#!/usr/bin/env python # -*- coding: utf-8 -*- # # Copyright 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. # SPDX-License-Identifier: MIT-0 # # Permission is hereby granted, free of charge, to any person obtaining a copy of this # software and associated documentation files (the "Software"), to deal in the Software # without restriction, including without limitation the rights to use, copy, modify, # merge, publish, distribute, sublicense, and/or sell copies of the Software, and to # permit persons to whom the Software is furnished to do so. # # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, # INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A # PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT # HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION # OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE # SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. # # # This node gives the control of the map server through cloud. This node work with AWS IoT and Amazon S3. # When saving map is requested from cloud through AWS IoT, this node request a map to map server and save it to Amazon S3. # When map_download service is called, this node download map file from Amazon S3 and place it into local file system. # The files are stored under /tmp and the files are map.yaml and map.pgm. # The destination of Amazon S3 bucket for the map file is specified by application setting file. # The name of the setting file is specified by the parameter 'app_setting_file'. If the value is 'use_default', value of app_setting_file_name_default is used instead. # # このノードは AWS IoT また、Amazon S3 と連携して クラウドと Mapサーバー をつなげます。 # AWS IoT を通して Map の保存が要求された時、マップサーバーにこれを要求し、保存されたマップ情報を Amazon S3 に保存します。 # また、map_download　サービスを呼ぶことで Amazon S3 からマップファイルをダウンロードし、ローカルのファイルシステムにファイルを保存することができます。 # ファイルのローカルでの保存先は /tmp 配下で保存されるファイルは map.yaml と map.pgm です。 # Amazon S3 でのファイルの Map ファイルの保存先は設定ファイルにより指定されます。 # 設定ファイルはパラメータ app_setting_file_nameで設定、ただしこの値が use_default の場合は パラメータ app_setting_file_name_default で指定されたファイル名から設定を読み込みます。 # import rospy import json from std_msgs.msg import String import time import subprocess import boto3 import os from delivery_robot_sample.srv import MapSaveAndUpload,MapSaveAndUploadResponse, MapDownload, MapDownloadResponse import yaml def upload_file(file_name, bucket, object_name=None): """Upload a file to an S3 bucket :param file_name: File to upload :param bucket: Bucket to upload to :param object_name: S3 object name. If not specified then file_name is used :return: True if file was uploaded, else False """ retry = 0 success = False while retry < 6 and not success and not rospy.is_shutdown(): try: accessKeyId = rospy.get_param("/aws/iot/credential/accessKeyId") secretAccessKey = rospy.get_param("/aws/iot/credential/secretAccessKey") sessionToken = rospy.get_param("/aws/iot/credential/sessionToken") # If S3 object_name was not specified, use file_name if object_name is None: object_name = file_name # Upload the file s3_client = boto3.client('s3', aws_access_key_id = accessKeyId, aws_secret_access_key = secretAccessKey, aws_session_token = sessionToken ) response = s3_client.upload_file(file_name, bucket, object_name) success = True except Exception as e: rospy.logwarn("map_controller upload_file failed") rospy.logwarn(e) rospy.logwarn("retry after 3 sec...") time.sleep(3) retry = retry + 1 if success: return True, "" else: return False, "upload failed" def download_file(bucket, object_name, file_name): retry = 0 success = False while retry < 6 and not success and not rospy.is_shutdown(): try: rospy.logwarn("download file...") accessKeyId = rospy.get_param("/aws/iot/credential/accessKeyId") secretAccessKey = rospy.get_param("/aws/iot/credential/secretAccessKey") sessionToken = rospy.get_param("/aws/iot/credential/sessionToken") s3 = boto3.client('s3', aws_access_key_id = accessKeyId, aws_secret_access_key = secretAccessKey, aws_session_token = sessionToken ) s3.download_file(bucket, object_name, file_name) success = True except Exception as e: rospy.logwarn("map_controller download_file failed") rospy.logwarn(e) rospy.logwarn("retry after 3 sec...") time.sleep(3) retry = retry + 1 if success: return True, "" else: return False, "download failed" class MapController(): def __init__(self): settings = {} setting_file = rospy.get_param("app_setting_file_name") if setting_file == "use_default": setting_file = rospy.get_param("app_setting_file_name_default") with open(setting_file, 'r') as f: try: settings = yaml.safe_load(f) except yaml.YAMLError as exc: rospy.logerr("Navigation::yaml read error") return self.bucket = settings["s3_bucket"] self.prefix = settings["s3_prefix"] self._remote_sub = rospy.Subscriber('/awsiot_to_ros', String, self.awsiot_to_ros_cb, queue_size=1) self._remote_pub = rospy.Publisher('/ros_to_awsiot', String, queue_size=10) s1 = rospy.Service('map_save_and_upload', MapSaveAndUpload, self.handle_save_and_upload_svc) s2 = rospy.Service('map_download', MapDownload, self.handle_download_svc) def main(self): rospy.spin() def handle_save_and_upload_svc(self, request): print(request) rospy.loginfo("Map controller save_and_upload called") (s,m) = self.save_and_upload() return MapSaveAndUpload(s,m) def handle_download_svc(self, request): rospy.loginfo("Map controller download called") (s,m) = self.download() return MapDownloadResponse(s,m) def save_and_upload(self): success = False message = "" rospy.loginfo("s3_bucket {}".format(self.bucket)) rospy.loginfo("s3_prefix {}".format(self.prefix)) result = subprocess.call("rosrun map_server map_saver -f /tmp/map".split()) if result == 0 and os.path.exists("/tmp/map.pgm") and os.path.exists("/tmp/map.yaml"): rospy.loginfo("map saved!") object_name = "{}/{}".format(self.prefix, "map.pgm") (r, e) = upload_file("/tmp/map.pgm", self.bucket, object_name) if r: object_name = "{}/{}".format(self.prefix, "map.yaml") (r,e) = upload_file("/tmp/map.yaml", self.bucket, object_name) if r: success = True message = "Uploading map file succeeded!" else: message = "uploading map.yaml failed.. {}".format(e) else: message = "uploading map.pgm failed.. {}".format(e) else: message = "map file hasn't saved properly.." return success, message def download(self): success = False message = "" rospy.loginfo("s3_bucket {}".format(self.bucket)) rospy.loginfo("s3_prefix {}".format(self.prefix)) object_name = "{}/{}".format(self.prefix, "map.pgm") if download_file(self.bucket, object_name,"/tmp/map.pgm"): object_name = "{}/{}".format(self.prefix, "map.yaml") (r,e) = download_file(self.bucket, object_name, "/tmp/map.yaml") if r: success = True message = "Downloading map file succeeded!" else: message = "download map.yaml failed.. {}".format(e) else: message = "download map.pgm failed.. {}".format(e) return success, message def awsiot_to_ros_cb(self, message): try: message_json = json.loads(message.data) payload = message_json['payload'] if 'command' in payload \ and payload['command'] == "map" \ and 'action' in payload \ and 'request_id' in payload: request_id = payload['request_id'] if payload['action'] == 'save': (s, m) = self.save_and_upload() result = {} result["command"] = "result" result["request_id"] = request_id result["result"] = "success" if s else "fail" result["message"] = m self._remote_pub.publish(json.dumps(result)) elif payload['action'] == 'load': (s, m) = self.download() result = {} result["command"] = "result" result["request_id"] = request_id result["result"] = "success" if s else "fail" result["message"] = m self._remote_pub.publish(json.dumps(result)) except Exception as e: rospy.logerr("map_controller awsiot_to_ros_cb failed") rospy.logerr(e) def main(): rospy.init_node('map_controller') map_controller = MapController() map_controller.main() if __name__ == '__main__': main()