Add options for ROS

Author: xxEoD2242

core/SupportedSoftwareModules.json

@@ -139,16 +139,40 @@
         "LowLevelPathPlanning": {
             "ValidClassNames": [
                 "PassThroughPlanner",
+                "PassThroughTrajectoryPlanner",
+                "MinSnapTrajectoryPlanner",
                 "LinePlanner"
             ],
             "ValidParameters": {
                 "PassThroughPlanner": {},
-                "LinePlanner": {}
+                "PassThroughTrajectoryPlanner": {},
+                "LinePlanner": {},
+                "MinSnapTrajectoryPlanner": {
+                    "default_speed": {
+                        "type": "float",
+                        "description": "[m/s] The default speed the trajectory should be planned for in meters per second",
+                        "range": [
+                            0.5,
+                            10.0
+                        ]
+                    },
+                    "setpoint_type": {
+                        "type": "str",
+                        "description": "[m/s] The default speed the trajectory should be planned for in meters per second",
+                        "valid_entries": ["position", "velocity", "angular_rate"]
+                    }
+                }
             },
             "ValidInputArgs": {
                 "PassThroughPlanner": [
                     "MovementCommand"
                 ],
+                "MinSnapTrajectoryPlanner": [
+                    "Trajectory"
+                ],
+                "PassThroughTrajectoryPlanner": [
+                    "Trajectory"
+                ],
                 "LinePlanner": [
                     "MovementCommand"
                 ]
@@ -159,6 +183,12 @@
                 ],
                 "LinePlanner": [
                     "MovementCommand"
+                ],
+                "MinSnapTrajectoryPlanner": [
+                    "Trajectory"
+                ],
+                "PassThroughTrajectoryPlanner": [
+                    "Trajectory"
                 ]
             },
             "ValidModuleParameters":{

core/_version.py

@@ -6,4 +6,4 @@
 #
 # Description: Core Execution of the forward-facing gui
 # =============================================================================
-__version__ = '1.2.0'
+__version__ = '1.0.0'

core/client.py

@@ -342,7 +342,7 @@ def handle_multipart(self, message: dict) -> bytes:
         recv_data = b''.join(recv_bytes)
         return recv_data
 
-    def load_user_code(self, settings: dict) -> str:
+    def load_user_code(self, settings: dict, path: str = ".") -> str:
         """
         Load and prepare the User Code for sending. This entails reading
         the Python files, encoding them to JSON strings and providing
@@ -358,10 +358,10 @@ def load_user_code(self, settings: dict) -> str:
             for module_name, module in agent_info["SoftwareModules"].items():
                 isCustomModule, isCustomAlgo = self.query_supported_module_list(module_name, module["Algorithm"]["ClassName"])
                 if isCustomAlgo:
-                    with open("user_code/{}/{}.py".format(agent_name,  module["Algorithm"]["ClassName"]), "r") as file:
+                    with open("{}/user_code/{}/{}.py".format(path, agent_name,  module["Algorithm"]["ClassName"]), "r") as file:
                         user_code[agent_name][module_name] = {"Code": json.dumps(file.read()), "AlgorithmName":  module["Algorithm"]["ClassName"]}
                 elif isCustomModule:
-                    with open("user_code/{}/{}.py".format(agent_name, module_name), "r") as file:
+                    with open("{}/user_code/{}/{}.py".format(path, agent_name, module_name), "r") as file:
                         user_code[agent_name][module_name] = {"Code": json.dumps(file.read()), "AlgorithmName": module["Algorithm"]["ClassName"]}
 
         return user_code