From 402e46b001917d45baff7d005c7f817cbc6cd9d1 Mon Sep 17 00:00:00 2001
From: Paul-Winpenny <92634321+Paul-Winpenny@users.noreply.github.com>
Date: Wed, 8 Jan 2025 14:30:21 +0000
Subject: [PATCH] This should now be all that is needed.
---
App/RobobinApp/Networking/WifiManager.cs | 2 +-
.../ViewModels/MainPageViewModel.cs | 2 +-
.../launch/robobin_no_components_launch.py | 9 +----
ros2/src/robobin/robobin/api_node.py | 38 ++-----------------
.../robobin/helpers/connection_manager.py | 4 +-
5 files changed, 8 insertions(+), 47 deletions(-)
diff --git a/App/RobobinApp/Networking/WifiManager.cs b/App/RobobinApp/Networking/WifiManager.cs
index ac5bd3c6..18631f5b 100644
--- a/App/RobobinApp/Networking/WifiManager.cs
+++ b/App/RobobinApp/Networking/WifiManager.cs
@@ -227,7 +227,7 @@ namespace RobobinApp.Networking
Debug.WriteLine("Connected to Robobin via TCP.");
_isConnected = true;
- await SendMessageAsync("REQMAP");
+ //await SendMessageAsync("REQMAP");
Task.Run(() => ReceiveMessages());
diff --git a/App/RobobinApp/ViewModels/MainPageViewModel.cs b/App/RobobinApp/ViewModels/MainPageViewModel.cs
index 52c0b7a0..8ccf1491 100644
--- a/App/RobobinApp/ViewModels/MainPageViewModel.cs
+++ b/App/RobobinApp/ViewModels/MainPageViewModel.cs
@@ -98,7 +98,7 @@ namespace RobobinApp.ViewModels
private async Task GetNewGraph()
{
- await App.WifiManager.SendMessageAsync("REQMAP");
+ return;
}
public static (float magnitude, float angle)[,] CalculatePolarConnections(List<Node> nodes, bool[,] connections)
diff --git a/ros2/src/robobin/launch/robobin_no_components_launch.py b/ros2/src/robobin/launch/robobin_no_components_launch.py
index cea86516..256a27f2 100644
--- a/ros2/src/robobin/launch/robobin_no_components_launch.py
+++ b/ros2/src/robobin/launch/robobin_no_components_launch.py
@@ -13,14 +13,7 @@ def generate_launch_description():
emulate_tty=True
),
-
- Node(
- package='robobin',
- executable='uwb_navigation_node',
- name='uwb_navigation_node',
- output='screen',
- emulate_tty=True
- ),
+
Node(
package='robobin',
executable='motor_control_node',
diff --git a/ros2/src/robobin/robobin/api_node.py b/ros2/src/robobin/robobin/api_node.py
index 2f05d138..eff4027c 100644
--- a/ros2/src/robobin/robobin/api_node.py
+++ b/ros2/src/robobin/robobin/api_node.py
@@ -51,46 +51,14 @@ class ApiNode(Node):
if self.mode == "Call":
if len(self.called_locations) > 0:
self.get_logger().info("Handling queue operations...")
- start_node = self.getNearestNode(self.connection_manager.location)
client_socket, end_location = self.called_locations[0]
- self.get_logger().info(f"(Start Node: {start_node}, End Location: {end_location})")
+ self.get_logger().info(f" End Location: {end_location})")
# self.get_logger().info(f"Sending location: {end_location}")
- self.publisher_topics["nav_command"].publish(String(data="CALL " + start_node + " " + end_location))
+
- def getNearestNode(self, location):
- """
- Return the name of the node nearest to the given (x, y) location.
- """
- workspace_root = os.getcwd() # Current working directory
- self.get_logger().info(f"Workspace root: {workspace_root}")
- graph_file_path = os.path.abspath(os.path.join(workspace_root, "src", "robobin", "robobin", "graphs", "graph.json"))
- self.get_logger().info(f"Graph file path: {graph_file_path}")
- if not os.path.exists(graph_file_path):
- self.get_logger().error(f"Graph file not found at: {graph_file_path}")
- return None
-
- x_loc, y_loc = location
- try:
- with open(graph_file_path, 'r') as f:
- graph_data = json.load(f)
-
- closest_node_name = None
- closest_distance = float('inf')
-
- for node in graph_data["nodes"]:
- x_node = node["x"]
- y_node = node["y"]
- dist = math.sqrt((x_node - x_loc)**2 + (y_node - y_loc)**2)
- if dist < closest_distance:
- closest_distance = dist
- closest_node_name = node["name"]
-
- return closest_node_name
- except Exception as e:
- self.get_logger().error(f"Failed to determine nearest node: {str(e)}")
- return None
+
def handle_client_connection(self, client_socket):
"""Handles incoming TCP client connections."""
try:
diff --git a/ros2/src/robobin/robobin/helpers/connection_manager.py b/ros2/src/robobin/robobin/helpers/connection_manager.py
index a2498443..769a5969 100644
--- a/ros2/src/robobin/robobin/helpers/connection_manager.py
+++ b/ros2/src/robobin/robobin/helpers/connection_manager.py
@@ -69,8 +69,8 @@ class ConnectionManager:
# Send the JSON message over UDP
sock.sendto(json_message, (self.UDP_IP, self.UDP_PORT))
- self.api_node.get_logger().info("Broadcasting JSON presence.")
- self.api_node.get_logger().info(f"Location: {self.location}, Mode: {mode}")
+ # self.api_node.get_logger().info("Broadcasting JSON presence.")
+ # self.api_node.get_logger().info(f"Location: {self.location}, Mode: {mode}")
time.sleep(0.5)
except OSError:
break
--
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