgument('name', default_value='BellandeControlSystem')
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, connectivity_passcode_arg, bellande_framework_access_key_arg,
initial_state_arg, name_arg,
]
nodes_to_launch.append(Node(
package='bellande_control_system',
package='ros_web_api_bellande_adaptive_continuious_control_system',
executable='bellande_control_system.py',
name='bellande_control_system_node',
output='screen',
parameters=[
{'initial_state': LaunchConfiguration('initial_state')},
{'name': LaunchConfiguration('name')},
{'connectivity_passcode': LaunchConfiguration('connectivity_passcode')},
{'bellande_framework_access_key': LaunchConfiguration('bellande_framework_access_key')},
],
))

4
ros_web_api_bellande_adaptive_continuious_control_system/launch/ros1/bellande_control_system.launch
View File

@ -18,14 +18,10 @@ 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="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="connectivity_passcode" value="$(arg connectivity_passcode)"/>
<param name="bellande_framework_access_key" value="$(arg bellande_framework_access_key)"/>
</node>
</launch>

22
ros_web_api_bellande_adaptive_continuious_control_system/src/bellande_control_system.py
View File

@ -18,15 +18,14 @@ import os
import requests
from std_msgs.msg import String
def bellande_control_system(state, action, parameters, connectivity_passcode):
def bellande_control_system(state, action, parameters):
payload = {
"state": state,
"action": action,
"parameters": parameters,
"connectivity_passcode": connectivity_passcode
"parameters": parameters
}
headers = {
"Authorization": f"Bearer {Bellande_Framework_Access_Key}",
"Authorization": f"Bearer {api_access_key}",
"X-Connectivity-Passcode": connectivity_passcode
}
response = requests.post(api_url, json=payload, headers=headers)
@ -39,25 +38,23 @@ def bellande_control_system(state, action, parameters, connectivity_passcode):
def control_callback(msg):
data = json.loads(msg.data)
connectivity_passcode = data['connectivity_passcode']
current_state = rospy.get_param(f'current_state_{connectivity_passcode}', 'idle')
current_state = rospy.get_param('current_state', 'idle')
action = data['action']
parameters = data['parameters']
output, next_state = bellande_control_system(current_state, action, parameters, connectivity_passcode)
output, next_state = bellande_control_system(current_state, action, parameters)
if output is not None:
output_msg = String()
output_msg.data = json.dumps({
"output": output,
"next_state": next_state,
"connectivity_passcode": connectivity_passcode
"next_state": next_state
})
pub.publish(output_msg)
if next_state:
rospy.set_param(f'current_state_{connectivity_passcode}', next_state)
rospy.set_param('current_state', next_state)
def main():
global api_url, Bellande_Framework_Access_Key, pub
global api_url, api_access_key, connectivity_passcode, pub
config_file_path = os.path.join(os.path.dirname(__file__), '../config/configs.json')
if not os.path.exists(config_file_path):
@ -68,7 +65,8 @@ def main():
config = json.load(config_file)
url = config['url']
endpoint_path = config['endpoint_path']["bellande_control_system_base"]
Bellande_Framework_Access_Key = config["Bellande_Framework_Access_Key"]
connectivity_passcode = config["connectivity_passcode"]
api_access_key = config["Bellande_Framework_Access_Key"]
# Initialize ROS node
if ros_version == "1":