bosdyn-client 3.3.2__py3-none-any.whl → 4.0.1__py3-none-any.whl

bosdyn/client/world_object.py

@@ -334,10 +334,10 @@ def send_add_mutation_requests(world_object_client, world_object_array):
     Create and send an "add" mutation request for each world object in an array.  Return a matching
     array of the object id's that are assigned when the object is created, so that each object we add
     can be identified and removed individually (if desired) later.
-    
+
     Args:
         world_object_client (WorldObjectClient): Client for World Object service.
-        world_object_array (List): 
+        world_object_array (List): List of objects to add.
     Returns:
         A List containing the object ids associated with the objects created.
     """
@@ -354,7 +354,7 @@ def send_delete_mutation_requests(world_object_client, delete_object_id_array):
     """
     Create and send a "delete" mutation request for each world object successfully identified from a
     given list of object id's.
-        
+
     Args:
         world_object_client (WorldObjectClient): Client for World Object service.
         delete_object_id_array (List): List of object id's to send delete requests for.
@@ -362,11 +362,11 @@ def send_delete_mutation_requests(world_object_client, delete_object_id_array):
     world_objects = world_object_client.list_world_objects().world_objects
     for obj in world_objects:
         this_object_id = obj.id
-        if type(delete_object_id_array) == int:
+        if isinstance(delete_object_id_array, int):
             delete_object_id_array = [delete_object_id_array]
         for i in range(len(delete_object_id_array)):
             delete_id = delete_object_id_array[i]
             if this_object_id == delete_id:
                 del_req = make_delete_world_object_req(obj)
                 del_resp = world_object_client.mutate_world_objects(mutation_req=del_req)
-                continue
+                continue

{bosdyn_client-3.3.2.dist-info → bosdyn_client-4.0.1.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: bosdyn-client
-Version: 3.3.2
+Version: 4.0.1
 Summary: Boston Dynamics API client code and interfaces
 Home-page: https://dev.bostondynamics.com/
 Author: Boston Dynamics
@@ -15,13 +15,14 @@ Classifier: Programming Language :: Python :: 3.10
 Classifier: License :: Other/Proprietary License
 Classifier: Operating System :: OS Independent
 Description-Content-Type: text/markdown
-Requires-Dist: bosdyn-api (==3.3.2)
-Requires-Dist: bosdyn-core (==3.3.2)
+Requires-Dist: bosdyn-api (==4.0.1)
+Requires-Dist: bosdyn-core (==4.0.1)
 Requires-Dist: grpcio
 Requires-Dist: pyjwt
 Requires-Dist: numpy
 Requires-Dist: Deprecated (~=1.2.10)
 Requires-Dist: requests (>=2.26.0)
+Requires-Dist: pynmea2 (>=1.16.0)
 
 <!--
 Copyright (c) 2023 Boston Dynamics, Inc.  All rights reserved.

bosdyn_client-4.0.1.dist-info/RECORD

@@ -0,0 +1,97 @@
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+bosdyn_client-4.0.1.dist-info/WHEEL,sha256=AtBG6SXL3KF_v0NxLf0ehyVOh0cold-JbJYXNGorC6Q,92
+bosdyn_client-4.0.1.dist-info/top_level.txt,sha256=an2OWgx1ej2jFjmBjPWNQ68ZglvUfKhmXWW-WhTtDmA,7
+bosdyn_client-4.0.1.dist-info/RECORD,,

{bosdyn_client-3.3.2.dist-info → bosdyn_client-4.0.1.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: bdist_wheel (0.40.0)
+Generator: bdist_wheel (0.41.0)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

bosdyn/client/log_annotation.py

@@ -1,359 +0,0 @@
-# Copyright (c) 2023 Boston Dynamics, Inc.  All rights reserved.
-#
-# Downloading, reproducing, distributing or otherwise using the SDK Software
-# is subject to the terms and conditions of the Boston Dynamics Software
-# Development Kit License (20191101-BDSDK-SL).
-
-"""Client for the log-annotation service (DEPRECATED).
-
-The log-annotation service is deprecated and will be removed in a later release.
-Instead, please use the data_buffer service going forward.
-"""
-
-import logging
-import random
-import string
-import struct
-import sys
-import threading
-import time
-import traceback
-from queue import Queue
-
-from deprecated.sphinx import deprecated
-
-import bosdyn.api.log_annotation_pb2 as log_annotation_protos
-import bosdyn.api.log_annotation_service_pb2_grpc as log_annotation_service
-from bosdyn import util as core_util
-from bosdyn.client import time_sync
-from bosdyn.client.common import BaseClient, common_header_errors
-from bosdyn.client.exceptions import Error, RpcError, ServerError
-
-
-class InvalidArgument(Error):
-    """A given argument could not be used."""
-
-
-@deprecated(reason='The log-annotation client and service have been replaced by data_buffer.',
-            version='2.1.0', action="always")
-class LogAnnotationClient(BaseClient):
-    """A client for adding annotations to robot logs."""
-
-    default_service_name = 'log-annotation'
-    service_type = 'bosdyn.api.LogAnnotationService'
-
-    def __init__(self):
-        super(LogAnnotationClient, self).__init__(log_annotation_service.LogAnnotationServiceStub)
-        self.log_tick_schemas = {}
-        self._timesync_endpoint = None
-
-    def update_from(self, other):
-        super(LogAnnotationClient, self).update_from(other)
-
-        # Grab a timesync endpoint if it is available.
-        try:
-            self._timesync_endpoint = other.time_sync.endpoint
-        except AttributeError:
-            pass  # other doesn't have a time_sync accessor
-
-    def add_text_messages(self, text_messages, **kwargs):
-        """Log text messages to the robot.
-
-        Args:
-          text_messages:  Sequence of LogAnnotationTextMessage protos.
-
-        Raises:
-          RpcError: Problem communicating with the robot.
-        """
-        return self._do_add_text_messages(self.call, text_messages, **kwargs)
-
-    def add_text_messages_async(self, text_messages, **kwargs):
-        """Async version of add_text_messages."""
-        return self._do_add_text_messages(self.call_async, text_messages, **kwargs)
-
-    def _do_add_text_messages(self, func, text_messages, **kwargs):
-        request = log_annotation_protos.AddLogAnnotationRequest()
-        for in_text_msg in text_messages:
-            request.annotations.text_messages.add().CopyFrom(in_text_msg)
-
-        return func(self._stub.AddLogAnnotation, request, value_from_response=None,
-                    error_from_response=common_header_errors, **kwargs)
-
-    def add_operator_comment(self, msg, robot_timestamp=None, **kwargs):
-        """Add an operator comment to the robot log.
-
-        Args:
-          msg:                  Text of user comment to log.
-          robot_timestamp:      Time (google.protobuf.Timestamp) of messages, in *robot time*.
-                                If not set, timestamp will be when the robot receives the message.
-
-        Raises:
-          RpcError: Problem communicating with the robot.
-        """
-        return self._do_add_operator_comment(self.call, msg, robot_timestamp, **kwargs)
-
-    def add_operator_comment_async(self, msg, robot_timestamp=None, **kwargs):
-        """Async version of add_operator_comment."""
-        return self._do_add_operator_comment(self.call_async, msg, robot_timestamp, **kwargs)
-
-    def _do_add_operator_comment(self, func, msg, robot_timestamp=None, **kwargs):
-        request = log_annotation_protos.AddLogAnnotationRequest()
-        robot_timestamp = robot_timestamp or self._now_in_robot_basis(msg_type="Operator Comment")
-        request.annotations.operator_messages.add(message=msg, timestamp=robot_timestamp)
-        return func(self._stub.AddLogAnnotation, request, value_from_response=None,
-                    error_from_response=common_header_errors, **kwargs)
-
-    def add_log_blob(self, data, type_id, channel=None, robot_timestamp=None, **kwargs):
-        """Log blob messages to the robot.
-
-        Args:
-          data:                 Binary data of one blob.
-          type_id:              Type of binary data of blob.
-          robot_timestamp:      Time (google.protobuf.Timestamp) of messages, in *robot time*.
-                                If not set, timestamp will be when the robot receives the message.
-
-        Raises:
-          RpcError: Problem communicating with the robot.
-        """
-        return self._do_add_log_blob(self.call, data, type_id, channel, robot_timestamp, **kwargs)
-
-    def add_log_blob_async(self, data, type_id, channel=None, robot_timestamp=None, **kwargs):
-        """Async version of add_log_blob."""
-        return self._do_add_log_blob(self.call_async, data, type_id, channel, robot_timestamp,
-                                     **kwargs)
-
-    def _do_add_log_blob(self, func, data, type_id, channel, robot_timestamp, **kwargs):
-        request = log_annotation_protos.AddLogAnnotationRequest()
-
-        if not channel:
-            channel = type_id
-
-        robot_timestamp = robot_timestamp or self._now_in_robot_basis(msg_type=type_id)
-        request.annotations.blob_data.add(timestamp=robot_timestamp, channel=channel,
-                                          type_id=type_id, data=data)
-
-        return func(self._stub.AddLogAnnotation, request, value_from_response=None,
-                    error_from_response=common_header_errors, **kwargs)
-
-
-    def add_log_protobuf(self, proto, robot_timestamp=None):
-        return self._do_add_log_protobuf(self.add_log_blob, proto, robot_timestamp)
-
-    def add_log_protobuf_async(self, proto, robot_timestamp=None):
-        return self._do_add_log_protobuf(self.add_log_blob_async, proto, robot_timestamp)
-
-    def _do_add_log_protobuf(self, func, proto, robot_timestamp):
-        binary_data = proto.SerializeToString()
-        robot_timestamp = robot_timestamp or self._now_in_robot_basis(proto=proto)
-        return func(data=binary_data, type_id=proto.DESCRIPTOR.full_name,
-                    channel=proto.DESCRIPTOR.full_name, robot_timestamp=robot_timestamp)
-
-    def _now_in_robot_basis(self, msg_type=None, proto=None):
-        """Get current time in robot clock basis if possible, None otherwise."""
-        if self._timesync_endpoint:
-            try:
-                converter = self._timesync_endpoint.get_robot_time_converter()
-            except time_sync.NotEstablishedError:
-                # No timesync. That's OK -- the receiving host will provide the timestamp.
-                self.logger.debug(
-                    'Could not timestamp message of type %s',
-                    (msg_type if msg_type is not None else
-                     (proto.DESCRIPTOR.full_name if proto is not None else 'Unknown')))
-            else:
-                return converter.robot_timestamp_from_local_secs(time.time())
-        return None
-
-
-@deprecated(reason='The log-annotation client and service have been replaced by data_buffer.',
-            version='2.1.0', action="always")
-class LogAnnotationHandler(logging.Handler):
-    """A logging system Handler that publish to a bosdyn.api.LogAnnotationService (DEPRECATED).
-
-    LogAnnotationHandler is deprecated.
-    Instead, use bosdyn.client.data_buffer.LoggingHandler.
-    """
-
-    def __init__(self, service, log_client, level=logging.NOTSET, time_sync_endpoint=None,
-                 rpc_timeout=1, msg_num_limit=10, msg_age_limit=1):
-        logging.Handler.__init__(self, level=level)
-        self.msg_age_limit = msg_age_limit
-        self.msg_num_limit = msg_num_limit
-        self.rpc_timeout = rpc_timeout
-        self.service = service
-        self.time_sync_endpoint = time_sync_endpoint
-        if self.time_sync_endpoint and not self.time_sync_endpoint.has_established_time_sync:
-            raise InvalidArgument('time_sync_endpoint must have already established timesync!')
-        # If we have this many unsent messages in the queue after a failure to send,
-        # "dump" the messages to stdout.
-        self._dump_msg_count = 20
-        # Internal tracking of errors.
-        self._num_failed_sends = 0
-        self._num_failed_sends_sequential = 0
-        # If we have this many failed sends in a row, stop the send thread.
-        self._limit_failed_sends_sequential = 5
-        # Event to trigger immediate flush of messages to the log client.
-        self._flush_event = threading.Event()
-        # How long to wait for flush events. Dictates non-flush update rate.
-        self._flush_event_wait_time = 0.1
-        # Last time "emit" was called.
-        self._last_emit_time = 0
-        self._log_client = log_client
-        self._lock = threading.Lock()
-        self._msg_queue = []
-        self._send_thread = threading.Thread(target=self._run_send_thread)
-        # Set to stop the message send thread.
-        self._shutdown_event = threading.Event()
-
-        # This apparently needs to be a daemon thread to play nicely with python's Handler shutdown
-        # procedure.
-        self._send_thread.daemon = True
-        self._send_thread.start()
-
-    def __enter__(self):
-        """Optionally use this as a ContextManager to be more cautious about sending messages."""
-        return self
-
-    def __exit__(self, exc_type, exc_val, exc_tb):
-        """To ensure all messages have been sent to the best of our ability, call close()."""
-        self.close()
-
-    def emit(self, record):
-        msg = self.record_to_msg(record)
-        with self._lock:
-            self._msg_queue.append(msg)
-        self._last_emit_time = time.time()
-
-    def flush(self):
-        self._flush_event.set()
-
-    def close(self):
-        self._shutdown_event.set()
-        self._send_thread.join()
-
-        # One last attempt to send any messages.
-        if self._msg_queue:
-            try:
-                self._log_client.add_text_messages(self._msg_queue, timeout=self.rpc_timeout)
-            # Catch all client library errors.
-            except Error:
-                self._num_failed_sends += 1
-                with self._lock:
-                    self._dump_msg_queue()
-        logging.Handler.close(self)
-
-    def is_thread_alive(self):
-        return self._send_thread.is_alive()
-
-    def restart(self, log_client):
-        """Restart the send thread.
-
-        Raises:
-          AssertionError if send thread is still alive.
-        """
-        assert not self.is_thread_alive()
-        self._num_failed_sends_sequential = 0
-        self._log_client = log_client
-        self._send_thread = threading.Thread(target=self._run_send_thread)
-        self._send_thread.daemon = True
-        self._send_thread.start()
-
-    def _dump_msg_queue(self):
-        """Pop all of the message queue, using fallback_log to try and capture them.
-
-        Should be called with the lock held.
-        """
-        self.fallback_log('Dumping {} messages!'.format(len(self._msg_queue)))
-        for msg in self._msg_queue:
-            self.fallback_log(msg)
-        del self._msg_queue[:]
-
-    def fallback_log(self, msg):
-        print(msg, file=sys.stderr)
-
-    def _run_send_thread(self):
-        while (self._num_failed_sends_sequential < self._limit_failed_sends_sequential and
-               not self._shutdown_event.is_set()):
-            flush = self._flush_event.wait(self._flush_event_wait_time)
-            msg_age = time.time() - self._last_emit_time
-            with self._lock:
-                num_msgs = len(self._msg_queue)
-                to_send = self._msg_queue[:num_msgs]
-            send_now = num_msgs >= 1 and (flush or msg_age >= self.msg_age_limit or
-                                          num_msgs >= self.msg_num_limit)
-
-            if send_now:
-                self._flush_event.clear()
-
-                send_errors = 0
-                error_limit = 2
-
-                sent = False
-                while send_errors < error_limit and not self._shutdown_event.is_set():
-                    try:
-                        self._log_client.add_text_messages(to_send, timeout=self.rpc_timeout)
-                    except (RpcError, ServerError):
-                        self.fallback_log('Error:\n{}'.format(traceback.format_exc()))
-                        send_errors += 1
-                    except:
-                        # Catch all other exceptions and log them.
-                        self.fallback_log('Unexpected exception!\n{}'.format(
-                            traceback.format_exc()))
-                        break
-                    else:
-                        sent = True
-                        break
-
-                # Default to possibly dumping messages.
-                maybe_dump = True
-                if sent:
-                    # We successfully sent logs to the log service! Delete relevant local cache.
-                    with self._lock:
-                        del self._msg_queue[:num_msgs]
-                    maybe_dump = False
-                    self._num_failed_sends_sequential = 0
-                elif send_errors >= error_limit:
-                    self._num_failed_sends += 1
-                    self._num_failed_sends_sequential += 1
-                elif self._shutdown_event.is_set():
-                    # Don't dump if we're shutting down; we'll clear the messages in close().
-                    maybe_dump = False
-                else:
-                    # We can hit this state if
-                    # 1) We break out of the above loop without setting sent = True
-                    # 2) There is a logic bug in the above handling code / while loop.
-                    function_name = traceback.extract_stack()[-1][2]
-                    self.fallback_log('Unexpected condition in {}.{}!'.format(
-                        self.__class__.__name__, function_name))
-
-                # If we decided we may need to dump the message queue...
-                if maybe_dump:
-                    with self._lock:
-                        if len(self._msg_queue) >= self._dump_msg_count:
-                            self._dump_msg_queue()
-
-    def record_to_msg(self, record):
-        level = self.record_level_to_proto_level(record.levelno)
-        msg = log_annotation_protos.LogAnnotationTextMessage(service=self.service, level=level)
-        msg.message = self.format(record)
-        if self.time_sync_endpoint is not None:
-            try:
-                msg.timestamp.CopyFrom(
-                    self.time_sync_endpoint.robot_timestamp_from_local_secs(time.time()))
-            except time_sync.NotEstablishedError:
-                msg.message = '(No time sync!): ' + msg.message
-                msg.timestamp.CopyFrom(core_util.now_timestamp())
-        else:
-            msg.timestamp.CopyFrom(core_util.now_timestamp())
-        return msg
-
-    @staticmethod
-    def record_level_to_proto_level(record_level):
-        if record_level >= logging.ERROR:
-            return log_annotation_protos.LogAnnotationTextMessage.LEVEL_ERROR
-        elif record_level >= logging.WARNING:
-            return log_annotation_protos.LogAnnotationTextMessage.LEVEL_WARN
-        elif record_level >= logging.INFO:
-            return log_annotation_protos.LogAnnotationTextMessage.LEVEL_INFO
-        return log_annotation_protos.LogAnnotationTextMessage.LEVEL_DEBUG
-
-

bosdyn_client-3.3.2.dist-info/RECORD

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