Add identiy and version number. Some generic cleanup.

am_i_up/Api.py

@@ -33,11 +33,13 @@ class Api:
             web.get('/api/ping', self.ping),
             web.get('/api/uptime', self.uptime),
             web.get('/api/build_info', self.build_info),
+            web.get('/api/version_number', self.version_number),
             web.get('/api/env', self.env),
-            web.get('/api/status', self.status),
+            web.get('/api/identity', self.identity),
             web.get("/api/position", self.position),
             web.get("/api/diagnostics", self.diagnostics),
             web.post("/api/login", self.login),
+            web.get("/api/available_streams", self.available_streams),
             web.post("/api/mediamtx/auth", self.mediamtx_auth),
             web.get("/api/mediamtx/login", self.mediamtx_login),
             web.static("/assets", ui_static_directory),
@@ -133,6 +135,17 @@ class Api:
         resp = {"uptime": self._facts.get_uptime()}
         return web.json_response(resp)
 
+    async def version_number(self, request):
+        version = self._facts.get_version()
+        if not version:
+            resp = {"status": False, "message": "version not found."}
+            return web.json_response(resp)
+        resp = {
+            "status": True,
+            "version": version
+        }
+        return web.json_response(resp)
+
     async def build_info(self, request):
         project_state = self._facts.get_buildinfo()
         if not project_state:
@@ -148,11 +161,11 @@ class Api:
         env = self._facts.get_env()
         return web.json_response(env)
 
-    async def status(self, request):
-        status = self._facts.get_status()
-        if not status:
-            status = "Nothing received!"
-        resp = {"message": status}
+    async def identity(self, request):
+        identity = self._facts.get_identity()
+        if not identity:
+            identity = "Nothing received!"
+        resp = {"message": identity}
         return web.json_response(resp)
 
     async def position(self, request):
@@ -176,3 +189,9 @@ class Api:
         resp["message"] = diagnostics
         return web.json_response(resp)
 
+    async def available_streams(self, request):
+        resp = {}
+        resp["streams"] = self._facts.get_video_streams()
+        resp["port"] = self._facts.get_video_display_port()
+        return web.json_response(resp)
+

am_i_up/Facts.py

@@ -30,7 +30,7 @@ class Facts:
         rclpy.init()
         self._node = rclpy.create_node('am_i_up')
 
-        self._status_sub = self._node.create_subscription(String, "status", self._status_callback, 1)
+        self._ident_sub = self._node.create_subscription(String, "identity", self._identity_callback, 1)
         self._navsat_sub = self._node.create_subscription(NavSatFix, "navsatfix", self._navsat_callback, 1)
         self._diagnostics_sub = self._node.create_subscription(DiagnosticArray, "/diagnostics_agg", self._diag_callback, 1)
 
@@ -39,7 +39,10 @@ class Facts:
 
         self._password = self._node.declare_parameter("password", "password").value
 
-        self._status_string = None
+        self._video_streams = self._node.declare_parameter("video_streams", [""]).value
+        self._video_display_port = self._node.declare_parameter("video_display_port", "8889").value
+
+        self._identity_string = None
         self._lat_long = None
         self._diag_msg = None
 
@@ -53,8 +56,8 @@ class Facts:
     def get_lat_long(self):
         return self._lat_long
 
-    def get_status(self):
-        return self._status_string
+    def get_identity(self):
+        return self._identity_string
 
     def get_listen_port(self):
         return self._listen_port
@@ -116,11 +119,37 @@ class Facts:
             print("Can't find build info.\n{}".format(e))
         return project_state_content
 
+    def get_version(self):
+        # Find the share directory for 'build_info_getter'.
+        build_info_getter_directory = None
+        try:
+            build_info_getter_directory = get_package_share_directory('build_info_getter')
+        except Exception as e:
+            print("Can't find build info.\n{}".format(e))
+            return None
+        # Find and read the version file in int.
+        version_number_file = build_info_getter_directory + "/version_number"
+        version_number = None
+        try:
+            with open(version_number_file, 'r') as file_obj:
+                version_number = file_obj.readline().rstrip()
+        except Exception as e:
+            # We either didn't load the file or couldn't read it.
+            print("Can't find build info.\n{}".format(e))
+
+        return version_number
+
     def get_password(self):
         return self._password
 
-    def _status_callback(self, msg):
-        self._status_string = msg.data
+    def get_video_streams(self):
+        return self._video_streams
+
+    def get_video_display_port(self):
+        return self._video_display_port
+
+    def _identity_callback(self, msg):
+        self._identity_string = msg.data
 
     def _diag_callback(self, msg):
         self._diag_msg = msg

am_i_up/client.py

@@ -22,7 +22,6 @@ def main(args=None):
     parser.add_argument("--host", default="http://localhost:8000")
     args = parser.parse_args()
 
-
     client = Client(args.host)
 
     if args.action == 'ping':
@@ -35,6 +34,10 @@ def main(args=None):
         asyncio.run(client.call_env())
     if args.action == 'diagnostics':
         asyncio.run(client.call_diagnostics())
+    if args.action == 'identity':
+        asyncio.run(client.call_identity())
+    if args.action == 'version':
+        asyncio.run(client.call_version())
 
 class Client():
     def __init__(self, host):
@@ -83,6 +86,22 @@ class Client():
             async with session.get(f'{self._host}/api/env') as resp:
                 print(await resp.text())
 
+    async def call_identity(self):
+        print("Calling identity.")
+
+        async with aiohttp.ClientSession() as session:
+            await self.login(session)
+            async with session.get(f'{self._host}/api/identity') as resp:
+                print(await resp.text())
+
+    async def call_version(self):
+        print("Calling version.")
+
+        async with aiohttp.ClientSession() as session:
+            await self.login(session)
+            async with session.get(f'{self._host}/api/version_number') as resp:
+                print(await resp.text())
+
     async def call_diagnostics(self):
         print("Calling diagnostics.")
 

assets/login.html

@@ -3,7 +3,7 @@
   <head>
     <meta charset="utf-8">
     <meta name="viewport" content="width=device-width, initial-scale=1">
-    <title>Bootstrap HTML Example</title>
+    <title>Login</title>
     <link href="server_assets/bootstrap.css" rel="stylesheet">
     <style>
       .vert-padded {
@@ -27,7 +27,7 @@
     </div>
 
     <script>
-      console.log("Hello");
+      console.log("Hi Developer! This page lives with the server package NOT the ui package.");
       document.getElementById('loginForm').addEventListener('submit', async (event) => {
         console.log("submit");
         event.preventDefault();

launch/data_simulators.launch.xml

@@ -6,9 +6,23 @@
     <param from="$(find-pkg-share am_i_up)/params/image2rtsp.yaml"/>
   </node>
 
+  <!-- j7s threed -->
+  <node pkg="data_simulator" exec="frame_publisher" name="frame_publisher" />
+  <node pkg="j7s_threed" exec="j7s_threed_node" name="threed_node">
+    <param from="$(find-pkg-share j7s_threed)/params/threed_world.yaml" allow_substs="true"/>
+    <remap from="image" to="threed_image"/>
+  </node>
+  <node pkg="image2rtsp" exec="image2rtsp" name="image2rtsp">
+    <env name="GST_DEBUG" value=""/> <!-- Setting to 3 can help if its not working -->
+    <param from="$(find-pkg-share am_i_up)/params/j7s_threed_image2rtsp.yaml"/>
+  </node>
+
   <!-- Vehicle Position -->
   <node pkg="data_simulator" exec="position_publisher" name="position_publisher" />
 
+  <!-- Identity -->
+  <node pkg="data_simulator" exec="identity_publisher" name="identity_publisher" />
+
   <!-- Diagnostics -->
   <node pkg="data_simulator" exec="diagnostic_publisher" name="diagnostic_1">
     <param name="diag_level" value="OK"/>

params/am_i_up.yaml

@@ -1,4 +1,8 @@
 /**:
    ros__parameters:
       ui_pkg: "am_i_up_ui"
-      listen_port: "8000"
+      listen_port: "8000"
+      video_display_port: "8889"
+      video_streams:
+         - image
+         - threed_image

params/j7s_threed_image2rtsp.yaml

@@ -0,0 +1,14 @@
+/**:
+   ros__parameters:
+      topic: "threed_image"
+      mountpoint: "/threed_image"
+      port: "8560"
+      local_only: True
+      default_pipeline: |
+            ( appsrc name=imagesrc do-timestamp=true min-latency=0 max-latency=0 max-bytes=1000 is-live=true !
+              videoconvert !
+              videoscale !
+              video/x-raw, framerate=30/1, width=1280, height=720 !
+              x264enc tune=zerolatency bitrate=500 key-int-max=30 !
+              video/x-h264, profile=baseline !
+              rtph264pay name=pay0 pt=96 )

params/mediamtx.yaml

@@ -3,4 +3,6 @@ authHTTPAddress: http://127.0.0.1:8000/api/mediamtx/auth
 authHTTPExclude: []
 paths:
   image:
-    source: rtsp://127.0.0.1:8559/image
+    source: rtsp://127.0.0.1:8559/image
+  threed_image:
+    source: rtsp://127.0.0.1:8560/threed_image