diff --git a/lrs_util/apiutil.py b/lrs_util/apiutil.py
new file mode 100644
index 0000000000000000000000000000000000000000..f3ff98bd698a91698e7e5ec837079a61ca25b97d
--- /dev/null
+++ b/lrs_util/apiutil.py
@@ -0,0 +1,169 @@
+import uuid
+import json
+
+from dataclasses import dataclass, field
+from typing import Any, Dict, List
+
+@dataclass
+class Signal:
+ task_uuid: str
+ ns: str
+
+ def get_signal(self, signal):
+ mobj = {}
+ mobj["com-uuid"] = str(uuid.uuid4())
+ mobj["command"] = "signal-task"
+ mobj["sender"] = "commander"
+ mobj["signal"] = signal
+ mobj["task-uuid"] = self.task_uuid
+ mstr = json.dumps(mobj, sort_keys=True, indent=4, separators=(',', ': '))
+ topic = "exec/command"
+ return self.ns.lstrip("/"), topic, mstr
+ # try:
+ # client = rospy.ServiceProxy('send_topic_msg_to_unit', SendTopicMsgToUnit)
+ # resp = client(self.ns.lstrip("/"), topic, mstr)
+ # print("RESP:", resp)
+ # except rospy.ServiceException as e:
+ # print("Service call failed: %s"%e)
+
+
+ def get_signal_unit(self, unit, signal):
+ mobj = {}
+ mobj["com-uuid"] = str(uuid.uuid4())
+ mobj["command"] = "signal-unit"
+ mobj["sender"] = "commander"
+ mobj["signal"] = signal
+ mobj["unit"] = unit
+ mstr = json.dumps(mobj, sort_keys=True, indent=4, separators=(',', ': '))
+ topic = "tst/command"
+ return self.ns.lstrip("/"), topic, mstr
+
+@dataclass
+class SignalNode:
+ node_uuid: str
+ ns: str
+ tree_uuid: str
+
+ def get_signal(self, signal):
+ mobj = {}
+ mobj["com-uuid"] = str(uuid.uuid4())
+ mobj["command"] = "signal-tst-node"
+ mobj["sender"] = "commander"
+ mobj["signal"] = signal
+ mobj["node-uuid"] = self.node_uuid
+ mstr = json.dumps(mobj, sort_keys=True, indent=4, separators=(',', ': '))
+ topic = "tst/command"
+ ns = "/op0"
+ print(ns, topic, mstr)
+ return ns.lstrip("/"), topic, mstr
+
+ def get_signal_tree(self, signal):
+ print("signal_tree:", signal)
+ mobj = {}
+ mobj["com-uuid"] = str(uuid.uuid4())
+ mobj["command"] = "signal-tst-tree"
+ mobj["sender"] = "commander"
+ mobj["signal"] = signal
+ mobj["node-uuid"] = self.tree_uuid
+ mstr = json.dumps(mobj, sort_keys=True, indent=4, separators=(',', ': '))
+ topic = "tst/command"
+ ns = "/op0"
+ print("signal_tree:", ns, topic, mstr)
+ return ns.lstrip("/"), topic, mstr
+
+ def get_signal_unit(self, unit, signal):
+ mobj = {}
+ mobj["com-uuid"] = str(uuid.uuid4())
+ mobj["command"] = "signal-unit"
+ mobj["sender"] = "commander"
+ mobj["signal"] = signal
+ mobj["unit"] = unit
+ mstr = json.dumps(mobj, sort_keys=True, indent=4, separators=(',', ': '))
+ topic = "tst/command"
+ ns = "/op0"
+ print(ns, topic, mstr)
+ return ns.lstrip("/"), topic, mstr
+
+def cleanup_task(task):
+ task.pop("children", None)
+ common_params = task.pop("common_params", None)
+ cleanup_params(task["params"])
+ return common_params["execunit"]
+
+def cleanup_common_params(jobj):
+ jobj.pop("use_lock")
+
+def cleanup_params(jobj):
+ jobj.pop("use_lock", None)
+
+def cleanup_tst(task):
+ cleanup_common_params(task["common_params"])
+ cleanup_params(task["params"])
+ for child in task["children"]:
+ cleanup_tst(child)
+
+def get_task_command(jobj, task_uuid=str(uuid.uuid4())):
+ if len(jobj["children"]) != 1:
+ print("ERROR: Not a task")
+ taskobj = jobj["children"][0]
+ execunit = cleanup_task(taskobj)
+ mobj = {}
+ mobj["com-uuid"] = str(uuid.uuid4())
+ mobj["command"] = "start-task"
+ mobj["sender"] = "commander"
+ mobj["execution-unit"] = execunit.lstrip("/")
+ mobj["task-uuid"] = task_uuid
+ mobj["task"] = taskobj
+ mstr = json.dumps(mobj, sort_keys=True, indent=4, separators=(',', ': '))
+ ns = jobj["common_params"]["execunit"]
+ signalobj = Signal(mobj["task-uuid"], ns)
+ topic = "exec/command"
+ print(mstr)
+ print("TOPIC:", topic)
+ print("EXECUNIT:", execunit)
+ # try:
+ # client = rospy.ServiceProxy('send_topic_msg_to_unit', SendTopicMsgToUnit)
+ # resp = client(execunit.lstrip("/"), topic, mstr)
+ # print("RESP:", resp)
+ # except rospy.ServiceException as e:
+ # print("Service call failed: %s"%e)
+ return execunit.lstrip("/"), topic, mstr, signalobj
+
+def get_tst_command(jobj, root_uuid=str(uuid.uuid4())):
+ print(jobj)
+ if len(jobj["children"]) != 1:
+ print("ERROR: Not a simple TST")
+ tstobj = jobj
+ tstobj["common_params"]["execunit"] = "/op0"
+ tstobj["common_params"]["node-uuid"] = root_uuid
+ cleanup_tst(tstobj)
+ termobj = tstobj["children"][0]
+ termobj["common_params"]["node-uuid"] = str(uuid.uuid4())
+ signalobj = None
+ print(termobj)
+ ns = "/op0"
+ if "node-uuid" in termobj["common_params"]:
+ signalobj = SignalNode(termobj["common_params"]["node-uuid"], "op0", tstobj["common_params"]["node-uuid"])
+ mobj = {}
+ mobj["com-uuid"] = str(uuid.uuid4())
+ mobj["command"] = "start-tst"
+ mobj["sender"] = "commander"
+ mobj["receiver"] = "op0"
+ # mobj["execution-unit"] = execunit.lstrip("/")
+ # mobj["task-uuid"] = str(uuid.uuid4())
+ mobj["tst"] = tstobj
+ mstr = json.dumps(mobj, sort_keys=True, indent=4, separators=(',', ': '))
+ #ns = jobj["common_params"]["execunit"]
+ ns = "/op0"
+ topic = "tst/command"
+ print(mstr)
+ print("TOPIC:", topic)
+ return topic, mstr, signalobj
+# try:
+# client = rospy.ServiceProxy(f'{ns}/send_topic_msg_to_unit', SendTopicMsgToUnit)
+# resp = client(ns.lstrip("/"), topic, mstr)
+# print("RESP:", resp)
+# except rospy.ServiceException as e:
+# print("Service call failed: %s"%e)
+# return signalobj
+
diff --git a/lrs_util/jsonutil.py b/lrs_util/jsonutil.py
index 5696df3bde27e6bc9ecdf0d870605cc94a335ad0..395f849ae39a736f4dc7ec499ddd2ace46aeceea 100644
--- a/lrs_util/jsonutil.py
+++ b/lrs_util/jsonutil.py
@@ -380,7 +380,7 @@ def json_tree_from_task(ns, name, params, seq_node_uuid="", node_uuid="", use_al
cobj = {
"children": [],
"common_params": get_common_params (ns, use_alias, node_uuid, use_lock=use_lock),
- "name": "look-at-bearing",
+ "name": name,
"params": params
}
jobj["children"].append(cobj)