import rclpy
from flask import Flask
from geometry_msgs.msg import Twist

app = Flask(__name__)

rclpy.init()
node = rclpy.create_node("web_api")
publisher = node.create_publisher(Twist, "/RMC2/cmd_vel", 10)


@app.after_request
def cors(response):
    response.headers["Access-Control-Allow-Origin"] = "*"
    return response


@app.post("/api/forward")
def forward():
    speed = Twist()
    speed.linear.x = 0.1

    for _ in range(40):
        publisher.publish(speed)
        rclpy.spin_once(node, timeout_sec=0.05)

    for _ in range(5):
        publisher.publish(Twist())
        rclpy.spin_once(node, timeout_sec=0.05)

    return "ok"

app.run(host="0.0.0.0", port=8000, threaded=False)