Output SDK logs, anonymous mode

CHANGELOG.md

@@ -1,5 +1,13 @@
 # Changelog
 
+## [0.2.0] - 2020-11-13
+
+### Added
+
+* Node is able now to output logs from Veides Agent SDK
+* New optional property `~capath` (`veides_client_capath`) to provide custom certificates directory path to AgentClient
+* ROS Node is now initialized in `anonymous` mode
+
 ## [0.1.0] - 2020-11-11
 
 This is an initial release

CMakeLists.txt

@@ -30,12 +30,7 @@ add_service_files(
 
 generate_messages()
 
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES veides
-#  CATKIN_DEPENDS rospy
-#  DEPENDS system_lib
-)
+catkin_package()
 
 include_directories(
   ${catkin_INCLUDE_DIRS}

README.md

@@ -40,9 +40,10 @@ Required parameters:
 
 Optional parameters:
 
-| Property          | Description                                                                             |
-| ----------------: | --------------------------------------------------------------------------------------- |
-| veides_agent_name | Agent name used to compose publish topics. By default `veides_agent_client_id` is used. |
+| Property             | Description                                                                             |
+| -------------------: | --------------------------------------------------------------------------------------- |
+| veides_agent_name    | Agent name used to compose publish topics. By default `veides_agent_client_id` is used. |
+| veides_client_capath | Path to certificates directory                                                          |
 
 ## Publish topics
 

launch/veides_agent.launch

@@ -4,12 +4,14 @@
   <arg name="veides_agent_key" />
   <arg name="veides_agent_secret_key" />
   <arg name="veides_client_host" />
+  <arg name="veides_client_capath" default="" />
 
   <node name="veides_agent_$(arg veides_agent_name)" pkg="veides_agent_ros" type="veides_agent_node" output="screen">
     <param name="name" value="$(arg veides_agent_name)" />
     <param name="client_id" value="$(arg veides_agent_client_id)" />
     <param name="key" value="$(arg veides_agent_key)" />
     <param name="secret_key" value="$(arg veides_agent_secret_key)" />
     <param name="host" value="$(arg veides_client_host)" />
+    <param name="capath" value="$(arg veides_client_capath)" />
   </node>
 </launch>

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>veides_agent_ros</name>
-  <version>0.1.0</version>
+  <version>0.2.0</version>
   <description>Package that allows ROS developers to easily connect agents and interact with Veides platform</description>
 
   <maintainer email="contact@veides.io">Veides Team</maintainer>

src/veides_agent/__init__.py

@@ -1,10 +1,11 @@
 from veides_agent_ros.msg import Action, ActionEntity
 from veides.sdk.agent import AgentClient, ConnectionProperties, AgentProperties
+from veides_agent.logger import RosNodeConnectedLogger
 
 
 class VeidesAgentNode:
     def __init__(self, ros, service_factories):
-        ros.init_node('veides_agent_node', log_level=ros.DEBUG)
+        ros.init_node('veides_agent_node', log_level=ros.INFO, anonymous=True)
 
         self._services = []
         self._ros = ros
@@ -16,22 +17,34 @@ def __init__(self, ros, service_factories):
         secret_key = self._ros.get_param('~secret_key')
         client_id = self._ros.get_param('~client_id')
         self.agent_name = self._ros.get_param('~name', client_id)
+        capath = self._ros.get_param('~capath', "")
+
+        connection_propeties = {
+            'host': host
+        }
+
+        if isinstance(capath, str) and len(capath) > 0:
+            connection_propeties['capath'] = capath
 
         self.client = AgentClient(
-            connection_properties=ConnectionProperties(host=host),
+            connection_properties=ConnectionProperties(**connection_propeties),
             agent_properties=AgentProperties(
                 client_id=client_id,
                 key=key,
                 secret_key=secret_key
             ),
+            logger=RosNodeConnectedLogger(self._ros, '[veides_agent_sdk]'),
+            mqtt_logger=RosNodeConnectedLogger(self._ros, '[veides_agent_sdk/Paho]')
         )
 
         self.client.on_any_action(self._on_action)
         self.client.connect()
 
-        if self.client.connected.wait(timeout=60):
-            self._create_services(service_factories)
-            self._register_services()
+        if not self.client.connected.wait(timeout=30):
+            raise Exception('Not connected')
+
+        self._create_services(service_factories)
+        self._register_services()
 
         self.action_publisher = self._ros.Publisher('/veides/agent/{}/action_received'.format(self.agent_name), Action, queue_size=5)
 

src/veides_agent/logger.py

@@ -0,0 +1,37 @@
+import logging
+
+
+class RosNodeConnectedLogger(logging.Logger):
+    def __init__(self, rospy, name=''):
+        self.rospy = rospy
+        self.name = name
+
+    def log(self, level, message, *_):
+        if level == logging.DEBUG:
+            self.debug(message)
+        elif level == logging.INFO:
+            self.info(message)
+        elif level == logging.WARN:
+            self.warning(message)
+        elif level == logging.ERROR:
+            self.error(message)
+        else:
+            self.critical(message)
+
+    def critical(self, message, *_):
+        self.rospy.logfatal(self._format_message(message))
+
+    def error(self, message, *_):
+        self.rospy.logerr(self._format_message(message))
+
+    def warning(self, message, *_):
+        self.rospy.logwarn(self._format_message(message))
+
+    def info(self, message, *_):
+        self.rospy.loginfo(self._format_message(message))
+
+    def debug(self, message, *_):
+        self.rospy.logdebug(self._format_message(message))
+
+    def _format_message(self, message):
+        return '{} {}'.format(self.name, message)