feat: add digital logger switch node

WHOIGit · Jan 23, 2025 · 944af64 · 944af64
1 parent 06dd4ff
commit 944af64
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diff --git a/configs/example.yaml b/configs/example.yaml
@@ -7,6 +7,7 @@ launch_args:
     classifier: false
     ifcb_winch: false
     chanos_winch: false
+    digital_logger: true
 
 
 alerts:
@@ -253,3 +254,30 @@ web:
             default: -999.999 # Replace with desired default long
         defaultOnlyExample: #optional
             default: 'static_value' # No topic, making this default value permanent
+
+# Configure digital logger control
+# Status topic: /digital_logger/outlets/{outlet num}/status
+# D/L message: {"name": "camera", "status": "on"}
+# Control service: /digital_logger/control
+# C/L message: {"name": "camera", "status": "off"}
+digital_logger: #optional
+    username: "admin"
+    password: "1234"
+    address: "192.168.1.2"
+    outlets:
+        - name: "ifcb"
+          outlet: 0
+        - name: "arm_ifcb"
+          outlet: 1
+        - name: "arm_chanos"
+          outlet: 2
+        - name: "camera"
+          outlet: 3
+        - name: "gps"
+          outlet: 4
+        - name: "ctd"
+          outlet: 5
+        - name: "winch"
+          outlet: 6
+        - name: "starlink"
+          outlet: 7
diff --git a/src/phyto_arm/CMakeLists.txt b/src/phyto_arm/CMakeLists.txt
@@ -22,6 +22,7 @@ add_message_files(
   ConductorState.msg
   ConductorStates.msg
   DepthProfile.msg
+  OutletStatus.msg
 )
 
 add_service_files(

diff --git a/src/phyto_arm/launch/main.launch b/src/phyto_arm/launch/main.launch
@@ -36,6 +36,8 @@
         </node>
     </group>
 
+    <node if="$(arg digital_logger)" name="digital_logger" pkg="phyto_arm" type="digital_logger_node.py"/>
+
     <!--
     disabled
     <node name="instant_replay" pkg="phyto_arm" type="instant_replay_node.py"

diff --git a/src/phyto_arm/msg/OutletStatus.msg b/src/phyto_arm/msg/OutletStatus.msg
@@ -0,0 +1,2 @@
+string name
+bool is_active
diff --git a/src/phyto_arm/src/digital_logger_node.py b/src/phyto_arm/src/digital_logger_node.py
@@ -0,0 +1,109 @@
+#!/usr/bin/env python3
+"""
+Functionality for monitoring and controlling a Digital Loggers Web Power Switch Pro model.
+"""
+import base64
+import urllib.request
+
+import rospy
+
+from phyto_arm.msg import OutletStatus
+
+# Global variables relevant to digital logger control. These variables are defined once the digital
+# logger node is initialized.
+AUTH = ''
+ADDRESS = ''
+OUTLETS = ''
+OUTLET_NAMES = ''
+
+
+def control_outlet(msg):
+    """
+    Send the given msg to the digital logger as an HTTP request.
+    """
+
+    outlet_num = OUTLET_NAMES.get(msg.name)
+
+    data = f'value={str(msg.is_active).lower()}'
+    url = f'http://{ADDRESS}/restapi/relay/outlets/{outlet_num}/state/'
+
+    # Create a PUT request
+    req = urllib.request.Request(url, data=data.encode("utf-8"), method="PUT")
+    req.add_header("Authorization", AUTH)
+    req.add_header("X-CSRF", 'x')
+
+    try:
+        # Send the PUT request
+        response = urllib.request.urlopen(req)
+    except urllib.error.HTTPError as http_err:
+        raise ValueError(f"HTTP Error: {http_err.code} : {http_err.reason}") from http_err
+    except urllib.error.URLError as url_err:
+        raise ValueError(f"URL Error: {url_err.reason}") from url_err
+
+    result = response.read().decode('utf-8')
+
+    rospy.loginfo(f'sent status={str(msg.is_active).lower()} to {ADDRESS}:{url}, received: code {response.status} : {result}')
+
+
+def run_digital_logger_node():
+    """
+    Run the digital logger node. Publishes outlet statuses at 
+    /digital_logger/OUTLETS/{outlet num}/status. The OUTLETS can be controlled by publishing a 
+    OutletStatus message to /digital_logger/control. 
+    """
+    global AUTH, ADDRESS, OUTLETS, OUTLET_NAMES
+
+    rospy.init_node('digital_logger')
+
+    rospy.init_node('digital_logger')
+    username = rospy.get_param('~username')
+    password = rospy.get_param('~password')
+    AUTH = f"Basic {base64.b64encode(f'{username}:{password}'.encode()).decode()}"
+    ADDRESS = rospy.get_param('~address')
+    OUTLETS = rospy.get_param('~outlets')
+    OUTLET_NAMES = {outlet['name']: int(outlet['outlet']) for outlet in OUTLETS}
+
+    # subscribe to the digital logger control topic
+    rospy.Subscriber('/digital_logger/control', OutletStatus, control_outlet)
+
+    outlet_publishers = []
+    for outlet_num, _ in enumerate(OUTLETS):
+        outlet_publishers.append(rospy.Publisher(f'/digital_logger/outlet/{outlet_num}/status/', OutletStatus, queue_size=10))
+
+    # Monitor outlets at 1Hz
+    rate = rospy.Rate(1)
+
+    while not rospy.is_shutdown():
+        # send a status request for each available outlet
+        for outlet_index, _ in enumerate(OUTLETS):
+            # Construct request
+            url = f'http://{ADDRESS}/restapi/relay/outlets/{outlet_index}/state/'
+            request = urllib.request.Request(url)
+            request.add_header("Authorization", AUTH)
+
+            try:
+                # Send the GET request
+                with urllib.request.urlopen(request) as response:
+                    # Read and decode the response
+                    response_data = response.read().decode('utf-8')
+            except urllib.error.HTTPError as http_err:
+                raise ValueError(f"HTTP Error: {http_err.code} : {http_err.reason}") from http_err
+            except urllib.error.URLError as url_err:
+                raise ValueError(f"URL Error: {url_err.reason}") from url_err
+
+            # publish the status of each outlet to its specific topic
+            outlet_status = OutletStatus()
+            outlet_status.name = OUTLETS[outlet_index]['name']
+            # DL API uses 'true' and 'false' to denote outlet status, which need to be converted to Python booleans
+            outlet_status.is_active = response_data == 'true'
+
+            outlet_publishers[outlet_index].publish(outlet_status)
+
+        rate.sleep()
+
+
+if __name__ == '__main__':
+    try:
+        run_digital_logger_node()
+    except rospy.ROSInterruptException:
+        pass