Pkg_ros_iot_bridge

This package contains only one ros node node_action_server_ros_iot_bridge.py

node_action_server_ros_iot_bridge.py

class IotRosBridgeActionServer

This is the class to update various spreadsheet in Master Spread Sheet.

__ init __(self):

docstring

The constructor for IotRosBridgeActionServer class.

code

# Initialize the Action Server
# Read and Store IoT Configuration data from Parameter Server
param_online_order_config = rospy.get_param('online_order_config')
self._mqtt_server_url = param_online_order_config['mqtt_server_url']
self._mqtt_server_port = param_online_order_config['mqtt_server_port']
self._mqtt_qos = param_online_order_config['mqtt_qos']
self._mqtt_unique_id = param_online_order_config['mqtt_unique_id']
self._mqtt_sub_topic = "/eyrc/vb/" + self._mqtt_unique_id + "/orders"
self._config_mqtt_sub_cb_ros_topic = "/ros_iot_bridge/mqtt/sub"
rospy.loginfo(param_online_order_config)
self.url_me = "https://script.google.com/macros/s/AKfycbwCfFzS9d_fUZubwlYXbI2MKtzrR50P2PSHROhCgHRA1wIXVuwwFRNBPw/exec"
self.team_id = "VB_0412"
self.unique_id = "VsMyPsSr"
self.bridge = CvBridge()
ret = iot.mqtt_subscribe_thread_start(self.mqtt_sub_callback,self._mqtt_server_url, self._mqtt_server_port,self._mqtt_sub_topic, self._mqtt_qos)
if ret == 0:
    rospy.loginfo("MQTT Subscribe Thread Started")
else:
    rospy.logerr("Failed to start MQTT Subscribe Thread")
self._handle_ros_pub =\
rospy.Publisher(self._config_mqtt_sub_cb_ros_topic, msgMqttSub, queue_size=10)

mqtt_sub_callback(self, client, userdata, message):

docstring

The callback function for MQTT Subscriptions and updating the Incoming Order
Spread Sheet.

code

payload = str(message.payload.decode("utf-8"))
print(client, userdata)
print '[MQTT SUB CB] Message: ', payload
print '[MQTT SUB CB] Topic: ', message.topic
goal_message = (payload.split(", "))

if (goal_message[5])[9:len(goal_message[5])-1] == 'Clothes':

    parameters_me = {"id":"IncomingOrders","Team Id":self.team_id, "Unique Id":self.unique_id,"City":(goal_message[0])[10:len(goal_message[0])-1],\"Order Date and Time":(goal_message[1])[15:len(goal_message[1])-1],\"Order ID":(goal_message[2])[13:len(goal_message[2])-1],\"Item":(goal_message[5])[9:len(goal_message[5])-1],"Order Quantity":(goal_message[4])[8:len(goal_message[4])-1],"Longitude":(goal_message[3])[8:len(goal_message[3])-1],"Latitude":(goal_message[6])[8:len(goal_message[6])-2],"Cost":250, "Priority":'MP'}
    # Inventory spreadsheet is getting updated
    response_me = requests.get(self.url_me, params=parameters_me)
    print response_me.content

elif (goal_message[5])[9:len(goal_message[5])-1] == 'Medicine':

    parameters_me = {"id":"IncomingOrders",\
"Team Id":self.team_id, "Unique Id":self.unique_id,\
"City":(goal_message[0])[10:len(goal_message[0])-1],\
"Order Date and Time":(goal_message[1])[15:len(goal_message[1])-1],\
"Order ID":(goal_message[2])[13:len(goal_message[2])-1], \
"Item":(goal_message[5])[9:len(goal_message[5])-1],\
"Order Quantity":(goal_message[4])[8:len(goal_message[4])-1], \
"Longitude":(goal_message[3])[8:len(goal_message[3])-1],\
"Latitude":(goal_message[6])[8:len(goal_message[6])-2],\
"Cost":450, "Priority":'HP'}
    response_me = requests.get(self.url_me, params=parameters_me)
    print response_me.content

elif (goal_message[5])[9:len(goal_message[5])-1] == 'Food':

    parameters_me = {"id":"IncomingOrders",\
"Team Id":self.team_id, "Unique Id":self.unique_id,\
"City":(goal_message[0])[10:len(goal_message[0])-1],\
"Order Date and Time":(goal_message[1])[15:len(goal_message[1])-1],\
"Order ID":(goal_message[2])[13:len(goal_message[2])-1],\
"Item":(goal_message[5])[9:len(goal_message[5])-1],\
"Order Quantity":(goal_message[4])[8:len(goal_message[4])-1],\
"Longitude":(goal_message[3])[8:len(goal_message[3])-1],\
"Latitude":(goal_message[6])[8:len(goal_message[6])-2],\
"Cost":150, "Priority":'LP'}
        response_me = requests.get(self.url_me, params=parameters_me)
    print response_me.content

msg_mqtt_sub = msgMqttSub()
msg_mqtt_sub.timestamp = rospy.Time.now()
msg_mqtt_sub.topic = message.topic
msg_mqtt_sub.message = str(payload)
self._handle_ros_pub.publish(msg_mqtt_sub)

get_qr_data(self, arg_image):

docstring

Function to decode the image for various packages and updating the Inventory
 Spread Sheet.

Parameters:
        arg_image: Raw image to be decoded.

code

qr_result = decode(arg_image)
times_green = int(time.time())
value = datetime.datetime.fromtimestamp(times_green)
str_m = value.strftime('%m')
str_y = value.strftime('%Y')
str_time = str_m + str_y[2:]
# List of tuple containing the position on shelf and the color(encoded)
box_color = []
for i in qr_result:
    x_a, y_a, h_a, w_a = i.rect
    # Apending the tuple on the basis of pixel values in box_color
    if (x_a > 100 and x_a < 200) and (y_a > 250 and y_a < 400):
        box_color.append(('R0 C0', i.data))
    if (x_a > 250 and x_a < 400) and (y_a > 250 and y_a < 400):
        box_color.append(('R0 C1', i.data))
    if (x_a > 400 and x_a < 600) and (y_a > 250 and y_a < 400):
        box_color.append(('R0 C2', i.data))
    if (x_a > 100 and x_a < 200) and (y_a > 400 and y_a < 550):
        box_color.append(('R1 C0', i.data))
    if (x_a > 250 and x_a < 400) and (y_a > 400 and y_a < 550):
        box_color.append(('R1 C1', i.data))
    if (x_a > 400 and x_a < 550) and (y_a > 400 and y_a < 550):
        box_color.append(('R1 C2', i.data))
    if (x_a > 100 and x_a < 200) and (y_a > 550 and y_a < 670):
        box_color.append(('R2 C0', i.data))
    if (x_a > 250 and x_a < 400) and (y_a > 550 and y_a < 670):
        box_color.append(('R2 C1', i.data))
    if (x_a > 400 and x_a < 550) and (y_a > 550 and y_a < 670):
        box_color.append(('R2 C2', i.data))
    if (x_a > 100 and x_a < 200) and (y_a > 670 and y_a < 850):
        box_color.append(('R3 C0', i.data))
    if (x_a > 250 and x_a < 400) and (y_a > 670 and y_a < 850):
        box_color.append(('R3 C1', i.data))
    if (x_a > 400 and x_a < 550) and (y_a > 670 and y_a < 850):
        box_color.append(('R3 C2', i.data))
if len(qr_result) > 0:
    # Unsubscribing ros topic "/eyrc/vb/camera_1/image_raw"
    SUB_ONCE.unregister()
    list_a = box_color
    print(w_a, h_a)
else:
    return 'NA'
pkg_clr = ''
print list_a
for i in list_a:
    pkg_n, pkg_clr = i #unpaking tuple into pkg name and pkg color
    rospy.sleep(1)
    if pkg_clr == 'red':

        if pkg_n == 'R0 C0':
            parameters_me = {"id":"Inventory",\
"Team Id":self.team_id, "Unique Id":self.unique_id,\
"SKU":'R00'+str_time, "Items":'Medicines',\
"Priority":'HP', "Storage Number":pkg_n,\
"Cost":450, "Quantity":1}
            response_me = requests.get(self.url_me, params=parameters_me)
            print response_me.content

        elif pkg_n == 'R1 C2':
            parameters_me = {"id":"Inventory",\
"Team Id":self.team_id, "Unique Id":self.unique_id,\
"SKU":'R12'+str_time, "Items":'Medicines',\
"Priority":'HP', "Storage Number":pkg_n,\
"Cost":450, "Quantity":1}
            response_me = requests.get(self.url_me, params=parameters_me)
            print response_me.content

        elif pkg_n == 'R2 C1':
            parameters_me = {"id":"Inventory",\
"Team Id":self.team_id, "Unique Id":self.unique_id,\
"SKU":'R21'+str_time, "Items":'Medicines',\
"Priority":'HP', "Storage Number":pkg_n,\
"Cost":450, "Quantity":1}
            response_me = requests.get(self.url_me, params=parameters_me)
            print response_me.content
        elif pkg_n == 'R3 C2':
            parameters_me = {"id":"Inventory",\
"Team Id":self.team_id, "Unique Id":self.unique_id,\
"SKU":'R30'+str_time, "Items":'Medicines',\
"Priority":'HP', "Storage Number":pkg_n,\
"Cost":450, "Quantity":1}
            response_me = requests.get(self.url_me, params=parameters_me)
            print response_me.content

    elif pkg_clr == 'yellow':

        if pkg_n == 'R3 C0':
            parameters_me = {"id":"Inventory",\
"Team Id":self.team_id, "Unique Id":self.unique_id,\
"SKU":'R02'+str_time, "Items":'Food',\
"Priority":'MP', "Storage Number":pkg_n,\
"Cost":250, "Quantity":1}
            response_me = requests.get(self.url_me, params=parameters_me)
            print response_me.content

        elif pkg_n == 'R2 C2':
            parameters_me = {"id":"Inventory",\
"Team Id":self.team_id, "Unique Id":self.unique_id,\
"SKU":'R11'+str_time, "Items":'Food',\
"Priority":'MP', "Storage Number":pkg_n,\
"Cost":250, "Quantity":1}
            response_me = requests.get(self.url_me, params=parameters_me)
            print response_me.content

        elif pkg_n == 'R1 C1':
            parameters_me = {"id":"Inventory",\
"Team Id":self.team_id, "Unique Id":self.unique_id,\
"SKU":'R20'+str_time, "Items":'Food',\
"Priority":'MP', "Storage Number":pkg_n,\
"Cost":250, "Quantity":1}
            response_me = requests.get(self.url_me, params=parameters_me)
            print response_me.content
        elif pkg_n == 'R0 C1':
            parameters_me = {"id":"Inventory",\
"Team Id":self.team_id, "Unique Id":self.unique_id,\
"SKU":'R31'+str_time, "Items":'Food',\
"Priority":'MP', "Storage Number":pkg_n,\
"Cost":250, "Quantity":1}
            response_me = requests.get(self.url_me, params=parameters_me)
            print response_me.content

    elif pkg_clr == 'green':

        if pkg_n == 'R0 C2':
            parameters_me = {"id":"Inventory",\
"Team Id":self.team_id, "Unique Id":self.unique_id,\
"SKU":'R01'+str_time, "Items":'Clothes',\
"Priority":'LP', "Storage Number":pkg_n,\
"Cost":150, "Quantity":1}
            response_me = requests.get(self.url_me, params=parameters_me)
            print response_me.content

        elif pkg_n == 'R1 C0':
            parameters_me = {"id":"Inventory",\
"Team Id":self.team_id, "Unique Id":self.unique_id,\
"SKU":'R10'+str_time, "Items":'Clothes',\
"Priority":'LP', "Storage Number":pkg_n,\
"Cost":150, "Quantity":1}
            response_me = requests.get(self.url_me, params=parameters_me)
            print response_me.content

        elif pkg_n == 'R2 C0':
            parameters_me = {"id":"Inventory",\
"Team Id":self.team_id, "Unique Id":self.unique_id,\
"SKU":'R22'+str_time, "Items":'Clothes',\
"Priority":'LP', "Storage Number":pkg_n,\
"Cost":150, "Quantity":1}
            response_me = requests.get(self.url_me, params=parameters_me)
            print response_me.content

        elif pkg_n == 'R3 C1':
            parameters_me = {"id":"Inventory",\
"Team Id":self.team_id, "Unique Id":self.unique_id,\
"SKU":'R32'+str_time, "Items":'Clothes',\
"Priority":'LP', "Storage Number":pkg_n,\
"Cost":150, "Quantity":1}
            response_me = requests.get(self.url_me, params=parameters_me)
            print response_me.content
SUB_ONCE.unregister()

camera_1_callback(self, data):

docstring

The callback function for 2D Camera topic.

Parameters:
       data: Message publishing on this topic

code

try:
    cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")

except CvBridgeError as err_or:
    rospy.logerr(err_or)
image = cv_image
#applying threshold to get clear image for decoding
retval, image = cv2.threshold(image, 15, 200, cv2.THRESH_BINARY)
# Resize a 720x1280 image to 360x640 to fit it on the screen
resized_image = cv2.resize(image, (720/2, 1280/2))

cv2.imshow("/eyrc/vb/camera_1/image_raw", resized_image)
rospy.loginfo(self.get_qr_data(image))

cv2.waitKey(3)

dispatch_orders(self, data):

docstring

Callback function of "/eyrc/vb/VsMyPsSr/spreadsheet/ordersdispatch" this ros
 topic.

Parameters:
        data: Message publishing on this topic

code

time_dispatch = data.time
order_list = data.message #Retrieving information
goal_message = (order_list.split(", ")) #Spliting data for further use

if (goal_message[5])[9:len(goal_message[5])-1] == 'Clothes':
    parameters_me = {"id":"OrdersDispatch",\
"Team Id":self.team_id, "Unique Id":self.unique_id,\
"City":(goal_message[0])[10:len(goal_message[0])-1],\
"Order Date and Time":(goal_message[1])[15:len(goal_message[1])-1],\
"Order ID":(goal_message[2])[13:len(goal_message[2])-1],\
"Item":(goal_message[5])[9:len(goal_message[5])-1],\
"Dispatch Quantity":(goal_message[4])[8:len(goal_message[4])-1],\
"Cost":250, "Priority":'MP', "Dispatch Date and Time":time_dispatch,\
"Dispatch Status":'YES'}
    # Updating the Order Dispatch Spread Sheet
    response_me = requests.get(self.url_me, params=parameters_me)
    print response_me.content

elif (goal_message[5])[9:len(goal_message[5])-1] == 'Medicine':
    parameters_me = {"id":"OrdersDispatch",\
"Team Id":self.team_id, "Unique Id":self.unique_id,\
"City":(goal_message[0])[10:len(goal_message[0])-1],\
"Order Date and Time":(goal_message[1])[15:len(goal_message[1])-1],\
"Order ID":(goal_message[2])[13:len(goal_message[2])-1],\
"Item":(goal_message[5])[9:len(goal_message[5])-1],\
"Dispatch Quantity":(goal_message[4])[8:len(goal_message[4])-1],\
"Cost":450, "Priority":'HP', "Dispatch Date and Time":time_dispatch,\
"Dispatch Status":'YES'}
    # Updating the Order Dispatch Spread Sheet
    response_me = requests.get(self.url_me, params=parameters_me)
    print response_me.content

elif (goal_message[5])[9:len(goal_message[5])-1] == 'Food':
    parameters_me = {"id":"OrdersDispatch",\
"Team Id":self.team_id, "Unique Id":self.unique_id,\
"City":(goal_message[0])[10:len(goal_message[0])-1],\
"Order Date and Time":(goal_message[1])[15:len(goal_message[1])-1],\
"Order ID":(goal_message[2])[13:len(goal_message[2])-1],\
"Item":(goal_message[5])[9:len(goal_message[5])-1],\
"Dispatch Quantity":(goal_message[4])[8:len(goal_message[4])-1],\
"Cost":150, "Priority":'LP', "Dispatch Date and Time":time_dispatch,\
"Dispatch Status":'YES'}
    # Updating the Order Dispatch Spread Sheet
    response_me = requests.get(self.url_me, params=parameters_me)
    print response_me.content

shipped_orders(self, data):

docstring

Callback function of "/eyrc/vb/VsMyPsSr/spreadsheet/ordershipped"
 this ros topic.

Parameters:
        data: Message publishing on this topic

code

time_shipped = data.time_shipped
order_list = data.message #Retrieving information
goal_message = (order_list.split(", ")) #spliting data
print((goal_message[2])[13:len(goal_message[2])-1], data.sim_time)

if (goal_message[5])[9:len(goal_message[5])-1] == 'Clothes':
    time_red = int(time.time()) +  3*84600
    value = datetime.datetime.fromtimestamp(time_red)
    str_time = value.strftime('%Y-%m-%d')
    parameters_me = {"id":"OrdersShipped",\
"Team Id":self.team_id, "Unique Id":self.unique_id,\
"City":(goal_message[0])[10:len(goal_message[0])-1],\
"Shipped Date and Time":time_shipped,\
"Order ID":(goal_message[2])[13:len(goal_message[2])-1],\
"Item":(goal_message[5])[9:len(goal_message[5])-1],\
"Shipped Quantity":(goal_message[4])[8:len(goal_message[4])-1],\
"Cost":250, "Priority":'MP', "Shipped Status":'YES',\
"Estimated Time of Delivery": str_time}
    # Updating the Order Shipped Spread Sheet
    response_me = requests.get(self.url_me, params=parameters_me)
    print response_me.content

elif (goal_message[5])[9:len(goal_message[5])-1] == 'Medicine':
    times_yellow = int(time.time()) +84600
    value = datetime.datetime.fromtimestamp(times_yellow)
    str_time = value.strftime('%Y-%m-%d')
    parameters_me = {"id":"OrdersShipped",\
"Team Id":self.team_id, "Unique Id":self.unique_id,\
"City":(goal_message[0])[10:len(goal_message[0])-1],\
"Shipped Date and Time":time_shipped,\
"Order ID":(goal_message[2])[13:len(goal_message[2])-1],\
"Item":(goal_message[5])[9:len(goal_message[5])-1],\
"Shipped Quantity":(goal_message[4])[8:len(goal_message[4])-1],\
"Cost":450, "Priority":'HP', "Shipped Status":'YES',\
"Estimated Time of Delivery": str_time}
    # Updating the Order Shipped Spread Sheet
    response_me = requests.get(self.url_me, params=parameters_me)
    print response_me.content

elif (goal_message[5])[9:len(goal_message[5])-1] == 'Food':
    times_green = int(time.time()) + 5*84600
    value = datetime.datetime.fromtimestamp(times_green)
    str_time = value.strftime('%Y-%m-%d')
    parameters_me = {"id":"OrdersShipped",\
"Team Id":self.team_id, "Unique Id":self.unique_id,\
"City":(goal_message[0])[10:len(goal_message[0])-1],\
"Shipped Date and Time":time_shipped,\
"Order ID":(goal_message[2])[13:len(goal_message[2])-1],\
"Item":(goal_message[5])[9:len(goal_message[5])-1],\
"Shipped Quantity":(goal_message[4])[8:len(goal_message[4])-1],\
"Cost":150, "Priority":'LP', "Shipped Status":'YES',\
"Estimated Time of Delivery": str_time}
    # Updating the Order Shipped Spread Sheet
    response_me = requests.get(self.url_me, params=parameters_me)
    print response_me.content

main()

docstring

This is the main function to initiate the ros node `node_action_server_ros_iot_bridge`

code

global SUB_ONCE
rospy.init_node('node_action_server_ros_iot_bridge')
action_server = IotRosBridgeActionServer()
rospy.sleep(6)
SUB_ONCE = rospy.Subscriber("/eyrc/vb/camera_1/image_raw", Image,\
action_server.camera_1_callback)
rospy.Subscriber("/eyrc/vb/VsMyPsSr/spreadsheet/ordersdispatch",\
msg_spreadsheet_1, action_server.dispatch_orders, queue_size=3)
rospy.Subscriber("/eyrc/vb/VsMyPsSr/spreadsheet/ordershipped",\
msg_spreadsheet_2, action_server.shipped_orders, queue_size=3)
rospy.spin()