def proto_from_tuple(tup):
"""Return a bosdyn.api.mission Node from a tuple. EXPERIMENTAL.
Example:
::
('do-A-then-B', bosdyn.api.mission.nodes_pb2.Sequence(always_restart=True),
[
('A', foo.bar.Command(...), []),
('B', foo.bar.Command(...), []),
]
)
would make a Sequence named 'do-A-then-B' that always restarted, executing some Command
named 'A' followed by the Command named 'B'. NOTE: The "List of children tuples" will only
work if the parent node has 'child' or 'children' attributes. See tests/test_util.py for a
longer example.
Args:
tup: (Name of node, Instantiated implementation of node protobuf, List of children tuples)
"""
node = nodes_pb2.Node()
name_or_dict, inner_proto, children = tup
if isinstance(name_or_dict, dict):
node.name = name_or_dict.get('name', '')
node.reference_id = name_or_dict.get('reference_id', '')
node.node_reference = name_or_dict.get('node_reference', '')
if 'user_data' in name_or_dict:
node.user_data.CopyFrom(name_or_dict['user_data'])
for name, pb_type in six.iteritems(name_or_dict.get('parameters', {})):
parameter = util_pb2.VariableDeclaration(name=name, type=pb_type)
node.parameters.add().CopyFrom(parameter)
for key, value in six.iteritems(
name_or_dict.get('parameter_values', {})):
parameter_value = util_pb2.KeyValue(key=key)
if isinstance(value, six.string_types) and value[0] == '$':
parameter_value.value.parameter.name = value[1:]
# Leave type unspecified, since we can't look it up easily yet.
else:
parameter_value.value.constant.CopyFrom(
python_var_to_value(value))
node.parameter_values.add().CopyFrom(parameter_value)
for key, value in six.iteritems(name_or_dict.get('overrides', {})):
# Rather than keep this matching the compiler functionality, just omit the check.
# It's not even a CompileError anyway.
#if key not in inner_proto.DESCRIPTOR.fields_by_name:
# raise CompileError('Override specified for "{}" but no such field in "{}"'.format(
# key, inner_proto.DESCRIPTOR.full_name))
override = util_pb2.KeyValue(key=key)
override.value.parameter.name = value
# We do need the final field for setting the type accurately...
#override.value.parameter.type = field_desc_to_pb_type(inner_proto.DESCRIPTOR.fields_by_name[key])
node.overrides.add().CopyFrom(override)
else:
node.name = name_or_dict
if node.node_reference:
return node
num_children = len(children)
inner_type = inner_proto.DESCRIPTOR.name
# Do some sanity checking on the children.
if hasattr(inner_proto, 'children'):
if num_children == 0:
raise Error('Proto "{}" of type "{}" has no children!'.format(
node.name, inner_type))
for child_tup in children:
child_node = proto_from_tuple(child_tup)
inner_proto.children.add().CopyFrom(child_node)
elif hasattr(inner_proto, 'child'):
if isinstance(inner_proto,
nodes_pb2.ForDuration) and num_children == 2:
inner_proto.child.CopyFrom(proto_from_tuple(children[0]))
inner_proto.timeout_child.CopyFrom(proto_from_tuple(children[1]))
elif num_children == 1:
inner_proto.child.CopyFrom(proto_from_tuple(children[0]))
else:
raise Error('Proto "{}" of type "{}" has {} children!'.format(
node.name, inner_type, num_children))
elif num_children != 0:
raise Error(
'Proto "{}" of type "{}" was given {} children, but I do not know how to add'
' them!'.format(node.name, inner_type, num_children))
node.impl.Pack(inner_proto)
return node
def main():
parser = argparse.ArgumentParser()
group = parser.add_mutually_exclusive_group(required=True)
group.add_argument('--hello-world',
action='store_true',
help='Target the Hello World remote mission service.')
group.add_argument('--power-off',
action='store_true',
help='Target the Power Off remote mission service.')
parser.add_argument(
'--user-string',
help=
'Specify the user-string input to Tick. Set to the node name in Autowalk missions.'
)
subparsers = parser.add_subparsers(
help='Select how this service will be accessed.', dest='host_type')
# Create the parser for the "local" command.
local_parser = subparsers.add_parser(
'local', help='Connect to a locally hosted service.')
bosdyn.client.util.add_service_endpoint_arguments(local_parser)
# Create the parser for the "robot" command.
robot_parser = subparsers.add_parser(
'robot', help='Connect to a service through the robot directory.')
bosdyn.client.util.add_common_arguments(robot_parser)
options = parser.parse_args()
if options.hello_world:
directory_name = 'hello-world-callback'
elif options.power_off:
directory_name = 'power-off-callback'
# If attempting to communicate directly to the service.
if options.host_type == 'local':
# Build a client that can talk directly to the RemoteMissionService implementation.
client = bosdyn.mission.remote_client.RemoteClient()
# Point the client at the service. We're assuming there is no encryption to set up.
client.channel = grpc.insecure_channel('{}:{}'.format(
options.host_ip, options.port))
# Else if attempting to communicate through the robot.
else:
# Register the remote mission client with the SDK instance.
sdk = bosdyn.client.create_standard_sdk('RemoteMissionClientExample')
sdk.register_service_client(bosdyn.mission.remote_client.RemoteClient,
service_name=directory_name)
robot = sdk.create_robot(options.hostname)
robot.authenticate(options.username, options.password)
# Create the remote mission client.
client = robot.ensure_client(directory_name)
inputs = []
input_values = []
if options.user_string:
name = 'user-string'
inputs = [
util_pb2.VariableDeclaration(
name=name, type=util_pb2.VariableDeclaration.TYPE_STRING)
]
input_values = [
util_pb2.KeyValue(
key=name,
value=util_pb2.Value(constant=util_pb2.ConstantValue(
string_value=options.user_string)))
]
lease_client = None
body_lease = None
leases = []
if options.power_off:
# If we're using a lease, we'll have to authenticate to the robot to acquire it.
lease_client = robot.ensure_client(
bosdyn.client.lease.LeaseClient.default_service_name)
# Acquire a lease and save it in the list of leases we pass to the servicer.
body_lease = lease_client.acquire()
leases = [body_lease]
# Now run through a typical sequence of calls to the remote servicer.
try:
# Establish the session, telling the servicer to perform any one-time tasks.
try:
session_id = client.establish_session(leases=leases, inputs=inputs)
except bosdyn.client.UnimplementedError:
# EstablishSession is optional, so we can ignore this error.
print('EstablishSession is unimplemented.')
session_id = None
# Begin ticking, and tick until the server indicates something other than RUNNING.
response = client.tick(session_id, leases=leases, inputs=input_values)
while response.status == remote_pb2.TickResponse.STATUS_RUNNING:
time.sleep(0.1)
response = client.tick(session_id,
leases=leases,
inputs=input_values)
print('Servicer stopped with status {}'.format(
remote_pb2.TickResponse.Status.Name(response.status)))
if response.error_message:
print('\tError message: {}'.format(response.error_message))
try:
# We're done ticking for now -- stop this session.
client.stop(session_id)
# We don't want to tick with this particular session every again -- tear it down.
client.teardown_session(session_id)
except bosdyn.client.UnimplementedError as exc:
# The exception itself can tell us what's not implemented.
print('Either Stop or TeardownSession is unimplemented.')
finally:
# Try to return the lease, if applicable.
if lease_client and body_lease:
lease_client.return_lease(body_lease)
parser.add_argument('--add-resources', help=('Resource the remote mission needs, like "body".'
' Can be comma separated for multiple resources.'))
parser.add_argument(
'--user-string',
help='Specify the user-string input to Tick. Set to the node name in Autowalk missions.')
options = parser.parse_args()
# Build our mission!
# Start with the thing we want to do, which is to make a RemoteGrpc call...
mission_call = nodes_pb2.RemoteGrpc()
# ... to the service whose name matches the name remote_mission_service is using ...
mission_call.service_name = remote_mission_service.SERVICE_NAME_IN_DIRECTORY
# ... and if we want to provide a lease, ask for the one resource we know about ...
if options.add_resources:
mission_call.lease_resources[:] = options.add_resources.split(',')
# ... and registered to "localhost" (i.e. the robot).
mission_call.host = 'localhost'
# Optionally add an input set by the RemoteGrpc node.
if options.user_string:
name = 'user-string'
value = util_pb2.Value(constant=util_pb2.ConstantValue(string_value=options.user_string))
mission_call.inputs.add().CopyFrom(util_pb2.KeyValue(key=name, value=value))
# That will be the implementation of our mission.
mission = nodes_pb2.Node()
mission.impl.Pack(mission_call)
with open(options.output_file, 'wb') as output:
output.write(mission.SerializeToString())
help=
'Specify the user-string input to Tick. Set to the node name in Autowalk missions.'
)
options = parser.parse_args()
# Build our mission!
# Start with the thing we want to do, which is to make a RemoteGrpc call...
mission_call = nodes_pb2.RemoteGrpc()
# ... to the service whose name matches the name remote_mission_service is using ...
mission_call.service_name = remote_mission_service.SERVICE_NAME_IN_DIRECTORY
# ... and if we want to provide a lease, ask for the one resource we know about ...
if options.add_resources:
mission_call.lease_resources[:] = options.add_resources.split(',')
# ... and registered to "localhost" (i.e. the robot).
mission_call.host = 'localhost'
# Optionally add an input set by the RemoteGrpc node.
if options.user_string:
name = 'user-string'
value = util_pb2.Value(constant=util_pb2.ConstantValue(
string_value=options.user_string))
mission_call.inputs.add().CopyFrom(
util_pb2.KeyValue(key=name, value=value))
# That will be the implementation of our mission.
mission = nodes_pb2.Node()
mission.impl.Pack(mission_call)
with open(options.output_file, 'wb') as output:
output.write(mission.SerializeToString())
def main():
parser = argparse.ArgumentParser()
bosdyn.client.util.add_common_arguments(parser)
parser.add_argument('--port', help='Port that service is listening on', type=int, required=True)
parser.add_argument('--lease-host', help='Host that provides leases. Typically the robot.')
parser.add_argument(
'--user-string',
help='Specify the user-string input to Tick. Set to the node name in Autowalk missions.')
options = parser.parse_args()
# Build a client that can talk to the RemoteMissionService implementation.
client = bosdyn.mission.remote_client.RemoteClient()
# Point the client at the service. We're assuming there is no encryption to set up.
client.channel = grpc.insecure_channel('{}:{}'.format(options.hostname, options.port))
inputs = []
input_values = []
if options.user_string:
name = 'user-string'
inputs = [
util_pb2.VariableDeclaration(name=name, type=util_pb2.VariableDeclaration.TYPE_STRING)
]
input_values = [
util_pb2.KeyValue(key=name, value=util_pb2.Value(
constant=util_pb2.ConstantValue(string_value=options.user_string)))
]
lease_client = None
body_lease = None
leases = []
# If we're using a lease, we'll have to authenticate to the robot to acquire it.
if options.lease_host:
sdk = bosdyn.client.create_standard_sdk('RemoteMissionClientExample')
sdk.load_app_token(options.app_token)
robot = sdk.create_robot(options.lease_host)
robot.authenticate(options.username, options.password)
lease_client = robot.ensure_client(bosdyn.client.lease.LeaseClient.default_service_name)
# Acquire a lease and save it in the list of leases we pass to the servicer.
body_lease = lease_client.acquire()
leases = [body_lease]
# Now run through a typical sequence of calls to the remote servicer.
try:
# Establish the session, telling the servicer to perform any one-time tasks.
try:
session_id = client.establish_session(leases=leases, inputs=[])
except bosdyn.client.UnimplementedError:
# EstablishSession is optional, so we can ignore this error.
print('EstablishSession is unimplemented.')
session_id = None
# Begin ticking, and tick until the server indicates something other than RUNNING.
response = client.tick(session_id, leases=leases, inputs=input_values)
while response.status == remote_pb2.TickResponse.STATUS_RUNNING:
time.sleep(0.1)
response = client.tick(session_id, leases=leases, inputs=input_values)
print('Servicer stopped with status {}'.format(
remote_pb2.TickResponse.Status.Name(response.status)))
if response.error_message:
print('\tError message: {}'.format(response.error_message))
try:
# We're done ticking for now -- stop this session.
client.stop(session_id)
# We don't want to tick with this particular session every again -- tear it down.
client.teardown_session(session_id)
except bosdyn.client.UnimplementedError as exc:
# The exception itself can tell us what's not implemented.
print('Either Stop or TeardownSession is unimplemented.')
finally:
# Try to return the lease, if applicable.
if lease_client and body_lease:
lease_client.return_lease(body_lease)