def main(request):
"""HTTP Cloud Function.
:param flask.Request request: The request object - http://flask.pocoo.org/docs/1.0/api/#flask.Request
"""
# initialise Houston client
h = Houston(plan="houston-quickstart", api_key=KEY)
stage = request.args.get('stage')
if stage == "start":
# start a new mission and get an ID for it
mission_id = h.create_mission()
else:
mission_id = request.args.get('mission_id')
# call houston to start the stage
response = h.start_stage(stage, mission_id=mission_id)
logging.info(response)
#
#
#
# run the main process - depending on the stage name
if 'upload-file' in stage:
upload_file(request.args.get('file_name'))
elif 'run-query' in stage:
run_query(request.args.get('query_name'))
elif 'build-report' in stage:
build_report(request.args.get('source_table'))
elif stage == "start":
pass
else:
raise ValueError(f"Didn't know what task to run for stage: '{stage}'")
#
#
#
# call houston to end the stage - response from houston will tell us which stages are next
response = h.end_stage(stage, mission_id)
logging.info(response)
# trigger the next stage(s)
for next_stage in response['next']:
headers = get_authorization_headers(
response['params'][next_stage]['uri'])
# don't wait for requests to resolve - this allows stages to run concurrently
fire_and_forget(response['params'][next_stage]['uri'],
headers=headers,
params=response['params'][next_stage])
return "stage finished", 200
def __init__(self):
rospy.init_node('AUV', anonymous=True) # initialize AUV rosnode
rospy.Subscriber(
'kill_switch', Int8,
self.kill_switch_callback) # Subscriber for magnet kill switch
self.motor_state = None
self.tasks = None
# self.config = Config() # initialize Config() class
self.read_config() # read parameters from the config.ini file
self.motor = Motor(self.motor_state) # initialize Motor() class
self.navigation = Navigation() # initialize Navigation() class
self.keyboard = Keyboard(
self.navigation) # initialize Keyboard() class
self.houston = Houston(self.navigation,
self.tasks) # initialize Houston() class
def __init__(self):
rospy.init_node('AUV', anonymous=True) # initialize AUV rosnode
#listening to nothing... don't need currently
#rospy.Subscriber('kill_switch', Int8, self.kill_switch_callback) # Subscriber for magnet kill switch
self.motor_state = None
self.tasks = None
# self.config = Config() # initialize Config() class
# doesn't store everything that's needed. incomplete.
self.read_config() # read parameters from the config.ini file
self.motor = Motor(self.motor_state) # initialize Motor() class
self.navigation = Navigation() # initialize Navigation() class
self.keyboard = Keyboard(
self.navigation) # initialize Keyboard() class
self.houston = Houston(self.navigation,
self.tasks) # initialize Houston() class
"query_name": "clean_sales.sql"
}
},
{
"name": "run-query-report",
"upstream": ["run-query-clean-customers", "run-query-clean-sales"],
"downstream": "build-report",
"params": {
"psq": ps_topic,
"query_name": "report_data.sql"
}
},
{
"name": "build-report",
"params": {
"psq": ps_topic,
"source_table": "report_data"
}
}
]
}
# initialise Houston client
h = Houston(plan=plan, api_key=KEY)
# note: if you want to change an existing plan you'll need to delete it first
# h.delete_plan()
# save the plan
h.save_plan()
class AUV():
"""AUV Master, automates tasks"""
def __init__(self):
rospy.init_node('AUV', anonymous=True) # initialize AUV rosnode
rospy.Subscriber(
'kill_switch', Int8,
self.kill_switch_callback) # Subscriber for magnet kill switch
self.motor_state = None
self.tasks = None
# self.test
self.config = Config() # initialize Config() class
self.read_config()
self.motor = Motor(self.motor_state) # initialize Motor() class
self.navigation = Navigation() # initialize Navigation() class
self.keyboard = Keyboard(
self.navigation) # initialize Keyboard() class
self.status_logger = StatusLogger() # initialize StatusLogger() class
# try:
self.houston = Houston(self.navigation,
self.tasks) # initialize Houston() class
# except NameError:
# print('Houston is not initialized.')
def kill_switch_callback(self, data):
if data.data == 1:
self.start()
if data.data == 0:
self.stop()
def read_config(self):
""" Reads from config/config.ini"""
self.motor_state = self.config.get_config(
'auv', 'motor_state') # read motor state from config
self.tasks = self.config.get_config('auv',
'tasks') # read tasks from config
def keyboard_nav(self):
"""Navigate the robosub using keyboard controls"""
self.keyboard.getch()
def perform_tasks(self):
"""Has houston perform task"""
# try:
self.houston.start_all_tasks()
# except AttributeError:
# print('houston not initialized')
def specific_task(self, task_num):
"""Has houston do specific task"""
self.houston.do_one_task(task_num)
def stop_task(self):
"""Has houston stop task"""
self.houston.stop_task()
def display_tasks(self):
"""Has houston display list of tasks"""
self.houston.print_tasks()
# def stop_one_task(self, task_num):
# self.houston.stop_one_task(task_num)
def start(self):
"""Starts the modules when magnet killswitch is plugged in"""
self.motor.start()
self.navigation.start()
self.keyboard.start()
self.status_logger.start()
# try:
self.houston.start()
# except AttributeError:
# print('houston not initialized')
# self.cv.start(self.tasks)
def stop(self):
"""Stops the modules when magnet killswitch is removed"""
self.motor.stop()
self.navigation.stop()
self.keyboard.stop()
self.status_logger.stop()
# try:
self.houston.stop()
class AUV():
"""AUV Master, automates tasks"""
def __init__(self):
rospy.init_node('AUV', anonymous=True) # initialize AUV rosnode
rospy.Subscriber(
'kill_switch', Int8,
self.kill_switch_callback) # Subscriber for magnet kill switch
self.motor_state = None
self.tasks = None
# self.config = Config() # initialize Config() class
self.read_config() # read parameters from the config.ini file
self.motor = Motor(self.motor_state) # initialize Motor() class
self.navigation = Navigation() # initialize Navigation() class
self.keyboard = Keyboard(
self.navigation) # initialize Keyboard() class
self.houston = Houston(self.navigation,
self.tasks) # initialize Houston() class
def kill_switch_callback(self, data):
if data.data == 1:
self.start()
if data.data == 0:
self.stop()
def open_config(self):
""" Opens the config file and updates the parameters"""
os.system('gedit config/config.ini')
self.update_config()
def update_config(self):
""" Loads the updated parameters from config"""
self.read_config()
self.houston.cvcontroller.set_model(
) # read and set all models from config
def update_color(self):
""" Update RGB/HSV for computer vision from config"""
lower_color = config.get_config('cv', 'lower_color')
upper_color = config.get_config('cv', 'upper_color')
self.houston.cvcontroller.set_lower_color(lower_color[0],
lower_color[1:])
self.houston.cvcontroller.set_upper_color(upper_color[0],
upper_color[1:])
def read_config(self):
""" Reads from config/config.ini"""
self.motor_state = config.get_config(
'auv', 'motor_state') # read motor state from config
self.tasks = config.get_config('auv',
'tasks') # read tasks from config
def keyboard_nav(self):
"""Navigate the robosub using keyboard controls"""
self.keyboard.getch()
def perform_tasks(self):
"""Has houston perform task"""
self.houston.start_task('all', None)
def specific_task(self, task_num):
"""Has houston do specific task"""
self.houston.start_task('one', task_num)
def specific_task_for_gui(self, task_name):
"""Has houston do specific task from gui"""
self.houston.start_task_from_gui('one', task_name)
def stop_task(self):
"""Has houston stop task"""
self.houston.stop_task()
def display_tasks(self):
"""Has houston display list of tasks"""
self.houston.print_tasks()
# def stop_one_task(self, task_num):
# self.houston.stop_one_task(task_num)
def start(self):
"""Starts the modules when magnet killswitch is plugged in"""
self.motor.start()
self.navigation.start()
self.keyboard.start()
self.houston.start()
def stop(self):
"""Stops the modules when magnet killswitch is removed"""
self.motor.stop()
self.navigation.stop()
self.keyboard.stop()
status.stop()
self.houston.stop()
def save_heading(self):
self.navigation.save_current_heading()