bosdyn-mission 4.1.0__py3-none-any.whl → 5.0.0__py3-none-any.whl

bosdyn/mission/util.py

@@ -4,11 +4,13 @@
 # is subject to the terms and conditions of the Boston Dynamics Software
 # Development Kit License (20191101-BDSDK-SL).
 
+import collections
 import copy
 import json
 import logging
 import operator
 import re
+import typing
 from builtins import str as text
 from typing import Dict, Union
 
@@ -180,40 +182,87 @@ def proto_from_tuple(tup, pack_nodes=True):
 
 
 
-def python_var_to_value(var):
+def python_var_to_value(var) -> util_pb2.ConstantValue:
     """Returns a ConstantValue with the appropriate oneof set."""
     value = util_pb2.ConstantValue()
-    if isinstance(var, bool):
-        value.bool_value = var
-    elif isinstance(var, int):
-        value.int_value = var
-    elif isinstance(var, float):
-        value.float_value = var
-    elif isinstance(var, str):
-        value.string_value = var
-    elif isinstance(var, google.protobuf.message.Message):
-        value.msg_value.Pack(var)
-    else:
-        raise Error('Invalid type "{}"'.format(type(var)))
+    match var:
+        case bool():
+            value.bool_value = var
+        case int():
+            value.int_value = var
+        case float():
+            value.float_value = var
+        case str():
+            value.string_value = var
+        case util_pb2.ConstantValue():
+            value.CopyFrom(var)
+        case google.protobuf.message.Message():
+            value.msg_value.Pack(var)
+        case _:
+            if isinstance(var, collections.abc.Mapping):
+                for key, val in var.items():
+                    value.dict_value.values[key].CopyFrom(python_var_to_value(val))
+            elif isinstance(var, collections.abc.Iterable):
+                value.list_value.values.extend([python_var_to_value(v) for v in var])
+            else:
+                raise Error('Invalid type "{}"'.format(type(var)))
     return value
 
 
-def python_type_to_pb_type(var):
+def python_type_to_pb_type(var) -> util_pb2.VariableDeclaration.Type.ValueType:
     """Returns the protobuf-schema variable type that corresponds to the given variable."""
-    if isinstance(var, bool):
-        return util_pb2.VariableDeclaration.TYPE_BOOL
-    elif isinstance(var, int):
-        return util_pb2.VariableDeclaration.TYPE_INT
-    elif isinstance(var, float):
-        # Python floating point is typically a C double.
-        return util_pb2.VariableDeclaration.TYPE_FLOAT
-    elif isinstance(var, str):
-        return util_pb2.VariableDeclaration.TYPE_STRING
-    elif isinstance(var, google.protobuf.message.Message):
-        return util_pb2.VariableDeclaration.TYPE_MESSAGE
+    match var:
+        case bool():
+            return util_pb2.VariableDeclaration.TYPE_BOOL
+        case int():
+            return util_pb2.VariableDeclaration.TYPE_INT
+        case float():
+            return util_pb2.VariableDeclaration.TYPE_FLOAT
+        case str():
+            return util_pb2.VariableDeclaration.TYPE_STRING
+        # Special case for List and Dict value to allow using this function
+        # with ConstantValue.WhichOneof() to return the correct pb type.
+        case util_pb2.ConstantValue.ListValue():
+            return util_pb2.VariableDeclaration.TYPE_LIST
+        case util_pb2.ConstantValue.DictValue():
+            return util_pb2.VariableDeclaration.TYPE_DICT
+        case google.protobuf.message.Message():
+            return util_pb2.VariableDeclaration.TYPE_MESSAGE
+        case _:
+            if isinstance(var, collections.abc.Mapping):
+                return util_pb2.VariableDeclaration.TYPE_DICT
+            elif isinstance(var, collections.abc.Iterable):
+                return util_pb2.VariableDeclaration.TYPE_LIST
     raise InvalidConversion(var, util_pb2.VariableDeclaration.Type.DESCRIPTOR.full_name)
 
 
+def python_type_to_variable_decl_info(
+        var) -> typing.Tuple[int, util_pb2.VariableDeclaration.SubType | None]:
+    var_type = python_type_to_pb_type(var)
+    sub_type = None
+    match var_type:
+        case util_pb2.VariableDeclaration.TYPE_LIST:
+            if len(var) != 0:
+                sub_var_type, sub_recurse = python_type_to_variable_decl_info(var[0])
+                sub_type = util_pb2.VariableDeclaration.SubType(type=sub_var_type,
+                                                                sub_type=sub_recurse)
+        case util_pb2.VariableDeclaration.TYPE_DICT:
+            if len(var) != 0:
+                sub_var_type, sub_recurse = python_type_to_variable_decl_info(
+                    next(iter(var.values())))
+                sub_type = util_pb2.VariableDeclaration.SubType(type=sub_var_type,
+                                                                sub_type=sub_recurse)
+        case _:
+            pass
+    return var_type, sub_type
+
+
+def python_var_to_variable_decl(var,
+                                name: typing.Optional[str] = None) -> util_pb2.VariableDeclaration:
+    var_type, sub_type = python_type_to_variable_decl_info(var)
+    return util_pb2.VariableDeclaration(type=var_type, sub_type=sub_type, name=name)
+
+
 def is_string_identifier(string):
     if hasattr(string, 'isidentifier'):
         return string.isidentifier()
@@ -222,10 +271,13 @@ def is_string_identifier(string):
 
 def field_desc_to_pb_type(field_desc):
     """Returns the protobuf-schema variable type that corresponds to the given descriptor."""
-    if field_desc.type in (field_desc.TYPE_UINT32, field_desc.TYPE_UINT64, field_desc.TYPE_FIXED32,
-                           field_desc.TYPE_FIXED64, field_desc.TYPE_INT32, field_desc.TYPE_INT64,
-                           field_desc.TYPE_SFIXED64, field_desc.TYPE_SINT32, field_desc.TYPE_SINT64,
-                           field_desc.TYPE_SFIXED32):
+    if field.label == FieldDescriptor.LABEL_REPEATED:
+        return util_pb2.VariableDeclaration.TYPE_LIST
+    elif field_desc.type in (field_desc.TYPE_UINT32, field_desc.TYPE_UINT64,
+                             field_desc.TYPE_FIXED32, field_desc.TYPE_FIXED64,
+                             field_desc.TYPE_INT32, field_desc.TYPE_INT64, field_desc.TYPE_SFIXED64,
+                             field_desc.TYPE_SINT32, field_desc.TYPE_SINT64,
+                             field_desc.TYPE_SFIXED32):
         return util_pb2.VariableDeclaration.TYPE_INT
     elif field_desc.type in (field_desc.TYPE_DOUBLE, field_desc.TYPE_FLOAT):
         return util_pb2.VariableDeclaration.TYPE_FLOAT
@@ -234,6 +286,8 @@ def field_desc_to_pb_type(field_desc):
     elif field_desc.type == field_desc.TYPE_STRING:
         return util_pb2.VariableDeclaration.TYPE_STRING
     elif field_desc.type == field_desc.TYPE_MESSAGE:
+        if field.message_type.GetOptions().map_entry:
+            return util_pb2.VariableDeclaration.TYPE_DICT
         return util_pb2.VariableDeclaration.TYPE_MESSAGE
     raise InvalidConversion(field_desc.type, util_pb2.VariableDeclaration.Type.DESCRIPTOR.full_name)
 
@@ -359,7 +413,8 @@ safe_pb_enum_to_string = moved_to(_bosdyn_client_safe_pb_enum_to_string, version
 
 
 def create_value(
-        var: Union[bool, int, float, str, google.protobuf.message.Message]) -> util_pb2.Value:
+    var: Union[bool, int, float, str, google.protobuf.message.Message, list,
+               dict]) -> 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))
@@ -387,22 +442,30 @@ def set_blackboard(dict_values: Dict[str, util_pb2.Value],
     return node_to_return
 
 
+_SEVERITY_TO_LOG_LEVEL = {
+    alerts_pb2.AlertData.SeverityLevel.SEVERITY_LEVEL_INFO:
+        logging.INFO,
+    alerts_pb2.AlertData.SeverityLevel.SEVERITY_LEVEL_WARN:
+        logging.WARN,
+    alerts_pb2.AlertData.SeverityLevel.SEVERITY_LEVEL_ERROR:
+        logging.ERROR,
+    # A critical mission prompt or text message does not indicate a critical robot failure,
+    # and is usually expected depending on how a mission plays out. For this reason, we
+    # reduce the severity from CRITICAL to ERROR for logs.
+    # See Prompt.severity in nodes.proto for more info.
+    alerts_pb2.AlertData.SeverityLevel.SEVERITY_LEVEL_CRITICAL:
+        logging.ERROR,
+}
+
+
 def severity_to_log_level(text_level):
     """Converts alert data severity enum to a logger level for printing purposes."""
-    match text_level:
-        case alerts_pb2.AlertData.SeverityLevel.SEVERITY_LEVEL_INFO:
-            return logging.INFO
-        case alerts_pb2.AlertData.SeverityLevel.SEVERITY_LEVEL_WARN:
-            return logging.WARN
-        case alerts_pb2.AlertData.SeverityLevel.SEVERITY_LEVEL_ERROR:
-            return logging.ERROR
-        case alerts_pb2.AlertData.SeverityLevel.SEVERITY_LEVEL_CRITICAL:
-            # A critical mission prompt or text message does not indicate a critical robot failure,
-            # and is usually expected depending on how a mission plays out. For this reason, we
-            # reduce the servity from CRITICAL to ERROR for logs.
-            # See Prompt.severity in nodes.proto for more info.
-            return logging.ERROR
-        case _:
-            return logging.INFO
+    return _SEVERITY_TO_LOG_LEVEL.get(text_level, logging.INFO)
+
+
+# We want to be able to port spotcam-ptz missions to the argos-ptz sensor.
+def append_alternate_sensor_names(sensor_names):
+    if "argos-ptz" in sensor_names:
+        sensor_names.append("spotcam-ptz")
 
 

{bosdyn_mission-4.1.0.dist-info → bosdyn_mission-5.0.0.dist-info}/METADATA

@@ -1,22 +1,22 @@
 Metadata-Version: 2.1
 Name: bosdyn-mission
-Version: 4.1.0
+Version: 5.0.0
 Summary: Boston Dynamics mission code
 Home-page: https://dev.bostondynamics.com/
 Author: Boston Dynamics
 Author-email: support@bostondynamics.com
 Project-URL: Documentation, https://dev.bostondynamics.com/
 Project-URL: Source, https://github.com/boston-dynamics/spot-sdk/
-Classifier: Programming Language :: Python :: 3.6
 Classifier: Programming Language :: Python :: 3.7
 Classifier: Programming Language :: Python :: 3.8
 Classifier: Programming Language :: Python :: 3.9
 Classifier: Programming Language :: Python :: 3.10
 Classifier: License :: Other/Proprietary License
 Classifier: Operating System :: OS Independent
+Requires-Python: >=3.7
 Description-Content-Type: text/markdown
-Requires-Dist: bosdyn-client (==4.1.0)
-Requires-Dist: bosdyn-api (==4.1.0)
+Requires-Dist: bosdyn-client (==5.0.0)
+Requires-Dist: bosdyn-api (==5.0.0)
 
 <!--
 Copyright (c) 2023 Boston Dynamics, Inc.  All rights reserved.

{bosdyn_mission-4.1.0.dist-info → bosdyn_mission-5.0.0.dist-info}/RECORD

@@ -5,8 +5,8 @@ bosdyn/mission/constants.py,sha256=oSsl0XR1-fNzHASGNqs541YEO8qi64eewvbY9ICKaxE,4
 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=xd9D5VwP6mjbxUcUGCV4gN2AvsmRpL9wyvMpKR6Bmxk,1505
-bosdyn/mission/util.py,sha256=nf7VGuTda_AqyNMBJlz9vH9kgCThi5ys_ikA3hRx3YE,16815
-bosdyn_mission-4.1.0.dist-info/METADATA,sha256=tXGpqCA77S6hbAed64mPU0A6ErS9u_9diV68iy-1UAc,1760
-bosdyn_mission-4.1.0.dist-info/WHEEL,sha256=AtBG6SXL3KF_v0NxLf0ehyVOh0cold-JbJYXNGorC6Q,92
-bosdyn_mission-4.1.0.dist-info/top_level.txt,sha256=an2OWgx1ej2jFjmBjPWNQ68ZglvUfKhmXWW-WhTtDmA,7
-bosdyn_mission-4.1.0.dist-info/RECORD,,
+bosdyn/mission/util.py,sha256=UViwcp0BXPI7JM43OYxuLb63w8a6U03xf4xfm98Mx_0,19556
+bosdyn_mission-5.0.0.dist-info/METADATA,sha256=FaQGhpKx0Ppkm4mPn1YnRQYjYxtrpQ6bbiovpVIDrdE,1733
+bosdyn_mission-5.0.0.dist-info/WHEEL,sha256=AtBG6SXL3KF_v0NxLf0ehyVOh0cold-JbJYXNGorC6Q,92
+bosdyn_mission-5.0.0.dist-info/top_level.txt,sha256=an2OWgx1ej2jFjmBjPWNQ68ZglvUfKhmXWW-WhTtDmA,7
+bosdyn_mission-5.0.0.dist-info/RECORD,,