From 783d2b9e23626096735102305051c69e63e4e901 Mon Sep 17 00:00:00 2001
From: Icyadam14 <adamkahl8@gmail.com>
Date: Thu, 6 Feb 2025 14:01:30 -0500
Subject: [PATCH] Clean up code and add some comments

---
 videos/src/get_ip.py | 51 +++++++++++++++++++++-----------------------
 1 file changed, 24 insertions(+), 27 deletions(-)

diff --git a/videos/src/get_ip.py b/videos/src/get_ip.py
index 1899e61..4dd00cc 100644
--- a/videos/src/get_ip.py
+++ b/videos/src/get_ip.py
@@ -2,60 +2,58 @@
 
 # Import necessary libraries
 import rclpy
-import ipaddress
-import subprocess
 from rclpy.node import Node
 from std_msgs.msg import String
-import threading
 from utils.heartbeat_helper import HeartbeatHelper
+import subprocess, threading, ipaddress
 
 
 class IpSubscriberNode(Node):
     def __init__(self):
         super().__init__('ip_subscriber_node')
+        self.stop_max_count = 5 # Maximum number of times to publish STOP to the surface_ip topic
+        self.stop_count = 0
+        self.camera_limit = 4 # Maximum number of cameras to launch
+        self.camera_device_num = 2 # The device number of the camera to launch
 
         # Set up heartbeat
         self.heartbeat_helper = HeartbeatHelper(self)
         
-        self.create_subscription(String, 'surface_ip', self.get_ip, 10)
-        # self.launch_camera("192.168.1.23")
+        # Create a subscriber to the surface_ip topic
+        self.create_subscription(String, 'surface_ip', self.surface_ip_callback, 10)
         
 
-    def get_ip(self, msg):
+    def surface_ip_callback(self, msg):
         received_ip = msg.data
-
         try:
+            # Check if the received IP is valid
             ipaddress.ip_address(received_ip) 
             
+            # Publish "STOP" to the surface_ip topic
             self.publisher = self.create_publisher(String, 'surface_ip', 10)
             self.timer = self.create_timer(1.0, self.publish_stop)
-            self.stop_count = 0
-            self.stop_max_count = 5
             self.get_logger().info(f'Received from surface_ip topic: "{msg.data}"')
 
-            ## Subprocess command
-            self.launch_camera(received_ip)
+            # Find the camera devices
+            cameras = self.find_camera_devices()
+
+            # Launch the camera nodes
+            self.launch_camera(received_ip, cameras)
 
         except ValueError:
             self.get_logger().info(f'Invalid IP received from topic: "{msg.data}"')
 
-    def launch_camera(self, ip):
-        # Find camera devices
-        cameras = self.find_camera_devices()
+    def launch_camera(self, ip, cameras):
         # Launch nodes with the discovered devices
-        i = 1
-        for camera in cameras:
+        for camera, i in enumerate(cameras):
             if i > 4:
                 self.get_logger().info("Camera limit reached, not launching more nodes.")
                 break
             else:
-                self.get_logger().info(f"Launching node with camera: {camera}, to camera number: {i}")
+                self.get_logger().info(f"Launching node with camera: {camera}, to camera number: {i + 1}")
                 # Construct the command with f-strings
                 cmd = [
-                    "ros2",
-                    "run", 
-                    "videos", 
-                    "videos_launch.py", 
+                    "ros2", "run", "videos", "videos_launch.py", 
                     "--ros-args", 
                     "-p", f"ip:={ip}", 
                     "-p", f"device:={camera}", 
@@ -63,9 +61,8 @@ def launch_camera(self, ip):
                     "-r", f"__node:=camera{i}"
                     ]
                 # Run in a thread
-                thread = threading.Thread(target=subprocess.run, args=(cmd,), kwargs={"check": True})
-                thread.start()
-                i += 1
+                thread = threading.Thread(target=subprocess.run, args=(cmd,), kwargs={"check": True}).start()
+
 
     def find_camera_devices(self):
         # Run command: v4l2-ctl --list-devices
@@ -73,7 +70,7 @@ def find_camera_devices(self):
         lines = output.splitlines()
         cameras = []
         i = 0
-        # Find the lines with "exploreHD" and get the third device
+        # Find the lines with "exploreHD" and get the desired camera device
         while i < len(lines):
             if "exploreHD" in lines[i]:
                 devices = []
@@ -81,8 +78,8 @@ def find_camera_devices(self):
                 while i < len(lines) and lines[i].startswith("\t"):
                     devices.append(lines[i].strip())
                     i += 1
-                if len(devices) >= 3:
-                    cameras.append(devices[2])  # Third device (0-based index)
+                if len(devices) >= self.camera_device_num + 1:
+                    cameras.append(devices[self.camera_device_num])
             else:
                 i += 1