Minimal example

This minimal example demonstrates how to use the wisevision_data_black_box package to mange influx data base through zenoh. It guides you through add and delete data, add influx plugin to zenoh and add storage in influx.

Prerequisites

• ROS2 Humble or later
• Build and run
• InfluxDB (Run before run zenoh server)
• Zenoh server

Local run

Assuming that after building the package, you can source the workspace, and run the node:

source install/setup.bash
ros2 run wisevision_data_black_box black_box

Communcation over WAN

To communicate over WAN:

• Run this severe on machine outsied local newtork Zenoh server with ROS2 bridge

Using the wisevision_data_black_box

The wisevision_data_black_box provides services to add and delete data in database, add influx pluging on zenoh server, add storage in influx through zenoh server.

Services:

• /get_messages (lora_msgs/srv/GetMessages): Take data from data base. It it posibble to:
  • take last N messages: in data range pass only 0
  • take last N messages from data ranger: pass date range and number of last messages
  • take all mesages fromm date range pass date range and number of mesagges with 0
• /create_database (wisevision_msgs/srv/CreateDataBase): add influxdb storage plugin to zenoh server.
• /add_storage_to_database (wisevision_msgs/srv/AddStorageToDataBase): add new database, wich follows pointed topic.
• /add_data_to_database (wisevision_msgs/srv/AddDataToDataBase): add data to database on pointed topic.
• /delete_data_from_database (wisevision_msgs/srv/DeleteDataFromDataBase): delete data from database for pointed topic

Examples

Get messages from database

To take data from database, call the /get_messages:

ros2 service call /get_messages lora_msgs/srv/GetMessages "{topic_name: 'devices_data', message_type: 'lora_msgs/MicroPublisher', time_start: {year: 0, month: 0, day: 0, hour: 0, minute: 0, second: 0, nanosecond: 0}, time_end: {year: 0, month: 0, day: 0, hour: 0, minute: 0, second: 0, nanosecond: 0}, number_of_msgs: 5}"

Add influxdb storage plugin to zenoh server

To add influxdb to zenoh server, call the /create_database:

ros2 service call /create_database wisevision_msgs/srv/CreateDataBase "{key_expr: 'demo/example/**', storage_name: 'influxdb', db_name: 'zenoh_stabilzation', create_db: true}"

Add storage do database (indicating the topic to save)

To add storage in databas with information wich topic will be stored there, call the /add_storage_to_database:

ros2 service call /add_storage_to_database wisevision_msgs/srv/AddStorageToDataBase "{storage_name: 'influxdb'}"

Add data to data base

To add data to database, call the /add_data_to_database:

ros2 service call /add_data_to_database wisevision_msgs/srv/AddDataToDataBase "{db_path: '/demo/example/test/id', query: '{\"key\": 1}'}"

Delete data from database

To delete data from pointed topic, call the /delete_data_from_database:

ros2 service call /delete_data_from_database wisevision_msgs/srv/DeleteDataFromDataBase "{db_path: '/demo/example/test/id'}"