bosdyn-mission 5.0.1.1__py3-none-any.whl → 5.1.0__py3-none-any.whl

bosdyn/mission/__init__.py

@@ -5,7 +5,8 @@
 # Development Kit License (20191101-BDSDK-SL).
 
 """The mission library package.
-Sets up some convenience imports for commonly used classes and functions.
+
+Sets up some convenience imports for commonly used classes and
+functions.
 """
 from .client import MissionClient
-from .exceptions import CompileError, Error, UnknownType, ValidationError

bosdyn/mission/client.py

@@ -7,7 +7,6 @@
 """For clients to the mission service."""
 
 import collections
-from builtins import str as text
 
 from google.protobuf import timestamp_pb2
 
@@ -409,7 +408,7 @@ def _get_state_value(response):
 
 
 def _get_info_value(response):
-    if response.HasField(text('mission_info')):
+    if response.HasField(str('mission_info')):
         return response.mission_info
     return None
 

bosdyn/mission/util.py

@@ -11,7 +11,6 @@ import logging
 import operator
 import re
 import typing
-from builtins import str as text
 from typing import Dict, Union
 
 import google.protobuf.message
@@ -59,8 +58,7 @@ def tree_to_string(root, start_level=0, include_status=False):
     if start_level == 0:
         string += '\n'
     prefix = '|' + '-' * start_level
-    string += prefix + text(root) + (' '
-                                     if text(root) else '') + '(' + root.__class__.__name__ + ')'
+    string += prefix + str(root) + (' ' if str(root) else '') + '(' + root.__class__.__name__ + ')'
     if include_status:
         string += '\n' + prefix + 'Status code: [{}]'.format(root.last_result)
     for child in root.children:
@@ -170,6 +168,12 @@ def proto_from_tuple(tup, pack_nodes=True):
         else:
             raise Error('Proto "{}" of type "{}" has {} children!'.format(
                 node.name, inner_type, num_children))
+    elif isinstance(inner_proto, nodes_pb2.SimpleParallel):
+        if num_children != 2:
+            raise Error('Proto "{}" of type "{}" was given {} children but should have 2!'.format(
+                node.name, inner_type, num_children))
+        inner_proto.primary.CopyFrom(proto_from_tuple(children[0]))
+        inner_proto.secondary.CopyFrom(proto_from_tuple(children[1]))
     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))
@@ -208,7 +212,8 @@ def python_var_to_value(var) -> util_pb2.ConstantValue:
 
 
 def python_type_to_pb_type(var) -> util_pb2.VariableDeclaration.Type.ValueType:
-    """Returns the protobuf-schema variable type that corresponds to the given variable."""
+    """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):
@@ -266,7 +271,8 @@ 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."""
+    """Returns the protobuf-schema variable type that corresponds to the given
+    descriptor."""
     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,
@@ -289,7 +295,8 @@ def field_desc_to_pb_type(field_desc):
 
 
 def safe_pb_type_to_string(pb_type):
-    """Return the stringified VariableDeclaration.Type, or "<unknown>" if the type is invalid."""
+    """Return the stringified VariableDeclaration.Type, or "<unknown>" if the
+    type is invalid."""
     try:
         return util_pb2.VariableDeclaration.Type.Name(pb_type)
     except ValueError:
@@ -322,7 +329,8 @@ class ResultFromProto:
 
 
 def proto_enum_to_result_constant(proto_msg):
-    """Returns a Result enum from a util_pb2.Result, or throws InvalidConversion error."""
+    """Returns a Result enum from a util_pb2.Result, or throws
+    InvalidConversion error."""
     try:
         return ResultFromProto.results_from_proto[proto_msg]
     except KeyError:
@@ -330,7 +338,8 @@ def proto_enum_to_result_constant(proto_msg):
 
 
 def result_constant_to_proto_enum(result):
-    """Returns a protobuf version of the Result enum, RESULT_UNKNOWN on error."""
+    """Returns a protobuf version of the Result enum, RESULT_UNKNOWN on
+    error."""
     if not isinstance(result, constants.Result):
         raise InvalidConversion(result, util_pb2.Result.DESCRIPTOR.full_name)
     try:
@@ -363,7 +372,7 @@ def most_restrictive_travel_params(travel_params, vel_limit=None,
         # Look at max_vel using >=, then min_vel using <=.
         for min_max, comp in (('max_vel', operator.ge), ('min_vel', operator.le)):
             # If the other doesn't even have this field, skip to the next one.
-            if not other.HasField(text(min_max)):
+            if not other.HasField(str(min_max)):
                 continue
 
             lim_returned = getattr(returned, min_max)
@@ -396,10 +405,10 @@ def get_value_from_constant_value_message(const_proto):
 
 
 def get_value_from_value_message(node, blackboard, value_msg, is_validation=False):
-    if value_msg.HasField(text("constant")):
+    if value_msg.HasField(str("constant")):
         constant = value_msg.constant
         return get_value_from_constant_value_message(constant)
-    elif value_msg.HasField(text("runtime_var")):
+    elif value_msg.HasField(str("runtime_var")):
         return blackboard.read(node, value_msg.runtime_var.name)
     else:
         raise AttributeError("Value must be a runtime variable or constant.")
@@ -411,14 +420,14 @@ 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, list,
                dict]) -> util_pb2.Value:
-    """Returns a Value message containing a ConstantValue with the appropriate oneof set.
-    """
+    """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`.
-    """
+    """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))
@@ -427,8 +436,8 @@ def define_blackboard(dict_values: Dict[str, util_pb2.Value]) -> nodes_pb2.Defin
 
 def set_blackboard(dict_values: Dict[str, util_pb2.Value],
                    subfield_values: Dict[str, util_pb2.Value] = {}) -> nodes_pb2.SetBlackboard:
-    """Returns a SetBlackboard protobuf message for the key-value pairs in `dict_values`.
-    """
+    """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))
@@ -455,13 +464,8 @@ _SEVERITY_TO_LOG_LEVEL = {
 
 
 def severity_to_log_level(text_level):
-    """Converts alert data severity enum to a logger level for printing purposes."""
+    """Converts alert data severity enum to a logger level for printing
+    purposes."""
     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-5.0.1.1.dist-info → bosdyn_mission-5.1.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: bosdyn-mission
-Version: 5.0.1.1
+Version: 5.1.0
 Summary: Boston Dynamics mission code
 Home-page: https://dev.bostondynamics.com/
 Author: Boston Dynamics
@@ -15,8 +15,8 @@ Classifier: License :: Other/Proprietary License
 Classifier: Operating System :: OS Independent
 Requires-Python: >=3.7
 Description-Content-Type: text/markdown
-Requires-Dist: bosdyn-client (==5.0.1.1)
-Requires-Dist: bosdyn-api (==5.0.1.1)
+Requires-Dist: bosdyn-client (==5.1.0)
+Requires-Dist: bosdyn-api (==5.1.0)
 
 <!--
 Copyright (c) 2023 Boston Dynamics, Inc.  All rights reserved.

bosdyn_mission-5.1.0.dist-info/RECORD

@@ -0,0 +1,11 @@
+bosdyn/__init__.py,sha256=CMQioQKK1NlMk3kZuY49b_Aw-JyvDeOtuqOCAul1I0s,330
+bosdyn/mission/__init__.py,sha256=OcIVCAK4KYxExJCZnKn_DRhTRIr2IOuvDpWKFRrJc6c,410
+bosdyn/mission/client.py,sha256=N1EVr1Nd9KpFup_qzR3K1LpsCt-6HwiVSJcxIP0hQIc,22403
+bosdyn/mission/constants.py,sha256=oSsl0XR1-fNzHASGNqs541YEO8qi64eewvbY9ICKaxE,435
+bosdyn/mission/remote_client.py,sha256=quGWyqLzpASgrR6MlnEPoRFCmnTMSBZ6tmr-Wyy9YW0,12190
+bosdyn/mission/server_util.py,sha256=xd9D5VwP6mjbxUcUGCV4gN2AvsmRpL9wyvMpKR6Bmxk,1505
+bosdyn/mission/util.py,sha256=bz7SOFAbg6Zju5Nbunm23XKywTsM-kARx04eu4h3WSc,19611
+bosdyn_mission-5.1.0.dist-info/METADATA,sha256=OnzddEfkJ71pFxkziDV7ccZZAdoXP-YWwaLUDn25ikk,1733
+bosdyn_mission-5.1.0.dist-info/WHEEL,sha256=AtBG6SXL3KF_v0NxLf0ehyVOh0cold-JbJYXNGorC6Q,92
+bosdyn_mission-5.1.0.dist-info/top_level.txt,sha256=an2OWgx1ej2jFjmBjPWNQ68ZglvUfKhmXWW-WhTtDmA,7
+bosdyn_mission-5.1.0.dist-info/RECORD,,

bosdyn/mission/exceptions.py

@@ -1,125 +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).
-
-from builtins import str as text
-
-from bosdyn.mission import util
-
-
-class Error(Exception):
-    """Base exception"""
-
-
-class CompileError(Error):
-    """Error occurred during compilation."""
-
-    def __init__(self, msg='', node_proto=None):
-        Error.__init__(self, msg)
-        self.node_proto = node_proto
-
-    def node_name(self):
-        """Returns the 'name' field of the Node proto if possible, None otherwise"""
-        if self.node_proto is None:
-            return None
-        try:
-            return self.node_proto.name
-        except Exception:
-            return None
-
-    def node_impl(self):
-        """Returns the proto type of the Node 'impl' field if possible, None otherwise"""
-        if self.node_proto is None:
-            return None
-        try:
-            return self.node_proto.impl.TypeName()
-        except Exception:
-            return None
-
-    def get_node_details(self):
-        """Get a string of the node detail."""
-        details = ''
-        node_impl = self.node_impl()
-        if node_impl:
-            details = f' ({node_impl}'
-
-        node_name = self.node_name()
-        if node_name is not None:
-            if not details:
-                details = ' (???'
-            details += f' with name "{node_name}")'
-        return details
-
-    def __str__(self):
-        msg = super(CompileError, self).__str__()
-        return msg + self.get_node_details()
-
-
-class UnknownType(CompileError):
-
-    def __str__(self):
-        return 'Do not know how to build {}'.format(self.node_impl())
-
-
-class ValidationError(Error):
-    """The mission encountered errors in the validate step.
-
-        Args:
-          tree: The root node of the compiled mission.
-          errors: List of ValidationErrorReport.
-    """
-
-    def __init__(self, tree, errors):
-        self.tree = tree
-        self.errors = errors
-
-    def __str__(self):
-        return 'Encountered {} validation errors: \n\t{}'.format(
-            len(self.errors), '\n\t'.join([text(e) for e in self.errors]))
-
-
-class MissingParameterError(CompileError):
-    """Could not find a matching parameter.
-
-        Args:
-          target_name: Name of the parameter that was missing / mismatched.
-          target_pb_type: Desired type of the parameter. None if any type was acceptable.
-          stored_pb_type: Type of the parameter that was stored. None if type was unknown.
-    """
-
-    def __init__(self, target_name, target_pb_type=None, stored_pb_type=None):
-        self.target_name = target_name
-        self.target_pb_type = target_pb_type
-        self.stored_pb_type = stored_pb_type
-
-    def __str__(self):
-        if self.target_pb_type != self.stored_pb_type:
-            return 'Mismatched type for "{}". Stored as {}, wanted {}'.format(
-                self.target_name, util.safe_pb_type_to_string(self.stored_pb_type),
-                util.safe_pb_type_to_string(self.target_pb_type))
-        return 'No parameter "{}"'.format(self.target_name)
-
-
-class InaccessibleParameterError(MissingParameterError):
-    """Could not read the parameter, though one was provided elsewhere."""
-
-
-class MessageOverrideError(CompileError):
-    """Failed to override a mission node's field with a Message type."""
-
-    def __init__(self, overriding_message, field_name, field_type):
-        self.overriding_message = overriding_message
-        self.field_name = field_name
-        self.field_type = field_type
-
-    def __str__(self):
-        return 'Override of type {} cannot be written to field "{}" of type {}'.format(
-            self.overriding_message.TypeName(), self.field_name, self.field_type)
-
-
-class NodeUnreferenceableError(Error):
-    """Node cannot be referenced."""
-
-

bosdyn_mission-5.0.1.1.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=_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=xd9D5VwP6mjbxUcUGCV4gN2AvsmRpL9wyvMpKR6Bmxk,1505
-bosdyn/mission/util.py,sha256=n7ODM0E-4I25BHutzV6ThrgmZHpkWB5YdXDYfexmxcc,19489
-bosdyn_mission-5.0.1.1.dist-info/METADATA,sha256=gDybefLkCj8_VXmsPTXsAFNsCoSM3iGSG_NMdX2yafA,1739
-bosdyn_mission-5.0.1.1.dist-info/WHEEL,sha256=AtBG6SXL3KF_v0NxLf0ehyVOh0cold-JbJYXNGorC6Q,92
-bosdyn_mission-5.0.1.1.dist-info/top_level.txt,sha256=an2OWgx1ej2jFjmBjPWNQ68ZglvUfKhmXWW-WhTtDmA,7
-bosdyn_mission-5.0.1.1.dist-info/RECORD,,