def send_spreadsheet_pub_goal(self, arg_protocol, arg_mode, arg_topic, arg_message):
"""
Method to send Goals to Action Server: /action_ros_iot
This method is called for publishing the messages to the action server.
Parameters:
arg_protocol(string): Protocol used for sending the data. eg: mqtt, http.
arg_mode(string): Mode of communication. eg: pub:Publishing the data, sub: Subscribing
arg_topic(string): Name of the channel of communication.
arg_message(string): Message to be sent through the topic.
Return:
goal handle: A goal handle is returned.
NOTE:
The data type of arg_message is dependent on the defination of the message. In this case we are
using a string.
"""
goal = msgRosIotGoal()
goal.protocol = arg_protocol
goal.mode = arg_mode
goal.topic = arg_topic
goal.message = arg_message
rospy.loginfo("Sending HTTP Goal.")
goal_handle = self._ac_ros_iot.send_goal(goal, self.on_transition, None)
return goal_handle
def send_goal(self, arg_protocol, arg_mode, arg_topic, arg_message):
"""
Function used to send goals to the action server
NOTE -
We have not changed the contents of the action msg,
as we were not sure if that is allowed or not.
Hence, parameters name and it's function will not make
much sense, since we are using it for diffrent purposes
than its name
Parameters:
arg_protocol (str): goal_protocol to be used
google_apps: To send data to google sheet
mqtt: To send data to mqtt server
arg_mode (str): Mode of the goal (now depricated i.e. value should be "NA")
arg_topic (str): Name of the sheet on which to upload data
arg_message (str): Contents of the data to be uploaded
Returns:
goal_handle: goal_handle of the sent goal
"""
# Creating a Goal Message Object
goal = msgRosIotGoal()
goal.protocol = arg_protocol
goal.mode = arg_mode
goal.topic = arg_topic
goal.message = arg_message
rospy.loginfo("[UR5_2] Sending the goal")
# Send the goal
goal_handle = self._ac.send_goal(goal, self.on_transition, None)
return goal_handle
def send_goal_iot(self, arg_protocol, arg_mode, arg_topic, arg_message):
goal = msgRosIotGoal()
goal.protocol = arg_protocol
goal.mode = arg_mode
goal.topic = arg_topic
goal.message = arg_message
goal_handle = self.ac.send_goal(goal, self.on_transition, None)
return goal_handle
def send_goal_iot(self, arg_protocol, arg_mode, arg_topic, arg_message):
'''SEND GOAL IOT
FUNCTION USED TO PUBLISH MESSAGE ON MQTT TOPIC.'''
goal = msgRosIotGoal()
goal.protocol = arg_protocol
goal.mode = arg_mode
goal.topic = arg_topic
goal.message = arg_message
goal_handle = self.ac.send_goal(goal, self.on_transition, None)
return goal_handle
def send_goal_iot(self, msg):
print('this is send goal iot', msg)
goal = msgRosIotGoal()
goal.message = msg.result
goal.protocol = 'http'
goal.topic = str(msg.state)
goal.mode = 'pub'
goal_handle = self._ac1.send_goal(goal, self.on_transition1, None)
print('sending goal to iot server to push data', goal)
self.count1 = self.count1 + 1
self._goal_handles1.update({str(self.count1): goal_handle})
def send_goal(self, arg_protocol, arg_mode, arg_topic, arg_message):
# Create a Goal Message object
goal = msgRosIotGoal()
goal.protocol = arg_protocol
goal.mode = arg_mode
goal.topic = arg_topic
goal.message = arg_message
rospy.loginfo("Send goal.")
# self.on_transition - It is a function pointer to a function which will be called when
# there is a change of state in the Action Client State Machine
goal_handle = self._ac.send_goal(goal, self.on_transition, None)
return goal_handle
def send_mqtt_pub_goal(self, arg_protocol, arg_mode, arg_topic,
arg_message):
"""
Function to send Goals to Action Server: /action_ros_iot
"""
goal = msgRosIotGoal()
goal.protocol = arg_protocol
goal.mode = arg_mode
goal.topic = arg_topic
goal.message = arg_message
rospy.loginfo("Sending Mqtt Goal.")
goal_handle = self._ac_ros_iot.send_goal(goal, self.on_transition,
None)
return goal_handle
def send_ac_goal(self, arg_protocol, arg_mode, arg_topic, arg_message):
'''********************METHOD DOCSTRING************
Name: send_ac_goal
Objective: to send Goals to Action Server
Arguments: protocol (mqtt/http), mode (pub/sub),
topic and message
Returns: goal_handle for the goal
**************************************************'''
# Creating a Goal Message object
goal = msgRosIotGoal()
goal.protocol = arg_protocol
goal.mode = arg_mode
goal.topic = arg_topic
goal.message = arg_message
rospy.loginfo("Send goal.")
# self.on_transition - It is a function pointer to a function which will be called when
# there is a change of state in the Action Client State Machine
goal_handle = self._ac.send_goal(goal, self.on_transition, None)
return goal_handle
def mqtt_sub(self):
msg = msgRosIotGoal()
msg.protocol = 'mqtt'
msg.mode = 'sub'
self.sac_iot.send_goal(msg)
def mqtt_send_goal(self, arg_protocol, arg_mode, arg_message):
msg = msgRosIotGoal()
msg.protocol = arg_protocol
msg.mode = arg_mode
msg.message = arg_message
self.sac_iot.send_goal(msg)
