def acquire_data_async(self,
acquisition_requests,
action_name,
group_name,
data_timestamp=None,
metadata=None,
**kwargs):
"""Async version of the acquire_data() RPC."""
if data_timestamp is None:
if not self._timesync_endpoint:
data_timestamp = now_timestamp()
else:
data_timestamp = self._timesync_endpoint.robot_timestamp_from_local_secs(
time.time())
action_id = data_acquisition.CaptureActionId(action_name=action_name,
group_name=group_name,
timestamp=data_timestamp)
metadata_proto = metadata_to_proto(metadata)
request = data_acquisition.AcquireDataRequest(
metadata=metadata_proto,
acquisition_requests=acquisition_requests,
action_id=action_id)
return self.call_async(self._stub.AcquireData,
request,
value_from_response=get_request_id,
error_from_response=acquire_data_error,
**kwargs)
def issue_acquire_data_request(data_acq_client,
acquisition_requests,
group_name,
action_name,
metadata=None):
"""Sends the data acquisition request without blocking until the acquisition completes.
Args:
data_acq_client: DataAcquisition client for send the acquisition requests.
acquisition_requests: Acquisition requests to include in request message.
group_name: Group name for the acquitions.
action_name: Action name for the acquitions.
metadata: Metadata to include in the request message.
Returns:
The request id (int) and the action id (CaptureActionId). A request id set as None
indicates the AcquireData rpc failed.
"""
# Create action id for the query for this request.
action_id = data_acquisition_pb2.CaptureActionId(action_name=action_name,
group_name=group_name)
# Send an AquireData request
request_id = None
try:
request_id = data_acq_client.acquire_data(
acquisition_requests=acquisition_requests,
action_name=action_name,
group_name=action_id.group_name,
metadata=metadata)
except ResponseError as err:
print("Exception raised by issue_acquire_data_request: " + str(err))
return request_id, action_id
def acquire_data_and_check_errors(acquisition_request, data_acq_client,
capability_name, action_name, group_name,
verbose):
"""Helper function which makes the acquisition request for this data source and checks for errors.
Args:
acquisition_request (AcquisitionRequestList): The acquisition request for the capability_name.
data_acq_client (DataAcquisitionClient): The client for the on-robot data acquisition service.
capability_name (string): The data source name being acquired.
action_name (string): The action name for saving in the CaptureActionId of the AcquireData request.
group_name (string): The group name for saving in the CaptureActionId of the AcquireData request.
verbose (boolean): Print additional logging information on failure.
Returns:
A tuple consisting of 1) a boolean indicating that the AcquireData RPC completed without any errors,
and 2) an integer representing the request_id for the acquisition request. The request_id will be None
if the AcquireData RPC fails.
"""
acquire_data_request_id = None
try:
# Issue the AcquireData RPC to the on-robot data acquisition service.
acquire_data_request_id = data_acq_client.acquire_data(
acquisition_request, action_name, group_name)
except InvalidRequestError as err:
_LOGGER.error(
"The AcquireData RPC to the data-acquisition service for %s was invalid: %s",
capability_name, err.error_message)
if verbose:
_LOGGER.info(
"The capture action ID associated with the request: %s",
data_acquisition_pb2.CaptureActionId(action_name=action_name,
group_name=group_name))
log_debug_information(err, acquisition_request)
return False, acquire_data_request_id
except ResponseError as err:
_LOGGER.error(
"Exception raised when testing the AcquireData RPC to the data-acquisition service for %s: %s",
capability_name, err)
if verbose:
_LOGGER.info(
"The capture action ID associated with the request: %s",
data_acquisition_pb2.CaptureActionId(action_name=action_name,
group_name=group_name))
log_debug_information(err, acquisition_request)
return False, acquire_data_request_id
return True, acquire_data_request_id
def acquire_get_status_and_save(acquisition_request, capability_name, action_name, group_name,
data_acq_client, data_store_client, verbose):
"""Helper function which issues an acquisition request and checks that its data is saved to the data store, and the
GetStatus RPC eventually respond with a status "complete".
Args:
acquisition_request (AcquisitionRequestList): The acquisition request proto message to send to the AcquireData RPC.
capability_name (string): The name of the data capability being acquired.
action_name (string): The action name for the acquisition request's CaptureActionId.
group_name (string): The group name for the acquisition request's CaptureActionId.
data_acq_client (DataAcquisitionClient): The client for the data acquisition service running on robot.
data_store_client (DataAcquisitionStoreClient): The client for the data acquisition store service running on robot.
verbose (boolean): Print additional logging information on failure.
Returns:
A boolean indicating that the acquisition request received a "complete" status for the GetStatus RPC and
an action id for the acquisition can be found in the data store.
"""
# Make a request for this data capability and check that it completes successfully.
acquire_success, acquired_request_id = acquire_data_and_check_errors(
acquisition_request, data_acq_client, capability_name, action_name, group_name, verbose)
if not acquire_success:
# Exit early if the AcquireData RPC did not succeed and did not return a request_id.
return False
success = monitor_status_until_complete_or_failed(acquired_request_id, data_acq_client,
capability_name, action_name, verbose)
if success:
# If the GetStatus responds with "Complete", then check the data store for the action id.
action_id = data_acquisition_pb2.CaptureActionId(action_name=action_name,
group_name=group_name)
query_params = data_acquisition_store_pb2.DataQueryParams(
action_ids=data_acquisition_store_pb2.ActionIdQuery(action_ids=[action_id]))
try:
saved_capture_actions = data_store_client.list_capture_actions(query_params)
if len(saved_capture_actions) == 0:
# Nothing saved with a matching action and group name!
_LOGGER.error(
"The request %s for data '%s' with action_name '%s' did NOT save to the data "
"acquisition store or returned prematurely with a STATUS_COMPLETE in the GetStatus RPC.",
acquired_request_id, capability_name, action_name)
if verbose:
_LOGGER.info("ListCaptureAction RPC's query parameters: ", query_params)
return False
except ResponseError as err:
_LOGGER.error(
"Exception raised when checking if request %s for data '%s' with action_name '%s' was "
"saved in the data acquisition store.", request_id, capability_name, action_name)
if verbose:
log_debug_information(err)
return False
else:
# The GetStatus checks failed in some way.
return False
# The acquisition request went through, the GetStatus RPC responded with "status complete" and the data was
# successfully found in the data store service.
return True
def make_acquire_data_request(self, acquisition_requests, action_name, group_name, data_timestamp=None, metadata=None):
"""Helper utility to generate an AcquireDataRequest."""
if data_timestamp is None:
if not self._timesync_endpoint:
data_timestamp = now_timestamp()
else:
data_timestamp = self._timesync_endpoint.robot_timestamp_from_local_secs(
time.time())
action_id = data_acquisition.CaptureActionId(action_name=action_name, group_name=group_name,
timestamp=data_timestamp)
return data_acquisition.AcquireDataRequest(acquisition_requests=acquisition_requests,
action_id=action_id,
metadata=metadata_to_proto(metadata))
def acquire_data(self,
acquisition_requests,
action_name,
group_name,
data_timestamp=None,
metadata=None,
**kwargs):
"""Trigger a data acquisition to save data and metadata to the data buffer.
Args:
acquisition_requests (bosdyn.api.AcquisitionRequestList): The different image sources and
data sources to capture from and save to the data buffer with the same timestamp.
action_name(string): The unique action name that all data will be saved with.
group_name(string): The unique group name that all data will be saved with.
data_timestamp (google.protobuf.Timestamp): The unique timestamp that all data will be
saved with.
metadata (bosdyn.api.Metadata | dict): The JSON structured metadata to be associated with
the data returned by the DataAcquisitionService when logged in the data buffer
service.
Raises:
RpcError: Problem communicating with the robot.
Returns:
If the RPC is successful, then it will return the acquire data request id, which can be
used to check the status of the acquisition and get feedback.
"""
if data_timestamp is None:
if not self._timesync_endpoint:
data_timestamp = now_timestamp()
else:
data_timestamp = self._timesync_endpoint.robot_timestamp_from_local_secs(
time.time())
action_id = data_acquisition.CaptureActionId(action_name=action_name,
group_name=group_name,
timestamp=data_timestamp)
metadata_proto = metadata_to_proto(metadata)
request = data_acquisition.AcquireDataRequest(
metadata=metadata_proto,
acquisition_requests=acquisition_requests,
action_id=action_id)
return self.call(self._stub.AcquireData,
request,
value_from_response=get_request_id,
error_from_response=acquire_data_error,
**kwargs)
def make_time_query_params_from_group_name(group_name, data_store_client):
"""Create time-based query params for the download request using the group name.
Args:
group_name(string): The group name for the data to be downloaded.
data_store_client(DataAcquisitionStoreClient): The data store client, used to get the
action ids for the group name.
Returns:
The query params (data_acquisition_store_pb2.DataQueryParams) for the time-range download.
"""
action_id = data_acquisition_pb2.CaptureActionId(group_name=group_name)
query_params = data_acquisition_store_pb2.DataQueryParams(
action_ids=data_acquisition_store_pb2.ActionIdQuery(
action_ids=[action_id]))
saved_capture_actions = []
try:
saved_capture_actions = data_store_client.list_capture_actions(
query_params)
except Exception as err:
_LOGGER.error(
"Failed to list the capture action ids for group_name %s: %s",
group_name, err)
return None
# Filter all the CaptureActionIds for the start/end time. These end times are already in
# the robots clock and do not need to be converted using timesync.
start_time = (None, None)
end_time = (None, None)
for action_id in saved_capture_actions:
timestamp = action_id.timestamp
time_secs = timestamp.seconds + timestamp.nanos / 1e9
if time_secs == 0:
# The plugin captures don't seem to set a timestamp, so ignore them when determining
# the start/end times for what to download.
continue
if start_time[0] is None or time_secs < start_time[0]:
start_time = (time_secs, timestamp)
if end_time[0] is None or time_secs > end_time[0]:
end_time = (time_secs, timestamp)
if not (start_time and end_time):
_LOGGER.error(
"Could not find a start/end time from the list of capture action ids: %s",
saved_capture_actions)
return None
# Ensure the timestamps are ordered correctly and the
assert start_time[0] <= end_time[0]
# Adjust the start/end time by a few seconds each to give buffer room.
start_time[1].seconds -= 3
end_time[1].seconds += 3
_LOGGER.info(
"Downloading data with a start time of %s seconds and end time of %s seconds.",
start_time[0], end_time[0])
# Make the download data request with a time query parameter.
query_params = data_acquisition_store_pb2.DataQueryParams(
time_range=data_acquisition_store_pb2.TimeRangeQuery(
from_timestamp=start_time[1], to_timestamp=end_time[1]))
return query_params
def test_downloading_all_data_via_REST(data_store_client, group_name, robot_hostname, robot, destination_folder):
"""Check that all of the data can successfully be downloaded via the REST endpoint.
Args:
data_store_client (DataAcquisitionStoreClient): The client for the data acquisition store service running on robot.
group_name (string): The group name for all the acquisitions during the test, such that we can determine
which data to download.
robot_hostname (string): The hostname for the robot used for testing.
robot (Robot): The SDK robot object created for the robot used for testing.
destination_folder (string): The filepath for where the downloaded data will be saved.
Returns:
Boolean indicating if the REST download succeeded or not.
"""
# Need a start and end timestamp for the capture actions with a matching group_name.
action_id = data_acquisition_pb2.CaptureActionId(group_name=group_name)
query_params = data_acquisition_store_pb2.DataQueryParams(
action_ids=data_acquisition_store_pb2.ActionIdQuery(action_ids=[action_id]))
saved_capture_actions = []
try:
saved_capture_actions = data_store_client.list_capture_actions(query_params)
except Exception as err:
_LOGGER.error("Failed to list the capture action ids for group_name %s: %s", group_name, err)
_LOGGER.info("ListCaptureAction RPC's query parameters: %s", query_params)
return False
# Filter all the CaptureActionIds for the start/end time.
start_time = (None, None)
end_time = (None, None)
for action_id in saved_capture_actions:
_LOGGER.info("Saved Capture Action ID: %s", action_id)
timestamp = action_id.timestamp
time_secs = timestamp.seconds + timestamp.nanos / 1e9
if time_secs == 0:
# The plugin captures don't seem to set a timestamp, so ignore them when determining
# the start/end times for what to download.
continue
if start_time[0] is None or time_secs < start_time[0]:
start_time = (time_secs, timestamp)
if end_time[0] is None or time_secs > end_time[0]:
end_time = (time_secs, timestamp)
if not (start_time and end_time):
_LOGGER.error("Could not find a start/end time from the list of capture action ids: %s", saved_capture_actions)
return False
# Ensure the timestamps are ordered correctly.
assert start_time[0] <= end_time[0]
# Adjust the start/end time by a few seconds each to give buffer room.
start_time[1].seconds -= 3
end_time[1].seconds += 3
_LOGGER.info("Downloading data with a start time of %s seconds and end time of %s seconds.", start_time[0], end_time[0])
# Make the download data request with a time query parameter.
query_params = data_acquisition_store_pb2.DataQueryParams(
time_range=data_acquisition_store_pb2.TimeRangeQuery(from_timestamp=start_time[1],
to_timestamp=end_time[1]))
success = download_data_REST(query_params, robot_hostname, robot.user_token, destination_folder)
return success