コード例 #1
0
def listRobots(request, action):
    ''' Generates a list of all robots (depending on RosConfigurator, confManager)
        and returns them back as json

        TODO DL, currently a List of containing 'topics' with a list of topics is returned
        Better would be a list of robotIds with their corresponding topics and types
    '''
    robots = getRobots(False)
    data = []
    for robot_name in robots.keys():
        robot_data = {"name": robot_name, "topics": []}
        robot = robots[robot_name]
        for topic_name in robot["topics"]:
            topic = robot["topics"][topic_name]
            topic_data = {"name": topic_name, "pubsub": topic["type"]}
            if type(topic["msg"]) is dict:
                topic_data["type"] = "Custom"
                topic_data["structure"] = topic["msg"]
            else:
                topic_data["type"] = topic["msg"]
                topic_data["structure"] = ROS_TOPIC_AS_DICT[topic_name]
            robot_data["topics"].append(topic_data)
        data.append(robot_data)

    # Return data and success
    end_request(request, ('Content-Type', 'application/json'), 200,
                json.dumps(data))
コード例 #2
0
def onRobots(request, action):
    ## \brief Handle robot list request
    # \param client request
    # \param action
    robots = getRobots(False, True)
    data = []
    for robot_name in robots.keys():
        robot_data = {"name": robot_name, "topics": []}
        robot = robots[robot_name]
        for topic_name in robot["topics"]:
            topic = robot["topics"][topic_name]
            topic_data = {"name": topic_name, "pubsub": topic["type"]}
            if type(topic["msg"]) is dict:
                topic_data["type"] = "Custom"
                topic_data["structure"] = topic["msg"]
            else:
                topic_data["type"] = topic["msg"]
                topic_data["structure"] = ros2Definition(
                    ROBOT_TOPICS[robot_name][
                        topic["type"]][topic_name]["class"]())
            robot_data["topics"].append(topic_data)
        data.append(robot_data)
    request.send_response(200)
    request.send_header('Content-type', 'application/json')
    setCors(request)
    request.end_headers()
    request.wfile.write(json.dumps(data))
コード例 #3
0
ファイル: topicHandler.py プロジェクト: ipa-rar/firos
def _robotConnection(data):
    ''' This resets firos into its original state

        TODO DL reset, instead of connect?
        TODO DL Add real connect for only one Robot?
    '''
    robot_name = data.data
    Log("INFO", "Connected robot: " + robot_name)
    loadMsgHandlers(confManager.getRobots(True))
コード例 #4
0
ファイル: requestHandler.py プロジェクト: ipa-rar/firos
def listTopics(request, action):
    ''' Generates a list of all topics (depending on RosConfigurator, confManager)
        and returns them back as json
    '''
    robots = getRobots(False)
    data = []
    for topic in robots.keys():
        robot_data = {"topic": topic, 
                    "pubSub": robots[topic][1], 
                    "messageType": robots[topic][0] }
        robot_data["structure"] = ROS_TOPIC_AS_DICT[topic]
        data.append(robot_data)

    # Return data and success
    end_request(request, ('Content-Type', 'application/json'), 200, json.dumps(data))
コード例 #5
0
def launchSetup(main=False):
    retcode = 0

    Log("INFO", "\nStarting Firos setup...")
    Log("INFO", "---------------------------------\n")
    Log("INFO", "\nGenerating Message Description Files\n")

    try:
        robots = confManager.getRobots(True, True)
        current_path = os.path.dirname(os.path.abspath(__file__))
        outdir = os.path.join(current_path, "include/ros/")
        retcode = genpy_firos.genmain(robots, generator.MsgGenerator(genmsg.msg_loader.load_msg_from_string), outdir)
        Log("INFO", "\nSuccesfully generated\n")
        if main:
            sys.exit(retcode or 0)
    except Exception as e:
        rospy.logerr("\nSomething wrong happened\n")
        traceback.print_exc()
        Log("ERROR", e)
        sys.exit(retcode or 0)
コード例 #6
0
        server = FirosServer("0.0.0.0", port)
    except Exception as ex:
        sys.stderr.write('CB_COMMUNICATION_FAILED')
        exit(1)
    else:

        def signal_handler(signal, frame):
            Log("INFO", ('\nExiting from the application'))
            TopicHandler.unregisterAll()
            topicManager.removeListeners()
            server.close()
            Log("INFO", ('\nExit'))
            sys.exit(0)

        signal.signal(signal.SIGINT, signal_handler)
        signal.signal(signal.SIGTERM, signal_handler)

        launchSetup()

        Log("INFO", "\nStarting Firos...")
        Log("INFO", "---------------------------------\n")

        loadMsgHandlers(confManager.getRobots(True, True))
        connectionListeners()
        topicManager.setListeners()

        MapServer.load()

        Log("INFO", "\nPress Ctrl+C to Exit\n")
        server.start()
コード例 #7
0
ファイル: featsHandler.py プロジェクト: Dalma-Systems/firos
    def __init__(self):
        '''Initialize the class by creating the required publishers
        and subscribers.
        '''
        Log("INFO", ('\nCreating a new FEATS handler...'))

        self.firstRun = True
        self.status = 'idle'
        self.paused = False # stores whether the robot is in a paused state or not
        # Get Orion configuration
        self.configData = self.get_cb_config()
        self.lastBattery = 0.0
        self.idleGoal = False # this variable stores whether the robot is moving to an idle station or not
        self.context_id = ""
        self.workorder_id = ""
        self.heartbeat_timer = None

        # Init ROS publishers
        self.routePlannerXYTPub = rospy.Publisher('/route_planner/goalXYT', Vector3, queue_size=3)
        self.routePlannerPausePub = rospy.Publisher('/route_planner/cancel', String, queue_size=3)
        self.routePlannerResumePub = rospy.Publisher('/route_planner/resume', String, queue_size=3)
        self.locationPub = rospy.Publisher('/' + C.ROBOT_ID + '/location', Pose, queue_size=3)
        self.statusPub = rospy.Publisher('/' + C.ROBOT_ID + '/status', String, queue_size=3)
        self.batteryPub = rospy.Publisher('/' + C.ROBOT_ID + '/battery', Int32, queue_size=3, latch=True)
        self.heartbeatPub = rospy.Publisher('/' + C.ROBOT_ID + '/heartbeat', String, queue_size=3)
        self.connectionPub = rospy.Publisher('/' + C.ROBOT_ID + '/connection', Bool, queue_size=3, latch=True)
        self.selfStatusPub = rospy.Publisher('/feats/status', String, queue_size=3)

        # Init ROS subscribers
        rospy.Subscriber('/battery/level', Float32, self.battery_cb)
        rospy.Subscriber('/feats/status', String, self.status_cb)
        rospy.Subscriber('/amcl_pose', PoseWithCovarianceStamped, self.location_cb)
        rospy.Subscriber('/charging/plugged', Bool, self.charging_cb)
        rospy.Subscriber('/ui/goal/cancel', String, self.cancel_cb)
        rospy.Subscriber('/ui/goal/resume', String, self.resume_cb)
        rospy.Subscriber('/ui/ready', String, self.ready_cb)

        ## Set Configuration
        data = self.configData['contextbroker']
        if "address" not in data or "port" not in data: 
            raise Exception("No Context-Broker specified!")

        self.data = data
        self.CB_BASE_URL = "http://{}:{}/v2/entities/".format(data["address"], data["port"])

        # Get topics (already with robot_id from config)
        topics = confManager.getRobots(True)

        # Subscribe to topics in topics.json
        for key in topics:
            if topics[key][1] == 'publisher':
                Log("INFO", ('\nSubscribing to ' + key))
                topic_type = key.split('/')[2]
                if topic_type == 'refDestination':
                    rospy.Subscriber(key, String, self.ref_destination_cb)
                elif topic_type == 'action':
                    rospy.Subscriber(key, String, self.action_cb)

        Log("INFO", ('\nFEATS handler initialized!'))

        # Send first heartbeat
        self.send_heartbeat()

        self.statusPub.publish(self.status)
        
        # Main loop
        self.loop()
コード例 #8
0
ファイル: core.py プロジェクト: RobertoAntonini/firos
    try:
        server = FirosServer("0.0.0.0", port)
    except Exception as ex:
        sys.stderr.write('CB_COMMUNICATION_FAILED')
        exit(1)
    else:
        def signal_handler(signal, frame):
            Log("INFO", ('\nExiting from the application'))
            TopicHandler.unregisterAll()
            topicManager.removeListeners()
            server.close()
            Log("INFO", ('\nExit'))
            sys.exit(0)
        signal.signal(signal.SIGINT, signal_handler)
        signal.signal(signal.SIGTERM, signal_handler)

        launchSetup()

        Log("INFO", "\nStarting Firos...")
        Log("INFO", "---------------------------------\n")

        loadMsgHandlers(confManager.getRobots(True, True))
        connectionListeners()
        topicManager.setListeners()

        MapServer.load()

        Log("INFO", "\nPress Ctrl+C to Exit\n")
        server.start()