Dev tak

common/ros_packages/airstack_msgs/CMakeLists.txt

@@ -8,6 +8,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
 find_package(diagnostic_msgs REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
@@ -22,10 +23,11 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/BeliefMapData.msg"
   "msg/SearchPrior.msg"
   "msg/TaskAssignment.msg"
+  "msg/query/TextQueryResponse.msg"
   "srv/RobotCommand.srv"
   "srv/TrajectoryMode.srv"
   "srv/TakeoffLandingCommand.srv"
-  DEPENDENCIES std_msgs geometry_msgs diagnostic_msgs
+  DEPENDENCIES std_msgs geometry_msgs sensor_msgs diagnostic_msgs
 )
 
 if(BUILD_TESTING)

common/ros_packages/airstack_msgs/msg/query/TextQueryResponse.msg

@@ -0,0 +1,5 @@
+# This message type is used for the response of a text query from a robot semantic query
+
+std_msgs/Header header      # Header for the message, usually contains timestamp and frame_id
+string tag_name             # The tag associated with the query or response
+sensor_msgs/NavSatFix[] geofence  # Array of GPS fixes (NavSatFix) representing the geofence

common/ros_packages/airstack_msgs/package.xml

@@ -12,11 +12,12 @@
   <depend>std_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>diagnostic_msgs</depend>
-
+  <depend>sensor_msgs</depend>
+
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
   <member_of_group>rosidl_interface_packages</member_of_group>
-  
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 

ground_control_station/docker/.env

@@ -20,6 +20,8 @@ TAK_SUBSCRIBER_FILEPATH=src/ros2tak_tools/scripts/tak_subscriber.py
 MQTT_USERNAME= # Enter the MQTT username
 MQTT_PASSWORD= # Enter the MQTT password
 
+# Chat interface configuration -----------------------------------------
+AI_AGENT_NAME=aerolens.ai (BOT)
 
 # GSTREAMER TO ROS NODES -----------------------------------------------
 
@@ -30,3 +32,7 @@ CAMERA1_ROS_TOPIC=/view1/image_raw
 # CAMERA 2
 CAMERA2_STREAM_IP=rtsp://
 CAMERA2_ROS_TOPIC=/view2/image_raw
+
+
+# ROS VARIABLES -------------------------------------------------------
+ROS_DOMAIN_ID=200

ground_control_station/docker/Dockerfile.ros2casevac_agent

@@ -0,0 +1,37 @@
+# Use the official ROS 2 Humble base image
+FROM ros:humble
+
+ARG ROS_WS_DIR
+
+# Set working directory
+WORKDIR ${ROS_WS_DIR}
+
+# Update and install necessary dependencies
+RUN apt-get update && apt-get install -y \
+    python3-pip \
+    ros-humble-rosbag2 \
+    ros-humble-rosbag2-storage-mcap \
+    python3-colcon-common-extensions \
+    && rm -rf /var/lib/apt/lists/*
+
+# Upgrade pip and install Python dependencies
+RUN pip3 install --upgrade pip \
+    && pip3 install setuptools==57.5.0 pytak pyyaml \
+    && pip3 install paho-mqtt
+
+# Source ROS 2 setup file to ensure environment variables are set
+# You may want to add this to ENTRYPOINT or CMD if you're working interactively
+RUN echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
+
+# COPY the agent code into the container
+COPY ground_control_station/ros_ws/src/ros2tak_tools ${ROS_WS_DIR}/src/ros2tak_tools
+COPY common/ros_packages/straps_msgs ${ROS_WS_DIR}/src/straps_msgs
+
+# Build the ROS 2 workspace
+RUN /bin/bash -c "source /opt/ros/humble/setup.bash && \
+                  colcon build --symlink-install --packages-select straps_msgs && \
+                  colcon build --symlink-install"
+
+# Source the workspace setup file to ensure environment variables are set
+RUN echo "source ${ROS_WS_DIR}/install/setup.bash" >> ~/.bashrc
+

ground_control_station/docker/docker-compose.yaml

@@ -47,3 +47,185 @@ services:
       - ../../common/ros_packages:/root/ros_ws/src/common:rw  # common ROS packages
       - ../ros_ws:/root/ros_ws:rw  # gcs-specific ROS packages
       - ../../common/ros_packages/fastdds.xml:/root/ros_ws/fastdds.xml:rw  # fastdds.xml
+
+
+  ####################### GSTREAMER TO ROS TOPICS ######################
+  # gst-ros-bridge-topic1:
+  #   container_name: "${PROJECT_NAME}-gst_ros_bridge1"
+  #   image: "${PROJECT_NAME}/gcs/gst-ros-bridge"
+  #   build:
+  #     context: .
+  #     dockerfile: Dockerfile.gst-ros-bridge
+  #   command: >
+  #     /bin/bash -c 'source /ros_ws/install/setup.bash && gst-launch-1.0 --gst-plugin-path=/ros_ws/install/gst_bridge/lib/gst_bridge/
+  #     rtspsrc location="${CAMERA1_STREAM_IP}" latency=0 !
+  #     rtph265depay ! h265parse ! avdec_h265 ! videoconvert !
+  #     rosimagesink ros-topic="${CAMERA1_ROS_TOPIC}"'
+  #   environment:
+  #     - DISPLAY=${DISPLAY}
+  #     - DOCKER_BUILDKIT=0
+  #     - CAMERA1_STREAM_IP=${CAMERA1_STREAM_IP}
+  #     - CAMERA1_ROS_TOPIC=${CAMERA1_ROS_TOPIC}
+  #   volumes:
+  #     - /tmp/.X11-unix:/tmp/.X11-unix
+  #   network_mode: host
+
+  ####################### ROS2TAK TOOLS ######################
+  ############### MQTT for the GCS
+  mqtt:
+    container_name: "mqtt"
+    image: eclipse-mosquitto:2.0.20
+    restart: always
+    volumes:
+      - ../ros_ws/src/ros2tak_tools/mosquitto/config:/mosquitto/config
+      - ../ros_ws/src/ros2tak_tools/mosquitto/data:/mosquitto/data
+      - ../ros_ws/src/ros2tak_tools/mosquitto/log:/mosquitto/log
+    env_file:
+      - .env
+    ports:
+      - "1883:1883"
+    healthcheck:
+      test: [ "CMD", "mosquitto_pub", "-h", "localhost", "-t", "healthcheck", "-m", "ping", "-u", "${MQTT_USERNAME}", "-P", "${MQTT_PASSWORD}" ]
+      interval: 5s
+      timeout: 3s
+      retries: 2
+      start_period: 5s
+    #    network_mode: host
+    networks:
+      - airstack_network
+  ################## ROS2COT_AGENT
+  ros2cot_agent:
+    build:
+      context: ../
+      dockerfile: docker/Dockerfile.ros2tak_tools
+      args:
+        - ROS_WS_DIR=${ROS_WS_DIR}
+    image: "${PROJECT_NAME}/gcs/ros2cot_agent"
+    container_name: "${PROJECT_NAME}-ros2cot_agent"
+    stdin_open: true
+    tty: true
+    restart: unless-stopped
+    environment:
+      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
+    depends_on:
+      mqtt:
+        condition: service_healthy
+    #    network_mode: host
+    networks:
+      - airstack_network
+    command: [ "/bin/bash", "-c", "source /opt/ros/humble/setup.bash && source $ROS_WS_DIR/install/setup.bash && ./install/ros2tak_tools/bin/ros2cot_agent --config $ROS_WS_DIR/$ROS2TAK_TOOLS_CONFIG_DIR/$ROS2TAK_TOOLS_CONFIG_FILENAME" ]
+
+  # ################### TAK_PUBLISHER
+  tak_publisher:
+    build:
+      context: ../
+      dockerfile: docker/Dockerfile.tak_publisher
+      args:
+        - ROS_WS_DIR=${ROS_WS_DIR}
+    image: "${PROJECT_NAME}/gcs/tak_publisher"
+    container_name: "${PROJECT_NAME}-tak_publisher"
+    stdin_open: true
+    tty: true
+    restart: unless-stopped
+    depends_on:
+      mqtt:
+        condition: service_healthy
+    #    network_mode: host
+    networks:
+      - airstack_network
+    volumes:
+      - ../ros_ws/src/ros2tak_tools/:${ROS_WS_DIR}/src/ros2tak_tools/
+    command: [ "python3", "$TAK_PUBLISHER_FILEPATH", "--config", "$ROS2TAK_TOOLS_CONFIG_DIR/$ROS2TAK_TOOLS_CONFIG_FILENAME" ]
+  ################### TAK_SUBSCRIBER
+  tak_subscriber:
+    build:
+      context: ../
+      dockerfile: docker/Dockerfile.tak_subscriber
+      args:
+        - ROS_WS_DIR=${ROS_WS_DIR}
+    image: "${PROJECT_NAME}/gcs/tak_subscriber"
+    container_name: "${PROJECT_NAME}-tak_subscriber"
+    stdin_open: true
+    tty: true
+    restart: unless-stopped
+    depends_on:
+      mqtt:
+        condition: service_healthy
+    networks:
+      - airstack_network
+    volumes:
+      - ../ros_ws/src/ros2tak_tools/:${ROS_WS_DIR}/src/ros2tak_tools/
+    command: [ "python3", "$TAK_SUBSCRIBER_FILEPATH", "--config", "$ROS2TAK_TOOLS_CONFIG_DIR/$ROS2TAK_TOOLS_CONFIG_FILENAME" ]
+
+  ################## ROS2COT_AGENT
+  cot2planner_agent:
+    build:
+      context: ../../
+      dockerfile: ground_control_station/docker/Dockerfile.TAK
+      args:
+        - ROS_WS_DIR=${ROS_WS_DIR}
+    image: "${PROJECT_NAME}/gcs/cot2planner_agent"
+    container_name: "${PROJECT_NAME}-cot2planner_agent"
+    stdin_open: true
+    tty: true
+    restart: unless-stopped
+    depends_on:
+      mqtt:
+        condition: service_healthy
+    networks:
+      - airstack_network
+    command: [ "/bin/bash", "-c", "source /opt/ros/humble/setup.bash && source $ROS_WS_DIR/install/setup.bash && ./install/ros2tak_tools/bin/cot2planner_agent --config $ROS_WS_DIR/$ROS2TAK_TOOLS_CONFIG_DIR/$ROS2TAK_TOOLS_CONFIG_FILENAME" ]
+
+  # ################## ROS2COT_AGENT
+  ros2casevac_agent:
+    build:
+      context: ../../
+      dockerfile: ground_control_station/docker/Dockerfile.ros2casevac_agent
+      args:
+        - ROS_WS_DIR=${ROS_WS_DIR}
+    image: "${PROJECT_NAME}/gcs/ros2casevac_agent"
+    container_name: "${PROJECT_NAME}-ros2casevac_agent"
+    stdin_open: true
+    tty: true
+    restart: unless-stopped
+    depends_on:
+      mqtt:
+        condition: service_healthy
+    environment:
+      - ROS_WS_DIR=${ROS_WS_DIR}
+      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
+    working_dir: $ROS_WS_DIR
+    #    network_mode: host
+    networks:
+      - airstack_network
+    command: [ "/bin/bash", "-c", "source /opt/ros/humble/setup.bash && source $ROS_WS_DIR/install/setup.bash && ./install/ros2tak_tools/bin/ros2casevac_agent --config $ROS_WS_DIR/$ROS2TAK_TOOLS_CONFIG_DIR/$ROS2TAK_TOOLS_CONFIG_FILENAME" ]
+
+  # ################## GCS_AI_AGENT
+  gcs_ai_agent:
+    build:
+      context: ../../
+      dockerfile: ground_control_station/docker/Dockerfile.TAK
+      args:
+        - ROS_WS_DIR=${ROS_WS_DIR}
+    image: "${PROJECT_NAME}/gcs/gcs_ai_agent"
+    container_name: "${PROJECT_NAME}-gcs_ai_agent"
+    stdin_open: true
+    tty: true
+    restart: unless-stopped
+    environment:
+      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
+      - AI_AGENT_NAME=${AI_AGENT_NAME}
+      - PROJECT_NAME=${PROJECT_NAME}
+    depends_on:
+      mqtt:
+        condition: service_healthy
+    #    network_mode: host
+    networks:
+      - airstack_network
+    command: [ "/bin/bash", "-c", "source /opt/ros/humble/setup.bash && source $ROS_WS_DIR/install/setup.bash && ./install/ros2tak_tools/bin/chat2ros_agent --config $ROS_WS_DIR/$ROS2TAK_TOOLS_CONFIG_DIR/$ROS2TAK_TOOLS_CONFIG_FILENAME" ]
+
+
+  ########### NETWORKS ###########
+networks:
+  airstack_network:
+    driver: bridge

ground_control_station/ros_ws/src/ros2tak_tools/config/config.yaml

@@ -72,29 +72,46 @@ services:
       # TAK_Subscriber (below) service has more information on the ROS topics.
       topic_name: planner_events # Topic name at MQTT for the subscriber service that sends COT messages subscribed from the TAK server.
 
+    chat2ros_agent:
+      mqtt_subcribe_topic: dsta-operator  # Topic name at MQTT for the subscriber service that sends COT messages subscribed from the TAK server.
+      ros_query_text_topic: '/query/text'  # ROS Topic name to publish the chat queries.
+      ros_query_response_topic: '/query/response'  # ROS Topic name to publish the chat responses.
+      filter_name: dsta-operator
+
+    ros2casevac_agent:
+      # this service is used to generate ROS messages from HOSTIP:PORT to ROS topics.
+      # TAK_Subscriber (below) service has more information on the ROS topics.
+      topic_name: to_tak # MQTT topic name to send the COT messages to.
+      ros_casualty_meta_topic_name: '/casualty/meta' # ROS Topic name to publish the casevac messages.
+      ros_casualty_image_topic_name: '/casualty/image' # ROS message type for the casevac messages.
+
   subscriber:
     tak_subscriber:
       # this service is used to subscribe to CoT messages from TAK server and send them to HOSTIP:PORT.
       filter_messages: # Type of messages to subscribe to. Options:
-      - name: 'target'
-        # ROS Topic name to publish the target messages. Use {n} as a placeholder for the robot number. 
-        # If provided, the topic name will be formatted with the robot number extracted from the message name.
-        ros_topic_name: '/target{n}/gps/gt'  
-        ros_msg_type: NavSatFix  # ROS message type for the target messages.
-        mqtt_topic_name: target_from_tak  # Topic name at MQTT for the subscriber service that sends COT messages subscribed from the TAK server.
-      - name: 'iphone'
-        # ROS Topic name to publish the target messages. Use {n} as a placeholder for the robot number. 
-        # If provided, the topic name will be formatted with the robot number extracted from the message name.
-        ros_topic_name: '/iphone{n}/gps/gt'  
-        ros_msg_type: NavSatFix  # ROS message type for the target messages.
-        mqtt_topic_name: iphone_from_tak  # Topic name at MQTT for the subscriber service that sends COT messages subscribed from the TAK server.
-      - name: 'base'
-        ros_topic_name: '/basestation/gps'  
-        ros_msg_type: NavSatFix  # ROS message type for the target messages.
-        mqtt_topic_name: base_from_tak  # Topic name at MQTT for the subscriber service that sends COT messages subscribed from the TAK server.
-      - name: 'planner'
-        ros_topic_name: '/planner/planconfig'  # ROS Topic name to publish the shapes messages.
-        ros_msg_type: MarkerArray  # ROS message type for the shapes messages.
-        mqtt_topic_name: planner_events  # Topic name at MQTT for the subscriber service that sends COT messages subscribed from the TAK server.
+        - name: 'target'
+          # ROS Topic name to publish the target messages. Use {n} as a placeholder for the robot number.
+          # If provided, the topic name will be formatted with the robot number extracted from the message name.
+          ros_topic_name: '/target{n}/gps/gt'
+          ros_msg_type: NavSatFix  # ROS message type for the target messages.
+          mqtt_topic_name: target_from_tak  # Topic name at MQTT for the subscriber service that sends COT messages subscribed from the TAK server.
+        - name: 'iphone'
+          # ROS Topic name to publish the target messages. Use {n} as a placeholder for the robot number.
+          # If provided, the topic name will be formatted with the robot number extracted from the message name.
+          ros_topic_name: '/iphone{n}/gps/gt'
+          ros_msg_type: NavSatFix  # ROS message type for the target messages.
+          mqtt_topic_name: iphone_from_tak  # Topic name at MQTT for the subscriber service that sends COT messages subscribed from the TAK server.
+        - name: 'base'
+          ros_topic_name: '/basestation/gps'
+          ros_msg_type: NavSatFix  # ROS message type for the target messages.
+          mqtt_topic_name: base_from_tak  # Topic name at MQTT for the subscriber service that sends COT messages subscribed from the TAK server.
+        - name: 'planner'
+          ros_topic_name: '/planner/planconfig'  # ROS Topic name to publish the shapes messages.
+          ros_msg_type: MarkerArray  # ROS message type for the shapes messages.
+          mqtt_topic_name: dsta-operator  # Topic name at MQTT for the subscriber service that sends COT messages subscribed from the TAK server.
+        - name: 'dsta-operator'
+          ros_topic_name: 'NA'  # ROS Topic name to publish the shapes messages.
+          ros_msg_type: NA  # ROS message type for the shapes messages.
+          mqtt_topic_name: dsta-operator  # Topic name at MQTT for the subscriber service that sends COT messages subscribed from the TAK server.
       # target: Target messages
       # planner: Planner messages

ground_control_station/ros_ws/src/ros2tak_tools/ros2tak_tools.egg-info/PKG-INFO

@@ -0,0 +1,8 @@
+Metadata-Version: 2.1
+Name: ros2tak_tools
+Version: 0.0.0
+Summary: TODO: Package description
+Maintainer: mission-operator
+Maintainer-email: mission-operator@todo.todo
+License: TODO: License declaration
+Requires-Dist: setuptools

ground_control_station/ros_ws/src/ros2tak_tools/ros2tak_tools.egg-info/SOURCES.txt

@@ -0,0 +1,24 @@
+README.md
+package.xml
+setup.py
+resource/ros2tak_tools
+ros2tak_tools/Casualty.py
+ros2tak_tools/__init__.py
+ros2tak_tools/chat2ros_agent.py
+ros2tak_tools/cot2planner_agent.py
+ros2tak_tools/ros2casevac_agent.py
+ros2tak_tools/ros2cot_agent.py
+ros2tak_tools.egg-info/PKG-INFO
+ros2tak_tools.egg-info/SOURCES.txt
+ros2tak_tools.egg-info/dependency_links.txt
+ros2tak_tools.egg-info/entry_points.txt
+ros2tak_tools.egg-info/requires.txt
+ros2tak_tools.egg-info/top_level.txt
+ros2tak_tools.egg-info/zip-safe
+tak_helper/__init__.py
+tak_helper/create_cot_msgs.py
+tak_helper/tak_publisher.py
+tak_helper/tak_subscriber.py
+test/test_copyright.py
+test/test_flake8.py
+test/test_pep257.py

ground_control_station/ros_ws/src/ros2tak_tools/ros2tak_tools.egg-info/dependency_links.txt

@@ -0,0 +1 @@
+

ground_control_station/ros_ws/src/ros2tak_tools/ros2tak_tools.egg-info/entry_points.txt

@@ -0,0 +1,6 @@
+[console_scripts]
+chat2ros_agent = ros2tak_tools.chat2ros_agent:main
+cot2planner_agent = ros2tak_tools.cot2planner_agent:main
+cot2ros_agent = ros2tak_tools.cot2ros_agent:main
+ros2casevac_agent = ros2tak_tools.ros2casevac_agent:main
+ros2cot_agent = ros2tak_tools.ros2cot_agent:main

ground_control_station/ros_ws/src/ros2tak_tools/ros2tak_tools.egg-info/requires.txt

@@ -0,0 +1 @@
+setuptools

ground_control_station/ros_ws/src/ros2tak_tools/ros2tak_tools.egg-info/top_level.txt

@@ -0,0 +1,2 @@
+ros2tak_tools
+tak_helper

ground_control_station/ros_ws/src/ros2tak_tools/ros2tak_tools.egg-info/zip-safe

@@ -0,0 +1 @@
+

ground_control_station/ros_ws/src/ros2tak_tools/ros2tak_tools/cot2planner_agent.py

@@ -118,7 +118,7 @@ def __init__(self, config_file):
         self.mqtt_client.on_message = self._on_mqtt_message
 
         # Connect to MQTT broker and start loop
-        self.mqtt_client.connect(self.mqtt_broker, self.mqtt_port)
+        self.mqtt_client.connect(self.mqtt_broker, self.mqtt_port, keepalive=65535)
         self.mqtt_client.subscribe(self.mqtt_topicname)  # Subscribe to the dynamic planner topic
         self.mqtt_client.loop_start()
 
@@ -248,7 +248,7 @@ def main(args=None):
     import argparse
     parser = argparse.ArgumentParser(description="COT to Planner")
     parser.add_argument('--config', type=str, required=True, help='Path to the config YAML file.')
-    args, unknown = parser.parse_known_args()
+    args = parser.parse_args()
 
     cot2planner = Cot2Planner(args.config)
     rclpy.spin(cot2planner)

ground_control_station/ros_ws/src/ros2tak_tools/ros2tak_tools/ros2cot_agent.py

@@ -64,12 +64,12 @@ def create_COT_pos_event(uuid, latitude, longitude, altitude):
     """Create a CoT event based on the GPS data."""
     root = ET.Element("event")
     root.set("version", "2.0")
-    root.set("type", "a-h-A-M-A")
+    root.set("type", "a-f-G")
     root.set("uid", uuid)  # Use topic name as UID for identification
     root.set("how", "m-g")
     root.set("time", pytak.cot_time())
     root.set("start", pytak.cot_time())
-    root.set("stale", pytak.cot_time(60))
+    root.set("stale", pytak.cot_time(3600))
 
     pt_attr = {
         "lat": str(latitude),
@@ -110,7 +110,7 @@ def __init__(self, config):
         self.mqtt_client.username_pw_set(self.mqtt_username, self.mqtt_pwd)
         try:
             print(f"Trying to connect to {self.mqtt_broker}:{self.mqtt_port}")
-            self.mqtt_client.connect(self.mqtt_broker, self.mqtt_port)
+            self.mqtt_client.connect(self.mqtt_broker, self.mqtt_port, keepalive=65535)
             self.get_logger().info(
                 f"Connected to MQTT ({self.mqtt_broker}:{self.mqtt_port})"
             )
@@ -130,7 +130,7 @@ def __init__(self, config):
             subscriber = self.create_subscription(
                 NavSatFix,
                 topic_name,
-                lambda msg, topic_name=topic_name: self.gps_callback(msg, topic_name),
+                lambda msg, topic_name=topic_name: self.gps_callback(msg, f"/robot{i}"),
                 10,  # QoS depth
             )
             self.subscribers.append(subscriber)
@@ -192,8 +192,8 @@ def main(args=None):
     )
 
     # Parse the arguments
-    input_args, unknown = parser.parse_known_args()
-    
+    input_args = parser.parse_args()
+
     # Load configuration
     config = load_config(input_args.config)
 

ground_control_station/ros_ws/src/ros2tak_tools/ros2tak_tools/tak_publisher.py → ground_control_station/ros_ws/src/ros2tak_tools/scripts/tak_publisher.py

@@ -51,7 +51,7 @@ def __init__(self, tx_queue, config, event_loop):
         # Connect to MQTT broker and subscribe to topic
         try:
             print(f"Connecting to {self.mqtt_broker}:{self.mqtt_port}")
-            self.mqtt_client.connect(self.mqtt_broker, self.mqtt_port)
+            self.mqtt_client.connect(self.mqtt_broker, self.mqtt_port, keepalive=65535)
             self.mqtt_client.subscribe(self.mqtt_topicname)
             print(f"Connected and subscribed to MQTT topic '{self.mqtt_topicname}' on broker {self.mqtt_broker}:{self.mqtt_port}")
         except Exception as e:
@@ -80,7 +80,7 @@ async def run(self, number_of_iterations=-1):
             self.mqtt_client.loop_stop()
             print("MQTT loop stopped.")
 
-async def async_main(config):
+async def main(config):
     loop = asyncio.get_running_loop()  # Capture the main event loop
     clitool = pytak.CLITool(config["mycottool"])
     await clitool.setup()
@@ -92,12 +92,9 @@ def run_main_in_process(config):
     loop.run_until_complete(main(config))
 
 if __name__ == "__main__":
-    main()
-
-def main():
     parser = argparse.ArgumentParser(description="TAK Publisher Script")
     parser.add_argument('--config', type=str, required=True, help='Path to the config YAML file.')
-    args, unknown = parser.parse_known_args()
+    args = parser.parse_args()
 
     # Load the YAML configuration
     with open(args.config, 'r') as file:
@@ -143,4 +140,4 @@ def main():
     process.start()
 
     print("Main() is now running in a separate process.")
-    process.join()
+    process.join()

ground_control_station/ros_ws/src/ros2tak_tools/ros2tak_tools/tak_subscriber.py → ground_control_station/ros_ws/src/ros2tak_tools/scripts/tak_subscriber.py

@@ -69,7 +69,7 @@ def __init__(self, rx_queue, config, filter_names2topic):
         # Connect to MQTT broker and subscribe to topic
         try:
             self._logger.info(f"Connecting to {self.mqtt_broker}:{self.mqtt_port}")
-            self.mqtt_client.connect(self.mqtt_broker, self.mqtt_port)
+            self.mqtt_client.connect(self.mqtt_broker, self.mqtt_port, keepalive=65535)
             self._logger.info(f"Connected and subscribed to MQTT on broker {self.mqtt_broker}:{self.mqtt_port}")
         except Exception as e:
             self._logger.error(f"Failed to connect or subscribe to MQTT: {e}")
@@ -135,18 +135,17 @@ async def send_to_mqtt(self, data, mqtt_topic):
         except:
             self._logger.info(f"Failed to publish.")
 
-
     async def run(self):  # pylint: disable=arguments-differ
         """Read from the receive queue, put data onto handler."""
         while True:
             data = await self.queue.get()  # Get received CoT from rx_queue
             await self.handle_data(data)
 
 
-async def async_main():
+async def main():
     parser = argparse.ArgumentParser(description="TAK Subscriber Script")
     parser.add_argument('--config', type=str, required=True, help='Path to the config YAML file.')
-    args, unknown = parser.parse_known_args()
+    args = parser.parse_args()
 
     # Load the YAML configuration
     with open(args.config, 'r') as file:
@@ -197,8 +196,6 @@ async def async_main():
     # Start all tasks.
     await clitool.run()
 
-def main():
-    asyncio.run(async_main())
 
 if __name__ == "__main__":
-    main()
+    asyncio.run(main())

ground_control_station/ros_ws/src/ros2tak_tools/setup.py

@@ -1,5 +1,4 @@
 from setuptools import find_packages, setup
-import glob
 
 package_name = 'ros2tak_tools'
 
@@ -11,7 +10,6 @@
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
-        ('share/' + package_name + '/config/', glob.glob('config/*')),
     ],
     install_requires=['setuptools'],
     zip_safe=True,
@@ -24,9 +22,9 @@
         'console_scripts': [
             'ros2cot_agent = ros2tak_tools.ros2cot_agent:main',
             'cot2ros_agent = ros2tak_tools.cot2ros_agent:main',
-            'cot2planner_agent = ros2tak_tools.cot2planner_agent:main',  
-            'tak_subscriber = ros2tak_tools.tak_subscriber:main',  
-            'tak_publisher = ros2tak_tools.tak_publisher:main',  
+            'cot2planner_agent = ros2tak_tools.cot2planner_agent:main',
+            'ros2casevac_agent = ros2tak_tools.ros2casevac_agent:main',
+            'chat2ros_agent = ros2tak_tools.chat2ros_agent:main',
         ],
     },
 )

ground_control_station/ros_ws/src/ros2tak_tools/tak_helper/create_cot_msgs.py

@@ -0,0 +1,284 @@
+import xml.etree.ElementTree as ET
+import pytak
+from datetime import datetime
+import uuid
+from typing import List, Tuple
+
+def create_gps_COT(uuid: str, cot_type : str, latitude : str, longitude: str, altitude : str):
+    """Create a CoT event based on the GPS data."""
+    root = ET.Element("event")
+    root.set("version", "2.0")
+    root.set("type", cot_type)
+    root.set("uid", uuid)  # Use topic name as UID for identification
+    root.set("how", "m-g")
+    root.set("time", pytak.cot_time())
+    root.set("start", pytak.cot_time())
+    root.set("stale", pytak.cot_time(3600))
+
+    pt_attr = {
+        "lat": str(latitude),
+        "lon": str(longitude),
+        "hae": str(altitude),
+        "ce": "10",
+        "le": "10",
+    }
+
+    ET.SubElement(root, "point", attrib=pt_attr)
+
+    return ET.tostring(root, encoding="utf-8")
+
+def create_casevac_COT(uuid, casualty_id, gps, zap_num, mechanism, injury, signs_symptoms, treatments, physician_name):
+    # Create root event element
+    event = ET.Element(
+        "event",
+        {
+            "version": "2.0",
+            "uid": casualty_id,
+            "type": "b-r-f-h-c",
+            "how": "h-g-i-g-o",
+            "time": pytak.cot_time(),
+            "start": pytak.cot_time(),
+            "stale": pytak.cot_time(3600),
+        },
+    )
+
+    # Create point element
+    point = ET.SubElement(
+        event,
+        "point",
+        {
+            "lat": f"{gps.latitude}",
+            "lon": f"{gps.longitude}",
+            "hae": "9999999.0",
+            "ce": "9999999.0",
+            "le": "9999999.0",
+        },
+    )
+
+    # Create detail element
+    detail = ET.SubElement(event, "detail")
+
+    # Add contact element
+    contact = ET.SubElement(detail, "contact", {"callsign": casualty_id})
+
+    # Add link element
+    link = ET.SubElement(
+        detail,
+        "link",
+        {
+            "type": "a-f-G-U-C-I",
+            "uid": "S-1-5-21-942292099-3747883346-3641641706-1000",
+            "parent_callsign": casualty_id,
+            "relation": "p-p",
+            "production_time": pytak.cot_time(),
+        },
+    )
+
+    # Add archive and status elements
+    ET.SubElement(detail, "archive")
+    ET.SubElement(detail, "status", {"readiness": "false"})
+    ET.SubElement(detail, "remarks")
+
+    # Create _medevac_ element with nested zMistsMap and zMist
+    medevac = ET.SubElement(
+        detail,
+        "_medevac_",
+        {
+            "title": casualty_id.upper(),
+            "casevac": "false",
+            "freq": "0.0",
+            "equipment_none": "true",
+            "security": "0",
+            "hlz_marking": "3",
+            "terrain_none": "true",
+            "obstacles": "None",
+            "medline_remarks": "",
+            "zone_prot_selection": "0",
+        },
+    )
+
+    zMistsMap = ET.SubElement(medevac, "zMistsMap")
+    zMist = ET.SubElement(
+        zMistsMap,
+        "zMist",
+        {
+            "z": zap_num,
+            "m": mechanism,
+            "i": injury,
+            "s": signs_symptoms,
+            "t": treatments,
+            "title": physician_name,
+        },
+    )
+
+    # Add _flow-tags_ element
+    flow_tags = ET.SubElement(
+        detail,
+        "_flow-tags_",
+        {
+            "TAK-Server-f6edbf55ccfa4af1b4cfa2d7f177ea67": f"chiron-tak_subscriber: {datetime.utcnow().strftime('%Y-%m-%dT%H:%M:%SZ')}"
+        },
+    )
+
+    # Convert to a string
+    return ET.tostring(event, encoding="utf-8").decode("utf-8")
+
+def create_chat_COT(uuid, callsign: str, message: str) -> str:
+
+    # Create root event element
+    event = ET.Element(
+        "event",
+        {
+            "version": "2.0",
+            "uid": f"GeoChat.{uuid}",
+            "type": "b-t-f",
+            "how": "h-g-i-g-o",
+            "time": pytak.cot_time(),
+            "start": pytak.cot_time(),
+            "stale": pytak.cot_time(3600),
+        }
+    )
+
+    # Create point element
+    point = ET.SubElement(
+        event,
+        "point",
+        {
+            "lat": "0.0",
+            "lon": "0.0",
+            "hae": "9999999.0",
+            "ce": "9999999.0",
+            "le": "9999999.0",
+        },
+    )
+
+    # Create detail element
+    detail = ET.SubElement(event, "detail")
+
+    # Create __chat element
+    chat = ET.SubElement(
+        detail,
+        "__chat",
+        {
+            "id": "All Chat Rooms",
+            "chatroom": "All Chat Rooms",
+            "senderCallsign": callsign,
+            "groupOwner": "false",
+        }
+    )
+
+    # Add chatgrp element
+    chatgrp = ET.SubElement(
+        chat,
+        "chatgrp",
+        {
+            "id": "All Chat Rooms",
+            "uid0": uuid,
+            "uid1": "All Chat Rooms",
+        },
+    )
+
+    # Add link element
+    link = ET.SubElement(
+        detail,
+        "link",
+        {
+            "uid": uuid,
+            "type": "a-f-G-U-C-I",
+            "relation": "p-p",
+        },
+    )
+
+    # Add remarks element
+    remarks = ET.SubElement(
+        detail,
+        "remarks",
+        {
+            "source": f"BAO.F.AIRLAB_CLI_MANAGER_{uuid}",
+            "sourceID": uuid,
+            "to": "All Chat Rooms",
+            "time": datetime.utcnow().strftime("%Y-%m-%dT%H:%M:%S.%fZ"),
+        }
+    )
+    remarks.text = message
+
+    # Add _flow-tags_ element
+    flow_tags = ET.SubElement(
+        detail,
+        "_flow-tags_",
+        {
+            "TAK-Server-f6edbf55ccfa4af1b4cfa2d7f177ea67": datetime.utcnow().strftime("%Y-%m-%dT%H:%M:%SZ"),
+        },
+    )
+
+    # Convert to a string
+    return ET.tostring(event, encoding="utf-8").decode("utf-8")
+
+from datetime import datetime, timedelta
+
+def create_polygon_COT(
+        uuid: str,
+        callsign: str,
+        gps_coordinates: List[Tuple[float, float]],
+        fill_color: int = 16777215,
+) -> bytes:
+    """
+    Creates a CoT message for a polygon using GPS coordinates.
+
+    Args:
+        gps_coordinates (list of tuples): List of (latitude, longitude) coordinates.
+        uuid (str): Unique identifier for the CoT event.
+        callsign (str): Callsign for the contact.
+        fill_color (int, optional): Fill color value. Default is 16777215.
+                    fill_color = (Red (0-255) << 16) + (Green (0-255) << 8) + Blue (0-255)
+
+
+    Returns:
+        bytes: CoT message as a UTF-8 encoded XML byte string.
+    """
+    if not gps_coordinates:
+        raise ValueError("GPS coordinates list cannot be empty.")
+
+    # Ensure the polygon is closed
+    if gps_coordinates[0] != gps_coordinates[-1]:
+        gps_coordinates.append(gps_coordinates[0])
+
+    # Create the root element
+    root = ET.Element("event", {
+        "version": "2.0",
+        "uid": uuid,
+        "type": "u-d-f",
+        "how": "h-e",
+        "time": pytak.cot_time(),
+        "start": pytak.cot_time(),
+        "stale": pytak.cot_time(3600),
+    })
+
+    # Add the point element
+    first_point = gps_coordinates[0]
+    ET.SubElement(root, "point", {
+        "lat": str(first_point[0]),
+        "lon": str(first_point[1]),
+        "hae": "9999999.0",
+        "ce": "9999999.0",
+        "le": "9999999.0",
+    })
+
+    # Add the detail element
+    detail = ET.SubElement(root, "detail")
+    ET.SubElement(detail, "contact", {"callsign": callsign})
+    ET.SubElement(detail, "strokeColor", {"value": "-1"})
+    ET.SubElement(detail, "fillColor", {"value": str(fill_color)})
+    ET.SubElement(detail, "remarks")
+    ET.SubElement(detail, "height", {"value": "0.00"})
+    ET.SubElement(detail, "height_unit", {"value": "4"})
+    ET.SubElement(detail, "archive")
+
+    # Add link elements for each GPS point
+    for lat, lon in gps_coordinates:
+        ET.SubElement(detail, "link", {"point": f"{lat},{lon}"})
+
+    ET.SubElement(detail, "archive")
+
+    # Generate the XML string
+    return ET.tostring(root, encoding="utf-8", xml_declaration=True)