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| """ | |
| ROS Interface Module | |
| Provides standardized interfaces for communicating with ROS-based physical AI devices | |
| """ | |
| import asyncio | |
| import json | |
| from typing import Dict, Any, Optional, List | |
| from datetime import datetime | |
| from enum import Enum | |
| class ROSMessageType(Enum): | |
| """Enumeration of ROS message types supported""" | |
| REQUEST = "request" | |
| RESPONSE = "response" | |
| PUBLISH = "publish" | |
| SUBSCRIBE = "subscribe" | |
| SERVICE_CALL = "service_call" | |
| class ROSBridgeClient: | |
| """ | |
| Client to interface with ROS Bridge for communication with ROS-based devices | |
| """ | |
| def __init__(self, ros_bridge_url: str = "ws://localhost:9090"): | |
| self.ros_bridge_url = ros_bridge_url | |
| self.connected = False | |
| self.ros_client = None # Will hold the actual ROS bridge client | |
| self.topic_subscriptions = {} | |
| self.service_clients = {} | |
| async def connect(self) -> bool: | |
| """ | |
| Connect to the ROS Bridge | |
| """ | |
| try: | |
| # In a real implementation, this would connect to the actual ROS Bridge | |
| # using a library like roslibpy or similar WebSocket client | |
| # For now, we'll simulate the connection | |
| print(f"Connecting to ROS Bridge at {self.ros_bridge_url}") | |
| # Simulate connection establishment | |
| await asyncio.sleep(0.1) # Simulate network delay | |
| self.connected = True | |
| print("Connected to ROS Bridge successfully") | |
| return True | |
| except Exception as e: | |
| print(f"Failed to connect to ROS Bridge: {str(e)}") | |
| return False | |
| async def disconnect(self) -> bool: | |
| """ | |
| Disconnect from the ROS Bridge | |
| """ | |
| try: | |
| if self.connected: | |
| # In a real implementation, this would close the actual connection | |
| print("Disconnecting from ROS Bridge") | |
| # Cancel all subscriptions | |
| for topic_name in list(self.topic_subscriptions.keys()): | |
| await self.unsubscribe_from_topic(topic_name) | |
| self.connected = False | |
| print("Disconnected from ROS Bridge") | |
| return True | |
| except Exception as e: | |
| print(f"Error disconnecting from ROS Bridge: {str(e)}") | |
| return False | |
| async def publish_to_topic(self, topic_name: str, message: Dict[str, Any]) -> bool: | |
| """ | |
| Publish a message to a ROS topic | |
| """ | |
| if not self.connected: | |
| raise RuntimeError("Not connected to ROS Bridge") | |
| try: | |
| # In a real implementation, this would publish via ROS Bridge | |
| print(f"Publishing to topic '{topic_name}': {message}") | |
| # Simulate publishing | |
| # In real implementation: self.ros_client.publish(topic_name, message) | |
| return True | |
| except Exception as e: | |
| print(f"Error publishing to topic '{topic_name}': {str(e)}") | |
| return False | |
| async def subscribe_to_topic(self, topic_name: str, callback_func=None) -> bool: | |
| """ | |
| Subscribe to a ROS topic | |
| """ | |
| if not self.connected: | |
| raise RuntimeError("Not connected to ROS Bridge") | |
| try: | |
| # In a real implementation, this would subscribe via ROS Bridge | |
| print(f"Subscribing to topic '{topic_name}'") | |
| # Simulate subscription | |
| self.topic_subscriptions[topic_name] = { | |
| 'callback': callback_func, | |
| 'subscribed_at': datetime.utcnow().isoformat() | |
| } | |
| # In real implementation: self.ros_client.subscribe(topic_name, callback_func) | |
| return True | |
| except Exception as e: | |
| print(f"Error subscribing to topic '{topic_name}': {str(e)}") | |
| return False | |
| async def unsubscribe_from_topic(self, topic_name: str) -> bool: | |
| """ | |
| Unsubscribe from a ROS topic | |
| """ | |
| if not self.connected: | |
| raise RuntimeError("Not connected to ROS Bridge") | |
| try: | |
| if topic_name in self.topic_subscriptions: | |
| print(f"Unsubscribing from topic '{topic_name}'") | |
| # In real implementation: self.ros_client.unsubscribe(topic_name) | |
| del self.topic_subscriptions[topic_name] | |
| return True | |
| else: | |
| print(f"Not subscribed to topic '{topic_name}'") | |
| return False | |
| except Exception as e: | |
| print(f"Error unsubscribing from topic '{topic_name}': {str(e)}") | |
| return False | |
| async def call_service(self, service_name: str, request_data: Dict[str, Any]) -> Optional[Dict[str, Any]]: | |
| """ | |
| Call a ROS service | |
| """ | |
| if not self.connected: | |
| raise RuntimeError("Not connected to ROS Bridge") | |
| try: | |
| print(f"Calling service '{service_name}' with request: {request_data}") | |
| # In a real implementation: return await self.ros_client.call_service(service_name, request_data) | |
| # Simulate service response | |
| response = { | |
| 'result': 'success', | |
| 'service': service_name, | |
| 'timestamp': datetime.utcnow().isoformat(), | |
| 'original_request': request_data | |
| } | |
| return response | |
| except Exception as e: | |
| print(f"Error calling service '{service_name}': {str(e)}") | |
| return None | |
| class ROSDeviceInterface: | |
| """ | |
| Standardized interface for interacting with ROS-based physical AI devices | |
| """ | |
| def __init__(self, device_id: str, ros_bridge_url: str = "ws://localhost:9090"): | |
| self.device_id = device_id | |
| self.ros_client = ROSBridgeClient(ros_bridge_url) | |
| self.device_namespace = f"/{device_id}" | |
| self.motion_control_topic = f"{self.device_namespace}/cmd_vel" | |
| self.sensor_data_topic = f"{self.device_namespace}/sensor_data" | |
| self.status_topic = f"{self.device_namespace}/status" | |
| self.emergency_stop_service = f"{self.device_namespace}/emergency_stop" | |
| async def connect_device(self) -> bool: | |
| """ | |
| Connect to the ROS-based device | |
| """ | |
| return await self.ros_client.connect() | |
| async def disconnect_device(self) -> bool: | |
| """ | |
| Disconnect from the ROS-based device | |
| """ | |
| return await self.ros_client.disconnect() | |
| async def send_motion_command(self, linear_velocity: float, angular_velocity: float) -> bool: | |
| """ | |
| Send motion command to the device (linear and angular velocities) | |
| """ | |
| command = { | |
| 'linear': { | |
| 'x': linear_velocity, | |
| 'y': 0.0, | |
| 'z': 0.0 | |
| }, | |
| 'angular': { | |
| 'x': 0.0, | |
| 'y': 0.0, | |
| 'z': angular_velocity | |
| } | |
| } | |
| return await self.ros_client.publish_to_topic(self.motion_control_topic, command) | |
| async def get_sensor_data(self) -> Optional[Dict[str, Any]]: | |
| """ | |
| Request current sensor data from the device | |
| """ | |
| # In a real implementation, this would subscribe to sensor data | |
| # For now, we'll return mock data | |
| return { | |
| 'device_id': self.device_id, | |
| 'timestamp': datetime.utcnow().isoformat(), | |
| 'sensor_data': { | |
| 'position': {'x': 0.0, 'y': 0.0, 'z': 0.0}, | |
| 'orientation': {'x': 0.0, 'y': 0.0, 'z': 0.0, 'w': 1.0}, | |
| 'battery_level': 95.5, | |
| 'temperature': 23.4, | |
| 'proximity_sensors': [1.2, 0.8, 1.5, 1.0], | |
| 'gripper_status': 'open' | |
| } | |
| } | |
| async def subscribe_to_sensor_data(self, callback_func) -> bool: | |
| """ | |
| Subscribe to continuous sensor data updates | |
| """ | |
| return await self.ros_client.subscribe_to_topic(self.sensor_data_topic, callback_func) | |
| async def subscribe_to_status_updates(self, callback_func) -> bool: | |
| """ | |
| Subscribe to device status updates | |
| """ | |
| return await self.ros_client.subscribe_to_topic(self.status_topic, callback_func) | |
| async def trigger_emergency_stop(self) -> Optional[Dict[str, Any]]: | |
| """ | |
| Trigger emergency stop service on the device | |
| """ | |
| request_data = { | |
| 'device_id': self.device_id, | |
| 'trigger_time': datetime.utcnow().isoformat(), | |
| 'reason': 'emergency_stop_triggered' | |
| } | |
| return await self.ros_client.call_service(self.emergency_stop_service, request_data) | |
| async def get_device_status(self) -> Optional[Dict[str, Any]]: | |
| """ | |
| Get current status of the device | |
| """ | |
| # In a real implementation, this might call a status service | |
| # For now, we'll return mock status data | |
| return { | |
| 'device_id': self.device_id, | |
| 'timestamp': datetime.utcnow().isoformat(), | |
| 'status': 'active', | |
| 'mode': 'manual_control', | |
| 'battery_level': 95.5, | |
| 'error_codes': [], | |
| 'safety_status': 'nominal', | |
| 'last_communication': datetime.utcnow().isoformat() | |
| } | |
| async def send_custom_command(self, command_type: str, params: Dict[str, Any]) -> Optional[Dict[str, Any]]: | |
| """ | |
| Send a custom command to the device | |
| """ | |
| command_topic = f"{self.device_namespace}/commands" | |
| command_message = { | |
| 'command_type': command_type, | |
| 'params': params, | |
| 'timestamp': datetime.utcnow().isoformat(), | |
| 'device_id': self.device_id | |
| } | |
| success = await self.ros_client.publish_to_topic(command_topic, command_message) | |
| if success: | |
| return { | |
| 'status': 'command_sent', | |
| 'command_id': command_type, | |
| 'timestamp': datetime.utcnow().isoformat() | |
| } | |
| return None | |
| class ROSDeviceManager: | |
| """ | |
| Manager for handling multiple ROS-based devices | |
| """ | |
| def __init__(self): | |
| self.devices: Dict[str, ROSDeviceInterface] = {} | |
| self.ros_bridge_url = "ws://localhost:9090" # Default URL | |
| async def register_device(self, device_id: str, ros_bridge_url: str = None) -> bool: | |
| """ | |
| Register a new ROS-based device | |
| """ | |
| if device_id in self.devices: | |
| print(f"Device {device_id} already registered") | |
| return False | |
| # Use provided URL or default | |
| url = ros_bridge_url or self.ros_bridge_url | |
| device_interface = ROSDeviceInterface(device_id, url) | |
| self.devices[device_id] = device_interface | |
| print(f"Registered ROS device: {device_id}") | |
| return True | |
| async def connect_device(self, device_id: str) -> bool: | |
| """ | |
| Connect to a specific ROS device | |
| """ | |
| if device_id not in self.devices: | |
| print(f"Device {device_id} not registered") | |
| return False | |
| return await self.devices[device_id].connect_device() | |
| async def disconnect_device(self, device_id: str) -> bool: | |
| """ | |
| Disconnect from a specific ROS device | |
| """ | |
| if device_id not in self.devices: | |
| print(f"Device {device_id} not registered") | |
| return False | |
| return await self.devices[device_id].disconnect_device() | |
| async def send_command_to_device(self, device_id: str, command_type: str, params: Dict[str, Any]) -> Optional[Dict[str, Any]]: | |
| """ | |
| Send a command to a specific device | |
| """ | |
| if device_id not in self.devices: | |
| print(f"Device {device_id} not registered") | |
| return None | |
| return await self.devices[device_id].send_custom_command(command_type, params) | |
| async def get_device_sensor_data(self, device_id: str) -> Optional[Dict[str, Any]]: | |
| """ | |
| Get sensor data from a specific device | |
| """ | |
| if device_id not in self.devices: | |
| print(f"Device {device_id} not registered") | |
| return None | |
| return await self.devices[device_id].get_sensor_data() | |
| async def trigger_emergency_stop_for_device(self, device_id: str) -> Optional[Dict[str, Any]]: | |
| """ | |
| Trigger emergency stop for a specific device | |
| """ | |
| if device_id not in self.devices: | |
| print(f"Device {device_id} not registered") | |
| return None | |
| return await self.devices[device_id].trigger_emergency_stop() | |
| async def get_all_device_statuses(self) -> Dict[str, Any]: | |
| """ | |
| Get statuses for all registered devices | |
| """ | |
| statuses = {} | |
| for device_id, device_interface in self.devices.items(): | |
| status = await device_interface.get_device_status() | |
| statuses[device_id] = status | |
| return statuses | |
| async def list_registered_devices(self) -> List[str]: | |
| """ | |
| List all registered device IDs | |
| """ | |
| return list(self.devices.keys()) | |
| # Global instance of the ROS device manager | |
| ros_device_manager = ROSDeviceManager() |