Launch position simulator.

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

@@ -15,25 +15,26 @@ import os
 import yaml
 from ament_index_python import get_package_share_directory
 
+from am_i_up.Ros import Ros
+
 class Facts:
     def __init__(self):
+        self._ros = Ros()
+
         self._start_time = time.monotonic()
         self._status_string = None
-        self._costmap_image_format = None
-        self._costmap_image_data = None
 
-    def set_costmap_image(self, image_format, image_data):
-        self._costmap_image_format = image_format
-        self._costmap_image_data = image_data
+    async def run(self):
+        await self._ros.run()
+
+    def get_lat_long(self):
+        return self._ros.get_lat_long()
 
     def get_costmap_image(self):
-        return (self._costmap_image_format, self._costmap_image_data)
-
-    def set_status_string(self, status):
-        self._status_string = status
+        return self._ros.get_costmap_image()
 
     def get_status(self):
-        return self._status_string
+        return self._ros.get_status_string()
 
     def get_uptime(self):
         return time.monotonic() - self._start_time

am_i_up/Ros.py

@@ -11,28 +11,45 @@
 import rclpy
 from std_msgs.msg import String
 from sensor_msgs.msg import CompressedImage
+from sensor_msgs.msg import NavSatFix
 import asyncio
 
 class Ros:
-    def __init__(self, facts):
+    def __init__(self):
         rclpy.init()
-        self._facts = facts
         self._node = rclpy.create_node('am_i_up')
 
-        self._node.create_subscription(String, "status", self.status_sub, 1)
-        self._node.create_subscription(CompressedImage, "image/compressed", self.image_sub, 1)
+        self._status_sub = self._node.create_subscription(String, "status", self._status_callback, 1)
+        self._image_sub = self._node.create_subscription(CompressedImage, "image/compressed", self._image_callback, 1)
+        self._navsat_sub = self._node.create_subscription(NavSatFix, "navsatfix", self._navsat_callback, 1)
 
-    def status_sub(self, msg):
-        self._facts.set_status_string(msg.data)
+        self._status_string = None
+        self._lat_long = None
+        self._costmap_image = None
 
-    def image_sub(self, msg):
-        if msg.format != "jpg" and msg.format != "png":
-            # I don't know what to do with this image....
-            return
-        self._facts.set_costmap_image(msg.format, bytes(msg.data))
+    def get_status_string(self):
+        return self._status_string
+
+    def get_lat_long(self):
+        return self._lat_long
+
+    def get_costmap_image(self):
+        return self._costmap_image
 
     async def run(self):
         while rclpy.ok():
             rclpy.spin_once(self._node, timeout_sec=0)
             await asyncio.sleep(1e-4)
 
+    def _status_callback(self, msg):
+        self._status_string = msg.data
+
+    def _navsat_callback(self, msg):
+        self._lat_long = (msg.latitude, msg.longitude)
+
+    def _image_callback(self, msg):
+        if msg.format != "jpg" and msg.format != "png":
+            # I don't know what to do with this image....
+            return
+        self._costmap_image = (msg.format, bytes(msg.data))
+

am_i_up/server.py

@@ -10,14 +10,12 @@
 #
 from am_i_up.Api import Api
 from am_i_up.Facts import Facts
-from am_i_up.Ros import Ros
 
 import asyncio
 
 def main():
     facts = Facts()
-    ros = Ros(facts)
     api = Api(facts)
 
-    future = asyncio.gather(api.run(), ros.run())
+    future = asyncio.gather(api.run(), facts.run())
     asyncio.get_event_loop().run_until_complete(future)

launch/am_i_up.launch.xml

@@ -1,4 +1,5 @@
 <launch>
   <node pkg="am_i_up" exec="server" name="am_i_up"/>
   <node pkg="data_simulator" exec="image_publisher" name="image_publisher" />
+  <node pkg="data_simulator" exec="position_publisher" name="position_publisher" />
 </launch>