idc-milab · ehudb9 · May 10, 2022 · May 10, 2022 · May 11, 2022 · May 11, 2022
diff --git a/.DS_Store b/.DS_Store
diff --git a/NodeRed-Butter b/NodeRed-Butter
diff --git a/nodes/__pycache__/api.cpython-39.pyc b/nodes/__pycache__/api.cpython-39.pyc
diff --git a/nodes/api.py 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.html b/nodes/get-distance.html
@@ -0,0 +1,133 @@
+<!-- Set Motor Register Node -->
+
+<script type="text/javascript">
+    RED.nodes.registerType('get-distance',{
+        category: 'butter',
+        color: '#5c6bc0',
+        defaults: {
+            name: {
+                value: "get-distance",
+                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: "get-distance",
+        label: function() {
+            return this.name||"get-distance";
+        },
+        align: 'right',
+        outputLabels: ["operation result"],
+        inputLabels: ["op instructions (optional)"]
+    });
+</script>
+
+<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">
+    </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>
diff --git a/nodes/get-distance.js b/nodes/get-distance.js
@@ -0,0 +1,117 @@
+
+module.exports = function(RED) {
+
+	var express = require("express");
+		const axios = require("axios");
+
+
+
+
+
+		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", [
+				"/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());
+			})
+		}
+
+
+		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) {
+			// 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);
+				console.log("ILOVEBeny");
+				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.data });
+					this.debugLogger.logIfDebugMode(`butter response is ${response.data.toString()}`);
+
+				})
+				.catch(error => {
+					console.log(error);
+				});
+
+
+			} catch (error) {
+				console.log(error);
+
+				this.debugLogger.logIfDebugMode(error);
+
+				this.debugLogger.logIfDebugMode(`failed to get distance`);
+			}
+		});
+	}
+
+	// register node type.
+	RED.nodes.registerType('get-distance', GetDistNode);
+};
diff --git a/nodes/sensors.py b/nodes/sensors.py
@@ -0,0 +1,16 @@
+import sys
+from api import KafkaAPI
+from api import TestObject
+
+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()
diff --git 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": {
@@ -18,15 +19,22 @@
 		"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": {
 		"url": "https://github.com/idc-milab/NodeRed-Butter/issues"
 	},
 	"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",