Initial commit

unilabos/app/controler.py

@@ -0,0 +1,34 @@
+
+import json
+import uuid
+from unilabos.app.model import JobAddReq, JobData
+from unilabos.ros.nodes.presets.host_node import HostNode
+
+
+def get_resources() -> tuple:
+    if HostNode.get_instance() is None:
+        return False, "Host node not initialized"
+
+    return True, HostNode.get_instance().resources_config
+
+def devices() -> tuple:
+    if HostNode.get_instance() is None:
+        return False, "Host node not initialized"
+    
+    return True, HostNode.get_instance().devices_config
+
+def job_info(id: str):
+    get_goal_status = HostNode.get_instance().get_goal_status(id)
+    return JobData(jobId=id, status=get_goal_status)
+
+def job_add(req: JobAddReq) -> JobData:
+    if req.job_id is None:
+        req.job_id = str(uuid.uuid4())
+    action_name = req.data["action"]
+    action_kwargs = req.data["action_kwargs"]
+    req.data['action'] = action_name
+    if action_name == "execute_command_from_outer":
+        action_kwargs = {"command": json.dumps(action_kwargs)}
+    print(f"job_add:{req.device_id} {action_name} {action_kwargs}")
+    HostNode.get_instance().send_goal(req.device_id, action_name=action_name, action_kwargs=action_kwargs, goal_uuid=req.job_id)
+    return JobData(jobId=req.job_id)