cognite-toolkit 0.6.82__py3-none-any.whl → 0.6.84__py3-none-any.whl

cognite_toolkit/_builtin_modules/inrobot/cdf_inrobot_common/functions/fn_threesixty/handler.py

@@ -1,257 +0,0 @@
-"""Gauge reader handler."""
-
-import io
-import json
-import logging
-import sys
-from typing import Any, Optional
-
-import numpy as np
-from bosdyn.client.math_helpers import Quat, SE3Pose
-from cognite.client import CogniteClient, global_config
-from cognite.client.data_classes import FileMetadata, FileMetadataList, FileMetadataUpdate, LabelFilter
-from cognite.client.exceptions import CogniteDuplicatedError
-from cognite_threesixty_images import CogniteThreeSixtyImageExtractor, VectorXYZ
-from PIL import Image
-from scipy.spatial.transform import Rotation
-
-logging.basicConfig(stream=sys.stdout, level=logging.INFO, format=logging.BASIC_FORMAT)
-logger = logging.getLogger(__name__)
-CUBEMAP_RESOLUTION = 1024
-global_config.disable_gzip = True
-
-
-def get_map_transform_from_map(client: CogniteClient, map_external_id: str) -> Optional[dict]:
-    """Get the transform of a map in the current project based on mission. We asume the frame has the root frame as parent."""
-    project = client._config.project
-    map_request = {"items": [{"externalId": map_external_id}]}
-
-    res = client.post(url=f"/api/v1/projects/{project}/robotics/maps/byids", json=map_request).json()
-    for map in res["items"]:
-        frame_external_id = map.get("frameExternalId")
-    assert frame_external_id, f"Map {map_external_id} does not have a frame associated with it."
-    # Create mapping
-    frame_request = {"items": [{"externalId": frame_external_id}]}
-
-    res = client.post(
-        url=f"/api/v1/projects/{project}/robotics/frames/byids",
-        json=frame_request,
-    ).json()
-
-    print(f"going to get frame {frame_external_id} from map {map_external_id}")
-
-    for item in res["items"]:
-        if item.get("transform"):
-            print(f"found translation {item.get('transform').get('orientation').get('w')}")
-            return SE3Pose(
-                x=item.get("transform").get("translation").get("x"),
-                y=item.get("transform").get("translation").get("y"),
-                z=item.get("transform").get("translation").get("z"),
-                rot=Quat(
-                    w=item.get("transform").get("orientation").get("w"),
-                    x=item.get("transform").get("orientation").get("x"),
-                    y=item.get("transform").get("orientation").get("y"),
-                    z=item.get("transform").get("orientation").get("z"),
-                ),
-            )
-    return None
-
-
-def convert_metadata_to_se3_pose(external_id: str, metadata: dict[str, Any]) -> Optional[SE3Pose]:
-    """Convert metadata to SE3Pose."""
-    x = metadata.get("waypoint_tform_body_x")
-    y = metadata.get("waypoint_tform_body_x")
-    z = metadata.get("waypoint_tform_body_x")
-    qx = metadata.get("waypoint_tform_body_qx")
-    qy = metadata.get("waypoint_tform_body_qy")
-    qz = metadata.get("waypoint_tform_body_qz")
-    qw = metadata.get("waypoint_tform_body_qw")
-    if not x or not y or not z or not qx or not qy or not qz or not qw:
-        logger.error(
-            f"Failed to process file {external_id}. Missing metadata field. Required metadata fields \
-            are waypoint_tform_body_x, waypoint_tform_body_x, waypoint_tform_body_x, waypoint_tform_body_qx, \
-            waypoint_tform_body_qy, waypoint_tform_body_qz, waypoint_tform_body_qw. File metadata keys: {metadata.keys()}"
-        )
-        return None
-    waypoint_tform_body = SE3Pose(
-        x=float(x), y=float(y), z=float(z), rot=Quat(w=float(qw), x=float(qx), y=float(qy), z=float(qz))
-    )
-    return waypoint_tform_body
-
-
-def get_waypoint_and_pose(
-    waypoint_id: str, client: CogniteClient
-) -> tuple[Optional[dict[str, Any]], Optional[SE3Pose]]:
-    """Get a waypoint from the robotics api and return the waypoint and pose."""
-    get_waypoints_body = {"items": [{"externalId": waypoint_id}]}
-    get_waypoints_response = client.post(
-        f"/api/v1/projects/{client.config.project}/robotics/waypoints/byids", json=get_waypoints_body
-    )
-    waypoint = json.loads(get_waypoints_response.content)["items"]
-    if len(waypoint) != 1:
-        logger.error(
-            f"Failed to process threesixty image. Did not get exactly 1 waypoint with external id {waypoint_id}."
-        )
-        return None, None
-    waypoint_pos = waypoint[0].get("position")
-    waypoint_ori = waypoint[0].get("orientation")
-    ko_tform_waypoint = SE3Pose(
-        x=waypoint_pos["x"],
-        y=waypoint_pos["y"],
-        z=waypoint_pos["z"],
-        rot=Quat(w=waypoint_ori["w"], x=waypoint_ori["x"], y=waypoint_ori["y"], z=waypoint_ori["z"]),
-    )
-    return waypoint[0], ko_tform_waypoint
-
-
-def create_and_upload_360_files(
-    cognite_client: CogniteClient,
-    cognite_threesixty_image_extractor: CogniteThreeSixtyImageExtractor,
-    robot_pose: SE3Pose,
-    image: Image,
-    waypoint: dict[str, Any],
-    timestamp: int,
-):
-    """Create Cogntie three sixty images."""
-    rot = Rotation.from_quat(
-        [
-            robot_pose.rotation.x,
-            robot_pose.rotation.y,
-            robot_pose.rotation.z,
-            robot_pose.rotation.w,
-        ]
-    )
-    rot_vec = rot.as_rotvec()
-    rot_angle = np.linalg.norm(rot_vec)
-    rot_vec = rot_vec / rot_angle
-
-    event, files = cognite_threesixty_image_extractor.create_threesixty_image(
-        content=np.array(image),
-        site_id=waypoint.get("mapExternalId", "default_location"),
-        site_name=waypoint.get("mapExternalId", "default_location"),
-        station_number=waypoint.get("externalId"),  # TODO: make station id more readable
-        rotation_angle=str(rot_angle),
-        rotation_axis=VectorXYZ(float(rot_vec[0]), float(rot_vec[1]), float(rot_vec[2])),
-        rotation_angle_unit="rad",
-        translation=VectorXYZ(robot_pose.x, robot_pose.y, robot_pose.z),
-        translation_unit="m",
-        translation_offset_mm=VectorXYZ(0, 0, 0),
-        timestamp=timestamp,
-    )
-    logger.info("Created event and files")
-
-    # Upload event
-    try:
-        cognite_client.events.create([event])
-    except CogniteDuplicatedError:
-        logger.warning(f"Event with external id {event.external_id} already exists. will update event.")
-        cognite_client.events.update([event])
-
-    logger.info(f"Created event in CDF with external id {event.external_id}")
-    # Upload files
-    for file in files:
-        cognite_client.files.upload_bytes(
-            content=file.content,
-            name=file.file_metadata.name,
-            data_set_id=file.file_metadata.data_set_id,
-            external_id=file.file_metadata.external_id,
-            source=file.file_metadata.source,
-            mime_type=file.file_metadata.mime_type,
-            metadata=file.file_metadata.metadata,
-            asset_ids=file.file_metadata.asset_ids,
-            labels=file.file_metadata.labels,
-            overwrite=True,
-        )
-        logger.info(f"Created file in CDF with external id {file.file_metadata.external_id}")
-    logger.info("Completed uploading 360 image to CDF.")
-
-
-def process_threesixty_files(files: FileMetadataList, client: CogniteClient, data_set_id: int):
-    """Process three sixty images."""
-    cognite_threesixty_image_extractor = CogniteThreeSixtyImageExtractor(data_set_id=data_set_id)
-
-    file: FileMetadata
-    for file in files:
-        try:
-            # Updating the file immediately so that the same file will not be processed again
-            client.files.update(FileMetadataUpdate(id=file.id).labels.remove("threesixty"))
-
-            logger.info(f"Processing file with external id {file.external_id}, id {file.id}")
-            if not file.uploaded:
-                logger.error(f"file not upload not completed {file.external_id}")
-                continue
-
-            # Get waypoint id from metadata
-            waypoint_id = file.metadata.get("waypoint_id")
-            print(f"Waypoint id: {waypoint_id}")
-            if not waypoint_id:
-                client.files.update(FileMetadataUpdate(id=file.id).labels.remove("threesixty"))
-                logger.error(f"Failed to process file {file.external_id}. No waypoint id in the metadata.")
-                continue
-
-            # Calculate robot pose
-            waypoint_tform_body = convert_metadata_to_se3_pose(file.external_id, file.metadata)
-            if waypoint_tform_body is None:
-                continue
-            waypoint, ko_tform_waypoint = get_waypoint_and_pose(waypoint_id=waypoint_id, client=client)
-            if waypoint_tform_body is None or waypoint is None:
-                continue
-            robot_pose = ko_tform_waypoint * waypoint_tform_body
-
-            print(f"waypoint : {waypoint}")
-
-            site_alignement = get_map_transform_from_map(
-                client=client, map_external_id=str(waypoint.get("mapExternalId"))
-            )
-
-            site_pose = site_alignement * robot_pose
-
-            # Download file
-            image_data = client.files.download_bytes(id=file.id)
-            try:
-                image = Image.open(io.BytesIO(image_data))
-            except Exception:
-                logger.error(f"This CDF File does not seem to be an image. File ID: {file.id}")
-                continue
-
-            # If images don't have a timestamp metadata field, default to the created time of the image file
-            image_timestamp = file.metadata.get("timestamp")
-            if image_timestamp is None:
-                image_timestamp = file.created_time
-
-            # Create and upload 360 files
-            create_and_upload_360_files(
-                cognite_client=client,
-                cognite_threesixty_image_extractor=cognite_threesixty_image_extractor,
-                robot_pose=site_pose,
-                image=image,
-                waypoint=waypoint,
-                timestamp=image_timestamp,
-            )
-        except Exception as e:
-            client.files.update(FileMetadataUpdate(id=file.id).labels.add("threesixty"))
-            logger.error(f"Failed to process file {file}. Error: {e}")
-
-
-def handle(data, client):
-    """Three sixty image handle. ."""
-    logger.info("Start three sixty processing.")
-
-    # Check that input contains data_set_id
-    if "data_set_external_id" not in data.keys():
-        raise RuntimeError("Data should contain all keys: data_set_id")
-    data_set_id = client.data_sets.retrieve(external_id=data["data_set_external_id"]).id
-
-    # Get all 360 images in the data set id with the label "threesixty"
-    # Changed default limit to 1 to process 1 file at a time as the upload_queue in cognite_threesixty_image uploads the whole queue
-    # on every file but after the first cycle fails as the first event is duplicated and the whole queue upload fails
-    files: FileMetadataList = client.files.list(
-        labels=LabelFilter(contains_all=["threesixty"]),
-        limit=25,
-        data_set_ids=[data_set_id],
-        uploaded=True,
-    )
-    logger.info(f"Processing {len(files)} threesixty files.")
-    # Process three sixty files
-    process_threesixty_files(files=files, client=client, data_set_id=data_set_id)
-    return {}

cognite_toolkit/_builtin_modules/inrobot/cdf_inrobot_common/functions/fn_threesixty/requirements.txt

@@ -1,7 +0,0 @@
-bosdyn-client==3.3.2
-cognite-sdk==5.*
-Pillow==10.3.0
-py360convert==0.1.0
-scipy==1.10.0
-six==1.16.0
-numpy==1.26.4

cognite_toolkit/_builtin_modules/inrobot/cdf_inrobot_common/functions/robots.functions.Function.yaml

@@ -1,51 +0,0 @@
-- name: "Contextualize robot data"
-  externalId: "fn_contextualize_robot_data"
-  owner: "Robotics team"
-  description: "Contextualize data uploaded to CDF from robots."
-  envVars:
-    # The two environment variables below are set by the Toolkit
-    ENV_TYPE: "${CDF_BUILD_TYPE}"
-    CDF_ENV: "${CDF_ENVIRON}"
-  runtime: "py39"
-  functionPath: "./handler.py"
-  # Data set id for the zip file with the code that is uploaded.
-  dataSetExternalId: "{{ robot_1_dataset_ext_id }}"
-
-- name: Gauge reading
-  externalId: "fn_gauge_reading"
-  owner: "Robotics team"
-  description: "Reads the gauge data from the robot."
-  envVars:
-    # The two environment variables below are set by the Toolkit
-    ENV_TYPE: "${CDF_BUILD_TYPE}"
-    CDF_ENV: "${CDF_ENVIRON}"
-  runtime: "py39"
-  functionPath: "./handler.py"
-  # Data set id for the zip file with the code that is uploaded.
-  dataSetExternalId: "{{ robot_1_dataset_ext_id }}"
-
-- name: Get IR data From IR raw
-  externalId: "fn_get_ir_data_from_ir_raw"
-  owner: "Robotics team"
-  description: "Extracts the IR data from the raw IR info."
-  envVars:
-    # The two environment variables below are set by the Toolkit
-    ENV_TYPE: "${CDF_BUILD_TYPE}"
-    CDF_ENV: "${CDF_ENVIRON}"
-  runtime: "py39"
-  functionPath: "./handler.py"
-  # Data set id for the zip file with the code that is uploaded.
-  dataSetExternalId: "{{ robot_1_dataset_ext_id }}"
-
-- name: Process 360
-  externalId: "fn_threesixty"
-  owner: "Robotics team"
-  description: "Process 360 images into streetview"
-  envVars:
-    # The two environment variables below are set by the Toolkit
-    ENV_TYPE: "${CDF_BUILD_TYPE}"
-    CDF_ENV: "${CDF_ENVIRON}"
-  runtime: "py39"
-  functionPath: "./handler.py"
-  # Data set id for the zip file with the code that is uploaded.
-  dataSetExternalId: "{{ robot_1_dataset_ext_id }}"

cognite_toolkit/_builtin_modules/inrobot/cdf_inrobot_common/functions/schedules.Schedule.yaml

@@ -1,94 +0,0 @@
-- name: "contextualize_robot_data"
-  functionExternalId: "fn_contextualize_robot_data"
-  description: "Contextualizes the robot data and adds appropriate labels"
-  cronExpression: "* * * * *"
-  data:
-    gauge_context_label: robot_gauge
-    read_dial_gauge_label: read_dial_gauge
-    read_multiple_dial_gauges_label: read_multiple_dial_gauges
-    read_digital_gauge_label: read_digital_gauge
-    read_level_gauge_label: read_level_gauge
-    read_valve_label: read_valve
-    read_ir_raw_label: read_ir
-    spill_detection_label: unprocessed_spill_detection
-    data_set_external_id: "{{robot_1_dataset_ext_id}}"
-  authentication:
-    clientId: "{{ run_function_client_id }}"
-    clientSecret: "{{ run_function_secret }}"
-
-- name: "read_dial_gauge"
-  functionExternalId: "fn_gauge_reading"
-  description: "Reads the dial gauge data from the robot"
-  cronExpression: "* * * * *"
-  data:
-    gauge_type: dial # The gauge type to use in the API call. Currently, "analog", "digital" and "level" is supported.
-    input_label: read_dial_gauge # Label to list files by
-    output_label: gauge_reading # Label that is added to all files that the function has run on.
-    success_label: SUCCESS
-    failed_label: FAILED
-  authentication:
-    clientId: "{{ run_function_client_id }}"
-    clientSecret: "{{ run_function_secret }}"
-
-- name: read_level_gauge
-  functionExternalId: "fn_gauge_reading"
-  description: "Reads the level gauge data from the robot"
-  cronExpression: "* * * * *"
-  data:
-    gauge_type: level # The gauge type to use in the API call. Currently, "analog", "digital" and "level" is supported.
-    input_label: read_level_gauge # Label to list files by
-    output_label: gauge_reading # Label that is added to all files that the function has run on.
-    success_label: SUCCESS
-    failed_label: FAILED
-  authentication:
-    clientId: "{{ run_function_client_id }}"
-    clientSecret: "{{ run_function_secret }}"
-
-- name: read_digital_gauge
-  functionExternalId: "fn_gauge_reading"
-  cronExpression: "* * * * *"
-  data:
-    gauge_type: digital # The gauge type to use in the API call. Currently, "analog", "digital" and "level" is supported.
-    input_label: read_digital_gauge # Label to list files by
-    output_label: gauge_reading # Label that is added to all files that the function has run on.
-    success_label: SUCCESS
-    failed_label: FAILED
-  authentication:
-    clientId: "{{ run_function_client_id }}"
-    clientSecret: "{{ run_function_secret }}"
-
-- name: read_valve
-  functionExternalId: "fn_gauge_reading"
-  description: "Reads the valve data from the robot"
-  cronExpression: "* * * * *"
-  data:
-    gauge_type: valve # The gauge type to use in the API call. Currently, "analog", "digital" and "level" is supported.
-    input_label: read_valve # Label to list files by
-    output_label: gauge_reading # Label that is added to all files that the function has run on.
-    success_label: SUCCESS
-    failed_label: FAILED
-  authentication:
-    clientId: "{{ run_function_client_id }}"
-    clientSecret: "{{ run_function_secret }}"
-
-- name: get_ir_data
-  functionExternalId: "fn_get_ir_data_from_ir_raw"
-  cronExpression: "* * * * *"
-  data:
-    input_label: read_ir # Label to list files by
-    output_label: ir_finished # Label that is added to all files that the function has run on
-    success_label: SUCCESS_IR
-    failed_label: FAILED_IR
-    data_set_external_id: "{{robot_1_dataset_ext_id}}"
-  authentication:
-    clientId: "{{ run_function_client_id }}"
-    clientSecret: "{{ run_function_secret }}"
-
-- name: threesixty
-  functionExternalId: "fn_threesixty"
-  cronExpression: "* * * * *"
-  data:
-    data_set_external_id: "{{robot_1_dataset_ext_id}}"
-  authentication:
-    clientId: "{{ run_function_client_id }}"
-    clientSecret: "{{ run_function_secret }}"

cognite_toolkit/_builtin_modules/inrobot/cdf_inrobot_common/module.toml

@@ -1,6 +0,0 @@
-[module]
-title = "InRobot Common"
-is_selected_by_default = true
-
-[dependencies]
-modules = ["cdf_apm_base"]

cognite_toolkit/_builtin_modules/inrobot/cdf_inrobot_common/robotics/acoustic_video.RobotCapability.yaml

@@ -1,72 +0,0 @@
-name: Acoustic video recording
-externalId: acoustic_video
-method: acoustic_video
-description: Acoustic video recording
-inputSchema:
-  $schema: http://json-schema.org/draft-07/schema#
-  id: robotics/schemas/0.1.0/capabilities/acoustic_video
-  title: Acoustic video recording input
-  type: object
-  additionalProperties: false
-  properties:
-    method:
-      type: string
-    parameters:
-      type: object
-      properties:
-        duration:
-          type: number
-          maximum: 120.0
-          minimum: 0.0
-        frequencyFrom:
-          type: number
-          maximum: 42000.0
-          minimum: 0.0
-        frequencyRange:
-          type: number
-          maximum: 8000.0
-          minimum: 2000.0
-        opacity:
-          type: number
-          maximum: 100.0
-          minimum: 0.0
-        threshold:
-          type: number
-          maximum: 100.0
-          minimum: 0.0
-      required:
-        - duration
-        - frequencyFrom
-        - frequencyRange
-  required:
-    - method
-    - parameters
-dataHandlingSchema:
-  $schema: http://json-schema.org/draft-07/schema#
-  id: robotics/schemas/0.1.0/data_handling/acoustic_video
-  type: object
-  properties:
-    uploadInstructions:
-      type: object
-      properties:
-        video:
-          type: object
-          properties:
-            method:
-              const: uploadFile
-              type: string
-            parameters:
-              type: object
-              properties:
-                filenamePrefix:
-                  type: string
-              required:
-                - filenamePrefix
-          required:
-            - method
-            - parameters
-      required:
-        - video
-  required:
-    - uploadInstructions
-  additionalProperties: false

cognite_toolkit/_builtin_modules/inrobot/cdf_inrobot_common/robotics/process_threesixty.DataPostProcessing.yaml

@@ -1,23 +0,0 @@
-method: process_threesixty
-name: Process a 360 image
-externalId: process_threesixty
-description: Process a 360 image into a panoramic view
-inputSchema:
-  $schema: http://json-schema.org/draft-07/schema#
-  id: robotics/schemas/0.1.0/data_postprocessing/process_threesixty
-  title: Process threesixty input
-  type: object
-  properties:
-    image:
-      type: object
-      properties:
-        method:
-          type: string
-        parameters:
-          type: object
-          properties: {}
-      required:
-        - method
-        - parameters
-      additionalProperties: false
-  additionalProperties: false

cognite_toolkit/_builtin_modules/inrobot/cdf_inrobot_common/robotics/pt_ir_video.RobotCapability.yaml

@@ -1,64 +0,0 @@
-name: PT ir video recording
-externalId: pt_ir_video
-method: pt_ir_video
-description: Pan, tilt, thermal camera for video recording
-inputSchema:
-  $schema: http://json-schema.org/draft-07/schema#
-  additionalProperties: false
-  id: robotics/schemas/0.1.0/capabilities/pt_ir_video
-  properties:
-    method:
-      type: string
-    parameters:
-      properties:
-        duration:
-          maximum: 120.0
-          minimum: 0.0
-          type: number
-        pan:
-          maximum: 180.0
-          minimum: -180.0
-          type: number
-        tilt:
-          maximum: 90.0
-          minimum: -90.0
-          type: number
-        zoom:
-          maximum: 100.0
-          minimum: 0.0
-          type: number
-      required:
-        - pan
-        - tilt
-        - duration
-      type: object
-  required:
-    - method
-    - parameters
-  title: Pan tilt thermal video recording input
-  type: object
-dataHandlingSchema:
-  $schema: http://json-schema.org/draft-07/schema#
-  id: robotics/schemas/0.1.0/data_handling/pt_ir_video
-  properties:
-    uploadInstructions:
-      type: object
-      additionalProperties: false
-      properties:
-        video:
-          type: object
-          additionalProperties: false
-          properties:
-            method:
-              const: uploadFile
-              type: string
-            parameters:
-              type: object
-              properties:
-                filenamePrefix:
-                  type: string
-              required:
-                - filenamePrefix
-  required:
-    - uploadInstructions
-  type: object

cognite_toolkit/_builtin_modules/inrobot/cdf_inrobot_common/robotics/ptz.RobotCapability.yaml

@@ -1,63 +0,0 @@
-name: PTZ camera
-externalId: ptz
-method: ptz
-description: Pan, tilt, zoom camera for image capture.
-inputSchema:
-  $schema: http://json-schema.org/draft-07/schema#
-  additionalProperties: false
-  id: robotics/schemas/0.1.0/capabilities/ptz
-  properties:
-    method:
-      type: string
-    parameters:
-      type: object
-      properties:
-        pan:
-          maximum: 180.0
-          minimum: -180.0
-          type: number
-        tilt:
-          maximum: 90.0
-          minimum: -90.0
-          type: number
-        zoom:
-          maximum: 100.0
-          minimum: 0.0
-          type: number
-      required:
-        - pan
-        - tilt
-        - zoom
-  required:
-    - method
-    - parameters
-  title: PTZ camera input
-  type: object
-dataHandlingSchema:
-  $schema: http://json-schema.org/draft-07/schema#
-  id: robotics/schemas/0.1.0/data_handling/ptz
-  properties:
-    uploadInstructions:
-      type: object
-      additionalProperties: false
-      properties:
-        image:
-          type: object
-          additionalProperties: false
-          properties:
-            method:
-              const: uploadFile
-              type: string
-            parameters:
-              type: object
-              properties:
-                filenamePrefix:
-                  type: string
-              required:
-                - filenamePrefix
-          required:
-            - method
-            - parameters
-  required:
-    - uploadInstructions
-  type: object