francWhite · francWhite · Dec 14, 2023 · Nov 18, 2023 · Nov 18, 2023 · Nov 18, 2023
diff --git a/apps/api/src/index.ts b/apps/api/src/index.ts
@@ -8,6 +8,7 @@ import { buzzerRouter } from './routes/buzzer.routes';
 import { actionRouter } from './routes/action.routes';
 import { colorRouter } from './routes/color.routes';
 import { distanceRouter } from './routes/distance.routes';
+import { navigationRouter } from './routes/navigation.routes';
 
 dotenv.config();
 
@@ -20,6 +21,7 @@ app.use('/api/buzzer', buzzerRouter);
 app.use('/api/actions', actionRouter);
 app.use('/api/color', colorRouter);
 app.use('/api/distance', distanceRouter);
+app.use('/api/navigation', navigationRouter);
 
 rosService.connect();
 

diff --git a/apps/api/src/ros.service.ts b/apps/api/src/ros.service.ts
@@ -43,6 +43,7 @@ class RosService {
     topic.publish(msg);
   }
 
+  // TODO add timeout
   callService<TResponse>(
     name: string,
     serviceType: string,

diff --git a/apps/api/src/routes/action.routes.ts b/apps/api/src/routes/action.routes.ts
@@ -8,8 +8,6 @@ actionRouter.use(express.json());
 actionRouter.get(
   '/goals/:goalId',
   async (req: Request<{ goalId: string }, undefined, ActionCompletedResult>, res: Response) => {
-    console.log(req.originalUrl, req.body);
-
     const requestData = { goal_id: req.params.goalId };
     rosService.callService(
       '/raros/action_api/action_completed',

diff --git a/apps/api/src/routes/color.routes.ts b/apps/api/src/routes/color.routes.ts
@@ -7,14 +7,18 @@ colorRouter.use(express.json());
 colorRouter.get('/', async (req: Request<undefined, undefined, undefined>, res: Response) => {
   console.log(req.originalUrl);
 
-  rosService.readSingleMessageFromTopic('/raros/color_sensor/color', 'std_msgs/msg/ColorRGBA', (message: ColorRGBA) =>
-    res
-      .json({
-        red: message.r,
-        green: message.g,
-        blue: message.b,
-      })
-      .send(),
+  rosService.readSingleMessageFromTopic(
+    '/raros/color_sensor/color',
+    'std_msgs/msg/ColorRGBA',
+    (message: ColorRGBA) =>
+      res
+        .json({
+          red: message.r,
+          green: message.g,
+          blue: message.b,
+        })
+        .send(),
+    (error) => res.status(500).send(error),
   );
 });
 

diff --git a/apps/api/src/routes/navigation.routes.ts b/apps/api/src/routes/navigation.routes.ts
@@ -0,0 +1,85 @@
+import express from 'express';
+import { Request, Response } from 'express';
+import { rosService } from '../ros.service';
+import { decode } from 'uuid-base64-ts';
+import { ActionInvocationResult } from '../ros.model';
+
+export const navigationRouter = express.Router();
+navigationRouter.use(express.json());
+
+navigationRouter.post('/stop', async (req: Request<undefined, undefined, undefined>, res: Response) => {
+  console.log(req.originalUrl);
+
+  rosService.callService(
+    '/raros/navigation/stop',
+    'std_srvs/srv/Empty',
+    {},
+    () => res.send(),
+    (error) => res.status(500).send(error),
+  );
+});
+
+navigationRouter.post('/move', async (req: Request<undefined, undefined, MoveRequest>, res: Response) => {
+  console.log(req.originalUrl, req.body);
+
+  const requestData = { ...req.body, direction: { value: req.body.direction } };
+  rosService.callService(
+    '/raros/action_api/navigation/move',
+    'raros_interfaces/srv/ActionMove',
+    requestData,
+    (response: ActionInvocationResult) => {
+      const uidString = decode(response.goal_id.uuid);
+      res.json({ goal_id: uidString }).send();
+    },
+    (error) => res.status(500).send(error),
+  );
+});
+
+navigationRouter.post('/rotate', async (req: Request<undefined, undefined, RotateRequest>, res: Response) => {
+  console.log(req.originalUrl, req.body);
+
+  const requestData = { ...req.body, direction: { value: req.body.direction } };
+  rosService.callService(
+    '/raros/action_api/navigation/rotate',
+    'raros_interfaces/srv/ActionRotate',
+    requestData,
+    (response: ActionInvocationResult) => {
+      const uidString = decode(response.goal_id.uuid);
+      res.json({ goal_id: uidString }).send();
+    },
+    (error) => res.status(500).send(error),
+  );
+});
+
+navigationRouter.post('/turn', async (req: Request<undefined, undefined, TurnRequest>, res: Response) => {
+  console.log(req.originalUrl, req.body);
+
+  const requestData = { ...req.body, direction: { value: req.body.direction } };
+  rosService.callService(
+    '/raros/action_api/navigation/turn',
+    'raros_interfaces/srv/ActionTurn',
+    requestData,
+    (response: ActionInvocationResult) => {
+      const uidString = decode(response.goal_id.uuid);
+      res.json({ goal_id: uidString }).send();
+    },
+    (error) => res.status(500).send(error),
+  );
+});
+
+type MoveRequest = {
+  distance: number;
+  speed: number;
+  direction: number;
+};
+
+type RotateRequest = {
+  angle: number;
+  direction: number;
+};
+
+type TurnRequest = {
+  angle: number;
+  radius: number;
+  direction: number;
+};
diff --git a/apps/client/src/main/java/ch/hslu/raros/client/connector/ActionApiService.java b/apps/client/src/main/java/ch/hslu/raros/client/connector/ActionApiService.java
@@ -10,6 +10,9 @@
 import java.util.concurrent.CompletableFuture;
 
 public class ActionApiService implements ActionService {
+  private record Goal(UUID goalId, Boolean completed) {
+  }
+
   private final URI apiUri;
 
   public ActionApiService(URI apiBaseUri) {
@@ -30,7 +33,4 @@ public CompletableFuture<Boolean> IsActionCompleted(UUID goalId) {
         .thenApply(Goal::completed);
     }
   }
-}
-
-record Goal(UUID goalId, Boolean completed) {
 }
diff --git a/apps/client/src/main/java/ch/hslu/raros/client/connector/BuzzerApiService.java b/apps/client/src/main/java/ch/hslu/raros/client/connector/BuzzerApiService.java
@@ -8,10 +8,10 @@
 import java.net.http.HttpResponse;
 import java.util.concurrent.CompletableFuture;
 
-record Tone(int frequency, int duration) {
-}
 
 class BuzzerApiService implements BuzzerService {
+  private record Tone(int frequency, int duration) {
+  }
 
   private final URI apiUri;
 

diff --git a/apps/client/src/main/java/ch/hslu/raros/client/connector/Direction.java b/apps/client/src/main/java/ch/hslu/raros/client/connector/Direction.java
@@ -0,0 +1,21 @@
+package ch.hslu.raros.client.connector;
+
+import com.fasterxml.jackson.annotation.JsonValue;
+
+public enum Direction {
+  Forward(1),
+  Backward(2),
+  Left(3),
+  Right(4);
+
+  private final int value;
+
+  private Direction(int value) {
+    this.value = value;
+  }
+
+  @JsonValue
+  public int getValue() {
+    return value;
+  }
+}
diff --git a/apps/client/src/main/java/ch/hslu/raros/client/connector/DistanceApiService.java b/apps/client/src/main/java/ch/hslu/raros/client/connector/DistanceApiService.java
@@ -10,6 +10,9 @@
 import java.util.concurrent.CompletableFuture;
 
 class DistanceApiService implements DistanceService {
+  private record Rotation(int angle) {
+  }
+
   private final URI apiUri;
 
   public DistanceApiService(URI apiBaseUri) {
@@ -41,7 +44,4 @@ public CompletableFuture<Void> RotateSensor(int angle) {
         .thenApply(HttpResponse::body);
     }
   }
-}
-
-record Rotation(int angle) {
 }
diff --git a/apps/client/src/main/java/ch/hslu/raros/client/connector/MagnetApiService.java b/apps/client/src/main/java/ch/hslu/raros/client/connector/MagnetApiService.java
@@ -7,10 +7,9 @@
 import java.net.http.HttpResponse;
 import java.util.concurrent.CompletableFuture;
 
-record MagnetState(Boolean active) {
-}
-
 class MagnetApiService implements MagnetService {
+  private record MagnetState(Boolean active) {
+  }
 
   private final URI apiUri;
 

diff --git a/apps/client/src/main/java/ch/hslu/raros/client/connector/NavigationApiService.java b/apps/client/src/main/java/ch/hslu/raros/client/connector/NavigationApiService.java
@@ -0,0 +1,105 @@
+package ch.hslu.raros.client.connector;
+
+import ch.hslu.raros.client.util.HttpRequestBuilder;
+import ch.hslu.raros.client.util.JsonSerializer;
+
+import java.net.URI;
+import java.net.http.HttpClient;
+import java.net.http.HttpRequest;
+import java.net.http.HttpResponse;
+import java.util.concurrent.CompletableFuture;
+
+class NavigationApiService implements NavigationService {
+  private record MoveRequest(double distance, double speed, Direction direction) {
+  }
+
+  private record RotateRequest(double angle, Direction direction) {
+  }
+
+  private record TurnRequest(double angle, double radius, Direction direction) {
+  }
+
+  private final URI apiUri;
+
+  public NavigationApiService(URI apiBaseUri) {
+    this.apiUri = apiBaseUri.resolve("/api/navigation/");
+  }
+
+  @Override
+  public CompletableFuture<Void> Stop() {
+    var request = HttpRequest.newBuilder(apiUri.resolve("./stop"))
+      .POST(HttpRequest.BodyPublishers.noBody())
+      .build();
+
+    try (var httpClient = HttpClient.newHttpClient()) {
+      return httpClient
+        .sendAsync(request, HttpResponse.BodyHandlers.discarding())
+        .thenApply(HttpResponse::body);
+    }
+  }
+
+  @Override
+  public CompletableFuture<ActionInvocationResult> Move(Direction direction) {
+    return Move(new MoveRequest(Math.pow(10, 4), -1d, direction));
+  }
+
+  @Override
+  public CompletableFuture<ActionInvocationResult> Move(double distance, Direction direction) {
+    return Move(new MoveRequest(distance, -1d, direction));
+  }
+
+  @Override
+  public CompletableFuture<ActionInvocationResult> Move(double distance, double speed, Direction direction) {
+    return Move(new MoveRequest(distance, speed, direction));
+  }
+
+  @Override
+  public CompletableFuture<ActionInvocationResult> Rotate(double angle, Direction direction) {
+    if (angle < 0 || angle > 180)
+      throw new IllegalArgumentException("The angle must be between 0° and 180°.");
+
+    if (direction != Direction.Left && direction != Direction.Right)
+      throw new IllegalArgumentException("Only left and right are supported as directions.");
+
+    var request = HttpRequestBuilder.buildJsonPOST(apiUri.resolve("./rotate"), new RotateRequest(angle, direction));
+
+    try (var httpClient = HttpClient.newHttpClient()) {
+      return httpClient
+        .sendAsync(request, HttpResponse.BodyHandlers.ofString())
+        .thenApply(HttpResponse::body)
+        .thenApply(s -> JsonSerializer.deserialize(s, ActionInvocationResult.class));
+    }
+  }
+
+  @Override
+  public CompletableFuture<ActionInvocationResult> Turn(double angle, double radius, Direction direction) {
+    if (angle < 0 || angle > 180)
+      throw new IllegalArgumentException("The angle must be between 0° and 180°.");
+
+    if (direction != Direction.Left && direction != Direction.Right)
+      throw new IllegalArgumentException("Only left and right are supported as directions.");
+
+    var request = HttpRequestBuilder.buildJsonPOST(apiUri.resolve("./turn"), new TurnRequest(angle, radius, direction));
+
+    try (var httpClient = HttpClient.newHttpClient()) {
+      return httpClient
+        .sendAsync(request, HttpResponse.BodyHandlers.ofString())
+        .thenApply(HttpResponse::body)
+        .thenApply(s -> JsonSerializer.deserialize(s, ActionInvocationResult.class));
+    }
+  }
+
+  private CompletableFuture<ActionInvocationResult> Move(MoveRequest moveRequest) {
+    if (moveRequest.direction != Direction.Forward && moveRequest.direction != Direction.Backward)
+      throw new IllegalArgumentException("Only forward and backward are supported as directions.");
+
+    var request = HttpRequestBuilder.buildJsonPOST(apiUri.resolve("./move"), moveRequest);
+
+    try (var httpClient = HttpClient.newHttpClient()) {
+      return httpClient
+        .sendAsync(request, HttpResponse.BodyHandlers.ofString())
+        .thenApply(HttpResponse::body)
+        .thenApply(s -> JsonSerializer.deserialize(s, ActionInvocationResult.class));
+    }
+  }
+}
diff --git a/apps/client/src/main/java/ch/hslu/raros/client/connector/NavigationService.java b/apps/client/src/main/java/ch/hslu/raros/client/connector/NavigationService.java
@@ -0,0 +1,60 @@
+package ch.hslu.raros.client.connector;
+
+import java.util.concurrent.CompletableFuture;
+
+public interface NavigationService {
+
+  /**
+   * Stops the robot.
+   *
+   * @return CompletableFuture<Void>
+   */
+  CompletableFuture<Void> Stop();
+
+  /**
+   * Moves the robot forward indefinitely.
+   *
+   * @param direction The direction to move in (only forward and backward are possible)
+   * @return CompletableFuture<ActionInvocationResult> The result of the action invocation.
+   */
+  CompletableFuture<ActionInvocationResult> Move(Direction direction);
+
+  /**
+   * Moves the robot forward for the given distance.
+   *
+   * @param distance  The distance to move in meters.
+   * @param direction The direction to move in (only forward and backward are possible)
+   * @return CompletableFuture<ActionInvocationResult> The result of the action invocation.
+   */
+  CompletableFuture<ActionInvocationResult> Move(double distance, Direction direction);
+
+  /**
+   * Moves the robot forward for the given distance.
+   *
+   * @param distance  The distance to move in meters.
+   * @param speed     The speed to move in meters per second.
+   * @param direction The direction to move in (only forward and backward are possible)
+   * @return CompletableFuture<ActionInvocationResult> The result of the action invocation.
+   */
+  CompletableFuture<ActionInvocationResult> Move(double distance, double speed, Direction direction);
+
+  /**
+   * Rotates the robot by the given angle.
+   *
+   * @param angle     The angle to rotate in degrees. The angle must be between 0° and 180°.
+   * @param direction The direction to rotate in (only left and right are possible)
+   * @return CompletableFuture<ActionInvocationResult> The result of the action invocation.
+   */
+  CompletableFuture<ActionInvocationResult> Rotate(double angle, Direction direction);
+
+  /**
+   * Turns the robot by the given angle and radius.
+   *
+   * @param angle     The angle to turn in degrees. The angle must be between 0° and 180°.
+   * @param radius    The radius to turn in meters.
+   * @param direction The direction to turn in (only left and right are possible)
+   * @return CompletableFuture<ActionInvocationResult> The result of the action invocation.
+   */
+  CompletableFuture<ActionInvocationResult> Turn(double angle, double radius, Direction direction);
+}
+