Redis integration

.devcontainer/Dockerfile

@@ -20,7 +20,7 @@ RUN apt-get update \
 
 # Use venv for bluesky and ipython. Will need to call `source /venv/bin/activate`
 RUN python3 -m venv venv
-RUN . venv/bin/activate && pip install bluesky ophyd Ipython
+RUN . venv/bin/activate && pip install bluesky ophyd Ipython redis
 ENV DEBIAN_FRONTEND=dialog
 
 # Set up auto-source of workspace for ros user

src/aruco_pose/README.md

@@ -45,4 +45,33 @@ In the current implementation, this topic's publish rate is defined in the Azure
 ## Median estimation
 Median pose estimation is a multi-value estimation, where it estimates the median of the 6 DoF pose returned by the camera. 
 
-For each DoF, it maintains a moving window of size 10 (can be changed via the parameter `number_of_observations` ) to calculate the median. When the detection rate is 5Hz and upon moving the sample or the detected object to a new pose, it takes a minimum of 1.2 seconds to return the correct pose for the updated pose. As a good practice, it is better to wait for the whole 2 seconds. 
+For each DoF, it maintains a moving window of size 10 (can be changed via the parameter `number_of_observations` ) to calculate the median. When the detection rate is 5Hz and upon moving the sample or the detected object to a new pose, it takes a minimum of 1.2 seconds to return the correct pose for the updated pose. As a good practice, it is better to wait for the whole 2 seconds. 
+
+# Connection to the Redis DB
+
+Redis is used to store the aruco tag ID and real-world sample information. At present, each entry has four properties. They are:
+- id  -> tag ID of the printed tag from AruCo marker library
+- family  -> dictionary of tag used [DICT_APRILTAG_36h11, DICT_6X6_250, etc... ]
+- size  -> physical size of the marker
+- sample_names  -> unique name to identify the sample used with the tag
+
+Run the Redis container with the following command (make sure to have the correct binding for the local storage):
+```bash 
+podman run --name redis-container --network host -d -v /home/wfernando1/Documents/Environments/Workspaces/redis/data/:/data -p 6379:6379 redis
+```
+
+## Insert new entires
+
+Run the following if the command line interface is needed:
+
+```bash
+podman exec -it redis-container redis-cli
+```
+
+New records can be inserted into the redis server with the following command. Note the below example assumes that each entry has four attributes: id, family, size, and sample_name.
+
+```bash
+HSET tag:1 id 0 family "DICT_APRILTAG_36h11" size 0.02665 sample_name sample_1
+```
+
+Same procedure can be found in the file `aruoc_pose/src/redis_insert.py`

src/aruco_pose/src/redis_insert.py

@@ -0,0 +1,16 @@
+"""Copyright 2023 Brookhaven National Laboratory BSD 3 Clause License. See LICENSE.txt for details."""
+
+import redis
+
+# Connect to Redis
+# Note: Change the host IP to map your server.
+client = redis.Redis(host="192.168.56.1", port=6379, db=0)
+
+# Step 1: Store tag data in Redis
+client.hset("tag:1", mapping={"id": 0, "family": "DICT_APRILTAG_36h11", "size": 0.02665, "sample_name": "sample_1"})
+
+client.hset("tag:2", mapping={"id": 150, "family": "DICT_APRILTAG_36h12", "size": 0.03000, "sample_name": "sample_2"})
+
+# Step 2: Indexing the sample_name to the tag key (e.g., tag:1, tag:2)
+client.hset("sample_name_index", "sample_1", "tag:1")
+client.hset("sample_name_index", "sample_2", "tag:2")

src/pdf_beamtime/src/pdf_beamtime_fidpose_redis_client.py

@@ -0,0 +1,84 @@
+"""Copyright 2023 Brookhaven National Laboratory BSD 3 Clause License. See LICENSE.txt for details."""
+
+import math
+import time
+
+import rclpy
+from rclpy.action import ActionClient
+from rclpy.node import Node
+
+from pdf_beamtime_interfaces.action import FidPoseControlMsg
+import redis
+
+
+class SimpleClient(Node):
+    """Send a simple goal request to the action server."""
+
+    def __init__(self):
+        """Python init."""
+        super().__init__("pdf_beamtime_fidpose_client")
+        self._action_client = ActionClient(self, FidPoseControlMsg, "pdf_beamtime_fidpose_action_server")
+        self._goal_handle = None
+
+    def send_pickup_goal(self, sample_id):
+        """Send a working goal."""
+        goal_msg = FidPoseControlMsg.Goal()
+
+        goal_msg.inbeam_approach = [x / 180 * math.pi for x in [55.10, -51.78, 124.84, -73.16, 52.24, 180.0]]
+        goal_msg.inbeam = [x / 180 * math.pi for x in [63.84, -47.71, 98.22, -50.59, 61.00, 180.0]]
+
+        goal_msg.sample_return = False
+
+        goal_msg.sample_id = sample_id
+
+        self._action_client.wait_for_server()
+        self._send_goal_future = self._action_client.send_goal_async(goal_msg, feedback_callback=self.feedback_callback)
+
+    def send_return_sample_goal(self, sample_id):
+        """Send a working goal."""
+        goal_msg = FidPoseControlMsg.Goal()
+
+        goal_msg.inbeam_approach = [x / 180 * math.pi for x in [55.10, -51.78, 124.84, -73.16, 52.24, 180.0]]
+        goal_msg.inbeam = [x / 180 * math.pi for x in [63.84, -47.71, 98.22, -50.59, 61.00, 180.0]]
+
+        goal_msg.sample_return = True
+        goal_msg.sample_id = sample_id
+
+        self._action_client.wait_for_server()
+        self._send_goal_future = self._action_client.send_goal_async(goal_msg, feedback_callback=self.feedback_callback)
+
+    def feedback_callback(self, feedback_msg):
+        """Display the feedback."""
+        feedback = feedback_msg.feedback
+        self.get_logger().info("Completion percentage: {0} %".format(math.ceil(feedback.status * 100)))
+
+    def goal_response_callback(self, future):
+        """Send a cancellation after 15 seconds."""
+        self._goal_handle = future.result()
+        time.sleep(15.0)
+        self.get_logger().warn("********** Goal Canceling Now *********")
+        self._goal_handle.cancel_goal_async()
+
+
+def main(args=None):
+    """Python main."""
+    rclpy.init(args=args)
+
+    # Change the sample name to represent the correct sample to be picked.
+    sample_name = "sample_1"
+
+    # Read sample ID from the redis server
+    redis_client = redis.Redis(host="192.168.56.1", port=6379, db=0)
+    tag_key = redis_client.hget("sample_name_index", sample_name).decode("utf-8")
+    tag_id = int(redis_client.hget(tag_key, "id"))
+
+    client = SimpleClient()
+    client.send_pickup_goal(tag_id)
+    # client.send_return_sample_goal(tag_id)
+
+    rclpy.spin(client)
+    client.destroy_node()
+
+
+if __name__ == "__main__":
+    main()