dream
ros_flask_server service
This is an intermediate node in the chain of dream_embodied:
Architecture
Description
This service is basically a ROS-Flask server.
The Flask part of this service consists of endpoints like /set_commands, /is_command_valid, /perform_command et cetera. Some of these endpoints are meant to be accessed from client-side (e.g. /set_commands), and some of them are only meant to be accessed from Dream-side (e.g. /perform_command).
These endpoints create a two-way API for Dream and connector so that they can interact with each other in a standardized and controlled easily-modifiable manner.
The ROS part of this server is for example:
If Dream wants the connector to perform a command by sending a request to /perform_command endpoint of this service, the command is first being published to a ROS-node where it can be processed in a ROS-compliant way to make interacting with real ROS-controlled and compliant robots and apps possible.
Endpoints
/set_commands
This endpoint should only be accessed from client-side. It is used to set a valid command list for the server. Only the commands set using this endpoint are to be executed.
/is_command_valid
This endpoint is used to check whether a command is valid. It checks if the supplied string is in a list of valid commands.
/perform_command
This endpoint should only be accessed from Dream-side. When a request is sent to this endpoint, the supplied command name is appended to command queue if the command name is valid.
/receive_command
This endpoint should only be accessed from client-side. Every few seconds client sends a request to this endpoint to receive a command if there is one in queue to be executed.
/is_command_performed
This endpoint should only be accessed from Dream-side. When a request is sent to this endpoint, it simply checks whether there is a command currently being executed. If there is none, we infer that the last command is already performed.
/command_is_performed
This endpoint should only be accessed from client-side. When the client finishes performing a command, they send a request to this endpoint to let Dream know that the client may now receive new commands.