feat(barcode-publisher): 🎉 add barcode-publisher

app/src/jobs/rosBarcodeListener.job.ts

@@ -20,11 +20,12 @@ export default async function rosBarcodeListenerJob() {
               "barcode",
               JSON.stringify({
                 time: Math.floor(+new Date() / 1000),
-                scanner_id: Number(message.scanner_id),
+                sensorId: Number(message.sensorId),
                 barcode: message.barcode,
-                location_x: location.location_x,
-                location_y: location.location_y,
-                location_z: location.location_z,
+                location_x: message.waypoint.x,
+                location_y: message.waypoint.y,
+                location_z: message.waypoint.z,
+                yaw: message.waypoint.yaw,
               })
             );
           } catch (error) {

app/src/tests/barcodePublisher.ts

@@ -0,0 +1,70 @@
+/* eslint-disable no-useless-escape */
+import { exec } from "child_process";
+
+const initialData = {
+  robotId: 1,
+  fleetId: 1,
+  sensorId: 1,
+  waypoint: {
+    x: 1,
+    y: 1,
+    z: 0,
+    yaw: 0.0,
+  },
+};
+
+let barcodes: string[] = [];
+
+function commandGenerator(commandData: {
+  robotId?: number;
+  fleetId?: number;
+  sensorId?: number;
+  x: number;
+  y: number;
+  z: number;
+}) {
+  return `ros2 topic pub --once /barcode std_msgs/msg/String '{\"data\": \"{\\\"robotId\\\": \\\"${commandData.robotId || initialData.robotId}\\\", \\\"fleetId\\\": \\\"${commandData.fleetId || initialData.fleetId}\\\", \\\"sensorId\\\": \\\"${commandData.sensorId || initialData.sensorId}\\\", \\\"barcode\\\": \\\"${randomBarcodeGenerator()}\\\", \\\"waypoint\\\": {\\\"x\\\": ${commandData.x}, \\\"y\\\": ${commandData.y}, \\\"z\\\": ${commandData.z}, \\\"yaw\\\": 0.0}}\"}'`;
+}
+
+function randomBarcodeGenerator() {
+  return Math.random().toString(36).substr(2, 8);
+}
+
+for (let x = 1; x < 13; x++) {
+  for (let y = 1; y < 13; y++) {
+    for (let z = 0; z < 6; z++) {
+      const command = commandGenerator({
+        x: initialData.waypoint.x + x,
+        y: initialData.waypoint.y + y,
+        z: initialData.waypoint.z + z,
+      });
+      barcodes.push(command);
+    }
+  }
+}
+
+function runCommands() {
+  if (barcodes.length === 0) {
+    console.log("All commands executed!");
+    return;
+  }
+
+  const command = barcodes.shift();
+
+  console.log("WORK:", command);
+  exec(command!, (error, stdout, stderr) => {
+    if (error) {
+      console.error(`JSERR: ${error.message}`);
+      return;
+    }
+    if (stderr) {
+      console.error(`STDERR: ${stderr}`);
+      return;
+    }
+    console.log(`STDOUT: ${stdout}`);
+  });
+
+  setTimeout(runCommands, 100);
+}
+
+runCommands();

app/src/types/types.ts

@@ -23,7 +23,7 @@ export type Environments = {
 };
 
 export type Barcode = {
-  scanner_id: number;
+  sensorId: number;
   time: number;
   barcode: string;
   location_x: number;