def verify_estop(robot):
"""Verify the robot is not estopped"""
client = robot.ensure_client(EstopClient.default_service_name)
if client.get_status().stop_level != estop_pb2.ESTOP_LEVEL_NONE:
error_message = "Robot is estopped. Please use an external E-Stop client, such as the" \
" estop SDK example, to configure E-Stop."
robot.logger.error(error_message)
raise Exception(error_message)
def monitor_status_until_complete_or_failed(request_id, client, capability_name, action_name,
verbose):
"""Helper status that monitors the status (using the GetStatus RPC) for the acquisition request until it
completes, fails, or times out.
Args:
request_id (int): The request_id for the acquisition request (returned by the AcquireData RPC).
client (DataAcquisitionClient): The client for the data acquisition service running on robot.
capability_name (string): The data source name being acquired.
action_name (string): The action name from the AcquireData RPC being monitored.
verbose (boolean): Print additional logging information on failure.
Returns:
A boolean indicating that the GetStatus RPC eventually received a "complete" status.
"""
start_time = time.time()
should_continue = time.time() - start_time < kMonitorStatusTimeoutSecs
while should_continue:
get_status_response = None
try:
get_status_response = client.get_status(request_id)
except ResponseError as err:
_LOGGER.error(
"Exception raised when monitoring the status of request %s for data '%s' with action_name '%s'.",
request_id, capability_name, action_name)
if verbose:
log_debug_information(err)
return False
if get_status_response.status in kAcquisitionSucceededStatuses:
return True
elif get_status_response.status in kAcquisitionFailedStatuses:
_LOGGER.error(
"Request %s for data '%s' with action_name '%s' failed the GetStatus RPC with status %s.",
request_id, capability_name, action_name,
data_acquisition_pb2.GetStatusResponse.Status.Name(get_status_response.status))
if verbose:
_LOGGER.info("The full GetStatus response: %s", get_status_response)
return False
elif get_status_response.status in kAcquisitionContinuesStatuses:
# Sleep briefly, then re-attempt to make a GetStatus RPC to see if the acquisition has completed.
time.sleep(0.2)
should_continue = time.time() - start_time < kMonitorStatusTimeoutSecs
continue
else:
_LOGGER.error(
"Unexpected status %s when monitoring request %s for data '%s' with action_name '%s'.",
data_acquisition_pb2.GetStatusResponse.Status.Name(get_status_response.status),
request_id, capability_name, action_name)
if verbose:
_LOGGER.info("The full GetStatus response: %s", get_status_response)
return False
_LOGGER.warning(
"No result to the GetStatus RPC within %s seconds for request %s of data '%s' with action_name '%s'.",
kMonitorStatusTimeoutSecs, request_id, capability_name, action_name)
return True
def call_and_check(client, endpoint, expected_level, sync):
if sync:
if expected_level == StopLevel.ESTOP_LEVEL_CUT:
endpoint.stop()
if expected_level == StopLevel.ESTOP_LEVEL_NONE:
endpoint.allow()
else:
if expected_level == StopLevel.ESTOP_LEVEL_CUT:
fut = endpoint.stop_async()
if expected_level == StopLevel.ESTOP_LEVEL_NONE:
fut = endpoint.allow_async()
fut.result()
stop_level = client.get_status().stop_level
assert stop_level == expected_level.value
_LOGGER.info('Stop level: %s', StopLevel(stop_level))
def cancel_request_and_monitor_status(request_id, client, capability_name,
action_name, verbose):
"""Helper status that monitors the status (using the GetStatus RPC) for the acquisition request after it
is cancelled until it recieves a "cancellation complete" status, or fails and times out.
Args:
request_id (int): The request_id for the acquisition request (returned by the AcquireData RPC).
client (DataAcquisitionClient): The client for the data acquisition service running on robot.
capability_name (string): The data source name being acquired.
action_name (string): The action name from the AcquireData RPC being monitored.
verbose (boolean): Print additional logging information on failure.
Returns:
A boolean indicating that the GetStatus RPC eventually recieved a "cancellation complete" status.
"""
try:
cancel_res = client.cancel_acquisition(request_id)
except CancellationFailedError as err:
_LOGGER.error(
"The CancelAcquisition RPC for request %s of data '%s' with action_name '%s' failed. "
"Check that the CancelAcquisition RPC is implemented and working in the plugin service.",
request_id, capability_name, action_name)
if verbose:
log_debug_information(err)
return False
except RequestIdDoesNotExistError as err:
_LOGGER.error(
"The request ID %s for data '%s' with action_name '%s' does not exist. Something may have "
"gone wrong with the AcquireData request or the id was not saved/deleted by the plugin service.",
request_id, capability_name, action_name)
if verbose:
log_debug_information(err)
return False
except ResponseError as err:
_LOGGER.error(
"Exception raised when cancelling request %s for data '%s' with action_name '%s'.",
request_id, capability_name, action_name)
if verbose:
log_debug_information(err)
return False
start_time = time.time()
should_continue = time.time() - start_time < kMonitorStatusTimeoutSecs
first_time_warning = True
while should_continue:
get_status_response = None
try:
get_status_response = client.get_status(request_id)
except ResponseError as err:
_LOGGER.error(
"Exception raised when monitoring the cancellation status of request %s for data '%s'"
" with action_name '%s'.", request_id, capability_name,
action_name)
if verbose:
log_debug_information(err)
return False
if get_status_response.status in kAcquisitionCancellationSucceededStatuses:
return True
elif get_status_response.status in kAcquisitionCancellationContinuesStatuses:
# Sleep breifly, then re-attempt to make a GetStatus RPC to see if the acquisition has cancelled.
time.sleep(0.2)
elif get_status_response.status in kAcquisitionContinuesStatuses:
# Warning that plugin did not update status to reflect that cancel rpc was recieved.
if first_time_warning:
_LOGGER.warning(
"The plugin did not update the status to reflect that a CancelAcquisition RPC was recieved. Try "
"setting the status as STATUS_CANCEL_IN_PROGRESS after responding to the RPC."
)
_LOGGER.info("Request %s for data '%s' with action_name '%s",
request_id, capability_name, action_name)
if verbose:
_LOGGER.info(
"Request %s for data '%s' with action_name '%s",
request_id, capability_name, action_name)
_LOGGER.info("The full GetStatus response: %s",
get_status_response)
first_time_warning = False
# Sleep breifly, then re-attempt to make a GetStatus RPC to see if the acquisition has cancelled.
time.sleep(0.2)
elif get_status_response.status in kAcquisitionCancellationFailedStatuses:
# Cancellation-specific failure.
_LOGGER.error(
"The cancellation request %s for data '%s' with action_name '%s' failed the GetStatus "
"RPC with status %s.", request_id, capability_name,
action_name,
data_acquisition_pb2.GetStatusResponse.Status.Name(
get_status_response.status))
if verbose:
_LOGGER.info("The full GetStatus response: %s",
get_status_response)
return False
elif get_status_response.status in kAcquisitionFailedStatuses:
# Failed for reason other than cancellation failed statuses.
_LOGGER.error(
"The cancellation request %s for data '%s' with action_name '%s' failed the GetStatus RPC with status %s."
"This is not an expected failure status after a CancelAcquisition RPC.",
request_id, capability_name, action_name,
data_acquisition_pb2.GetStatusResponse.Status.Name(
get_status_response.status))
if verbose:
_LOGGER.info("The full GetStatus response: %s",
get_status_response)
return False
else:
_LOGGER.error(
"Unexpected status %s when monitoring cancellation request %s for data '%s' with action_name '%s'.",
data_acquisition_pb2.GetStatusResponse.Status.Name(
get_status_response.status), request_id, capability_name,
action_name)
if verbose:
_LOGGER.info("The full GetStatus response: %s",
get_status_response)
return False
should_continue = time.time() - start_time < kMonitorStatusTimeoutSecs
_LOGGER.warning(
"Did not get a result for the GetStatus RPC within %s seconds for request %s of data '%s' with "
"action_name '%s'.", kMonitorStatusTimeoutSecs, request_id,
capability_name, action_name)
return True
def verify_estop(robot):
client = robot.ensure_client(EstopClient.default_service_name)
if client.get_status().stop_level != estop_pb2.ESTOP_LEVEL_NONE:
error_message = "Robot is estopped. Can't continue calibration."
robot.logger.error(error_message)
raise Exception(error_message)
