Make VDA5050 version customizable

vda5050_connector/vda5050_connector_py/mqtt_bridge.py

@@ -49,7 +49,7 @@
 from vda5050_connector_py.utils import convert_ros_message_to_json
 from vda5050_connector_py.utils import get_vda5050_ts
 
-from vda5050_connector_py.vda5050_controller import DEFAULT_PROTOCOL_VERSION
+from vda5050_connector_py.vda5050_controller import DEFAULT_PROTOCOL_VERSION, SUPPORTED_PROTOCOL_VERSIONS
 
 # ROS msgs / srvs / actions
 from vda5050_msgs.msg import Action as VDAAction
@@ -194,6 +194,32 @@ def generate_vda_instant_action_msg(instant_action):
     return vda_instant_action
 
 
+def generate_vda5050_topic_alias(vda_version):
+    """
+    Create an alias for the current vda5050 version. The aliases are needed to
+    create the mqtt topics.
+
+    Args:
+    ----
+        vda_version (string): VDA5050 version with format x.x.x.
+
+    Raises:
+    ------
+        ValueError if the alias is not within the supported values.
+
+    Returns
+    -------
+        The alias of the version. For example, for the version '2.0.0', the alias is
+        'v2'
+    """
+    if vda_version in SUPPORTED_PROTOCOL_VERSIONS:
+        return f"v{vda_version[0]}"
+    else:
+        raise ValueError(
+            f"Invalid protocol major version. Supported versions are: {SUPPORTED_PROTOCOL_VERSIONS},"
+            f"but got {vda_version}"
+        )
+
 class MQTTBridge(Node):
     """Translates VDA5050 MQTT messages from and to ROS2."""
 
@@ -209,6 +235,9 @@ def __init__(self):
         mqtt_username = read_str_parameter(self, "mqtt_username", "")
         mqtt_password = read_str_parameter(self, "mqtt_password", "")
 
+        self.vda5050_version = read_str_parameter(self, "vda5050_protocol_version", "2.0.0")
+        self.vda5050_version_alias = generate_vda5050_topic_alias(self.vda5050_version)
+
         self._manufacturer_name = read_str_parameter(
             self, "manufacturer_name", "robots"
         )
@@ -238,6 +267,7 @@ def __init__(self):
             manufacturer=self._manufacturer_name,
             serial_number=self._serial_number,
             topic="connection",
+            major_version=self.vda5050_version_alias,
         )
 
         # NOTE: will payload cannot be set dynamically or updated
@@ -247,7 +277,7 @@ def __init__(self):
         will_payload = convert_ros_message_to_json(
             VDAConnection(
                 header_id=0,
-                version=DEFAULT_PROTOCOL_VERSION,
+                version=self.vda5050_version,
                 timestamp="1970-01-01T12:00:00.00Z",
                 manufacturer=self._manufacturer_name,
                 serial_number=self._serial_number,
@@ -278,19 +308,21 @@ def on_connect_mqtt(self, client, userdata, flags, rc):
                     manufacturer=self._manufacturer_name,
                     serial_number=self._serial_number,
                     topic="order",
+                    major_version=self.vda5050_version_alias,
                 )
             )
             self.mqtt_client.subscribe(
                 get_vda5050_mqtt_topic(
                     manufacturer=self._manufacturer_name,
                     serial_number=self._serial_number,
                     topic="instantActions",
+                    major_version=self.vda5050_version_alias
                 )
             )
             self._publish_connection(
                 msg=VDAConnection(
                     header_id=0,
-                    version=DEFAULT_PROTOCOL_VERSION,
+                    version=self.vda5050_version,
                     timestamp=get_vda5050_ts(),
                     manufacturer=self._manufacturer_name,
                     serial_number=self._serial_number,
@@ -405,7 +437,7 @@ def on_shutdown(self):
 
         offline_message = VDAConnection(
             header_id=0,
-            version=DEFAULT_PROTOCOL_VERSION,
+            version=self.vda5050_version,
             timestamp=get_vda5050_ts(),
             manufacturer=self._manufacturer_name,
             serial_number=self._serial_number,
@@ -424,13 +456,15 @@ def on_shutdown(self):
                 manufacturer=self._manufacturer_name,
                 serial_number=self._serial_number,
                 topic="order",
+                major_version=self.vda5050_version_alias
             )
         )
         self.mqtt_client.unsubscribe(
             get_vda5050_mqtt_topic(
                 manufacturer=self._manufacturer_name,
                 serial_number=self._serial_number,
                 topic="instantActions",
+                major_version=self.vda5050_version_alias
             )
         )
 
@@ -463,6 +497,7 @@ def _publish_state(self, msg: VDAOrderState):
             manufacturer=self._manufacturer_name,
             serial_number=self._serial_number,
             topic="state",
+            major_version=self.vda5050_version_alias
         )
         self._publish_to_topic(msg, topic)
 
@@ -485,6 +520,7 @@ def _publish_connection(self, msg: VDAConnection):
             manufacturer=self._manufacturer_name,
             serial_number=self._serial_number,
             topic="connection",
+            major_version=self.vda5050_version_alias
         )
         self._publish_to_topic(msg, topic)
 
@@ -501,5 +537,6 @@ def _publish_visualization(self, msg: VDAVisualization):
             manufacturer=self._manufacturer_name,
             serial_number=self._serial_number,
             topic="visualization",
+            major_version=self.vda5050_version_alias
         )
         self._publish_to_topic(msg, topic)

vda5050_connector/vda5050_connector_py/utils.py

@@ -221,7 +221,7 @@ def convert_ros_message_to_json(msg):
 
 
 def get_vda5050_mqtt_topic(
-    manufacturer, serial_number, topic, interface_name="uagv", major_version="v1"
+    manufacturer, serial_number, topic, major_version, interface_name="uagv",
 ):
     """
     Return suggested VDA5050 MQTT topics.

vda5050_connector/vda5050_connector_py/vda5050_controller.py

@@ -95,6 +95,7 @@
 DEFAULT_SERIAL_NUMBER = "robot_1"
 DEFAULT_PROTOCOL_VERSION = "2.0.0"
 DEFAULT_STARTING_NODE_ID = ""
+SUPPORTED_PROTOCOL_VERSIONS = ["1.1.0", "2.0.0"]
 
 DEFAULT_GET_STATE_SVC_NAME = "adapter/get_state"
 DEFAULT_SUPPORTED_ACTIONS_SVC_NAME = "adapter/supported_actions"