def _handle_ui_device_connected(self, msg):
if msg.connectionType != _clad_to_engine_cozmo.UiConnectionType.SdkOverTcp:
# This isn't for us
return
if msg.deviceID != 1:
logger.error('Unexpected Device Id %s', msg.deviceID)
return
# Verify that engine and SDK are compatible
clad_hashes_match = False
try:
cozmoclad.assert_clad_match(msg.toGameCLADHash, msg.toEngineCLADHash)
clad_hashes_match = True
except cozmoclad.CLADHashMismatch as exc:
logger.error(exc)
build_versions_match = (cozmoclad.__build_version__ == '00000.00000.00000'
or cozmoclad.__build_version__ == msg.buildVersion)
if clad_hashes_match and not build_versions_match:
# If CLAD hashes match, and this is only a minor version change,
# then still allow connection (it's just an app hotfix
# that didn't require CLAD or SDK changes)
sdk_major_version = cozmoclad.__build_version__.split(".")[0:2]
build_major_version = msg.buildVersion.split(".")[0:2]
build_versions_match = (sdk_major_version == build_major_version)
if clad_hashes_match and build_versions_match:
connection_success_msg = _clad_to_engine_iface.UiDeviceConnectionSuccess(
connectionType=msg.connectionType,
deviceID=msg.deviceID,
buildVersion = cozmoclad.__version__,
sdkModuleVersion = version.__version__,
pythonVersion = platform.python_version(),
pythonImplementation = platform.python_implementation(),
osVersion = platform.platform(),
cpuVersion = platform.machine())
self.send_msg(connection_success_msg)
else:
try:
wrong_version_msg = _clad_to_engine_iface.UiDeviceConnectionWrongVersion(
reserved=0,
connectionType=msg.connectionType,
deviceID = msg.deviceID,
buildVersion = cozmoclad.__version__)
self.send_msg(wrong_version_msg)
except AttributeError:
pass
line_separator = "=" * 80
error_message = "\n" + line_separator + "\n"
if not build_versions_match:
def _trimmed_version(ver_string):
# Trim leading zeros from the version string.
trimmed_string = ""
for i in ver_string.split("."):
trimmed_string += str(int(i)) + "."
return trimmed_string[:-1] # remove trailing "."
error_message += ("App and SDK versions do not match!\n"
"----------------------------------\n"
"SDK's cozmoclad version: %s\n"
" != app version: %s\n\n"
% (cozmoclad.__version__, _trimmed_version(msg.buildVersion)))
if cozmoclad.__build_version__ < msg.buildVersion:
# App is newer
error_message += ('Please update your SDK to the newest version by calling command:\n'
'"pip3 install --user --upgrade cozmo"\n'
'and downloading the latest examples from:\n'
'http://cozmosdk.anki.com/docs/downloads.html\n')
else:
# SDK is newer
error_message += ('Please either:\n\n'
'1) Update your app to the most recent version on the app store.\n'
'2) Or, if you prefer, please determine which SDK version matches\n'
' your app version at: http://go.anki.com/cozmo-sdk-version\n'
' Then downgrade your SDK by calling the following command,\n'
' replacing SDK_VERSION with the version listed at that page:\n'
' "pip3 install --ignore-installed cozmo==SDK_VERSION"\n')
else:
# CLAD version mismatch
error_message += ('CLAD Hashes do not match!\n'
'-------------------------\n'
'Your Python and C++ CLAD versions do not match - connection refused.\n'
'Please check that you have the most recent versions of both the SDK and the\n'
'Cozmo app. You may update your SDK by calling:\n'
'"pip3 install --user --ignore-installed cozmo".\n'
'Please also check the app store for a Cozmo app update.\n')
error_message += line_separator
logger.error(error_message)
exc = exceptions.SDKVersionMismatch("SDK library does not match software running on device")
self.abort(exc)
return
self._is_ui_connected = True
self.dispatch_event(EvtConnected, conn=self)
logger.info('App connection established. sdk_version=%s '
'cozmoclad_version=%s app_build_version=%s',
version.__version__, cozmoclad.__version__, msg.buildVersion)
# We send RequestConnectedObjects and RequestLocatedObjectStates before
# refreshing the animation names as this ensures that we will receive
# the responses before we mark the robot as ready.
self._request_connected_objects()
self._request_located_objects()
self.anim_names.refresh()
def _handle_ui_device_connected(self, msg):
if msg.connectionType != _clad_to_engine_cozmo.UiConnectionType.SdkOverTcp:
# This isn't for us
return
if msg.deviceID != 1:
logger.error('Unexpected Device Id %s', msg.deviceID)
return
# Verify that engine and SDK are compatible
clad_hashes_match = False
try:
cozmoclad.assert_clad_match(msg.toGameCLADHash,
msg.toEngineCLADHash)
clad_hashes_match = True
except cozmoclad.CLADHashMismatch as exc:
logger.error(exc)
build_versions_match = (
cozmoclad.__build_version__ == '00000.00000.00000'
or cozmoclad.__build_version__ == msg.buildVersion)
if clad_hashes_match and not build_versions_match:
# If CLAD hashes match, and this is only a minor version change,
# then still allow connection (it's just an app hotfix
# that didn't require CLAD or SDK changes)
sdk_major_version = cozmoclad.__build_version__.split(".")[0:2]
build_major_version = msg.buildVersion.split(".")[0:2]
build_versions_match = (sdk_major_version == build_major_version)
if clad_hashes_match and build_versions_match:
connection_success_msg = _clad_to_engine_iface.UiDeviceConnectionSuccess(
connectionType=msg.connectionType,
deviceID=msg.deviceID,
buildVersion=cozmoclad.__version__,
sdkModuleVersion=version.__version__,
pythonVersion=platform.python_version(),
pythonImplementation=platform.python_implementation(),
osVersion=platform.platform(),
cpuVersion=platform.machine())
self.send_msg(connection_success_msg)
else:
try:
wrong_version_msg = _clad_to_engine_iface.UiDeviceConnectionWrongVersion(
reserved=0,
connectionType=msg.connectionType,
deviceID=msg.deviceID,
buildVersion=cozmoclad.__version__)
self.send_msg(wrong_version_msg)
except AttributeError:
pass
if not build_versions_match:
logger.warning(
'Build versions do not match (cozmoclad version %s != app version %s) - connection refused',
cozmoclad.__build_version__, msg.buildVersion)
if cozmoclad.__build_version__ < msg.buildVersion:
# App is newer
logger.error(
'Please update your SDK to the newest version by calling command: '
'"pip3 install --user --upgrade cozmo" '
'and downloading the latest examples from http://cozmosdk.anki.com/docs/downloads.html'
)
else:
# SDK is newer
logger.error(
"Please update your app to the most recent version on the app store."
)
logger.error(
"Or, if you prefer, please determine which SDK version matches your app version at:"
)
logger.error("http://go.anki.com/cozmo-sdk-version")
logger.error(
"Then downgrade your SDK by calling the following command, replacing"
)
logger.error(
"SDK_VERSION with the version listed at that page:")
logger.error(
"'pip3 install --ignore-installed cozmo==SDK_VERSION'")
else:
# CLAD version mismatch
logger.error(
'Your Python and C++ CLAD versions do not match - connection refused.'
)
logger.error(
'Please check that you have the most recent versions of both the SDK and the Cozmo app.'
)
logger.error(
"You may update your SDK by calling: 'pip3 install --user --ignore-installed cozmo'."
)
logger.error(
"Please also check the app store for a Cozmo app update.")
exc = exceptions.SDKVersionMismatch(
"SDK library does not match software running on device")
self.abort(exc)
return
self._is_ui_connected = True
self.dispatch_event(EvtConnected, conn=self)
logger.info(
'App connection established. sdk_version=%s '
'cozmoclad_version=%s app_build_version=%s', version.__version__,
cozmoclad.__version__, msg.buildVersion)
# We send RequestObjectStates before refreshing the animation names
# as this ensures that we will receive the responses before we mark the
# robot as ready
msg = _clad_to_engine_iface.RequestObjectStates()
self.send_msg(msg)
self.anim_names.refresh()
def _handle_ui_device_connected(self, msg):
if msg.connectionType != _clad_to_engine_cozmo.UiConnectionType.SdkOverTcp:
# This isn't for us
return
if msg.deviceID != 1:
logger.error('Unexpected Device Id %s' % msg.deviceID)
return
# Verify that engine and SDK are compatible
clad_hashes_match = False
try:
cozmoclad.assert_clad_match(msg.toGameCLADHash,
msg.toEngineCLADHash)
clad_hashes_match = True
except cozmoclad.CLADHashMismatch as exc:
logger.error(exc)
build_versions_match = (
cozmoclad.__build_version__ == '00000.00000.00000'
or cozmoclad.__build_version__ == msg.buildVersion)
if clad_hashes_match and build_versions_match:
connection_success_msg = _clad_to_engine_iface.UiDeviceConnectionSuccess(
connectionType=msg.connectionType,
deviceID=msg.deviceID,
buildVersion=cozmoclad.__version__,
sdkModuleVersion=version.__version__,
pythonVersion=platform.python_version(),
pythonImplementation=platform.python_implementation(),
osVersion=platform.platform(),
cpuVersion=platform.machine())
self.send_msg(connection_success_msg)
else:
try:
wrong_version_msg = _clad_to_engine_iface.UiDeviceConnectionWrongVersion(
reserved=0,
connectionType=msg.connectionType,
deviceID=msg.deviceID,
buildVersion=cozmoclad.__version__)
self.send_msg(wrong_version_msg)
except AttributeError:
pass
if not build_versions_match:
logger.warning(
'Build versions do not match (SDK version %s != App version %s) - connection refused'
% (cozmoclad.__build_version__, msg.buildVersion))
if cozmoclad.__build_version__ < msg.buildVersion:
# App is newer
logger.error(
'Please update your SDK to the newest version by calling command: '
'"pip3 install --user --ignore-installed cozmo"')
else:
# SDK is newer
logger.error(
"Please update your app to the most recent version on the app store."
)
logger.error(
"Or, if you prefer, please determine which SDK version matches your app version at:"
)
logger.error("http://go.anki.com/cozmo-sdk-version")
logger.error(
"Then downgrade your SDK by calling the following command, replacing"
)
logger.error(
"SDK_VERSION with the version listed at that page:")
logger.error(
"'pip3 install --ignore-installed cozmo==SDK_VERSION'")
else:
# CLAD version mismatch
logger.error(
'Your Python and C++ CLAD versions do not match - connection refused.'
)
logger.error(
'Please check that you have the most recent versions of both the SDK and the Cozmo app.'
)
logger.error(
"You may update your SDK by calling: 'pip3 install --user --ignore-installed cozmo'."
)
logger.error(
"Please also check the app store for a Cozmo app update.")
exc = exceptions.SDKVersionMismatch(
"SDK library does not match software running on device")
self.abort(exc)
return
self._is_ui_connected = True
self.dispatch_event(EvtConnected, conn=self)
self.anim_names.refresh()
logger.info("UI device connected")