def __init__(self) -> None:
"""Construct."""
self.init_robot_fromenv()
# Processed robotrequest CRs dictionary
self._processed_robotrequests: OrderedDict[ # pylint: disable=unsubscriptable-object
str, str] = OrderedDict()
self._processed_robotrequests_lock = threading.RLock()
self._deleted_robotrequests: OrderedDict[ # pylint: disable=unsubscriptable-object
str, bool] = OrderedDict()
template_cr = get_sample_cr('robotrequest')
labels = {}
labels['cloudrobotics.com/robot-name'] = self.robco_robot_name
super().__init__(
'ewm.sap.com',
'v1alpha1',
'robotrequests',
'default',
template_cr,
labels
)
# Register robotrequest status update callback
self.register_callback(
'cleanup_robotrequests', ['ADDED', 'MODIFIED', 'REPROCESS'],
self._cleanup_robotrequests_cb)
self.register_callback('robotrequest_deleted', ['DELETED'], self._robotrequest_deleted_cb)
# Thread to check for deleted robotrequest CRs
self.deleted_robotrequests_thread = threading.Thread(
target=self._deleted_robotrequests_checker)
def __init__(self) -> None:
"""Construct."""
template_cr = get_sample_cr('robco_mission')
labels: Dict[str, str] = {}
super().__init__('mission.cloudrobotics.com', 'v1alpha1', 'missions',
'default', template_cr, labels)
def __init__(self) -> None:
"""Constructor."""
template_cr = get_sample_cr('robco_robot')
self.labels = {}
super().__init__('registry.cloudrobotics.com', 'v1alpha1', 'robots',
'default', template_cr, self.labels)
def __init__(self) -> None:
"""Construct."""
template_cr = get_sample_cr('robotconfiguration')
labels: Dict[str, str] = {}
super().__init__('ewm.sap.com', 'v1alpha1', 'robotconfigurations',
'default', template_cr, labels)
def __init__(self) -> None:
"""Constructor."""
template_cr = get_sample_cr('robotrequest')
labels = {}
super().__init__('sap.com', 'v1', 'robotrequests', 'default',
template_cr, labels)
def __init__(self) -> None:
"""Constructor."""
self.init_default_values_fromenv()
template_cr = get_sample_cr('robotconfiguration')
labels = {}
super().__init__('sap.com', 'v1', 'robotconfigurations', 'default',
template_cr, labels)
def __init__(self) -> None:
"""Constructor."""
self.init_robot_fromenv()
template_cr = get_sample_cr('robco_robot')
labels = {}
labels['cloudrobotics.com/robot-name'] = self.robco_robot_name
super().__init__('registry.cloudrobotics.com', 'v1alpha1', 'robots',
'default', template_cr, labels)
def __init__(self) -> None:
"""Constructor."""
self.init_robot_fromenv()
# Last successfully processed spec of warehouse order
self.processed_order_spec = {}
template_cr = get_sample_cr('warehouseorder')
labels = {}
labels['cloudrobotics.com/robot-name'] = self.robco_robot_name
super().__init__('sap.com', 'v1', 'warehouseorders', 'default',
template_cr, labels)
def __init__(self) -> None:
"""Construct."""
template_cr = get_sample_cr('warehouseorder')
labels: Dict[str, str] = {}
super().__init__(
'ewm.sap.com',
'v1alpha1',
'warehouseorders',
'default',
template_cr,
labels
)
def __init__(self) -> None:
"""Construct."""
self.init_default_values_fromenv()
template_cr = get_sample_cr('robotconfiguration')
super().__init__('ewm.sap.com', 'v1alpha1', 'robotconfigurations',
'default', template_cr, {})
# Register callbacks
self.register_callback('robotconfiguration',
['ADDED', 'MODIFIED', 'REPROCESS'],
self.reset_recovery_flag_cb)
def __init__(self) -> None:
"""Construct."""
template_cr = get_sample_cr('orderauction')
super().__init__('ewm.sap.com', 'v1alpha1', 'orderauctions', 'default',
template_cr, {})
# Robots where the bid agent seems to work
self._robot_bid_agent_working: DefaultDict[str, bool] = defaultdict(
lambda: True)
# Register callbacks
self.register_callback('CheckBidAgentStatus', ['ADDED', 'MODIFIED'],
self._check_bid_agent_status_cb)
def __init__(self) -> None:
"""Construct."""
self.init_robot_fromenv()
# Last successfully processed spec of warehouse order
self.processed_order_spec: Dict[str, Dict] = {}
template_cr = get_sample_cr('warehouseorder')
labels = {}
labels['cloudrobotics.com/robot-name'] = self.robco_robot_name
super().__init__('ewm.sap.com', 'v1alpha1', 'warehouseorders',
'default', template_cr, labels)
# Set finalizer name for robot controller
self.finalizer = '{}.ewm-robot-controller.sap.com'.format(
self.robco_robot_name)
def __init__(self) -> None:
"""Construct."""
template_cr = get_sample_cr('orderreservation')
super().__init__('ewm.sap.com', 'v1alpha1', 'orderreservations',
'default', template_cr, {})
# Open reservations per auctioneer
self._open_reservations: DefaultDict[str, Dict] = defaultdict(dict)
self._open_reservations_lock = RLock()
# Register callbacks
self.register_callback('GetOpenReservations',
['ADDED', 'MODIFIED', 'REPROCESS'],
self._get_open_reservations_cb)
self.register_callback('DeleteOpenReservations', ['DELETED'],
self._delete_open_reservations_cb)
def __init__(self, robot_config: RobotConfigurationController,
robot_api: RobCoRobotAPI) -> None:
"""Construct."""
# Robot Configuration Controller
self.robot_config = robot_config
# Mission status dictionary
self.mission_status: OrderedDict[ # pylint: disable=unsubscriptable-object
str, RobotMission] = OrderedDict()
self.mission_status_lock = threading.RLock()
template_cr = get_sample_cr('robco_mission')
self.labels = {}
self.labels[
'cloudrobotics.com/robot-name'] = self.robot_config.robco_robot_name
super().__init__('mission.cloudrobotics.com', 'v1alpha1', 'missions',
'default', template_cr, self.labels)
# RobCo Robot API
self.robot_api = robot_api
self.battery_percentage = 100.0
self.robot_state = RobcoRobotStates.STATE_UNDEFINED
self.trolley_attached = False
# Set active charger
self._chargers = self.robot_config.conf.chargers.copy()
self._chargers_generator = self._iterate_chargers()
self.charger = next(self._chargers_generator, '')
_LOGGER.info('Using chargers: %s', self._chargers)
# Register robot status update callback
self.robot_api.register_callback('RobCoMissionAPI',
['ADDED', 'MODIFIED'],
self.update_robot_status_cb)
# Register mission status update callback
self.register_callback('update_mission_status',
['ADDED', 'MODIFIED', 'REPROCESS'],
self.update_mission_status_cb)
self.register_callback('mission_deleted', ['DELETED'],
self.mission_deleted_cb)
# Thread to check for deleted mission CRs
self.deleted_missions_thread = threading.Thread(
target=self._deleted_missions_checker)
def __init__(self) -> None:
"""Construct."""
self.init_robot_fromenv()
# Robot configuration attributes
self.conf = RobotConfigurationSpec()
template_cr = get_sample_cr('robotconfiguration')
labels = {}
labels['cloudrobotics.com/robot-name'] = self.robco_robot_name
super().__init__('ewm.sap.com', 'v1alpha1', 'robotconfigurations',
'default', template_cr, labels)
# Register callbacks
self.register_callback('configUpdate',
['ADDED', 'MODIFIED', 'REPROCESS'],
self.robotconfiguration_cb)
def __init__(self) -> None:
"""Construct."""
template_cr = get_sample_cr('auctioneer')
super().__init__('ewm.sap.com', 'v1alpha1', 'auctioneers', 'default',
template_cr, {})
# Robots which are controlled by an auctioneer
self._robots_in_scope: Dict[str, str] = {}
self._robots_in_scope_lock = RLock()
# Status of the auctioneer
self.auctioneer_status: Dict[str, str] = {}
# Register callbacks
self.register_callback('GetRobotsInScope',
['ADDED', 'MODIFIED', 'REPROCESS'],
self._get_robots_in_scope_cb)
self.register_callback('DeleteRobotsInScope', ['DELETED'],
self._delete_robots_in_scope_cb)
def __init__(self, robot_api: RobCoRobotAPI) -> None:
"""Constructor."""
self.init_robco_fromenv()
# Mission status dictionary
self.mission_status = OrderedDict()
self.mission_status_lock = threading.RLock()
template_cr = get_sample_cr('robco_mission')
self.labels = {}
self.labels['cloudrobotics.com/robot-name'] = self.robco_robot_name
super().__init__(
'mission.cloudrobotics.com',
'v1alpha1',
'missions',
'default',
template_cr,
self.labels
)
# RobCo Robot API
self.robot_api = robot_api
self.battery_percentage = 100.0
self.robot_state = None
self.trolley_attached = None
# Set active charger
self.charger = next(self._chargers_generator)
# Register robot status update callback
self.robot_api.register_callback(
'RobCoMissionAPI', ['ADDED', 'MODIFIED'], self.update_robot_status_cb)
# Register mission status update callback
self.register_callback(
'update_mission_status', ['ADDED', 'MODIFIED', 'REPROCESS'],
self.update_mission_status_cb)
self.register_callback('mission_deleted', ['DELETED'], self.mission_deleted_cb)
# Thread to check for deleted mission CRs
self.deleted_missions_thread = threading.Thread(target=self._deleted_missions_checker)
def __init__(self) -> None:
"""Constructor."""
# Warehouse order spec dictionary
self.warehouse_order_spec = OrderedDict()
self.warehouse_order_spec_lock = threading.RLock()
template_cr = get_sample_cr('warehouseorder')
labels = {}
super().__init__(
'sap.com',
'v1',
'warehouseorders',
'default',
template_cr,
labels
)
# Thread to check for deleted warehouse order CRs
self.deleted_warehouse_orders_thread = threading.Thread(
target=self._deleted_warehouse_orders_checker)
def __init__(self) -> None:
"""Construct."""
# Processed warehouse order CRs dictionary
self._processed_orders: TOrderedDict[str, str] = OrderedDict()
self._processed_orders_lock = threading.RLock()
self._deleted_orders: TOrderedDict[str, bool] = OrderedDict()
template_cr = get_sample_cr('warehouseorder')
super().__init__('ewm.sap.com', 'v1alpha1', 'warehouseorders',
'default', template_cr, {})
# Thread to check for deleted warehouse order CRs
self.deleted_warehouse_orders_thread = threading.Thread(
target=self._deleted_orders_checker)
# Register callbacks
self.register_callback('CleanupOrders',
['ADDED', 'MODIFIED', 'REPROCESS'],
self._cleanup_orders_cb)
self.register_callback('DeletedOrders', ['DELETED'],
self._order_deleted_cb)
def __init__(self) -> None:
"""Constructor."""
self.init_robot_fromenv()
# Robotrequest status dictionary
self.robotrequest_status = OrderedDict()
self.robotrequest_status_lock = threading.RLock()
template_cr = get_sample_cr('robotrequest')
labels = {}
labels['cloudrobotics.com/robot-name'] = self.robco_robot_name
super().__init__('sap.com', 'v1', 'robotrequests', 'default',
template_cr, labels)
# Register robotrequest status update callback
self.register_callback('update_robotrequest_status',
['ADDED', 'MODIFIED', 'REPROCESS'],
self.update_robotrequest_status_cb)
self.register_callback('robotrequest_deleted', ['DELETED'],
self.robotrequest_deleted_cb)
# Thread to check for deleted robotrequest CRs
self.deleted_robotrequests_thread = threading.Thread(
target=self._deleted_robotrequests_checker)
def __init__(self) -> None:
"""Construct."""
template_cr = get_sample_cr('robotrequest')
super().__init__('ewm.sap.com', 'v1alpha1', 'robotrequests', 'default',
template_cr, {})
