From e66b84047baa08191487752dd52a2ee6e1b59d5d Mon Sep 17 00:00:00 2001
From: Yoshiki Obinata <mqcmd196@hotmail.co.jp>
Date: Thu, 3 Jun 2021 16:31:57 +0900
Subject: [PATCH] use rosparam when loading config file, remove catch the
 exception, remove .gitignore

---
 dialogflow_task_executive/.gitignore               |  1 -
 .../launch/webhook_server.launch                   |  7 ++++++-
 .../node_scripts/webhook_server.py                 | 14 ++++++--------
 3 files changed, 12 insertions(+), 10 deletions(-)
 delete mode 100644 dialogflow_task_executive/.gitignore

diff --git a/dialogflow_task_executive/.gitignore b/dialogflow_task_executive/.gitignore
deleted file mode 100644
index 405d9fa8f..000000000
--- a/dialogflow_task_executive/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-/config/webhook.json
\ No newline at end of file
diff --git a/dialogflow_task_executive/launch/webhook_server.launch b/dialogflow_task_executive/launch/webhook_server.launch
index 4e434d21f..a0876a2c7 100644
--- a/dialogflow_task_executive/launch/webhook_server.launch
+++ b/dialogflow_task_executive/launch/webhook_server.launch
@@ -1,3 +1,8 @@
 <launch>
-  <node name="dialogflow_https_server" pkg="dialogflow_task_executive" type="webhook_server.py" />
+  <arg name="webhook_config" default="$(find dialogflow_task_executive)/config/webhook.json" />
+  <node name="dialogflow_https_server" pkg="dialogflow_task_executive" type="webhook_server.py">
+    <rosparam subst_value="true">
+      webhook_config: $(arg webhook_config)
+    </rosparam>
+  </node>
 </launch>
diff --git a/dialogflow_task_executive/node_scripts/webhook_server.py b/dialogflow_task_executive/node_scripts/webhook_server.py
index 8bb303c34..4eaa23bf8 100644
--- a/dialogflow_task_executive/node_scripts/webhook_server.py
+++ b/dialogflow_task_executive/node_scripts/webhook_server.py
@@ -9,7 +9,7 @@
 from urllib.parse import urlparse, parse_qs
 import ssl
 
-import json
+import os, json
 
 
 class Server(object):
@@ -22,7 +22,8 @@ def __init__(self):
         You need to set the path to certfile for ssl connection. You shouldn't use self-signed certificate.
         """
         rospack = rospkg.RosPack()
-        conffile = rospack.get_path('dialogflow_task_executive') + "/config/webhook.json"
+        conffile = rospy.get_param('~webhook_config', os.path.join(rospack.get_path('dialogflow_task_executive'), 'config/webhook.json'))
+
         with open(conffile) as f:
             json_dict = json.load(f)
             self.host = json_dict['host']
@@ -117,9 +118,6 @@ def _bad_request(self):
 
         
 if __name__ == '__main__':
-    try:
-        server = Server()
-        rospy.loginfo('DialogFlow HTTPS Server starts - %s:%s' % (server.host, server.port))
-        server.httpd.serve_forever()
-    except Exception as e:
-        rospy.logerr(e)
+    server = Server()
+    rospy.loginfo('DialogFlow HTTPS Server starts - %s:%s' % (server.host, server.port))
+    server.httpd.serve_forever()