➕ Implemented mqtt status polling approach as alternative to previous…

… status polling.

.gitignore

@@ -0,0 +1,2 @@
+scripts/*
+door_adapter_megazo/config.yaml

Dockerfile

@@ -4,7 +4,7 @@ FROM ros:humble-ros-base
 RUN apt-get update && apt-get install -y --no-install-recommends \
         ros-humble-rmf-door-msgs \
         python3-pip && \
-        pip3 install websockets websocket-client requests && \
+        pip3 install websockets websocket-client requests gmqtt && \
     rm -rf /var/lib/apt/lists/*
 
 # Clone the repository

door_adapter_megazo/config.yaml

@@ -5,11 +5,14 @@
 doors:
   "Lab_D01":  # door name and id
     door_auto_closes: False # Set to True if door remains closed until requested open, and automatically closes if it does not receive subsequent open requests.
-    door_signal_period: 3.0 # Time taken for door signal to be effective, in seconds.
+    door_signal_period: 10.0 # Time taken for door signal to be effective, in seconds.
     continuous_status_polling: False # Whether to keep checking door state when there are no requests
+    enable_mqtt_status_polling: True # Whether to use MQTT method of polling as alternative to ICEDList status polling.
 
 door_subscriber:
-  topic_name: "adapter_door_requests"
+  request_topic_name: "adapter_door_requests"
+  mqtt_topic_name: "mqtt_door_status"
+
 
 door_publisher:
   topic_name: "door_states"
@@ -19,5 +22,7 @@ mock: False
 
 # Sample creds:
 api_endpoint: "http://icad.megazo.io:8181"
+mqtt_broker: "icad.megazo.io"
+mqtt_port: 1883
 header_key: "INSERT MEGAZO USER HERE"
 header_value: "INSERT MEGAZO PASSWORD HERE"

door_adapter_megazo/door_adapter_megazo/DoorClientAPI.py

@@ -132,6 +132,9 @@ def sign_in_project(self, projectID: str):
         except requests.exceptions.ConnectionError as connection_error:
             self.ros_logger.warn(f'Connection error: {connection_error}')
             return None
+        except requests.exceptions.HTTPError as http_error:
+            self.ros_logger.warn(f'HTTP error: {http_error} - Renewing token...')
+            self.token = self.get_token()
         except HTTPError as http_err:
             self.ros_logger.warn(f'HTTP error: {http_err}')
             return None
@@ -197,13 +200,21 @@ def get_iced_list_deviceID(self, door_id: str):
         except requests.exceptions.ConnectionError as connection_error:
             self.ros_logger.warn(f'Connection error: {connection_error}')
             return None
+        except requests.exceptions.HTTPError as http_error:
+            self.ros_logger.warn(f'HTTP error: {http_error} - Renewing token...')
+            self.token = self.get_token()
         except HTTPError as http_err:
             self.ros_logger.warn(f'HTTP error: {http_err}')
             return None
 
     def open_door(self, door_id):
         """Return True if the door API server is successful receive open door command."""
-        device_id, project_id = self.get_iced_list_deviceID(door_id)
+        try:
+            device_id, project_id = self.get_iced_list_deviceID(door_id)
+        except TypeError as e:
+            self.ros_logger.warn(f'Encountered {e}. Failed to get device_id' +
+                                 ' or project_id. Returning false.')
+            return False
 
         if device_id is None or project_id is None:
             self.ros_logger.error("Unable to retrieve Device/Project ID. Returning False")
@@ -250,13 +261,21 @@ def open_door(self, door_id):
         except requests.exceptions.ConnectionError as connection_error:
             self.ros_logger.warn(f'Connection error: {connection_error}')
             return False
+        except requests.exceptions.HTTPError as http_error:
+            self.ros_logger.warn(f'HTTP error: {http_error} - Renewing token...')
+            self.token = self.get_token()
         except HTTPError as http_err:
             self.ros_logger.warn(f'HTTP error: {http_err}')
             return False
 
     def close_door(self, door_id):
         """Return True if the door API server is successful receive open door command."""
-        device_id, project_id = self.get_iced_list_deviceID(door_id)
+        try:
+            device_id, project_id = self.get_iced_list_deviceID(door_id)
+        except TypeError as e:
+            self.ros_logger.warn(f'Encountered {e}. Failed to get device_id' +
+                                 ' or project_id. Returning false.')
+            return False
 
         if device_id is None or project_id is None:
             self.ros_logger.error("Unable to retrieve Device/Project ID. Returning False")
@@ -270,14 +289,14 @@ def close_door(self, door_id):
 
         path = self.config["api_endpoint"] + "/API/Device/ICED/ControlDoor"
 
-        FORCED_SHUTDOWN = 4
+        NORMAL_SHUTDOWN = 2
 
         payload = {
             'UserID': self.config["header_key"],
             'Token': self.token,
             'data': {
                 'IDs': [device_id],
-                'Operate': FORCED_SHUTDOWN
+                'Operate': NORMAL_SHUTDOWN
             }
         }
         requestHeaders = {'Content-Type': 'application/json'}
@@ -303,6 +322,9 @@ def close_door(self, door_id):
         except requests.exceptions.ConnectionError as connection_error:
             self.ros_logger.warn(f'Connection error: {connection_error}')
             return False
+        except requests.exceptions.HTTPError as http_error:
+            self.ros_logger.warn(f'HTTP error: {http_error} - Renewing token...')
+            self.token = self.get_token()
         except HTTPError as http_err:
             self.ros_logger.warn(f'HTTP error: {http_err}')
             return False

door_adapter_megazo/door_adapter_megazo/door_adapter.py

@@ -33,13 +33,15 @@ def __init__(self,
                  door_id,
                  door_auto_closes,
                  door_signal_period,
-                 continuous_status_polling):
+                 continuous_status_polling,
+                 enable_mqtt_status_polling):
         self.id = door_id
         self.door_mode = DoorMode.MODE_CLOSED
         self.open_door = False
         self.check_status = None  # set to None if not enabled
         self.door_auto_closes = door_auto_closes
         self.door_signal_period = door_signal_period
+        self.enable_mqtt_status_polling = enable_mqtt_status_polling
         if continuous_status_polling:
             self.check_status = False
 
@@ -49,7 +51,7 @@ def __init__(self,
 class DoorAdapter(Node):
     """A Module that bridges between ROS 2 and Megazo Door API."""
 
-    def __init__(self, config_yaml):
+    def __init__(self, config_yaml, is_mqtt_enabled):
         super().__init__('door_adapter_megazo')
         self.get_logger().info('Initialising [door_adapter_megazo]...')
 
@@ -59,6 +61,8 @@ def __init__(self, config_yaml):
         door_pub = config_yaml['door_publisher']
         door_sub = config_yaml['door_subscriber']
         self.mock_adapter = config_yaml.get('mock', False)
+        self.enable_mqtt = False
+        self.periodic_timer = None
 
         # Connect to doors
         if not self.mock_adapter:
@@ -77,19 +81,24 @@ def __init__(self, config_yaml):
                         auto_close = not door_data['door_close_feature']
                 assert auto_close is not None
 
+                if door_data.get('enable_mqtt_status_polling', False):
+                    self.enable_mqtt = True
+
                 self.doors[door_id] = Door(door_id,
                                            auto_close,
                                            door_data['door_signal_period'],
-                                           door_data.get('continuous_status_polling', False))
+                                           door_data.get('continuous_status_polling', False),
+                                           door_data.get('enable_mqtt_status_polling', False))
 
         self.door_states_pub = self.create_publisher(
             DoorState, door_pub['topic_name'], 100)
 
         self.door_request_sub = self.create_subscription(
-            DoorRequest, door_sub['topic_name'], self.door_request_cb, 100)
+            DoorRequest, door_sub['request_topic_name'], self.door_request_cb, 100)
 
-        self.periodic_timer = self.create_timer(
-            self.door_state_publish_period, self.time_cb)
+        if not self.enable_mqtt:
+            self.periodic_timer = self.create_timer(
+                self.door_state_publish_period, self.time_cb)
 
     def door_open_command_request(self, door_data: Door):
         """
@@ -235,16 +244,32 @@ def main(argv=sys.argv):
     parser = argparse.ArgumentParser(
         prog="door_adapter",
         description="Configure and spin up door adapter for door ")
-    parser.add_argument("-c", "--config_file", type=str, required=True,
-                        help="Path to the config.yaml file for this door adapter")
+    parser.add_argument(
+        "-c", "--config_file",
+        type=str,
+        required=True,
+        help="Path to the config.yaml file for this door adapter"
+    )
+    parser.add_argument(
+        '--enable_mqtt',
+        type=str,
+        default=False,
+        help='Enable or disable the MQTT status polling (true/false)'
+    )
+
     args = parser.parse_args(args_without_ros[1:])
     config_path = args.config_file
 
+    print(f"Feature enabled: {args.enable_mqtt}")
+    is_mqtt_enabled = False
+    if args.enable_mqtt == "True":
+        is_mqtt_enabled = True
+
     # Load config and nav graph yamls
     with open(config_path, "r", encoding="utf-8") as f:
         config_yaml = yaml.safe_load(f)
 
-    door_adapter = DoorAdapter(config_yaml)
+    door_adapter = DoorAdapter(config_yaml, is_mqtt_enabled)
     rclpy.spin(door_adapter)
 
     door_adapter.destroy_node()