latest pushes

2024-11-24 01:17:59 -05:00 · 2024-11-24 01:17:59 -05:00 · e67863164f
commit e67863164f
parent e91cd8b6a7
6 changed files with 461 additions and 0 deletions
--- a/Package/rust/.gitignore
+++ b/Package/rust/.gitignore
@ -0,0 +1,2 @@
+target
+Cargo.lock
--- a/Package/rust/Cargo.toml
+++ b/Package/rust/Cargo.toml
@ -0,0 +1,24 @@
+[package]
+name = "bellande_limit"
+version = "0.1.0"
+edition = "2021"
+authors = ["Bellande Robotics Sensors Research Innovation Center"]
+description = "Bellande Adaptive Step Size dynamically adjusts movement increments for optimal robotic path planning and navigation"
+license = "GPL-3.0-or-later"
+repository = "https://github.com/Robotics-Sensors/bellande_limit"
+readme = "README.md"
+keywords = ["robotics", "algorithms", "research"]
+categories = ["science", "algorithms"]
+
+[dependencies]
+reqwest = { version = "0.11", features = ["json"] }
+serde = { version = "1.0", features = ["derive"] }
+serde_json = "1.0"
+structopt = "0.3"
+tokio = { version = "1.0", features = ["full"] }
+thiserror = "1.0"
+anyhow = "1.0"
+
+[lib]
+name = "bellande_limit"
+path = "src/bellande_limit.rs"
--- a/Package/rust/README.md
+++ b/Package/rust/README.md
@ -0,0 +1,167 @@
+# 📦 Bellande Limit
+
+## 🧙 Organization Website
+- [![Organization Website](https://img.shields.io/badge/Explore%20Our-Website-0099cc?style=for-the-badge)](https://robotics-sensors.github.io)
+
+## 🧙 Organization Github
+- [![Organization Github ](https://img.shields.io/badge/Explore%20Our-Github-0099cc?style=for-the-badge)](https://github.com/Robotics-Sensors)
+
+# Author, Creator and Maintainer
+- **Ronaldson Bellande**
+
+## Bellande Limit Executables & Models
+- [![Bellande Limit Models & Executables ](https://img.shields.io/badge/Bellande%20Step-Models/Executables-0099cc?style=for-the-badge)](https://github.com/Artificial-Intelligence-Computer-Vision/bellande_limit_models_executables)
+
+# API HTTP Usability (BELLANDE FORMAT)
+```
+# 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 <https://www.gnu.org/licenses/>.
+# GNU General Public License v3.0 or later
+
+url: https://bellande-robotics-sensors-research-innovation-center.org
+
+endpoint_path:
+    bellande_limit: /api/Bellande_Limit/bellande_limit
+
+Bellande_Framework_Access_Key: bellande_web_api_opensource
+```
+
+# API HTTP Usability (JSON FORMAT)
+```
+{
+  "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 <https://www.gnu.org/licenses/>.",
+    "GNU General Public License v3.0 or later"
+  ],
+  "url": "https://bellande-robotics-sensors-research-innovation-center.org",
+  "endpoint_path": {
+    "bellande_limit": "/api/Bellande_Limit/bellande_limit"
+  },
+  "Bellande_Framework_Access_Key": "bellande_web_api_opensource"
+}
+```
+
+# API Payload Example
+```
+{
+    "node0": [0, 0, 0],
+    "node1": [100, 100, 100],
+    "environment": [1000, 1000, 1000],
+    "size": [10, 10, 10],
+    "goal": [200, 200, 200],
+    "obstacles": [
+      {
+        "position": [50, 50, 50],
+        "dimensions": [20, 20, 20]
+      }
+    ],
+    "search_radius": 50,
+    "sample_points": 20,
+    "auth": {
+      "authorization_key": "bellande_web_api_opensource"
+    }
+}
+```
+
+# 🧙 Website Bellande API Testing 
+- [![Website API Testing](https://img.shields.io/badge/Bellande%20API-Testing-0099cc?style=for-the-badge)](https://bellande-robotics-sensors-research-innovation-center.org/api/bellande_limit_experiment)
+  
+# Quick Bellande API Testing
+```
+curl -X 'POST' \
+  'https://bellande-robotics-sensors-research-innovation-center.org/api/Bellande_Limit/bellande_limit' \
+  -H 'accept: application/json' \
+  -H 'Content-Type: application/json' \
+  -d '{
+    "node0": [0, 0, 0],
+    "node1": [100, 100, 100],
+    "environment": [1000, 1000, 1000],
+    "size": [10, 10, 10],
+    "goal": [100, 100, 100],
+        "obstacles": [
+      {
+        "position": [50, 50, 50],
+        "dimensions": [20, 20, 20]
+      }
+    ],
+    "search_radius": 50,
+    "sample_points": 20,
+    "auth": {
+      "authorization_key": "bellande_web_api_opensource"
+    }
+  }'
+```
+
+# Bellande Limit Usage
+
+## Website Crates
+- https://crates.io/crates/bellande_limit
+
+### Installation
+- `cargo add bellande_limit`
+
+## Website PYPI
+- https://pypi.org/project/bellande_limit
+
+### Installation
+- `$ pip install bellande_limit`
+
+### Usage 
+```
+bellande_limit_api \
+  --node0 "[0,0,0]" \
+  --node1 "[100,100,100]" \
+  --environment "[1000,1000,1000]" \
+  --size "[10,10,10]" \
+  --goal "[200,200,200]" \
+  --obstacles '[{"position":[50,50,50],"dimensions":[20,20,20]}]' \
+  --search-radius 50 \
+  --sample-points 20
+```
+
+### Upgrade (if not upgraded)
+- `$ pip install --upgrade bellande_limit`
+
+```
+Name: bellande_limit
+Summary: Computes the next step towards a target node
+Home-page: github.com/RonaldsonBellande/bellande_limit
+Author: Ronaldson Bellande
+Author-email: ronaldsonbellande@gmail.com
+License: GNU General Public License v3.0
+```
+
+## Published Paper
+```
+Coming Soon
+```
+
+## Preprint
+- [![Preprint](https://img.shields.io/badge/Preprint-Bellande%20Step-0099cc?style=for-the-badge)](https://dapp.orvium.io/deposits/6650ccb8afb407dc8beb0ff2/view)
+
+
+## License
+This Algorithm or Models is distributed under the [Creative Commons Attribution-ShareAlike 4.0 International License](http://creativecommons.org/licenses/by-sa/4.0/), see [LICENSE](https://github.com/RonaldsonBellande/bellande_step/blob/main/LICENSE) and [NOTICE](https://github.com/RonaldsonBellande/bellande_step/blob/main/LICENSE) for more information.
--- a/Package/rust/publish.sh
+++ b/Package/rust/publish.sh
@ -0,0 +1,4 @@
+cp ../../README.md .
+bash ../../git_scripts/push.sh
+cargo publish
+rm -f README.md
--- a/Package/rust/src/bellande_limit.rs
+++ b/Package/rust/src/bellande_limit.rs
@ -0,0 +1,256 @@
+// 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 <https://www.gnu.org/licenses/>.
+
+use reqwest;
+use serde_json::{json, Value};
+use std::error::Error;
+use std::path::{Path, PathBuf};
+use std::process::{self, Command};
+use structopt::StructOpt;
+
+#[derive(StructOpt, Debug)]
+#[structopt(name = "bellande_limit", about = "Bellande Limit Tool")]
+struct Opt {
+    #[structopt(long, help = "Starting point coordinates as JSON-formatted list")]
+    node0: String,
+
+    #[structopt(long, help = "Target point coordinates as JSON-formatted list")]
+    node1: String,
+
+    #[structopt(long, help = "Environment dimensions as JSON-formatted list")]
+    environment: String,
+
+    #[structopt(long, help = "Step sizes for each dimension as JSON-formatted list")]
+    size: String,
+
+    #[structopt(long, help = "Goal coordinates as JSON-formatted list")]
+    goal: String,
+
+    #[structopt(long, help = "List of obstacles as JSON-formatted list")]
+    obstacles: Option<String>,
+
+    #[structopt(
+        long,
+        default_value = "50.0",
+        help = "Search radius for obstacle detection"
+    )]
+    search_radius: f64,
+
+    #[structopt(
+        long,
+        default_value = "20",
+        help = "Number of sample points for obstacle detection"
+    )]
+    sample_points: i32,
+
+    #[structopt(long, help = "Use local executable instead of API")]
+    use_executable: bool,
+}
+
+async fn make_bellande_limit_request(
+    node0: Value,
+    node1: Value,
+    environment: Value,
+    size: Value,
+    goal: Value,
+    obstacles: Option<Value>,
+    search_radius: f64,
+    sample_points: i32,
+) -> Result<Value, Box<dyn Error>> {
+    let client = reqwest::Client::new();
+    let url = "https://bellande-robotics-sensors-research-innovation-center.org/api/Bellande_Limit/bellande_limit";
+
+    let payload = json!({
+        "node0": node0,
+        "node1": node1,
+        "environment": environment,
+        "size": size,
+        "goal": goal,
+        "obstacles": obstacles.unwrap_or(json!([])),
+        "search_radius": search_radius,
+        "sample_points": sample_points,
+        "auth": {
+            "authorization_key": "bellande_web_api_opensource"
+        }
+    });
+
+    let response = client
+        .post(url)
+        .header("accept", "application/json")
+        .header("Content-Type", "application/json")
+        .json(&payload)
+        .send()
+        .await?
+        .json::<Value>()
+        .await?;
+
+    Ok(response)
+}
+
+fn get_executable_path() -> PathBuf {
+    if cfg!(target_os = "windows") {
+        Path::new(env!("CARGO_MANIFEST_DIR")).join("Bellande_Limit.exe")
+    } else {
+        Path::new(env!("CARGO_MANIFEST_DIR")).join("Bellande_Limit")
+    }
+}
+
+fn run_bellande_limit_executable(
+    node0: &str,
+    node1: &str,
+    environment: &str,
+    size: &str,
+    goal: &str,
+    obstacles: Option<&str>,
+    search_radius: f64,
+    sample_points: i32,
+) -> Result<(), Box<dyn Error>> {
+    let executable_path = get_executable_path();
+    let passcode = "bellande_limit_executable_access_key";
+
+    // Parse and validate inputs
+    let node0_list: Value = serde_json::from_str(node0)?;
+    let node1_list: Value = serde_json::from_str(node1)?;
+    let environment_list: Value = serde_json::from_str(environment)?;
+    let size_list: Value = serde_json::from_str(size)?;
+    let goal_list: Value = serde_json::from_str(goal)?;
+    let obstacles_list: Value = obstacles
+        .map(|o| serde_json::from_str(o))
+        .transpose()?
+        .unwrap_or(json!([]));
+
+    // Validate dimensions
+    let dimensions = environment_list.as_array().unwrap().len();
+    if let (Some(n0), Some(n1), Some(s), Some(g)) = (
+        node0_list.as_array(),
+        node1_list.as_array(),
+        size_list.as_array(),
+        goal_list.as_array(),
+    ) {
+        if n0.len() != dimensions
+            || n1.len() != dimensions
+            || s.len() != dimensions
+            || g.len() != dimensions
+        {
+            return Err(format!("All coordinates must have {} dimensions", dimensions).into());
+        }
+    }
+
+    // Validate obstacles
+    if let Some(obstacles) = obstacles_list.as_array() {
+        for obstacle in obstacles {
+            if let (Some(pos), Some(dims)) = (
+                obstacle.get("position").and_then(Value::as_array),
+                obstacle.get("dimensions").and_then(Value::as_array),
+            ) {
+                if pos.len() != dimensions || dims.len() != dimensions {
+                    return Err(
+                        "Obstacle position and dimensions must match environment dimensions".into(),
+                    );
+                }
+            }
+        }
+    }
+
+    // Prepare and run command
+    let mut command = Command::new(executable_path);
+    command.args(&[
+        passcode,
+        node0,
+        node1,
+        environment,
+        size,
+        goal,
+        &serde_json::to_string(&obstacles_list)?,
+        &search_radius.to_string(),
+        &sample_points.to_string(),
+    ]);
+
+    let output = command.output()?;
+
+    if output.status.success() {
+        println!("{}", String::from_utf8_lossy(&output.stdout));
+        Ok(())
+    } else {
+        Err(format!(
+            "Process failed: {}",
+            String::from_utf8_lossy(&output.stderr)
+        )
+        .into())
+    }
+}
+
+#[tokio::main]
+async fn main() -> Result<(), Box<dyn Error>> {
+    let opt = Opt::from_args();
+
+    // Parse JSON strings to Values for validation
+    let node0: Value =
+        serde_json::from_str(&opt.node0).map_err(|e| format!("Error parsing node0: {}", e))?;
+    let node1: Value =
+        serde_json::from_str(&opt.node1).map_err(|e| format!("Error parsing node1: {}", e))?;
+    let environment: Value = serde_json::from_str(&opt.environment)
+        .map_err(|e| format!("Error parsing environment: {}", e))?;
+    let size: Value =
+        serde_json::from_str(&opt.size).map_err(|e| format!("Error parsing size: {}", e))?;
+    let goal: Value =
+        serde_json::from_str(&opt.goal).map_err(|e| format!("Error parsing goal: {}", e))?;
+    let obstacles_ref = opt.obstacles.as_ref();
+    let obstacles: Option<Value> = obstacles_ref
+        .map(|o| serde_json::from_str(o))
+        .transpose()
+        .map_err(|e| format!("Error parsing obstacles: {}", e))?;
+
+    if opt.use_executable {
+        // Run using local executable
+        if let Err(e) = run_bellande_limit_executable(
+            &opt.node0,
+            &opt.node1,
+            &opt.environment,
+            &opt.size,
+            &opt.goal,
+            obstacles_ref.map(String::as_str),
+            opt.search_radius,
+            opt.sample_points,
+        ) {
+            eprintln!("Error: {}", e);
+            process::exit(1);
+        }
+    } else {
+        // Run using API
+        match make_bellande_limit_request(
+            node0,
+            node1,
+            environment,
+            size,
+            goal,
+            obstacles,
+            opt.search_radius,
+            opt.sample_points,
+        )
+        .await
+        {
+            Ok(result) => {
+                println!("{}", serde_json::to_string_pretty(&result)?);
+            }
+            Err(e) => {
+                eprintln!("Error: {}", e);
+                process::exit(1);
+            }
+        }
+    }
+
+    Ok(())
+}
--- a/README.md
+++ b/README.md
@ -115,6 +115,14 @@ curl -X 'POST' \
  }'
 ```

+# Bellande Limit Usage
+
+## Website Crates
+- https://crates.io/crates/bellande_limit
+
+### Installation
+- `cargo add bellande_limit`
+
 ## Website PYPI
 - https://pypi.org/project/bellande_limit