working version

tginsbu1 · tginsbu1 · commit 40d2c33b7df2 · 2026-04-22T14:30:17.000-05:00
diff --git a/.madsci/registry.json b/.madsci/registry.json
@@ -0,0 +1,18 @@
+{
+  "version": 1,
+  "created_at": "2026-04-10T18:48:42.671753Z",
+  "updated_at": "2026-04-22T19:30:07.188732Z",
+  "entries": {
+    "mir_node": {
+      "id": "01KNWBK6DFKD8A0BW9MQD7X8Z2",
+      "component_type": "node",
+      "created_at": "2026-04-10T18:48:42.671780Z",
+      "last_seen": "2026-04-22T19:30:06.803122Z",
+      "metadata": {
+        "module_name": "mir_node"
+      },
+      "lock": null,
+      "workcell_id": null
+    }
+  }
+}
diff --git a/.pdm-python b/.pdm-python
@@ -0,0 +1 @@
+/home/rpl/workspace/mir_module/.venv/bin/python
diff --git a/pdm.lock b/pdm.lock
diff --git a/pyproject.toml b/pyproject.toml
@@ -18,8 +18,9 @@ dependencies = [
     "fastapi>=0.103.2",
     "uvicorn>=0.21.1",
     "pytest",
+    "filelock>=3.25.2",
 ]
-requires-python = ">=3.8.1"
+requires-python = ">=3.10.1"
 readme = "README.md"
 license = {text = "MIT"}
 
diff --git a/src/locations.json b/src/locations.json
@@ -0,0 +1,53 @@
+{
+    "RPL": {
+        "camera_marker": {
+            "pos_x": 8.209,
+            "guid": "4ccacd0d-7f46-11ee-8521-0001297b4d50",
+            "orientation": 180.0,
+            "pos_y": 16.306,
+            "type_id": 9
+        },
+        "charger1": {
+            "pos_x": 10.119,
+            "guid": "f0908191-7f46-11ee-8521-0001297b4d50",
+            "orientation": 88.936,
+            "pos_y": 21.557,
+            "type_id": 20
+        },
+        "N9": {
+            "pos_x": 11.0,
+            "guid": "7224a20f-d65c-11ee-a833-0001297b4d50",
+            "orientation": 0.0,
+            "pos_y": 16.372,
+            "type_id": 11
+        },
+        "test_pos": {
+            "pos_x": 10.119,
+            "guid": "88c7d8ff-54d0-11ef-90e0-0001297b4d50",
+            "orientation": 88.936,
+            "pos_y": 19.0,
+            "type_id": 0
+        },
+        "test_move": {
+            "pos_x": 7.0,
+            "guid": "d99494c0-54d5-11ef-be3f-0001297b4d50",
+            "orientation": 180.0,
+            "pos_y": 20.2,
+            "type_id": 0
+        },
+        "another_move": {
+            "pos_x": 8.1,
+            "guid": "b34d6e54-5670-11ef-a572-0001297b4d50",
+            "orientation": 3.18,
+            "pos_y": 20.4,
+            "type_id": 0
+        },
+        "Charger2": {
+            "pos_x": 2.924,
+            "guid": "29604cea-1400-11f1-85eb-0001297b4d50",
+            "orientation": 177.737,
+            "pos_y": 11.338,
+            "type_id": 20
+        }
+    }
+}
diff --git a/src/mir_interface/__init__.py b/src/mir_interface/__init__.py
diff --git a/src/mir_interface/locations.json b/src/mir_interface/locations.json
@@ -14,6 +14,14 @@
             "pos_y": 21.557,
             "type_id": 20
         },
+        "charger2": {
+            "pos_x": 3.266,
+            "guid": "f0908191-7f46-11ee-8521-0001297b4d50",
+            "orientation": 179.510,
+            "pos_y": 11.488,
+            "type_id": 20
+
+        },
         "N9": {
             "pos_x": 11.0,
             "guid": "7224a20f-d65c-11ee-a833-0001297b4d50",
diff --git a/src/mir_interface/mir_interface.py b/src/mir_interface/mir_interface.py
diff --git a/src/mir_rest_node.py b/src/mir_rest_node.py
@@ -3,7 +3,7 @@
 from pathlib import Path
 from typing import List, Optional
 
-from mir_driver.mir_driver import MiR_Base
+from mir_interface.mir_interface import MiR_Base
 from typing_extensions import Annotated
 from madsci.common.ownership import get_current_ownership_info
 from madsci.common.types.node_types import RestNodeConfig
@@ -16,7 +16,7 @@ class MIRConfig(RestNodeConfig):
     mir_host: str = "mirbase2.cels.anl.gov"
     map_name: str = "RPL"
 
-class MIRNode:
+class MIRNode(RestNode):
     """A node to control the mobile MIR Base"""
   
     config: MIRConfig = MIRConfig()
@@ -25,6 +25,7 @@ def startup_handler(self):
         """MIR startup handler."""
         
         self.mir = MiR_Base(mir_ip=self.config.mir_host, map_name=self.config.map_name)
+        self.mir.create_position_dict()
         print("MIR Base online")
 
     def status_handler(self):
@@ -39,7 +40,8 @@ def status_handler(self):
                 error = "Executing current mission, can still accept more missions."
             elif len(self.node_status.running_actions) == 0:
                 self.node_status.busy = False
-
+    def state_handler(self):
+        return self.mir.get_state()
             
 
     @action
@@ -51,7 +53,7 @@ def move(
     ) -> None:
         """Sends a move command to the MIR Base"""
         self.mir.move(
-            location_name=target_location.representation,
+            location_name=target_location.representation["location_name"],
         )
         
 
@@ -64,7 +66,7 @@ def dock(self,
     ) -> None:
         """Sends a docking command to the MIR Base"""
         self.mir.dock(
-            location_name=target_location.representation,
+            location_name=target_location.representation["location_name"],
         )
         self.mir.wait_until_finished()
 
@@ -105,4 +107,4 @@ def add_wait(
 
 if __name__ == "__main__":
     MIR_node = MIRNode()
-    MIR_node.start_node
+    MIR_node.start_node()

Original file line number	Diff line number	Diff line change
`@@ -0,0 +1 @@`
	`1`	`+/home/rpl/workspace/mir_module/.venv/bin/python`