Get lat long.

am_i_up/Api.py

@@ -29,6 +29,7 @@ class Api:
             web.get('/api/env', self.env),
             web.get('/api/status', self.status),
             web.get('/api/costmap_image', self.costmap_image),
+            web.get("/api/position", self.position),
             web.static("/assets", ui_static_directory),
             # we're not actually using key anywhere, but doing this allows react router
             # to work correctly.
@@ -91,3 +92,15 @@ class Api:
             raise web.HTTPUnsupportedMediaType()
         resp = web.Response(body=image_data, content_type='image/{}'.format(image_format))
         return resp
+
+    async def position(self, request):
+        resp = {}
+        (lat, lon) = self._facts.get_lat_long()
+        if not lat or not lon:
+            resp["status"] = False
+            return web.json_response(resp)
+        resp["status"] = True
+        resp["latitude"] = lat
+        resp["longitude"] = lon
+        return web.json_response(resp)
+

am_i_up/Facts.py

@@ -21,6 +21,13 @@ class Facts:
         self._status_string = None
         self._costmap_image_format = None
         self._costmap_image_data = None
+        self._lat_lon = (None, None)
+
+    def set_lat_long(self, lat, lon):
+        self._lat_lon = (lat, lon)
+
+    def get_lat_long(self):
+        return self._lat_lon
 
     def set_costmap_image(self, image_format, image_data):
         self._costmap_image_format = image_format

am_i_up/Ros.py

@@ -11,6 +11,7 @@
 import rclpy
 from std_msgs.msg import String
 from sensor_msgs.msg import CompressedImage
+from sensor_msgs.msg import NavSatFix
 import asyncio
 
 class Ros:
@@ -21,10 +22,14 @@ class Ros:
 
         self._node.create_subscription(String, "status", self.status_sub, 1)
         self._node.create_subscription(CompressedImage, "image/compressed", self.image_sub, 1)
+        self._node.create_subscription(NavSatFix, "navsatfix", self.navsat_sub, 1)
 
     def status_sub(self, msg):
         self._facts.set_status_string(msg.data)
 
+    def navsat_sub(self, msg):
+        self._facts.set_lat_long(msg.latitude, msg.longitude)
+
     def image_sub(self, msg):
         if msg.format != "jpg" and msg.format != "png":
             # I don't know what to do with this image....