def Tick(self, request, context):
"""Logs text, then provides a valid response."""
response = remote_pb2.TickResponse()
# This utility context manager will fill out some fields in the message headers.
with ResponseContext(response, request):
# Default to saying hello to "world".
name = 'World'
# See if a different name was provided to us in the request's inputs.
# This "user-string" input is provided by the Autowalk missions.
# To provide other inputs, see the RemoteGrpc message.
for keyvalue in request.inputs:
if keyvalue.key == 'user-string':
name = util.get_value_from_constant_value_message(
keyvalue.value.constant)
self.logger.info('Hello %s!', name)
response.status = remote_pb2.TickResponse.STATUS_SUCCESS
return response
def _tick_implementation(self, request, response):
"""Make a power off request if none has been made; otherwise check request progress."""
# Verify we know about the session ID.
if request.session_id not in self.sessions_by_id:
self.logger.error('Do not know about session ID "%s"',
request.session_id)
response.status = remote_pb2.TickResponse.STATUS_INVALID_SESSION_ID
return
# Make a sublease of the provided lease, or fill out the response with an error.
current_lease = self._sublease_or_none(
request.leases, response,
remote_pb2.TickResponse.STATUS_MISSING_LEASES)
if current_lease is None:
return
node_name = '<unknown>'
# This node_name input is provided by the Autowalk missions.
# To provide other inputs, see the RemoteGrpc message.
for keyvalue in request.inputs:
if keyvalue.key == 'user-string':
node_name = util.get_value_from_constant_value_message(
keyvalue.value.constant)
self.logger.info('Ticked by node "%s"', node_name)
cmd_client = self.bosdyn_sdk_robot.ensure_client(
RobotCommandClient.default_service_name)
# The client to the robot maintains a "wallet" of leases to use for its requests.
# Inform it about the lease provided by the client to this service.
cmd_client.lease_wallet.add(current_lease)
# Because SafePowerOff can take a while, we also need to Retain the lease, to tell the
# robot that we're still using it.
lease_client = self.bosdyn_sdk_robot.ensure_client(
LeaseClient.default_service_name)
# We'll "fire and forget" the retain RPC -- if it doesn't succeed, the robot will
# go through its comms loss policy.
lease_client.retain_lease_async(current_lease)
self._perform_and_monitor_power_off(cmd_client, request.session_id,
response)
def _tick_implementation(self, request, response):
# This callback_text input is provided by the Autowalk missions.
callback_text = '<unknown>'
for keyvalue in request.inputs:
if keyvalue.key == 'user-string':
callback_text = util.get_value_from_constant_value_message(
keyvalue.value.constant)
self.logger.info("The callback text is {}.".format(callback_text))
# Defining helper functions for appropriate Error handling.
def populate_error_response(mesg):
self.logger.exception(mesg)
response.header.error.code = header_pb2.CommonError.CODE_INTERNAL_SERVER_ERROR
response.header.error.message = mesg
response.status = remote_pb2.TickResponse.STATUS_FAILURE
def take_picture_helper():
try:
self.camera.takePicture()
self.logger.info('theta took a picture')
response.status = remote_pb2.TickResponse.STATUS_SUCCESS
except RequestException as e:
populate_error_response(
'Ricoh take picture command failed. Ensure ricoh theta is connected to spot. '
+ str(e))
def download_helper():
try:
self.camera.downloadMissionImages(DEFAULT_PATH)
self.logger.info('theta downloaded mission images')
response.status = remote_pb2.TickResponse.STATUS_SUCCESS
except RequestException as e:
populate_error_response(
'Download attempt failed. Ensure ricoh theta is connected to spot. '
+ str(e))
except Exception as e:
populate_error_response(
'Download failed. Please check download/file path. ' +
str(e))
def upload_to_cloud_helper(upload_func, bucket_name):
"""Uploads all images taken during mission to cloud service.
Args:
upload_func (function): upload_to_aws or upload_to_gcp
bucket_name (str): "cloud-bucket-name"
"""
for dir_path in self.camera.download_paths:
for image_file in os.listdir(dir_path):
src_filename = os.path.join(dir_path, image_file)
try:
upload_func(bucket_name, src_filename, image_file)
response.status = remote_pb2.TickResponse.STATUS_SUCCESS
except Exception as e:
populate_error_response(
'Upload to cloud failed. Please check cloud storage parameters/credentials. '
+ str(e))
# Check callback_text for applicable commands.
if callback_text.startswith("take theta image"):
take_picture_helper()
elif callback_text.startswith("download theta images"):
download_helper()
elif callback_text.startswith("upload to gcp"):
# download remaining images
download_helper()
# upload all mission images
upload_to_cloud_helper(upload_to_gcp, GCP_BUCKET_NAME)
elif callback_text.startswith("upload to aws"):
# download remaining images
download_helper()
# upload all mission images
upload_to_cloud_helper(upload_to_aws, AWS_BUCKET_NAME)
else:
self.logger.info('Callback text \'' + str(callback_text) +
'\' is not a valid option.')
response.status = remote_pb2.TickResponse.STATUS_FAILURE