From 9e2e8764659b9d589d1244b68023205cbfc75128 Mon Sep 17 00:00:00 2001
From: John Walsh <johnwalsh7412@gmail.com>
Date: Tue, 8 Oct 2024 17:59:12 -0400
Subject: [PATCH] correct logger request format and add example config

---
 configs/example.yaml                     | 27 ++++++++++++++++++++++++
 src/phyto_arm/src/digital_logger_node.py | 12 +++++++++--
 2 files changed, 37 insertions(+), 2 deletions(-)

diff --git a/configs/example.yaml b/configs/example.yaml
index 989e965..0518e52 100644
--- a/configs/example.yaml
+++ b/configs/example.yaml
@@ -253,3 +253,30 @@ web:
             default: -999.999 # Replace with desired default long
         defaultOnlyExample: #optional
             default: 'static_value' # No topic, making this default value permanent
+
+# Configure digital logger control
+# Status topic: /digital_logger/outlets/{outlet num}/status
+# D/L message: {"name": "camera", "status": "on"}
+# Control service: /digital_logger/control
+# C/L message: {"name": "camera", "status": "off"}
+digital_logger:
+    username: "admin"
+    password: "1234"
+    address: "192.168.1.5"
+    outlets:
+        - name: "ifcb"
+          outlet: 1
+        - name: "arm_ifcb"
+          outlet: 2
+        - name: "arm_chanos"
+          outlet: 3
+        - name: "camera"
+          outlet: 4
+        - name: "gps"
+          outlet: 5
+        - name: "ctd"
+          outlet: 6
+        - name: "winch"
+          outlet: 7
+        - name: "starlink"
+          outlet: 8
\ No newline at end of file
diff --git a/src/phyto_arm/src/digital_logger_node.py b/src/phyto_arm/src/digital_logger_node.py
index ba7ab42..2aad98a 100755
--- a/src/phyto_arm/src/digital_logger_node.py
+++ b/src/phyto_arm/src/digital_logger_node.py
@@ -7,6 +7,9 @@
 from phyto_arm.msg import OutletStatus
 
 def control_outlet(msg):
+    """
+    Send the given msg to the digital logger as an HTTP request.
+    """
     username = rospy.get_param('/digital_logger/username')
     password = rospy.get_param('/digital_logger/password')
     address = rospy.get_param('/digital_logger/address')
@@ -14,17 +17,19 @@ def control_outlet(msg):
 
     for outlet in outlets:
         if outlet['name'] == msg.name:
+            # outlet numbers in the config yaml start from 1 whereas outlet numbers in the API start from 0
             outlet_num = int(outlet['outlet']) - 1
 
     status = msg.status == 'on'
 
-    response = requests.put(f'http://{address}/restapi/relay/outlets/{outlet_num}/state/', auth=HTTPDigestAuth(username, password), data={'value': status}, headers={"X-CSRF": "x", "Accept": "application/json"})
-    rospy.logwarn(f'sent: http://{address}/restapi/relay/outlets/{outlet_num}/state/, {status}, {response.text}')
+    response = requests.put(f'http://{address}/restapi/relay/outlets/{outlet_num}/state/', auth=HTTPDigestAuth(username, password), data={'value': str(status).lower()}, headers={"X-CSRF": "x", "Accept": "application/json"})
+    rospy.loginfo(f'sent: http://{address}/restapi/relay/outlets/{outlet_num}/state/, auth={username},{password} status={str(status).lower()}, received: code {response.status_code} : {response.text}')
 
 
 def main():
     rospy.init_node('digital_logger_node')
 
+    # subscribe to the digital logger control topic
     subscriber = rospy.Subscriber('/digital_logger/control', OutletStatus, control_outlet)
 
     username = rospy.get_param('/digital_logger/username')
@@ -33,10 +38,12 @@ def main():
     outlets = rospy.get_param('/digital_logger/outlets')
     num_outlets = len(outlets)
 
+    # create an independent publisher for each outlet
     outlet_publishers = {}
     for outlet_num in range(num_outlets):
         outlet_publishers[f'outlet_{outlet_num}'] = rospy.Publisher(f'/digital_logger/outlet/{outlet_num}/status/', OutletStatus, queue_size=10)
 
+    # Monitor outlets at 1Hz
     rate = rospy.Rate(1)
 
     while not rospy.is_shutdown():
@@ -46,6 +53,7 @@ def main():
 
         assert len(result) == num_outlets
 
+        # publish the status of each outlet to its specific topic
         for outlet_index in range(len(result)):
             if result[outlet_index]:
                 status = 'on'