From b25b7dd6271291ef40028a873d26190aed8c9bd0 Mon Sep 17 00:00:00 2001
From: ehudb9 <70571624+ehudb9@users.noreply.github.com>
Date: Tue, 10 May 2022 22:26:33 +0300
Subject: [PATCH 1/9] create new node

---
 nodes/get-distance.html | 133 ++++++++++++++++++++++++++++++++++++++++
 nodes/get-distance.js   |  56 +++++++++++++++++
 2 files changed, 189 insertions(+)
 create mode 100644 nodes/get-distance.html
 create mode 100644 nodes/get-distance.js

diff --git a/nodes/get-distance.html b/nodes/get-distance.html
new file mode 100644
index 0000000..04bdb1b
--- /dev/null
+++ b/nodes/get-distance.html
@@ -0,0 +1,133 @@
+<!-- Set Motor Register Node -->
+
+<script type="text/javascript">
+    RED.nodes.registerType('set-motor-register',{
+        category: 'butter',
+        color: '#5c6bc0',
+        defaults: {
+            name: {
+                value: "set-motor-register",
+                required: true,
+             },
+            robotIp: {
+                value: "0.0.0.0",
+            },
+            motorName: {
+                value: "",
+            },
+            registerName: {
+                value: "",
+            },
+            value: {
+                value: 0,
+            },
+            debugMode: {
+                value: false
+            }
+        },
+        inputs:1,
+        outputs:1,
+        icon: "icons/butter-logo-white.png",
+        paletteLabel: "set-motor-register",
+        label: function() {
+            return this.name||"set-motor-register";
+        },
+        align: 'right',
+        outputLabels: ["operation result"],
+        inputLabels: ["op instructions (optional)"]
+    });
+</script>
+
+<script type="text/html" data-template-name="set-motor-register">
+    <div class="form-row">
+        <label for="node-input-name"><i class="fa fa-tag"></i> Name</label>
+        <input type="text" id="node-input-name" placeholder="Name">
+    </div>
+    <div class="form-row">
+        <label for="node-input-robotIp"><i class="fa fa-tag"></i> Robot IP</label>
+        <input type="text" id="node-input-robotIp" placeholder="0.0.0.0">
+    </div>
+    <div class="form-row">
+        <label for="node-input-motorName"><i class="fa fa-tag"></i> Motor Name</label>
+        <input type="text" id="node-input-motorName" placeholder="motor name here">
+    </div>
+    <div class="form-row">
+        <label for="node-input-registerName"><i class="fa fa-tag"></i> Register Name</label>
+        <select id="node-input-registerName">
+            <option value="return-level">return-level</option>
+            <option value="upper-limit-voltage">upper-limit-voltage</option>
+            <option value="multi-turn-offset">multi-turn-offset</option>
+            <option value="led">led</option>
+            <option value="moving-speed">moving-speed</option>
+            <option value="max-torque">max-torque</option>
+            <option value="punch">punch</option>
+            <option value="goal-acceleration">goal-acceleration</option>
+            <option value="goal-position">goal-position</option>
+            <option value="lower-limit-voltage">lower-limit-voltage</option>
+            <option value="id">id</option>
+            <option value="return-delay-time">return-delay-time</option>
+            <option value="baud-rate">baud-rate</option>
+            <option value="ccw-angle-limit">ccw-angle-limit</option>
+            <option value="torque-limit">torque-limit</option>
+            <option value="d-gain">d-gain</option>
+            <option value="limit-temprature">limit-temprature</option>
+            <option value="resolution-driver">resolution-driver</option>
+            <option value="cw-angle-limit">cw-angle-limit</option>
+            <option value="i-gain">i-gain</option>
+            <option value="alarm-shutdown">alarm-shutdown</option>
+            <option value="torque-enable">torque-enable</option>
+            <option value="p-gain">p-gain</option>
+            <option value="alarm-led">alarm-led</option>
+        </select>
+    </div>
+    <div class="form-row">
+        <label for="node-input-value"><i class="fa fa-tag"></i> Value</label>
+        <input type="number" id="node-input-value">
+    </div>
+    <div class="form-row">
+        <label for="node-input-debugMode"><i class="fa fa-tag"></i> Debug Mode</label>
+        <input type="checkbox" id="node-input-debugMode" placeholder="">
+    </div>
+    <div class="form-tips"><b>Note !</b> If the node receives as input a json with the above properties (not including name and debug mode properties), the node will disregard the ones provided in the UI.
+        See the help section to understand how this json should be composed.</div>
+    <div class="form-tips"><b>Tip:</b> Save the robotIp property as a `flow variable` for reuse.</div>
+</script>
+
+<script type="text/html" data-help-name="set-motor-register">
+    <p>Sets a register to a value in a specific motor.</p>
+    <h3>Inputs</h3>
+    <ol class="node-ports">
+        <li>parameters (Optional)
+            <dl class="message-properties">
+                <dt>payload <span class="property-type">json object</span></dt>
+                <dd>The payload has to be of the following format: <br>
+                    <code>
+                    { <br>
+                        "robotIp": some-robot-ip, <br>
+                        "motorName": some-motor-name, <br>
+                        "registerName": some-register-name, <br>
+                        "value": some-register-value, <br>
+                    }
+                    </code>
+                </dd>
+            </dl>
+        </li>
+   </ol>
+    <h3>Outputs</h3>
+     <ol class="node-ports">
+         <li>Operation Result
+             <dl class="message-properties">
+                 <dt>payload <span class="property-type">string</span></dt>
+                 <dd>the result of the butter command.</dd>
+             </dl>
+         </li>
+    </ol>
+
+    <h3>Details</h3>
+    <p><code>node.robotIp</code> is used to indicate the robot's ip to play animation on.
+    <p><code>node.motorName</code> is used to indicate which motor to manipulate.</p>
+    <p><code>node.registerName</code> is used to indicate which motor register to write to.</p>
+    <p><code>node.value</code> is used to indicate which integer value to write to the register.</p>
+    <p><code>node.debugMode</code> if true, the node will print logs to the debug console.</p>
+    <p>make sure that the robot is indeed running and the animation was deployed successfully before running the node.</p>
+</script>
\ No newline at end of file
diff --git a/nodes/get-distance.js b/nodes/get-distance.js
new file mode 100644
index 0000000..53bd38f
--- /dev/null
+++ b/nodes/get-distance.js
@@ -0,0 +1,56 @@
+/*
+    SetMotorRegister node
+        * input: message (any).
+        * command: set a value to a motor register on configured robot.
+        * output: operation success/failure response.
+*/
+module.exports = function(RED) {
+	function SetMotorRegisterNode(config) {
+		RED.nodes.createNode(this, config);
+		this.config = config;
+
+		const DebugLogger = require('../logger/debug_logger');
+		const butterClientProvider = require('../butter-client/butter-client-provider');
+
+		this.butterHttpClient = butterClientProvider.GetClient(this.config.robotIp);
+		this.debugLogger = new DebugLogger(this, this.config.debugMode);
+
+		this.on('input', async function(msg) {
+			let robotIp = this.config.robotIp;
+			let motorName = this.config.motorName;
+			let registerName = this.config.registerName;
+			let value = this.config.value;
+
+			// check if message has correct json payload - if yes run it instead.
+			if (
+				msg.payload.robotIp != undefined &&
+				msg.payload.motorName != undefined &&
+				msg.payload.registerName != undefined &&
+				msg.payload.value != undefined
+			) {
+				robotIp = msg.payload.robotIp;
+				motorName = msg.payload.motorName;
+				registerName = msg.payload.registerName;
+				value = msg.payload.value;
+			}
+
+			// sets the motor.
+			this.debugLogger.logIfDebugMode(
+				`setting the register ${registerName} of motor ${motorName} of robot ${robotIp} to ${value}`
+			);
+
+			try {
+				butter_response = await this.butterHttpClient.setMotorRegister(motorName, registerName, value);
+
+				this.debugLogger.logIfDebugMode(`butter response is ${JSON.stringify(butter_response.data)}`);
+				// send operation result.
+				this.send({ payload: butter_response.data });
+			} catch (error) {
+				this.debugLogger.logIfDebugMode(`failed to set register ${registerName}\n${error}`);
+			}
+		});
+	}
+
+	// register node type.
+	RED.nodes.registerType('set-motor-register', SetMotorRegisterNode);
+};

From 63cb64a53eb8d99b27b0b2d50f0364789da356f9 Mon Sep 17 00:00:00 2001
From: ehudb9 <70571624+ehudb9@users.noreply.github.com>
Date: Tue, 10 May 2022 22:49:12 +0300
Subject: [PATCH 2/9] set names

---
 nodes/get-distance.html | 10 +++++-----
 package.json            |  3 ++-
 2 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/nodes/get-distance.html b/nodes/get-distance.html
index 04bdb1b..343dcdb 100644
--- a/nodes/get-distance.html
+++ b/nodes/get-distance.html
@@ -1,12 +1,12 @@
 <!-- Set Motor Register Node -->
 
 <script type="text/javascript">
-    RED.nodes.registerType('set-motor-register',{
+    RED.nodes.registerType('get-distance',{
         category: 'butter',
         color: '#5c6bc0',
         defaults: {
             name: {
-                value: "set-motor-register",
+                value: "get-distance",
                 required: true,
              },
             robotIp: {
@@ -28,9 +28,9 @@
         inputs:1,
         outputs:1,
         icon: "icons/butter-logo-white.png",
-        paletteLabel: "set-motor-register",
+        paletteLabel: "get-distance",
         label: function() {
-            return this.name||"set-motor-register";
+            return this.name||"get-distance";
         },
         align: 'right',
         outputLabels: ["operation result"],
@@ -38,7 +38,7 @@
     });
 </script>
 
-<script type="text/html" data-template-name="set-motor-register">
+<script type="text/html" data-template-name="get-distance">
     <div class="form-row">
         <label for="node-input-name"><i class="fa fa-tag"></i> Name</label>
         <input type="text" id="node-input-name" placeholder="Name">
diff --git a/package.json b/package.json
index 56b797b..4859b97 100644
--- a/package.json
+++ b/package.json
@@ -8,7 +8,8 @@
 			"butter-play-animation": "nodes/play-animation.js",
 			"butter-set-motor-register": "nodes/set-motor-register.js",
 			"butter-get-motor-register": "nodes/get-motor-register.js",
-			"butter-get-available-animations": "nodes/get-available-aimations.js"
+			"butter-get-available-animations": "nodes/get-available-aimations.js",
+			"get-distance": "nodes/get-distance.js"
 		}
 	},
 	"scripts": {

From d42632938ae2a3cef77707558936495c374c5582 Mon Sep 17 00:00:00 2001
From: ehudb9 <70571624+ehudb9@users.noreply.github.com>
Date: Wed, 11 May 2022 13:36:10 +0300
Subject: [PATCH 3/9] python scripts connector

---
 nodes/get-distance.js | 58 +++++++++++++++++++++++++++++++++++++------
 nodes/sensors.py      |  9 +++++++
 2 files changed, 59 insertions(+), 8 deletions(-)
 create mode 100644 nodes/sensors.py

diff --git a/nodes/get-distance.js b/nodes/get-distance.js
index 53bd38f..c13f78e 100644
--- a/nodes/get-distance.js
+++ b/nodes/get-distance.js
@@ -5,14 +5,14 @@
         * output: operation success/failure response.
 */
 module.exports = function(RED) {
-	function SetMotorRegisterNode(config) {
+	function GetDistNode(config) {
 		RED.nodes.createNode(this, config);
 		this.config = config;
 
 		const DebugLogger = require('../logger/debug_logger');
-		const butterClientProvider = require('../butter-client/butter-client-provider');
+		//const butterClientProvider = require('../butter-client/butter-client-provider');
 
-		this.butterHttpClient = butterClientProvider.GetClient(this.config.robotIp);
+		//this.butterHttpClient = butterClientProvider.GetClient(this.config.robotIp);
 		this.debugLogger = new DebugLogger(this, this.config.debugMode);
 
 		this.on('input', async function(msg) {
@@ -40,17 +40,59 @@ module.exports = function(RED) {
 			);
 
 			try {
-				butter_response = await this.butterHttpClient.setMotorRegister(motorName, registerName, value);
+				//butter_response = await this.butterHttpClient.setMotorRegister(motorName, registerName, value);
+				alert("finally");
 
-				this.debugLogger.logIfDebugMode(`butter response is ${JSON.stringify(butter_response.data)}`);
+
+				var express = require("express");
+				const axios = require("axios");
+				var app = express();
+				var response = "";
+
+				app.listen(3000, function() {
+				console.log("server running on port 3000");
+				});
+
+				app.get("/", get_distance);
+
+				function get_distance(req, res) {
+				// Use child_process.spawn method from
+				// child_process module and assign it
+				// to variable spawn
+				var spawn = require("child_process").spawn;
+
+				// E.g : http://localhost:3000/name?firstname=Mike&lastname=Will
+				// so, first name = Mike and last name = Will
+				var process = spawn("python", [
+					"./sensors.py",
+					req.query.firstname,
+					req.query.lastname
+				]);
+
+				process.stdout.on("data", function(data) {
+					response = data.toString();
+				});
+				}
+
+				axios
+				.get("http://localhost:3000/?firstname=Omer&lastname=Noam")
+				.then(response => {
+					console.log(response.data);
+					// console.log(response.data.explanation);
+				})
+				.catch(error => {
+					console.log(error);
+				});
+
+				//this.debugLogger.logIfDebugMode(`butter response is ${JSON.stringify(butter_response.data)}`);
 				// send operation result.
-				this.send({ payload: butter_response.data });
+				this.send({ payload: response });
 			} catch (error) {
-				this.debugLogger.logIfDebugMode(`failed to set register ${registerName}\n${error}`);
+				this.debugLogger.logIfDebugMode(`failed to get distance`);
 			}
 		});
 	}
 
 	// register node type.
-	RED.nodes.registerType('set-motor-register', SetMotorRegisterNode);
+	RED.nodes.registerType('get-distance', GetDistNode);
 };
diff --git a/nodes/sensors.py b/nodes/sensors.py
new file mode 100644
index 0000000..a8ee0d5
--- /dev/null
+++ b/nodes/sensors.py
@@ -0,0 +1,9 @@
+import sys
+
+print("hello!\n")
+print("Output from Python")
+print("First name: " + sys.argv[1])
+print("Last name: " + sys.argv[2])
+print("your dist is 10Km")
+
+sys.stdout.flush()

From 7f6b40ed3b0ee1ee5f6e289653aedcd163980ec0 Mon Sep 17 00:00:00 2001
From: ehudb9 <70571624+ehudb9@users.noreply.github.com>
Date: Wed, 11 May 2022 13:51:55 +0300
Subject: [PATCH 4/9] d

---
 nodes/get-distance.js | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/nodes/get-distance.js b/nodes/get-distance.js
index c13f78e..42b91e0 100644
--- a/nodes/get-distance.js
+++ b/nodes/get-distance.js
@@ -35,9 +35,9 @@ module.exports = function(RED) {
 			}
 
 			// sets the motor.
-			this.debugLogger.logIfDebugMode(
-				`setting the register ${registerName} of motor ${motorName} of robot ${robotIp} to ${value}`
-			);
+			// this.debugLogger.logIfDebugMode(
+			// 	`setting the register ${registerName} of motor ${motorName} of robot ${robotIp} to ${value}`
+			// );
 
 			try {
 				//butter_response = await this.butterHttpClient.setMotorRegister(motorName, registerName, value);

From 9d4f58164fd700de5e461ce6f3b68300e1c673fe Mon Sep 17 00:00:00 2001
From: ehudb9 <70571624+ehudb9@users.noreply.github.com>
Date: Wed, 11 May 2022 13:53:17 +0300
Subject: [PATCH 5/9] s

---
 nodes/get-distance.js | 34 +++++++++++++++++-----------------
 1 file changed, 17 insertions(+), 17 deletions(-)

diff --git a/nodes/get-distance.js b/nodes/get-distance.js
index 42b91e0..c4bd0c2 100644
--- a/nodes/get-distance.js
+++ b/nodes/get-distance.js
@@ -16,23 +16,23 @@ module.exports = function(RED) {
 		this.debugLogger = new DebugLogger(this, this.config.debugMode);
 
 		this.on('input', async function(msg) {
-			let robotIp = this.config.robotIp;
-			let motorName = this.config.motorName;
-			let registerName = this.config.registerName;
-			let value = this.config.value;
-
-			// check if message has correct json payload - if yes run it instead.
-			if (
-				msg.payload.robotIp != undefined &&
-				msg.payload.motorName != undefined &&
-				msg.payload.registerName != undefined &&
-				msg.payload.value != undefined
-			) {
-				robotIp = msg.payload.robotIp;
-				motorName = msg.payload.motorName;
-				registerName = msg.payload.registerName;
-				value = msg.payload.value;
-			}
+			// let robotIp = this.config.robotIp;
+			// let motorName = this.config.motorName;
+			// let registerName = this.config.registerName;
+			// let value = this.config.value;
+
+			// // check if message has correct json payload - if yes run it instead.
+			// if (
+			// 	msg.payload.robotIp != undefined &&
+			// 	msg.payload.motorName != undefined &&
+			// 	msg.payload.registerName != undefined &&
+			// 	msg.payload.value != undefined
+			// ) {
+			// 	robotIp = msg.payload.robotIp;
+			// 	motorName = msg.payload.motorName;
+			// 	registerName = msg.payload.registerName;
+			// 	value = msg.payload.value;
+			// }
 
 			// sets the motor.
 			// this.debugLogger.logIfDebugMode(

From 9a3a927253840690b99eb0992ce11f6833418b5a Mon Sep 17 00:00:00 2001
From: ehudb9 <70571624+ehudb9@users.noreply.github.com>
Date: Wed, 11 May 2022 15:05:18 +0300
Subject: [PATCH 6/9] ss

---
 .DS_Store             | Bin 0 -> 6148 bytes
 nodes/get-distance.js |  78 ++++++++++++++++++++----------------------
 package.json          |  11 ++++--
 3 files changed, 47 insertions(+), 42 deletions(-)
 create mode 100644 .DS_Store

diff --git a/.DS_Store b/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..13e387dd8e2e84bd57a790e35d3f5b0c03fd2f50
GIT binary patch
literal 6148
zcmeHK%}T>S5Z>*NCWzRBP>*}@)<av0;6Vsc58i}`9#q<d1RJQ?(xeuRl{|*Nk#FGZ
zIJ3JgEmiO&VrO9Xo1LB6Wxs@-UB(!9$6<@H8e_}?MJ(CSd?7fFx*{dxLF8(VG?=8r
zU?78)SaSSL2JqWeS;8a>S;Q8<-+M3|#A()Se(+McQr+0JY}>N8?OU%eCtl`f<J9#>
z*VsGvvwmRg3n>S4+Yc_|Xwt3i9?K;2<0KlX<T#8V<mM_)LOF5eI0;iVkEaLJLfu+D
z&s&{_XdiT@4Ur$Vn+?$cdum(t{npW0@BZ;Af1bX)YGOJ3fl77^&fpD<g&jV4qhuhH
zJMhjjW|4%%05L!etP2C?{Ij;!Wy7>jVt^R<F#~u$2v9`FV4+bR9nj$Q5yvZtC}87T
z0#O)r3>F$;1cd8UK%L6X6NBq?@Cy^?7%VjEbjH=nFppW8n->aKtAk&taK;^t)Di>4
zz%m16-K}B$KmGpwznnxpVt^R<R}ApViFe|{mP~D3*&Nnd0onsa!MH->JOvC@iXj$D
d@gArW@C!5m9fO5N@PN=oK+!-AG4QJld;-4|Q1<`;

literal 0
HcmV?d00001

diff --git a/nodes/get-distance.js b/nodes/get-distance.js
index c4bd0c2..14bd78e 100644
--- a/nodes/get-distance.js
+++ b/nodes/get-distance.js
@@ -1,9 +1,4 @@
-/*
-    SetMotorRegister node
-        * input: message (any).
-        * command: set a value to a motor register on configured robot.
-        * output: operation success/failure response.
-*/
+
 module.exports = function(RED) {
 	function GetDistNode(config) {
 		RED.nodes.createNode(this, config);
@@ -41,7 +36,6 @@ module.exports = function(RED) {
 
 			try {
 				//butter_response = await this.butterHttpClient.setMotorRegister(motorName, registerName, value);
-				alert("finally");
 
 
 				var express = require("express");
@@ -49,45 +43,49 @@ module.exports = function(RED) {
 				var app = express();
 				var response = "";
 
-				app.listen(3000, function() {
-				console.log("server running on port 3000");
-				});
-
-				app.get("/", get_distance);
-
-				function get_distance(req, res) {
-				// Use child_process.spawn method from
-				// child_process module and assign it
-				// to variable spawn
-				var spawn = require("child_process").spawn;
-
-				// E.g : http://localhost:3000/name?firstname=Mike&lastname=Will
-				// so, first name = Mike and last name = Will
-				var process = spawn("python", [
-					"./sensors.py",
-					req.query.firstname,
-					req.query.lastname
-				]);
-
-				process.stdout.on("data", function(data) {
-					response = data.toString();
-				});
-				}
-
-				axios
-				.get("http://localhost:3000/?firstname=Omer&lastname=Noam")
-				.then(response => {
-					console.log(response.data);
-					// console.log(response.data.explanation);
+				app.listen(3003, function() {
+				console.log("server running on port 3003");
+				axios.get("http://localhost:3003/n?firstname=Omer&lastname=Noam").then(response => {
+					console.log("omer&noam");
+					console.log(data.toString());
+	
+					this.send({ payload: response });		
 				})
 				.catch(error => {
 					console.log(error);
 				});
+				
+				});
+
+				app.get("/n", get_distance);
 
-				//this.debugLogger.logIfDebugMode(`butter response is ${JSON.stringify(butter_response.data)}`);
-				// send operation result.
-				this.send({ payload: response });
+				function get_distance(req, res) {
+					// Use child_process.spawn method from
+					// child_process module and assign it
+					// to variable spawn
+					var spawn = require("child_process").spawn;
+
+					// E.g : http://localhost:3000/name?firstname=Mike&lastname=Will
+					// so, first name = Mike and last name = Will
+					var process = spawn("python", [
+						"./sensors.py",
+						req.query.firstname,
+						req.query.lastname
+					]);
+
+					process.stdout.on("data", function(data) {
+						res.send(data.toString());
+						this.debugLogger.logIfDebugMode(`butter response is ${data.toString()}`);
+						
+						
+					});
+				}
+				
+				
+				
 			} catch (error) {
+				this.debugLogger.logIfDebugMode(error);
+
 				this.debugLogger.logIfDebugMode(`failed to get distance`);
 			}
 		});
diff --git a/package.json b/package.json
index 4859b97..12c9cfc 100644
--- a/package.json
+++ b/package.json
@@ -19,7 +19,13 @@
 		"type": "git",
 		"url": "git+https://github.com/idc-milab/NodeRed-Butter.git"
 	},
-	"keywords": [ "butter", "robotics", "mas", "node-red", "milab" ],
+	"keywords": [
+		"butter",
+		"robotics",
+		"mas",
+		"node-red",
+		"milab"
+	],
 	"author": "Ron Gissin",
 	"license": "MIT",
 	"bugs": {
@@ -27,7 +33,8 @@
 	},
 	"homepage": "https://github.com/idc-milab/NodeRed-Butter#readme",
 	"dependencies": {
-		"@butter-robotics/mas-javascript-api": "^0.13.0"
+		"@butter-robotics/mas-javascript-api": "^0.13.0",
+		"express": "^4.18.1"
 	},
 	"devDependencies": {
 		"jest": "^26.6.3",

From e2269e012e055386425cd74ebba1b12181a2c2d1 Mon Sep 17 00:00:00 2001
From: ehudb9 <70571624+ehudb9@users.noreply.github.com>
Date: Wed, 18 May 2022 14:02:30 +0300
Subject: [PATCH 7/9] Update get-distance.js

---
 nodes/get-distance.js | 79 +++++++++++++++++++++----------------------
 1 file changed, 39 insertions(+), 40 deletions(-)

diff --git a/nodes/get-distance.js b/nodes/get-distance.js
index 14bd78e..20c9262 100644
--- a/nodes/get-distance.js
+++ b/nodes/get-distance.js
@@ -10,6 +10,36 @@ module.exports = function(RED) {
 		//this.butterHttpClient = butterClientProvider.GetClient(this.config.robotIp);
 		this.debugLogger = new DebugLogger(this, this.config.debugMode);
 
+		var express = require("express");
+		const axios = require("axios");
+		var app = express();
+		var response = "";
+
+		app.listen(3003, function() {
+		console.log("server running on port 3003");
+		});
+
+		app.get("/name", get_distance);
+
+		function get_distance(req, res) {
+			console.log("kkkkkllkk");
+			var spawn = require("child_process").spawn;
+
+			// E.g : http://localhost:3000/name?firstname=Mike&lastname=Will
+			// so, first name = Mike and last name = Will
+			var process = spawn("python", [
+				"/Users/ehudb/Documents/GitHub/NodeRed-Butter/nodes/sensors.py",
+				req.query.firstname,
+				req.query.lastname
+			]);
+
+			process.stdout.on("data", function(data) {
+				// console.log(data.toString());
+				res.send(data.toString());
+			});
+		}
+		
+
 		this.on('input', async function(msg) {
 			// let robotIp = this.config.robotIp;
 			// let motorName = this.config.motorName;
@@ -36,54 +66,23 @@ module.exports = function(RED) {
 
 			try {
 				//butter_response = await this.butterHttpClient.setMotorRegister(motorName, registerName, value);
-
-
-				var express = require("express");
-				const axios = require("axios");
-				var app = express();
-				var response = "";
-
-				app.listen(3003, function() {
-				console.log("server running on port 3003");
-				axios.get("http://localhost:3003/n?firstname=Omer&lastname=Noam").then(response => {
-					console.log("omer&noam");
-					console.log(data.toString());
+				console.log("ILOVEBeny");
+				axios.get("http://127.0.0.1:3003/name?firstname=Omer&lastname=Noam").then(response => {
+					console.log(response.data);
+					console.log(JSON.stringify(response));
 	
-					this.send({ payload: response });		
+					this.send({ payload: response });
+					this.debugLogger.logIfDebugMode(`butter response is ${response.data.toString()}`);
+
 				})
 				.catch(error => {
 					console.log(error);
 				});
-				
-				});
 
-				app.get("/n", get_distance);
-
-				function get_distance(req, res) {
-					// Use child_process.spawn method from
-					// child_process module and assign it
-					// to variable spawn
-					var spawn = require("child_process").spawn;
-
-					// E.g : http://localhost:3000/name?firstname=Mike&lastname=Will
-					// so, first name = Mike and last name = Will
-					var process = spawn("python", [
-						"./sensors.py",
-						req.query.firstname,
-						req.query.lastname
-					]);
-
-					process.stdout.on("data", function(data) {
-						res.send(data.toString());
-						this.debugLogger.logIfDebugMode(`butter response is ${data.toString()}`);
-						
-						
-					});
-				}
-				
-				
 				
 			} catch (error) {
+				console.log(error);
+
 				this.debugLogger.logIfDebugMode(error);
 
 				this.debugLogger.logIfDebugMode(`failed to get distance`);

From cc5c99209eb3e34716f0a24025446bac7a2376e9 Mon Sep 17 00:00:00 2001
From: omernoam <noamomer@dontsendemail.com>
Date: Wed, 1 Jun 2022 15:00:44 +0300
Subject: [PATCH 8/9] python working

---
 NodeRed-Butter        |  1 +
 nodes/get-distance.js | 10 +++++-----
 2 files changed, 6 insertions(+), 5 deletions(-)
 create mode 160000 NodeRed-Butter

diff --git a/NodeRed-Butter b/NodeRed-Butter
new file mode 160000
index 0000000..2be5c34
--- /dev/null
+++ b/NodeRed-Butter
@@ -0,0 +1 @@
+Subproject commit 2be5c34fe86ce56f4413fe17b3cdc3a6921c0ea1
diff --git a/nodes/get-distance.js b/nodes/get-distance.js
index 20c9262..c3a68cf 100644
--- a/nodes/get-distance.js
+++ b/nodes/get-distance.js
@@ -13,7 +13,7 @@ module.exports = function(RED) {
 		var express = require("express");
 		const axios = require("axios");
 		var app = express();
-		var response = "";
+		//var response = "";
 
 		app.listen(3003, function() {
 		console.log("server running on port 3003");
@@ -28,15 +28,15 @@ module.exports = function(RED) {
 			// E.g : http://localhost:3000/name?firstname=Mike&lastname=Will
 			// so, first name = Mike and last name = Will
 			var process = spawn("python", [
-				"/Users/ehudb/Documents/GitHub/NodeRed-Butter/nodes/sensors.py",
+				"/home/kafka/Desktop/new-butter/NodeRed-Butter/nodes/sensors.py",
 				req.query.firstname,
 				req.query.lastname
-			]);
+			])
 
 			process.stdout.on("data", function(data) {
 				// console.log(data.toString());
 				res.send(data.toString());
-			});
+			})
 		}
 		
 
@@ -69,7 +69,7 @@ module.exports = function(RED) {
 				console.log("ILOVEBeny");
 				axios.get("http://127.0.0.1:3003/name?firstname=Omer&lastname=Noam").then(response => {
 					console.log(response.data);
-					console.log(JSON.stringify(response));
+					//console.log(JSON.stringify(response));
 	
 					this.send({ payload: response });
 					this.debugLogger.logIfDebugMode(`butter response is ${response.data.toString()}`);

From b3313b244792bb94c3f5815b2c9c3d4d0aac6bb4 Mon Sep 17 00:00:00 2001
From: Omer Sadeh <omer.sadeh@protonmail.com>
Date: Wed, 8 Jun 2022 09:26:36 +0300
Subject: [PATCH 9/9] kafka api

---
 nodes/__pycache__/api.cpython-39.pyc | Bin 0 -> 2518 bytes
 nodes/api.py                         |  60 +++++++++++++++++++++++++++
 nodes/get-distance.js                |  58 ++++++++++++++++++--------
 nodes/sensors.py                     |  17 +++++---
 4 files changed, 112 insertions(+), 23 deletions(-)
 create mode 100644 nodes/__pycache__/api.cpython-39.pyc
 create mode 100644 nodes/api.py

diff --git a/nodes/__pycache__/api.cpython-39.pyc b/nodes/__pycache__/api.cpython-39.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..8404325373f6df88617d6899bebf32827c9beafc
GIT binary patch
literal 2518
zcmZuyU2oh(6rHihUhihJNm>XkUyYz3tx7)n0kl<x0xd!av_upMVF_7Y&m?i;wYTHh
zwpnfZlD_ttmp&wq{RjLOzw(ryKwse8+0BxK+Vb_>@yz(nIp^MqXJ;D>*WZu-=<WoJ
z{YB2{%ZIa$r+fw@ndBJ@>Fs2^=Y$R)_qm~qJ~tCRFZ6nT=yUcRlR|pWne+~vum;bU
zHF!06fvU@3*U>{&lXcmUGY4+iP{HAhY|2^HIC43I*M!%Sb87ZT;4l0kYtJ7e2G(iw
zs`g`Ql#a8uQ_cPmZ|=q$x{!lJ>4|&4$jd=b>4YYnz66|gJmrTliiKRV&{3`uN=W|F
zm5y|ui_nt-zw@fbFRC;@b$3)^Ub&UX<DRMlnU*Hb6IFR}zLlwjmOQzr?clkOr(A>?
z@ezyI$bsb}7uJysOY@E<VB4Y+rOGyS4UPu<OxIyvF+GFV>$|JlMNh5n(gs%_sB+g7
z{ncDOS?&%Dw!hjbr21LO<!{Dr4!2y5`{_!5uL`0l%~KOav}#E|W8B9*y!hXqR!+ur
z+CEL7{Y6pLh@u|Q%&6UrqDO-`n|yIgqboPfjh@ANHpo+^Nqrs+?WQCc0&e~Pu`m_Y
zHU^z$0UYo#2M0X#EHA#oEyYWSN&3$P`fKR-6^W<@#sXQly^TrljBH$HswrnM19Gz8
zW@QVY&sBld%GVp;Lqfh*W}x#ku~E#F4wk+Q4axS|aAP=cAiym|_JZ%TUs--zFvIsc
zob7YYhD!#jIY7%e#vSnk+#I8RquKl!&l}_S8e2o}2=tGb&$zvPjCzQED+<whec}3@
z8!OkpxV`fEmn+wA+`Y4Q=LSMu=oW<m^l?8bm42*rIb8boX`=cjE%K!&+i9kjk|NI`
z(=^{&vYTuR?P3E}eLAr6`kJU)KzG{->rwwCXB_qP9F5iDWWC6WZ#uMvxg{Cq2rl?M
zZ}EU%b%s|?fL(d>JP3W^<af~JB!L>xbDCJ$Rqn3ZtGvf?HaMG6q@^h(8qV;RK|V<$
z!`T;TyOXvzVmlo9CPtogU!aDJ*r9U-m?wm}dl?8rWddPBLP#J?7;ogCA<Tc~Tf*=r
z!YnafXXp*g=JIWD5vV*VBw%hk`U8ZcsgMk>Oi^A+^QHcvo2BJ8anVy{8E+}%m)G4h
zs-%3+W#w&VgK}HHLknCYV@av$_o)3ond#bL9mqs>ayVo089Vwi4Wl|SHk5tU+~n8M
z<i9kgoQGkK!<)G0dD9`zhL@&{otx5jE6?&$36rAU2^pI>AuXL;l;TuXY?iE}Vb~!*
zV*BpM*#RX)f#mn7*QJst9U~6CkvQU1$UzqyaD8v&9{NO%1=#KAPq0qq>i9{!rZ1wc
z-=z)|C7C9uV)|op#ZFn|l_v+iepz`*R+Osk>8muH=Ic*k!q!>IhBZ{o2Uz4hR<(^W
zO*FG4^q3Q%Kn8q~@R^_DGZ}`XCQz}?QXC1PpT!{4Aj#<GI1>gsrev)AVso=prV5fc
z%ery0o18u#NX%6GEOHOffPAf(w;)^yS^z!qfc<`H-!uHs8F@SI5#RTLB1FpBqeUP~
z=&g^$p*W4++gPjZh70k)6wx?@NGk-Q=@1GpA}j5A7!jq#z(l<gz)@(r4O4kp5zEqQ
zSzn{IYGYJaXv8X+HJC6sS*LP)<yO@sWTB3Yg6hgSDb^njx@Dr%uA)UIBE$*wj}Mre
zyg?ven1VbV+-bKo6&O87hNN3HQ7%lH^px2yq^)XJ95!dHF7yQ&<`?#$)}PTts^pa$
z=X?4Vx&OsxTg0|i869Ibw17K&zTxo28Hc|WINW|E`Ss#7$2sV2#Y3f!N&3ejOy%1g
zxq18%ob*qus+ZA1@D@+s?DdiUHjGeYPkUMDSy_(5x4_d{W2xKy-Xzz?ZX>o;;SFI|
b!M*X}{1wN9l6FpT27KOa`K@czZt;Hsg1bd$

literal 0
HcmV?d00001

diff --git a/nodes/api.py b/nodes/api.py
new file mode 100644
index 0000000..c082fac
--- /dev/null
+++ b/nodes/api.py
@@ -0,0 +1,60 @@
+import json
+from typing import Literal
+import lxml
+from kafka import KafkaProducer, KafkaConsumer
+
+
+class TestObject:
+    def __init__(self, name: str, distance: int, angle: int):
+        self.name = name
+        self.distance = distance
+        self.angle = angle
+
+class KafkaAPI:
+    @staticmethod
+    def connect_kafka_producer() -> KafkaProducer:
+        _producer = None
+        try:
+            _producer = KafkaProducer(bootstrap_servers=['192.168.57.12:9092'])
+        except Exception as ex:
+            print('Exception while connecting Kafka')
+            print(str(ex))
+        finally:
+            return _producer
+
+    @staticmethod
+    def publish_message(producer_instance: KafkaProducer, topic_name: str, key: str, value: str):
+        try:
+            key_bytes = bytes(key, encoding='utf-8')
+            value_bytes = bytes(value, encoding='utf-8')
+            producer_instance.send(topic_name, key=key_bytes, value=value_bytes)
+            producer_instance.flush()
+            #Sprint('Message published successfully.')
+        except Exception as ex:
+            print('Exception in publishing message')
+            print(str(ex))
+
+    @staticmethod
+    def Publish(topic: str, time: int, data: object):
+        kafka_producer = KafkaAPI.connect_kafka_producer()
+        newDict = data.__dict__
+        newDict["time"] = time
+        KafkaAPI.publish_message(kafka_producer, topic, 'raw', json.dumps(newDict))
+        if kafka_producer is not None:
+            kafka_producer.close()
+
+    @staticmethod
+    def Subscribe(topic: str, duration: int, offset: Literal['earliest', 'latest'], callback: any):
+        consumer = KafkaConsumer(topic, auto_offset_reset=offset,
+                                 bootstrap_servers=['192.168.57.12:9092'], consumer_timeout_ms=duration)
+        for msg in consumer:
+            newDataPoint = json.loads(msg.value)
+            callback(newDataPoint)
+        if consumer is not None:
+            consumer.close()
+
+if __name__ == '__main__':
+    newDataPoint = TestObject("gazer", 5, 90)
+    KafkaAPI.Publish('topic3', 34, newDataPoint)
+    KafkaAPI.Subscribe('topic3', 3000, 'earliest', print)
+
diff --git a/nodes/get-distance.js b/nodes/get-distance.js
index c3a68cf..03261fe 100644
--- a/nodes/get-distance.js
+++ b/nodes/get-distance.js
@@ -1,25 +1,12 @@
 
 module.exports = function(RED) {
-	function GetDistNode(config) {
-		RED.nodes.createNode(this, config);
-		this.config = config;
-
-		const DebugLogger = require('../logger/debug_logger');
-		//const butterClientProvider = require('../butter-client/butter-client-provider');
-
-		//this.butterHttpClient = butterClientProvider.GetClient(this.config.robotIp);
-		this.debugLogger = new DebugLogger(this, this.config.debugMode);
 
-		var express = require("express");
+	var express = require("express");
 		const axios = require("axios");
-		var app = express();
-		//var response = "";
 
-		app.listen(3003, function() {
-		console.log("server running on port 3003");
-		});
+		
 
-		app.get("/name", get_distance);
+		
 
 		function get_distance(req, res) {
 			console.log("kkkkkllkk");
@@ -38,6 +25,41 @@ module.exports = function(RED) {
 				res.send(data.toString());
 			})
 		}
+
+	
+		var InitServer = (function () {
+			var app;
+		
+			function createInstance() {
+				var app = express();
+				return app;
+			}
+		
+			return {
+				getInstance: function () {
+					if (!app) {
+						app = createInstance();
+					}
+					return app;
+				}
+			};
+		})();
+
+	function GetDistNode(config) {
+		RED.nodes.createNode(this, config);
+		this.config = config;
+
+		const DebugLogger = require('../logger/debug_logger');
+		//const butterClientProvider = require('../butter-client/butter-client-provider');
+
+		//this.butterHttpClient = butterClientProvider.GetClient(this.config.robotIp);
+		this.debugLogger = new DebugLogger(this, this.config.debugMode);
+
+		app = InitServer.getInstance();
+		app.listen(3004, function() {
+			console.log("server running on port 3004");
+		});
+		app.get("/name", get_distance);
 		
 
 		this.on('input', async function(msg) {
@@ -67,11 +89,11 @@ module.exports = function(RED) {
 			try {
 				//butter_response = await this.butterHttpClient.setMotorRegister(motorName, registerName, value);
 				console.log("ILOVEBeny");
-				axios.get("http://127.0.0.1:3003/name?firstname=Omer&lastname=Noam").then(response => {
+				axios.get("http://127.0.0.1:3004/name?firstname=Omer&lastname=Noam").then(response => {
 					console.log(response.data);
 					//console.log(JSON.stringify(response));
 	
-					this.send({ payload: response });
+					this.send({ payload: response.data });
 					this.debugLogger.logIfDebugMode(`butter response is ${response.data.toString()}`);
 
 				})
diff --git a/nodes/sensors.py b/nodes/sensors.py
index a8ee0d5..e31d0c9 100644
--- a/nodes/sensors.py
+++ b/nodes/sensors.py
@@ -1,9 +1,16 @@
 import sys
+from api import KafkaAPI
+from api import TestObject
 
-print("hello!\n")
-print("Output from Python")
-print("First name: " + sys.argv[1])
-print("Last name: " + sys.argv[2])
-print("your dist is 10Km")
+cur_dist = []
 
+def RET(msg):
+    cur_dist.append(msg['distance'])
+    
+
+newDataPoint = TestObject("gazer", 5, 90)
+KafkaAPI.Publish('topic3', 34, newDataPoint)
+KafkaAPI.Subscribe('topic3', 3000, 'earliest', RET)
+
+print(cur_dist[0])
 sys.stdout.flush()