def process_goal(self, goal_handle):
flag_success = False
result = msgRosIotResult()
goal_id = goal_handle.get_goal_id()
rospy.loginfo("Processing goal : " + str(goal_id.id))
goal = goal_handle.get_goal()
# Goal Processing
if(goal.protocol == "mqtt"):
rospy.logwarn("MQTT")
if(goal.mode == "pub"):
rospy.logwarn("MQTT PUB Goal ID: " + str(goal_id.id))
rospy.logwarn(goal.topic + " > " + goal.message)
ret = iot.mqtt_publish( self._config_mqtt_server_url,
self._config_mqtt_server_port,
goal.topic,
goal.message,
self._config_mqtt_qos )
if(ret == 0):
rospy.loginfo("MQTT Publish Successful.")
result.flag_success = True
else:
rospy.logerr("MQTT Failed to Publish")
result.flag_success = False
elif(goal.mode == "sub"):
rospy.logwarn("MQTT SUB Goal ID: " + str(goal_id.id))
rospy.logwarn(goal.topic)
ret = iot.mqtt_subscribe_thread_start( self.mqtt_sub_callback,
self._config_mqtt_server_url,
self._config_mqtt_server_port,
goal.topic,
self._config_mqtt_qos )
if(ret == 0):
rospy.loginfo("MQTT Subscribe Thread Started")
result.flag_success = True
else:
rospy.logerr("Failed to start MQTT Subscribe Thread")
result.flag_success = False
rospy.loginfo("Send goal result to client")
if (result.flag_success == True):
rospy.loginfo("Succeeded")
goal_handle.set_succeeded(result)
else:
rospy.loginfo("Goal Failed. Aborting.")
goal_handle.set_aborted(result)
rospy.loginfo("Goal ID: " + str(goal_id.id) + " Goal Processing Done.")
def process_goal(self, goal_handle):
"""
This function is called is a separate thread to process Goal
"""
flag_success = False
result = msgRosIotResult()
goal_id = goal_handle.get_goal_id()
rospy.loginfo("Processing goal : " + str(goal_id.id))
goal = goal_handle.get_goal()
# Goal Processing
if goal.protocol == "mqtt":
rospy.logwarn("MQTT")
if goal.mode == "pub":
rospy.logwarn("MQTT PUB Goal ID: " + str(goal_id.id))
rospy.logwarn(goal.topic + " > " + goal.message)
ret = iot.mqtt_publish(self._config_mqtt_server_url,
self._config_mqtt_server_port,
goal.topic, goal.message,
self._config_mqtt_qos)
if ret == 0:
rospy.loginfo("MQTT Publish Successful.")
result.flag_success = True
msg_split = goal.message.split(",")
result_x = msg_split[0].split("(")[1]
result_y = msg_split[1]
result_theta = msg_split[2].split(")")[0]
rospy.logwarn('MESSAGE IMP: ' + result_x + result_y +
result_theta)
iot.publish_message_to_spreadsheet(
turtle_x=result_x,
turtle_y=result_y,
turtle_theta=result_theta)
else:
rospy.logerr("MQTT Failed to Publish")
result.flag_success = False
elif goal.mode == "sub":
rospy.logwarn("MQTT SUB Goal ID: " + str(goal_id.id))
rospy.logwarn(goal.topic)
ret = iot.mqtt_subscribe_thread_start(
self.mqtt_sub_callback, self._config_mqtt_server_url,
self._config_mqtt_server_port, goal.topic,
self._config_mqtt_qos)
if ret == 0:
rospy.loginfo("MQTT Subscribe Thread Started")
result.flag_success = True
else:
rospy.logerr("Failed to start MQTT Subscribe Thread")
result.flag_success = False
rospy.loginfo("Send goal result to client")
if result.flag_success:
rospy.loginfo("Succeeded")
goal_handle.set_succeeded(result)
else:
rospy.loginfo("Goal Failed. Aborting.")
goal_handle.set_aborted(result)
rospy.loginfo("Goal ID: " + str(goal_id.id) + " Goal Processing Done.")
def process_goal(self, goal_handle):
"""
This function process the goal from incoming from the Action client and then
sends appropriate results to the action client based on whether the goal has been
completed or failed.
Parameters:
goal_handle (object): This is the goal handle of the goal incoming from the
Acion client
"""
result = msgRosIotResult()
goal_id = goal_handle.get_goal_id()
rospy.loginfo("Processing goal : " + str(goal_id.id))
goal = goal_handle.get_goal()
# Goal Processing
if goal.protocol == "mqtt":
rospy.logwarn("MQTT")
if goal.mode == "pub":
rospy.logwarn("MQTT PUB Goal ID: " + str(goal_id.id))
rospy.logwarn(goal.topic + " > " + goal.message)
ret = iot.mqtt_publish(self._config_mqtt_server_url,
self._config_mqtt_server_port,
goal.topic, goal.message,
self._config_mqtt_qos)
if ret == 0:
rospy.loginfo("MQTT Publish Successful.")
result.flag_success = True
else:
rospy.logerr("MQTT Failed to Publish")
result.flag_success = False
elif goal.mode == "sub":
rospy.logwarn("MQTT SUB Goal ID: " + str(goal_id.id))
rospy.logwarn(goal.topic)
ret = iot.mqtt_subscribe_thread_start(
self.mqtt_sub_callback, self._config_mqtt_server_url,
self._config_mqtt_server_port, goal.topic,
self._config_mqtt_qos)
if ret == 0:
rospy.loginfo("MQTT Subscribe Thread Started")
result.flag_success = True
else:
rospy.logerr("Failed to start MQTT Subscribe Thread")
result.flag_success = False
rospy.loginfo("Send goal result to client")
if result.flag_success is True:
rospy.loginfo("Succeeded")
goal_handle.set_succeeded(result)
else:
rospy.loginfo("Goal Failed. Aborting.")
goal_handle.set_aborted(result)
rospy.loginfo("Goal ID: " + str(goal_id.id) + " Goal Processing Done.")
def process_goal(self, goal_handle):
"""
This function is called is a separate thread to process Goal.
"""
flag_success = False
result = msgRosIotResult()
goal_id = goal_handle.get_goal_id()
rospy.loginfo("Processing goal : " + str(goal_id.id))
goal = goal_handle.get_goal()
# Goal Processing
if goal.protocol == "mqtt":
rospy.logwarn("MQTT")
if goal.mode == "pub":
rospy.logwarn("MQTT PUB Goal ID: " + str(goal_id.id))
rospy.logwarn(goal.topic + " > " + goal.message)
ret = iot.mqtt_publish(self._config_mqtt_server_url,
self._config_mqtt_server_port,
goal.topic,
goal.message,
self._config_mqtt_qos)
if ret == 0:
rospy.loginfo("MQTT Publish Successful.")
result.flag_success = True
else:
rospy.logerr("MQTT Failed to Publish")
result.flag_success = False
elif goal.mode == "sub":
rospy.logwarn("MQTT SUB Goal ID: " + str(goal_id.id))
rospy.logwarn(goal.topic)
ret = iot.mqtt_subscribe_thread_start(self.mqtt_sub_callback,
self._config_mqtt_server_url,
self._config_mqtt_server_port,
goal.topic,
self._config_mqtt_qos)
if ret == 0:
rospy.loginfo("MQTT Subscribe Thread Started")
result.flag_success = True
else:
rospy.logerr("Failed to start MQTT Subscribe Thread")
result.flag_success = False
elif goal.protocol == "http":
rospy.logwarn("HTTP")
rospy.logwarn("HTTP GET Goal ID: " + str(goal_id.id))
rospy.logwarn(goal.topic + " > " + goal.message)
# update_spreadsheet(spreadsheet_id, id, 'team_id', 'unique_id', '{'turtle_x': x, 'turtle_y': y, 'turtle_theta': theta,...,..}')
ret = iot.update_spreadsheet(goal.topic, # using topic to send spreadsheet_id
goal.mode,
literal_eval(goal.message) # data points with column names in dict format str
)
if ret == 0:
rospy.loginfo("Updating Spreadsheet Successful.")
result.flag_success = True
else:
rospy.logerr("Updating Spreadsheet Failed")
result.flag_success = False
rospy.loginfo("Send goal result to client")
if result.flag_success == True:
rospy.loginfo("Succeeded")
goal_handle.set_succeeded(result)
else:
rospy.loginfo("Goal Failed. Aborting.")
goal_handle.set_aborted(result)
rospy.loginfo("Goal ID: " + str(goal_id.id) + " Goal Processing Done.")
def process_goal(self, goal_handle):
'''***********************************************
Name: process_goal
Objective: This function is called is a separate thread to process Goal.
Arguments: goal object for the goal
Returns: None
**************************************************'''
flag_success = False
result = msgRosIotResult()
goal_id = goal_handle.get_goal_id()
rospy.loginfo("Processing goal : " + str(goal_id.id))
goal = goal_handle.get_goal()
# Goal Processing
if goal.protocol == "mqtt":
rospy.logwarn("MQTT")
if goal.mode == "pub":
rospy.logwarn("MQTT PUB Goal ID: " + str(goal_id.id))
rospy.logwarn(goal.topic + " > " + goal.message)
ret = iot.mqtt_publish(self._config_mqtt_server_url,
self._config_mqtt_server_port,
goal.topic,
goal.message,
self._config_mqtt_qos)
if ret == 0:
rospy.loginfo("MQTT Publish Successful.")
result.flag_success = True
ss_msg = re.sub('[()]', '', goal.message)
ss_msg_arr = ss_msg.split(',')
self.ss_publish(ss_msg_arr)
self.ss_publish(ss_msg_arr,'eyrc')
else:
rospy.logerr("MQTT Failed to Publish")
result.flag_success = False
elif goal.mode == "sub":
rospy.logwarn("MQTT SUB Goal ID: " + str(goal_id.id))
rospy.logwarn(goal.topic)
ret = iot.mqtt_subscribe_thread_start(self.mqtt_sub_callback,
self._config_mqtt_server_url,
self._config_mqtt_server_port,
goal.topic,
self._config_mqtt_qos)
if ret == 0:
rospy.loginfo("MQTT Subscribe Thread Started")
result.flag_success = True
else:
rospy.logerr("Failed to start MQTT Subscribe Thread")
result.flag_success = False
rospy.loginfo("Send goal result to client")
if result.flag_success is True:
rospy.loginfo("Succeeded")
goal_handle.set_succeeded(result)
else:
rospy.loginfo("Goal Failed. Aborting.")
goal_handle.set_aborted(result)
rospy.loginfo("Goal ID: " + str(goal_id.id) + " Goal Processing Done.")
def process_goal(self, goal_handle):
flag_success = False
result = msgRosIotResult()
goal_id = goal_handle.get_goal_id()
rospy.loginfo("Processing goal : " + str(goal_id.id))
goal = goal_handle.get_goal()
# Goal Processing
if (goal.protocol == "mqtt"):
rospy.logwarn("MQTT")
if (goal.mode == "pub"):
rospy.logwarn("MQTT PUB Goal ID: " + str(goal_id.id))
rospy.logwarn(goal.topic + " > " + str(goal.message))
ret = iot.mqtt_publish(self._config_mqtt_server_url,
self._config_mqtt_server_port,
self._config_mqtt_pub_topic,
goal.message, self._config_mqtt_qos)
if (ret == 0):
rospy.loginfo("MQTT Publish Successful.")
result.flag_success = True
else:
rospy.logerr("MQTT Failed to Publish")
result.flag_success = False
send_x = goal.message[1]
send_y = goal.message[4]
send_theta = goal.message[7]
if goal.message[1] == '-':
send_x = -1 * int(goal.message[2])
if goal.message[4] == '-':
send_y = -1 * int(goal.message[5])
if goal.message[7] == '-':
send_theta = -1 * int(goal.message[8])
send_sheet = {
"id": "Sheet1",
"turtle_x": send_x,
"turtle_y": send_y,
"turtle_theta": send_theta
}
response = requests.get(self._sheet_url, params=send_sheet)
URL1 = "https://script.google.com/macros/s/AKfycbw850dk4moVgebU2GGe0PUQUvvg8jTpSjBQCawJt3_13vgujLk/exec"
parameters = {
"id": "task1",
"team_id": "VB_1266",
"unique_id": "EyrcSaka",
"turtle_x": send_x,
"turtle_y": send_y,
"turtle_theta": send_theta
}
response1 = requests.get(URL1, params=parameters)
rospy.loginfo(response1.content)
elif (goal.mode == "sub"):
rospy.logwarn("MQTT SUB Goal ID: " + str(goal_id.id))
rospy.logwarn(goal.topic)
ret = iot.mqtt_subscribe_thread_start(
self.mqtt_sub_callback, self._config_mqtt_server_url,
self._config_mqtt_server_port, self._config_mqtt_sub_topic,
self._config_mqtt_qos)
if (ret == 0):
rospy.loginfo("MQTT Subscribe Thread Started")
result.flag_success = True
else:
rospy.logerr("Failed to start MQTT Subscribe Thread")
result.flag_success = False
rospy.loginfo("Send goal result to client")
if (result.flag_success == True):
rospy.loginfo("Succeeded")
goal_handle.set_succeeded(result)
else:
rospy.loginfo("Goal Failed. Aborting.")
goal_handle.set_aborted(result)
rospy.loginfo("Goal ID: " + str(goal_id.id) + " Goal Processing Done.")
def process_goal(self, goal_handle):
flag_success = False
result = msgRosIotResult()
goal_id = goal_handle.get_goal_id()
rospy.loginfo("Processing goal : " + str(goal_id.id))
goal = goal_handle.get_goal()
# Goal Processing
if (goal.protocol == "mqtt"):
rospy.logwarn("MQTT")
if (goal.mode == "pub"):
rospy.logwarn("MQTT PUB Goal ID: " + str(goal_id.id))
rospy.logwarn(goal.topic + " > " + str(goal.final_x))
ret = iot.mqtt_publish(
self._config_mqtt_server_url,
self._config_mqtt_server_port, goal.topic, "final_x:" +
str(goal.final_x) + "\n" + "final_y:" + str(goal.final_y) +
"\n" + "final_theta" + str(goal.final_theta) + "\n",
self._config_mqtt_qos)
parameters = {
"id": "Sheet1",
"turtle_x": goal.final_x,
"turtle_y": goal.final_y,
"turtle_theta": goal.final_theta
}
response = requests.get(self.URL, params=parameters)
rospy.logwarn("mqqt pub requested")
if (ret == 0):
rospy.loginfo("MQTT Publish Successful.")
result.flag_success = True
else:
rospy.logerr("MQTT Failed to Publish")
result.flag_success = False
elif (goal.mode == "sub"):
rospy.logwarn("MQTT SUB Goal ID: " + str(goal_id.id))
rospy.logwarn(goal.topic)
ret = iot.mqtt_subscribe_thread_start(
self.mqtt_sub_callback, self._config_mqtt_server_url,
self._config_mqtt_server_port, goal.topic,
self._config_mqtt_qos)
if (ret == 0):
rospy.loginfo("MQTT Subscribe Thread Started")
result.flag_success = True
else:
rospy.logerr("Failed to start MQTT Subscribe Thread")
result.flag_success = False
rospy.loginfo("Send goal result to client")
if (result.flag_success == True):
rospy.loginfo("Succeeded")
goal_handle.set_succeeded(result)
else:
rospy.loginfo("Goal Failed. Aborting.")
goal_handle.set_aborted(result)
rospy.loginfo("Goal ID: " + str(goal_id.id) + " Goal Processing Done.")