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

bosdyn/client/robot_id.py

@@ -8,8 +8,7 @@
 
 RobotIdClient -- Wrapper around service stub.
 """
-
-from distutils.version import StrictVersion
+from deprecated.sphinx import deprecated
 
 from bosdyn.api import robot_id_pb2, robot_id_service_pb2_grpc
 from bosdyn.client.common import BaseClient, common_header_errors
@@ -49,13 +48,15 @@ def version_tuple(version):
     return version.major_version, version.minor_version, version.patch_level
 
 
+@deprecated(reason='distutils is deprecated. Use version_tuple() instead.', version='4.0.0')
 def create_strict_version(robot_id):
     """Create and return a StrictVersion object, from a robot_id, which can be compared easily."""
-    if robot_id == None:
+    if robot_id is None:
         return None
 
     version_string = str(robot_id.software_release.version.major_version) + '.' + \
-                            str(robot_id.software_release.version.minor_version) + '.' + \
-                            str(robot_id.software_release.version.patch_level)
+                     str(robot_id.software_release.version.minor_version) + '.' + \
+                     str(robot_id.software_release.version.patch_level)
 
+    from distutils.version import StrictVersion
     return StrictVersion(version_string)

bosdyn/client/robot_state.py

@@ -129,10 +129,16 @@ class RobotStateClient(BaseClient):
         return robot_state_pb2.RobotLinkModelRequest(link_name=link_name)
 
 
+
+
 def _get_robot_state_value(response):
     return response.robot_state
 
 
+def _get_robot_state_stream_value(response):
+    return response
+
+
 def _get_robot_metrics_value(response):
     return response.robot_metrics
 

bosdyn/client/sdk.py

@@ -33,6 +33,8 @@ from .door import DoorClient
 from .estop import EstopClient
 from .exceptions import Error
 from .fault import FaultClient
+from .gps.aggregator_client import AggregatorClient
+from .gps.registration_client import RegistrationClient
 from .graph_nav import GraphNavClient
 from .gripper_camera_param import GripperCameraParamClient
 from .image import ImageClient
@@ -42,10 +44,10 @@ from .keepalive import KeepaliveClient
 from .lease import LeaseClient
 from .license import LicenseClient
 from .local_grid import LocalGridClient
-from .log_annotation import LogAnnotationClient
 from .log_status import LogStatusClient
 from .manipulation_api_client import ManipulationApiClient
 from .map_processing import MapProcessingServiceClient
+from .metrics_logging import MetricsLoggingClient
 from .network_compute_bridge_client import NetworkComputeBridgeClient
 from .payload import PayloadClient
 from .payload_registration import PayloadRegistrationClient
@@ -104,6 +106,7 @@ def generate_client_name(prefix=''):
 
 
 _DEFAULT_SERVICE_CLIENTS = [
+    AggregatorClient,
     ArmSurfaceContactClient,
     AuthClient,
     AutoReturnClient,
@@ -126,7 +129,6 @@ _DEFAULT_SERVICE_CLIENTS = [
     LeaseClient,
     KeepaliveClient,
     LicenseClient,
-    LogAnnotationClient,
     LogStatusClient,
     LocalGridClient,
     ManipulationApiClient,
@@ -137,6 +139,7 @@ _DEFAULT_SERVICE_CLIENTS = [
     PointCloudClient,
     PowerClient,
     RayCastClient,
+    RegistrationClient,
     RobotCommandClient,
     RobotIdClient,
     RobotStateClient,
@@ -200,7 +203,6 @@ class Sdk(object):
         self.max_receive_message_length = DEFAULT_MAX_MESSAGE_LENGTH
 
 
-
     def create_robot(
             self,
             address,
@@ -296,14 +298,6 @@ class Sdk(object):
             robot._shutdown()
         self.robots = {}
 
-    @staticmethod
-    @deprecated(
-        reason='App tokens are no longer in use. Authorization is now handled via licenses.',
-        version='2.0.1', action="always")
-    def load_app_token(*_):
-        """Do nothing, this method is kept only to maintain backwards compatibility."""
-        return
-
 
 @deprecated(
     reason='Decoding tokens is no longer supported in the sdk.  Use pyjwt directly instead.',

bosdyn/client/server_util.py

@@ -9,6 +9,7 @@
 import copy
 import logging
 import signal
+import sys
 import time
 from concurrent import futures
 
@@ -16,7 +17,7 @@ import grpc
 
 import bosdyn.util
 from bosdyn.api import (data_acquisition_store_pb2, data_buffer_pb2, header_pb2, image_pb2,
-                        local_grid_pb2, log_annotation_pb2)
+                        local_grid_pb2)
 from bosdyn.client.channel import generate_channel_options
 
 _LOGGER = logging.getLogger(__name__)
@@ -91,7 +92,7 @@ class GrpcServiceRunner(object):
         max_send_message_length (int): Max message length (bytes) allowed for messages sent.
         max_receive_message_length (int): Max message length (bytes) allowed for messages received.
         timeout_secs (int): Number of seconds to wait for a clean server shutdown.
-        force_sigint_capture (bool): Re-assign the SIGINT handler to default in order to prevent
+        force_sigint_capture (bool): Re-assign the termination signal handlers to default in order to prevent
             other scripts from blocking a clean exit. Defaults to True.
         logger (logging.Logger): Logger to log with.
     """
@@ -127,12 +128,17 @@ class GrpcServiceRunner(object):
         shutdown_complete.wait(self.timeout_secs)
 
     def run_until_interrupt(self):
-        """Spin the thread until a SIGINT is received and then shut down cleanly."""
+        """Spin the thread until a SIGINT, SIGTERM, or SIGQUIT is received and then shut down cleanly."""
         if self.force_sigint_capture:
             # Ensure that KeyboardInterrupt is raised on a SIGINT.
             signal.signal(signal.SIGINT, signal.default_int_handler)
+            # Included SIGTERM for "docker stop". See https://docs.docker.com/engine/reference/commandline/stop/
+            signal.signal(signal.SIGTERM, signal.default_int_handler)
+            # OS check because on Windows, signal() can only be called with SIGABRT, SIGFPE, SIGILL, SIGINT, SIGSEGV, or SIGTERM.
+            if not sys.platform.startswith("win32"):
+                signal.signal(signal.SIGQUIT, signal.default_int_handler)
 
-        # Monitor for SIGINT and shut down cleanly.
+        # Monitor for SIGINT, SIGTERM, or SIGQUIT and shut down cleanly.
         try:
             while True:
                 time.sleep(1)
@@ -144,6 +150,7 @@ class GrpcServiceRunner(object):
 def populate_response_header(response, request, error_code=header_pb2.CommonError.CODE_OK,
                              error_msg=None):
     """Sets the ResponseHeader header in the response.
+
     Args:
         response (bosdyn.api Response message): The GRPC response message to be populated.
         request (bosdyn.api Request message): The header from the request is added to the response.
@@ -181,7 +188,6 @@ def get_bytes_field_allowlist():
         data_acquisition_store_pb2.StoreImageRequest: strip_store_image_request,
         data_buffer_pb2.RecordSignalTicksRequest: strip_record_signal_tick,
         data_buffer_pb2.RecordDataBlobsRequest: strip_record_data_blob,
-        log_annotation_pb2.AddLogAnnotationRequest: strip_log_annotation
     }
     return allowlist_map
 
@@ -223,9 +229,3 @@ def strip_record_data_blob(proto_message):
     """Removes bytes from the data_buffer_pb2.RecordDataBlobsRequest proto."""
     for blob in proto_message.blob_data:
         blob.ClearField("data")
-
-
-def strip_log_annotation(proto_message):
-    """Removes bytes from the log_annotation_pb2.AddLogAnnotationRequest proto."""
-    for blob in proto_message.annotations.blob_data:
-        blob.ClearField("data")