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

bosdyn/mission/client.py

@@ -36,6 +36,14 @@ class QuestionAlreadyAnswered(MissionResponseError):
     """The indicated question was already answered."""
 
 
+class CustomParamsError(MissionResponseError):
+    """The indicated answer does not match the spec for the indicated answer"""
+
+
+class IncompatibleAnswer(MissionResponseError):
+    """The indicated answer is not in a format expected by the indicated question."""
+
+
 class CompilationError(MissionResponseError):
     """Mission could not be compiled."""
 
@@ -105,25 +113,28 @@ class MissionClient(BaseClient):
         return self.call_async(self._stub.GetState, req, _get_state_value, common_header_errors,
                                copy_request=False, **kwargs)
 
-    def answer_question(self, question_id, code, **kwargs):
+    def answer_question(self, question_id, code=None, custom_params=None, **kwargs):
         """Specify an answer to the question asked by the mission.
         Args:
             question_id (int): ID of the question to answer.
             code (int): Answer code.
+            custom_params (DictParam): Answer to a custom params prompt.
 
         Raises:
             RpcError: Problem communicating with the robot.
             InvalidQuestionId: question_id was not a valid id.
             InvalidAnswerCode: code was not valid for the question.
             QuestionAlreadyAnswered: The question for question_id was already answered.
+            CustomParamsError: The answer did not match the spec for the question.
+            IncompatibleAnswer: The answer did not match a type expected for the question.
         """
-        req = self._answer_question_request(question_id, code)
+        req = self._answer_question_request(question_id, code, custom_params)
         return self.call(self._stub.AnswerQuestion, req, None, _answer_question_error_from_response,
                          copy_request=False, **kwargs)
 
-    def answer_question_async(self, question_id, code, **kwargs):
+    def answer_question_async(self, question_id, code=None, custom_params=None, **kwargs):
         """Async version of answer_question()"""
-        req = self._answer_question_request(question_id, code)
+        req = self._answer_question_request(question_id, code, custom_params)
         return self.call_async(self._stub.AnswerQuestion, req, None,
                                _answer_question_error_from_response, copy_request=False, **kwargs)
 
@@ -287,8 +298,19 @@ class MissionClient(BaseClient):
             RpcError: Problem communicating with the robot.
         """
         req = self._get_info_request()
-        return self.call(self._stub.GetInfo, req, _get_info_value, common_header_errors,
-                         copy_request=False, **kwargs)
+        try:
+            return self._get_info_as_chunks_call(req)
+        except UnimplementedError as err:
+            # This indicates that the software release running on robot does not yet have
+            # the implementation for the streaming response of GetInfo.
+            return self.call(self._stub.GetInfo, req, _get_info_value, common_header_errors,
+                             copy_request=False, **kwargs)
+
+    def _get_info_as_chunks_call(self, req, **kwargs):
+        """Issues the GetInfoAsChunks RPC to the mission service."""
+        return self.call(self._stub.GetInfoAsChunks, req, _get_info_value,
+                         error_from_response=common_header_errors,
+                         assemble_type=mission_pb2.GetInfoResponse, copy_request=False, **kwargs)
 
     def get_info_async(self, **kwargs):
         """Async version of get_info."""
@@ -334,8 +356,9 @@ class MissionClient(BaseClient):
         return request
 
     @staticmethod
-    def _answer_question_request(question_id, code):
-        return mission_pb2.AnswerQuestionRequest(question_id=question_id, code=code)
+    def _answer_question_request(question_id, code, custom_params):
+        return mission_pb2.AnswerQuestionRequest(question_id=question_id, code=code,
+                                                 custom_params=custom_params)
 
     @staticmethod
     def _load_mission_request(root, leases):
@@ -400,6 +423,10 @@ _ANSWER_QUESTION_STATUS_TO_ERROR.update({
         (InvalidAnswerCode, InvalidAnswerCode.__doc__),
     mission_pb2.AnswerQuestionResponse.STATUS_ALREADY_ANSWERED:
         (QuestionAlreadyAnswered, QuestionAlreadyAnswered.__doc__),
+    mission_pb2.AnswerQuestionResponse.STATUS_CUSTOM_PARAMS_ERROR:
+        (CustomParamsError, CustomParamsError.__doc__),
+    mission_pb2.AnswerQuestionResponse.STATUS_INCOMPATIBLE_ANSWER:
+        (IncompatibleAnswer, IncompatibleAnswer.__doc__),
 })
 
 

bosdyn/mission/remote_client.py

@@ -64,7 +64,7 @@ class RemoteClient(BaseClient):
 
         Args:
             leases (Iterable[Lease]): List of lease protobufs to establish session with.
-            inputs (Iterable[bosdyn.api.mission.KeyValue]): any inputs needed by by the remote node.
+            inputs (Iterable[bosdyn.api.mission.KeyValue]): any inputs needed by the remote node.
             lease_resources (Iterable[str]): List of resource names to use from the lease wallet.
                 Only applied if no leases are provided.
         """
@@ -92,7 +92,7 @@ class RemoteClient(BaseClient):
         Args:
             session_id: session
             leases (Iterable[Lease]): List of lease protobufs to use during the tick.
-            inputs (Iterable[bosdyn.api.mission.KeyValue]): any inputs needed by by the remote node.
+            inputs (Iterable[bosdyn.api.mission.KeyValue]): any inputs needed by the remote node.
             lease_resources (Iterable[str]): List of resource names to use from the lease wallet.
                 Only applied if no leases are provided.
         """

bosdyn/mission/server_util.py

@@ -8,6 +8,7 @@ from deprecated.sphinx import deprecated
 
 import bosdyn.util
 from bosdyn.api import header_pb2
+from bosdyn.deprecated import moved_to
 
 
 
@@ -34,7 +35,4 @@ class ResponseContext(object):
             self.rpc_logger.add_protobuf_async(self.response)
 
 
-set_response_header = deprecated(
-    reason='The bosdyn.mission.set_response_header helper class has moved to a common '
-    'location. Please use bosdyn.client.server_util.populate_response_header.', version='3.0.0',
-    action="always")(bosdyn.client.server_util.populate_response_header)
+set_response_header = moved_to(bosdyn.client.server_util.populate_response_header, version='3.0.0')

bosdyn/mission/util.py

@@ -9,16 +9,21 @@ import json
 import operator
 import re
 from builtins import str as text
+from typing import Dict, Union
 
 import google.protobuf.message
 import google.protobuf.struct_pb2
 import google.protobuf.text_format
+from deprecated.sphinx import deprecated
+from google.protobuf import message_factory
 
 from bosdyn.api import data_acquisition_pb2, geometry_pb2, gripper_camera_param_pb2
 from bosdyn.api.autowalk import walks_pb2
 from bosdyn.api.docking import docking_pb2
 from bosdyn.api.graph_nav import graph_nav_pb2, map_pb2
 from bosdyn.api.mission import mission_pb2, nodes_pb2, util_pb2
+from bosdyn.client.util import safe_pb_enum_to_string as _bosdyn_client_safe_pb_enum_to_string
+from bosdyn.deprecated import moved_to
 from bosdyn.mission import constants
 
 # This is a special dummy message we'll use for TYPE_MESSAGE parameters.
@@ -61,7 +66,24 @@ def tree_to_string(root, start_level=0, include_status=False):
     return string
 
 
-def proto_from_tuple(tup):
+def type_to_field_name(type_name):
+    """Use type name to reconstruct field name of bosdyn.api.mission.Node.type
+    Example: SimpleParallel becomes simple_parallel"""
+    node_type = str(type_name).split('.')[-1]
+    field_name = node_type[0].lower()
+    for char in node_type[1:]:
+        if char.isupper():
+            field_name += f'_{char.lower()}'
+        else:
+            field_name += char
+
+    oneof_field_names = [x.name for x in nodes_pb2.Node.DESCRIPTOR.oneofs_by_name['type'].fields]
+    assert field_name in oneof_field_names, f'{field_name} is not a field name in bosdyn.api.mission.Node.type'
+
+    return field_name
+
+
+def proto_from_tuple(tup, pack_nodes=True):
     """Return a bosdyn.api.mission Node from a tuple. EXPERIMENTAL.
 
     Example:
@@ -81,7 +103,7 @@ def proto_from_tuple(tup):
         tup: (Name of node, Instantiated implementation of node protobuf, List of children tuples)
     """
     if isinstance(tup, nodes_pb2.Node):
-        # Sometimes the short hand doesn't work nicely, and in those cases we allow setting
+        # Sometimes the shorthand doesn't work nicely, and in those cases we allow setting
         # The node itself.
         return tup
 
@@ -148,11 +170,15 @@ def proto_from_tuple(tup):
     elif num_children != 0:
         raise Error('Proto "{}" of type "{}" was given {} children, but I do not know how to add'
                     ' them!'.format(node.name, inner_type, num_children))
-
-    node.impl.Pack(inner_proto)
+    if pack_nodes:
+        node.impl.Pack(inner_proto)
+    else:
+        getattr(node, type_to_field_name(inner_type)).CopyFrom(inner_proto)
     return node
 
 
+
+
 def python_var_to_value(var):
     """Returns a ConstantValue with the appropriate oneof set."""
     value = util_pb2.ConstantValue()
@@ -318,7 +344,7 @@ def get_value_from_constant_value_message(const_proto):
     return value
 
 
-def get_value_from_value_message(node, blackboard, value_msg):
+def get_value_from_value_message(node, blackboard, value_msg, is_validation=False):
     if value_msg.HasField(text("constant")):
         constant = value_msg.constant
         return get_value_from_constant_value_message(constant)
@@ -328,11 +354,31 @@ def get_value_from_value_message(node, blackboard, value_msg):
         raise AttributeError("Value must be a runtime variable or constant.")
 
 
-def safe_pb_enum_to_string(value, pb_enum_obj):
-    try:
-        return pb_enum_obj.Name(value)
-    except ValueError:
-        pass
-    return '<unknown> (value: {})'.format(value)
+safe_pb_enum_to_string = moved_to(_bosdyn_client_safe_pb_enum_to_string, version='4.0.0')
+
+
+def create_value(
+        var: Union[bool, int, float, str, google.protobuf.message.Message]) -> util_pb2.Value:
+    """Returns a Value message containing a ConstantValue with the appropriate oneof set.
+    """
+    return util_pb2.Value(constant=python_var_to_value(var))
+
+
+def define_blackboard(dict_values: Dict[str, util_pb2.Value]) -> nodes_pb2.DefineBlackboard:
+    """Returns a DefineBlackboard protobuf message for the key-value pairs in `dict_values`.
+    """
+    node_to_return = nodes_pb2.DefineBlackboard()
+    for (key, value) in dict_values.items():
+        node_to_return.blackboard_variables.add().CopyFrom(util_pb2.KeyValue(key=key, value=value))
+    return node_to_return
+
+
+def set_blackboard(dict_values: Dict[str, util_pb2.Value]) -> nodes_pb2.SetBlackboard:
+    """Returns a SetBlackboard protobuf message for the key-value pairs in `dict_values`.
+    """
+    node_to_return = nodes_pb2.SetBlackboard()
+    for (key, value) in dict_values.items():
+        node_to_return.blackboard_variables.add().CopyFrom(util_pb2.KeyValue(key=key, value=value))
+    return node_to_return
 
 

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

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: bosdyn-mission
-Version: 3.3.2
+Version: 4.0.1
 Summary: Boston Dynamics mission code
 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-client (==3.3.2)
-Requires-Dist: bosdyn-api (==3.3.2)
+Requires-Dist: bosdyn-client (==4.0.1)
+Requires-Dist: bosdyn-api (==4.0.1)
 
 <!--
 Copyright (c) 2023 Boston Dynamics, Inc.  All rights reserved.
@@ -37,5 +37,4 @@ missions, which are part of the Boston Dynamics Spot API. The client interfaces
 implement the mission-related Remote Procedure Calls (RPCs) defined in
 [bosdyn-api wheel](https://pypi.org/project/bosdyn-api/) and they utilize code included in the
 [bosdyn-client wheel](https://pypi.org/project/bosdyn-client/). Full design documentation for the
-functionality included in this wheel can be found
-[here](https://dev.bostondynamics.com/docs/concepts/autonomy/missions_service).
+functionality included in this wheel can be found [here](../../docs/concepts/autonomy/missions_service.md).

bosdyn_mission-4.0.1.dist-info/RECORD

@@ -0,0 +1,12 @@
+bosdyn/__init__.py,sha256=CMQioQKK1NlMk3kZuY49b_Aw-JyvDeOtuqOCAul1I0s,330
+bosdyn/mission/__init__.py,sha256=_BpC0ZVGQ5yH5S8rt_DrTMQkAuxzTn5YlPvwDzeFXdQ,483
+bosdyn/mission/client.py,sha256=_jjFZ1FCDNaKKcJ0pzHZ6suADTKcaaXHqp0GV5691M8,22437
+bosdyn/mission/constants.py,sha256=oSsl0XR1-fNzHASGNqs541YEO8qi64eewvbY9ICKaxE,435
+bosdyn/mission/exceptions.py,sha256=UqGT0XK3zA6Bgwo_7KNC44yi_MvW9h3c8_pHKML8ELQ,3941
+bosdyn/mission/remote_client.py,sha256=quGWyqLzpASgrR6MlnEPoRFCmnTMSBZ6tmr-Wyy9YW0,12190
+bosdyn/mission/server_util.py,sha256=_ts77W8yGq9BXhgOWwtMCXaxDjUxoorEPk1-YooEUNA,1508
+bosdyn/mission/util.py,sha256=30_LIam0ve6JTXZfXmZyza0Vey1FC3LHln81rUeAm_w,15616
+bosdyn_mission-4.0.1.dist-info/METADATA,sha256=foyspudk4oRuRkFkE5T6MklXqahIP4E2_c9GTSx48Wo,1760
+bosdyn_mission-4.0.1.dist-info/WHEEL,sha256=AtBG6SXL3KF_v0NxLf0ehyVOh0cold-JbJYXNGorC6Q,92
+bosdyn_mission-4.0.1.dist-info/top_level.txt,sha256=an2OWgx1ej2jFjmBjPWNQ68ZglvUfKhmXWW-WhTtDmA,7
+bosdyn_mission-4.0.1.dist-info/RECORD,,

{bosdyn_mission-3.3.2.dist-info → bosdyn_mission-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_mission-3.3.2.dist-info/RECORD

@@ -1,12 +0,0 @@
-bosdyn/__init__.py,sha256=CMQioQKK1NlMk3kZuY49b_Aw-JyvDeOtuqOCAul1I0s,330
-bosdyn/mission/__init__.py,sha256=_BpC0ZVGQ5yH5S8rt_DrTMQkAuxzTn5YlPvwDzeFXdQ,483
-bosdyn/mission/client.py,sha256=UeVysD0UBU3sV1DFBZF3K5dvfGbLqcDKWe9zjytqEec,20860
-bosdyn/mission/constants.py,sha256=oSsl0XR1-fNzHASGNqs541YEO8qi64eewvbY9ICKaxE,435
-bosdyn/mission/exceptions.py,sha256=UqGT0XK3zA6Bgwo_7KNC44yi_MvW9h3c8_pHKML8ELQ,3941
-bosdyn/mission/remote_client.py,sha256=rWMgI-Il8cZ-gGjUu7vHnfhyiNHTEk39NlDDK_5t-eg,12196
-bosdyn/mission/server_util.py,sha256=ytvamtXK_CzLmnAn-4ybJ7PNyGfpG-HGfJZFuARxHcs,1661
-bosdyn/mission/util.py,sha256=dO8zMy-zgp_rt-q9dAQfvnr_1OnJ7mUfhHBo2skZJyA,13577
-bosdyn_mission-3.3.2.dist-info/METADATA,sha256=4YmV_fDakosgaauANGxEozLC2P08YTD35ypD2O9SPRo,1782
-bosdyn_mission-3.3.2.dist-info/WHEEL,sha256=pkctZYzUS4AYVn6dJ-7367OJZivF2e8RA9b_ZBjif18,92
-bosdyn_mission-3.3.2.dist-info/top_level.txt,sha256=an2OWgx1ej2jFjmBjPWNQ68ZglvUfKhmXWW-WhTtDmA,7
-bosdyn_mission-3.3.2.dist-info/RECORD,,