bosdyn-client 4.0.0__py3-none-any.whl → 4.0.2__py3-none-any.whl

bosdyn/client/area_callback_service_utils.py

@@ -8,13 +8,12 @@ import logging
 import time
 from typing import List
 
+import bosdyn.client
 from bosdyn.api import service_fault_pb2
 from bosdyn.api.graph_nav import area_callback_pb2
 from bosdyn.api.service_customization_pb2 import DictParam
 from bosdyn.client.directory import NonexistentServiceError
-from bosdyn.client.exceptions import RpcError
-from bosdyn.client.fault import (FaultResponseError, ServiceFaultAlreadyExistsError,
-                                 ServiceFaultDoesNotExistError)
+from bosdyn.client.fault import ServiceFaultAlreadyExistsError, ServiceFaultDoesNotExistError
 from bosdyn.client.service_customization_helpers import dict_params_to_dict
 
 _LOGGER = logging.getLogger(__name__)
@@ -55,7 +54,7 @@ class AreaCallbackServiceConfig:
 def handle_service_faults(fault_client, robot_state_client, directory_client, service_name,
                           prereq_services):
     service_fault = service_fault_pb2.ServiceFault()
-    service_fault.fault_id.fault_name = f'{service_name}'
+    service_fault.fault_id.fault_name = service_name
     service_fault.fault_id.service_name = service_name
     service_fault.severity = service_fault_pb2.ServiceFault.SEVERITY_CRITICAL
     check_period = 0.5  # seconds.
@@ -68,43 +67,68 @@ def handle_service_faults(fault_client, robot_state_client, directory_client, se
             registered_service = directory_client.get_entry(service_name)
         except NonexistentServiceError as exc:
             continue
+        except bosdyn.client.Error as exc:
+            _LOGGER.error("Failed to check if %s exists during fault handling: %s", service_name,
+                          exc)
+            continue
 
         set_fault = False
+        fault_exists = False
         unavailable_services = []
-        for service in prereq_services:
+
+        # Need robot state to check existing faults.
+        try:
+            state = robot_state_client.get_robot_state()
+        except bosdyn.client.Error as exc:
+            _LOGGER.error("Failed to get robot state during fault handling: %s", exc)
+            continue
+
+        for prereq_service in prereq_services:
             # Make sure the prereq service exists.
             try:
-                registered_service = directory_client.get_entry(service)
+                registered_service = directory_client.get_entry(prereq_service)
             except NonexistentServiceError as exc:
                 set_fault = True
-                unavailable_services.append(service)
+                unavailable_services.append(prereq_service)
+                continue
+            except bosdyn.client.Error as exc:
+                _LOGGER.error("Failed to check if %s exists during fault handling: %s",
+                              prereq_service, exc)
+                set_fault = True
+                unavailable_services.append(prereq_service)
                 continue
 
             # Make sure the prereq service isn't faulted.
-            state = robot_state_client.get_robot_state()
             for fault in state.service_fault_state.faults:
-                if fault.fault_id.service_name == service:
+                if fault.fault_id.service_name == prereq_service:
                     set_fault = True
-                    unavailable_services.append(service)
+                    unavailable_services.append(prereq_service)
                     break
 
-        # Fault the service.
-        if set_fault:
+        # Check if the service is already faulted.
+        for fault in state.service_fault_state.faults:
+            if fault.fault_id.service_name == service_name:
+                fault_exists = True
+                break
+
+        # Fault the service if there isn't an existing fault.
+        if set_fault and not fault_exists:
             service_fault.error_message = 'Faulted due to issues with ' + ','.join(
                 unavailable_services)
             try:
                 fault_client.trigger_service_fault(service_fault)
+                _LOGGER.info("Triggered fault on %s", service_name)
             except ServiceFaultAlreadyExistsError:
                 pass
-            except (RpcError, FaultResponseError) as exc:
-                _LOGGER.error(f"Failed to set {service_name} fault. {exc}")
+            except bosdyn.client.Error as exc:
+                _LOGGER.error("Failed to set %s fault: %s", service_name, exc)
 
         # Otherwise, clear the fault if it exists.
-        else:
+        elif not set_fault and fault_exists:
             try:
                 fault_client.clear_service_fault(service_fault.fault_id)
-                set_fault = False
+                _LOGGER.info("Cleared fault on %s", service_name)
             except ServiceFaultDoesNotExistError:
                 pass
-            except (RpcError, FaultResponseError) as exc:
-                _LOGGER.error(f"Failed to clear {service_name} fault. {exc}")
+            except bosdyn.client.Error as exc:
+                _LOGGER.error("Failed to clear %s fault: %s", service_name, exc)

bosdyn/client/gps/NMEAParser.py

@@ -149,6 +149,11 @@ class NMEAParser(object):
                     self.last_failed_read_log_time = now
                 continue
 
+            # if the message does not contain a timestamp attribute, abandon the rest of the logic
+            # and go to the beginning of the loop
+            if not hasattr(nmea_msg, 'timestamp'):
+                continue
+
             # Only use NMEA messages that have a timestamp.
             # For example, GSA and GST messages are not supported.
             if isinstance(nmea_msg.timestamp, datetime.time):

bosdyn/client/gps/gps_listener.py

@@ -27,17 +27,21 @@ class NMEAStreamReader(object):
     # The amount of time to wait before logging another decode error.
     LOG_THROTTLE_TIME = 2.0  # seconds.
 
-    def __init__(self, logger, stream, body_tform_gps):
+    def __init__(self, logger, stream, body_tform_gps, verbose):
         self.logger = logger
         self.stream = stream
         self.parser = NMEAParser(logger)
         self.body_tform_gps = body_tform_gps.to_proto()
         self.last_failed_read_log_time = None
+        self.verbose = verbose
 
     def read_data(self, time_converter: RobotTimeConverter) -> List[GpsDataPoint]:
         """This function returns an array of new GpsDataPoints."""
         try:
             raw_data = self.stream.readline()
+            # If the rawdata is a bytes or bytearray object, decode it into a string.
+            if type(raw_data) is not str:
+                raw_data = str(raw_data, "utf-8")
         except UnicodeDecodeError:
             # Throttle the logs.
             now = time.time()
@@ -53,7 +57,12 @@ class NMEAStreamReader(object):
 
         # Trim any leading characters before the NMEA sentence.
         raw_data = raw_data[raw_data.index('$'):]
-        self.logger.info(f"Read: {raw_data}")
+
+        # If we are being verbose, print the message we received.
+        if self.verbose:
+            self.logger.info(f"Read: {raw_data}")
+
+        # Parse the received message.
         new_points = self.parser.parse(raw_data, time_converter, check=False)
 
         # Offset for the GPS
@@ -65,11 +74,11 @@ class NMEAStreamReader(object):
 
 class GpsListener:
 
-    def __init__(self, robot, time_converter, stream, name, body_tform_gps, logger):
+    def __init__(self, robot, time_converter, stream, name, body_tform_gps, logger, verbose):
         self.logger = logger
         self.robot = robot
         self.time_converter = time_converter
-        self.reader = NMEAStreamReader(logger, stream, body_tform_gps)
+        self.reader = NMEAStreamReader(logger, stream, body_tform_gps, verbose)
         self.gps_device = GpsDevice()
         self.gps_device.name = name
         self.aggregator_client = None

bosdyn/client/server_util.py

@@ -9,6 +9,7 @@
 import copy
 import logging
 import signal
+import sys
 import time
 from concurrent import futures
 
@@ -133,7 +134,9 @@ class GrpcServiceRunner(object):
             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)
-            signal.signal(signal.SIGQUIT, 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, SIGTERM, or SIGQUIT and shut down cleanly.
         try:

{bosdyn_client-4.0.0.dist-info → bosdyn_client-4.0.2.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: bosdyn-client
-Version: 4.0.0
+Version: 4.0.2
 Summary: Boston Dynamics API client code and interfaces
 Home-page: https://dev.bostondynamics.com/
 Author: Boston Dynamics
@@ -15,8 +15,8 @@ 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 (==4.0.0)
-Requires-Dist: bosdyn-core (==4.0.0)
+Requires-Dist: bosdyn-api (==4.0.2)
+Requires-Dist: bosdyn-core (==4.0.2)
 Requires-Dist: grpcio
 Requires-Dist: pyjwt
 Requires-Dist: numpy

{bosdyn_client-4.0.0.dist-info → bosdyn_client-4.0.2.dist-info}/RECORD

@@ -5,7 +5,7 @@ bosdyn/client/area_callback.py,sha256=nQnhJR8-f0PMq9uILpKhYitVuIZHl6VViUDndN2K4u
 bosdyn/client/area_callback_region_handler_base.py,sha256=cr5SwGogXmuMbAbbMeHvQZQBflYyFTOCj7wrUOgsUHQ,16467
 bosdyn/client/area_callback_service_runner.py,sha256=Rr30BV3TSXHQGcsUGlTa1F-noQDvgq6wv5XxQ_zTIa0,1869
 bosdyn/client/area_callback_service_servicer.py,sha256=o1kYKV83Q-ud-_rmT17XTSqBdHqph_xYsgvvnpjsKtE,13229
-bosdyn/client/area_callback_service_utils.py,sha256=rkHfV5PLrkUUVO0ZvUCxFlCvgyJ8-jixfwL34_iLTPM,4770
+bosdyn/client/area_callback_service_utils.py,sha256=R8ljJe8fPszMI6RyuGRyv_QGu63kw1yZAveZydlpERI,5858
 bosdyn/client/arm_surface_contact.py,sha256=DRfPfsFEzfk6ufe080ViqasUefl2ZUtcvcNENgcf55k,3710
 bosdyn/client/async_tasks.py,sha256=gEPev6_jaUCe-G5PqktMiMGb7ohDy0daunxzQD5jafg,5594
 bosdyn/client/auth.py,sha256=YLo6jP0Ssl_Z6rHtTiPiKUNIweDRYub9w3iHdUe6n40,5302
@@ -62,7 +62,7 @@ bosdyn/client/robot_command.py,sha256=D6MQ8Shx8gV4IZMfzaaTgmT04FiamUkC9eN41VORrL
 bosdyn/client/robot_id.py,sha256=0VZHG9hltwTLAm1_Bt26Xq1O6EROswqNwHvjY7kaplk,2482
 bosdyn/client/robot_state.py,sha256=h551ke5eHdAC7NgVuLphY8FZR899Ii8_lYwuoX1w1nk,7073
 bosdyn/client/sdk.py,sha256=u-DOSF-QEERYu0hxRXmfOpRhLCD6R-b5IqgfsqUaOcY,12759
-bosdyn/client/server_util.py,sha256=CjjB0v1EPua7votsgHOLWKwSNz8IYd1V0u7DfjKACPk,10204
+bosdyn/client/server_util.py,sha256=nzpZijK_GclVK2Zf2g2KCe-2e49NEQbPgdz75fwafXc,10402
 bosdyn/client/service_customization_helpers.py,sha256=mi_xkCNvJE7wX64WFoMAKiJQsUvS33LY8PrhiV8-95w,48357
 bosdyn/client/signals_helpers.py,sha256=Sp91IrMxVU-PeH6TK2njzFCKmFMyshRJqNa4DYRMqDU,3682
 bosdyn/client/spot_check.py,sha256=Jvlli3xTOzlrHE6OadLJ662zoUM87jUyQewGFOYM85o,21119
@@ -72,10 +72,10 @@ bosdyn/client/token_manager.py,sha256=FvDFCXKIiGXZNkagKZM41Ut8Q0ChlYHN3O61CzrqMF
 bosdyn/client/units_helpers.py,sha256=5SAmL8vsnl06oGNjzb57fUkuUbGvtbeNdg4NgW0wYAY,1084
 bosdyn/client/util.py,sha256=1Kj10p0jqS7opwDrAAx3adfIw1lJCB1OzSZYyfUlJH8,20029
 bosdyn/client/world_object.py,sha256=KbFRkG3jqQEfRN6SmSv1_D6n_9yFVYwbfCUWQ7kYpio,18695
-bosdyn/client/gps/NMEAParser.py,sha256=EMyEt7KJ3QvQpTqq8gwZ9ZIKV7RRGvjJnQyY067i9Q4,8048
+bosdyn/client/gps/NMEAParser.py,sha256=1SSaxN1D7V5eUnqnuCpO6gFwWofurtvXg7UbxF4d3ec,8274
 bosdyn/client/gps/__init__.py,sha256=1qUAbnMKYlERYZvxtGz4ThjYef7Tx-ZBclLoVE_ecjU,265
 bosdyn/client/gps/aggregator_client.py,sha256=z5iRAYyCIez7p0EzIqZg3NTJGzxXAy297iENrhaL7CQ,2380
-bosdyn/client/gps/gps_listener.py,sha256=r08r1qCaLVoE1mcMOMyXWHywfKdTTNeFf7SOGpJBkl0,6181
+bosdyn/client/gps/gps_listener.py,sha256=KkQsThiBgUwmsys34jGn0BrHuE6RkfcwSN7nDwfNpTA,6552
 bosdyn/client/gps/registration_client.py,sha256=LqDLl_Ezv3HNUr9R1B4n2hcMArmGwLgg1asCkGhe2WA,1901
 bosdyn/client/resources/__init__.py,sha256=1qUAbnMKYlERYZvxtGz4ThjYef7Tx-ZBclLoVE_ecjU,265
 bosdyn/client/resources/robot.pem,sha256=kWAr4xK29RtTVC_EhbwW2_NblIuecYqVudR2YIdTh84,1874
@@ -91,7 +91,7 @@ bosdyn/client/spot_cam/power.py,sha256=HS3nJF8hXq9m1JziOIwLHGLtlNMyLgewWBgs-mRZm
 bosdyn/client/spot_cam/ptz.py,sha256=8e6fA07aGnymSXV2MB_QBx0Pv4PSAMOihxq1jyoinDU,10815
 bosdyn/client/spot_cam/streamquality.py,sha256=hQzVPdKnzVT91fc8E8AmNqhAPgddt0XE2tzNQD6QefQ,6411
 bosdyn/client/spot_cam/version.py,sha256=R82eyCAY9PfZqbN8D6hNzSeZatpgpsFr995dRt1Mbe0,2856
-bosdyn_client-4.0.0.dist-info/METADATA,sha256=JiZoKvStlWEjgFO4DGdG_U0Wis0fknhnV4FcuLuyYSM,3938
-bosdyn_client-4.0.0.dist-info/WHEEL,sha256=AtBG6SXL3KF_v0NxLf0ehyVOh0cold-JbJYXNGorC6Q,92
-bosdyn_client-4.0.0.dist-info/top_level.txt,sha256=an2OWgx1ej2jFjmBjPWNQ68ZglvUfKhmXWW-WhTtDmA,7
-bosdyn_client-4.0.0.dist-info/RECORD,,
+bosdyn_client-4.0.2.dist-info/METADATA,sha256=4_AUjtA0swqP4G9fZ_8UHTgq9iZFCPy_wkPdskwDn2w,3938
+bosdyn_client-4.0.2.dist-info/WHEEL,sha256=AtBG6SXL3KF_v0NxLf0ehyVOh0cold-JbJYXNGorC6Q,92
+bosdyn_client-4.0.2.dist-info/top_level.txt,sha256=an2OWgx1ej2jFjmBjPWNQ68ZglvUfKhmXWW-WhTtDmA,7
+bosdyn_client-4.0.2.dist-info/RECORD,,