From ff15a1e93ef6f111dd286dfd732eee60e79bfdf7 Mon Sep 17 00:00:00 2001 From: RonaldsonBellande Date: Tue, 2 Jul 2024 13:27:56 -0400 Subject: [PATCH] bellande_step --- ros_web_api_bellande_step/config/configs.json | 16 +++ .../launch/bellande_step_api_2d.launch.py | 15 +++ .../src/bellande_step_api_2d.py | 121 ++++++++++++------ 3 files changed, 114 insertions(+), 38 deletions(-) diff --git a/ros_web_api_bellande_step/config/configs.json b/ros_web_api_bellande_step/config/configs.json index bd0f1b9..f2180ff 100644 --- a/ros_web_api_bellande_step/config/configs.json +++ b/ros_web_api_bellande_step/config/configs.json @@ -1,4 +1,20 @@ { + "license": [ + "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", + "(at your option) any later version.", + "", + "This program is distributed in the hope that it will be useful,", + "but WITHOUT ANY WARRANTY; without even the implied warranty of", + "MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the", + "GNU General Public License for more details.", + "", + "You should have received a copy of the GNU General Public License", + "along with this program. If not, see .", + "GNU General Public License v3.0 or later" + ], "url": "https://bellanderoboticssensorsresearchinnovationcenter-kot42qxp.b4a.run", "endpoint_path": { "2d": "/api/Bellande_Step/bellande_step_2d", diff --git a/ros_web_api_bellande_step/launch/bellande_step_api_2d.launch.py b/ros_web_api_bellande_step/launch/bellande_step_api_2d.launch.py index be7af43..4e5411d 100644 --- a/ros_web_api_bellande_step/launch/bellande_step_api_2d.launch.py +++ b/ros_web_api_bellande_step/launch/bellande_step_api_2d.launch.py @@ -1,3 +1,18 @@ +# 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 +# (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program. If not, see . + import os import sys import subprocess diff --git a/ros_web_api_bellande_step/src/bellande_step_api_2d.py b/ros_web_api_bellande_step/src/bellande_step_api_2d.py index 118edce..16de6d2 100755 --- a/ros_web_api_bellande_step/src/bellande_step_api_2d.py +++ b/ros_web_api_bellande_step/src/bellande_step_api_2d.py @@ -1,55 +1,101 @@ +# 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 +# (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program. If not, see . + import json import os import requests +from std_msgs.msg import String -def main(): - # Get the absolute path to the config file - config_file_path = os.path.join(os.path.dirname(__file__), '../config/configs.json') +def get_next_step(x1, y1, x2, y2, limit): + payload = { + "node0": {"x": x1, "y": y1}, + "node1": {"x": x2, "y": y2} + } - # Check if the config file exists - if not os.path.exists(config_file_path): - print("Config file not found:", config_file_path) - return + headers = { + 'accept': 'application/json', + 'Content-Type': 'application/json', + "Authorization": f"Bearer {api_access_key}" + } - # Read configuration from config.json - with open(config_file_path, 'r') as config_file: - config = json.load(config_file) - url = config['url'] - endpoint_path = config['endpoint_path']["2d"] - - # Get the parameters from the ROS parameter server + try: + response = requests.post( + f"{api_url}?limit={limit}", + json=payload, + headers=headers + ) + response.raise_for_status() + data = response.json() + return String(f"Next Step: {data['next_step']}") + except requests.exceptions.RequestException as e: + print(f"Error: {e}") + return None + +def parameter_callback(event): x1 = rospy.get_param('x1', 0) y1 = rospy.get_param('y1', 0) x2 = rospy.get_param('x2', 0) y2 = rospy.get_param('y2', 0) limit = rospy.get_param('limit', 3) - # JSON payload - payload = { - "node0": {"x": x1, "y": y1}, - "node1": {"x": x2, "y": y2} - } + next_step = get_next_step(x1, y1, x2, y2, limit) + if next_step: + pub.publish(next_step) - # Headers - headers = { - 'accept': 'application/json', - 'Content-Type': 'application/json' - } +def main(): + global api_url, api_access_key, pub - - # Make POST request - try: - response = requests.post( - url + endpoint_path + '?limit=' + str(limit), - json=payload, - headers=headers - ) - response.raise_for_status() # Raise an error for unsuccessful responses - data = response.json() - print("Next Step:", data['next_step']) + config_file_path = os.path.join(os.path.dirname(__file__), '../config/configs.json') - except requests.exceptions.RequestException as e: - print("Error:", e) + if not os.path.exists(config_file_path): + print("Config file not found:", config_file_path) + return + + with open(config_file_path, 'r') as config_file: + config = json.load(config_file) + url = config['url'] + endpoint_path = config['endpoint_path']["2d"] + api_access_key = config["Bellande_Framework_Access_Key"] + + # Initialize ROS node + if ros_version == "1": + rospy.init_node('next_step_node', anonymous=True) + pub = rospy.Publisher('next_step_result', String, queue_size=10) + rospy.Timer(rospy.Duration(1), parameter_callback) # Check parameters every second + elif ros_version == "2": + rclpy.init() + node = rclpy.create_node('next_step_node') + pub = node.create_publisher(String, 'next_step_result', 10) + node.create_timer(1.0, parameter_callback) # Check parameters every second + + api_url = f"{url}{endpoint_path}" + + try: + print("Next step node is running. Ctrl+C to exit.") + if ros_version == "1": + rospy.spin() + elif ros_version == "2": + rclpy.spin(node) + except KeyboardInterrupt: + print("Shutting down next step node.") + except Exception as e: + print(f"An error occurred: {str(e)}") + finally: + if ros_version == "2": + node.destroy_node() + rclpy.shutdown() if __name__ == '__main__': ros_version = os.getenv("ROS_VERSION") @@ -57,5 +103,4 @@ if __name__ == '__main__': import rospy elif ros_version == "2": import rclpy - main()