flexCommunicator 0.1.0__py3-none-any.whl

flexCommunicator/clientLibraries/flcpy/utils/constants.py

@@ -0,0 +1,276 @@
+#**************************************************************************
+# * Copyright (C) 2025-present Bert Van Acker (B.MKR) <bva.bmkr@gmail.com>
+# *
+# * This file is part of the flexIA project.
+# *
+# * flexIA can not be copied and/or distributed without the express
+# * permission of Bert Van Acker
+# *************************************************************************
+
+class GENERIC_STATUS:
+    UNKNOWN = "UNKNOWN"
+    INCORRECT_CMD = "INCORRECT_CMD"
+
+class SECURITY_STORE:
+    SHARED_SECRET = "SHARED_SECRET"
+    FLEXCLOUD_USER = "FLEXCLOUD_USER"
+    FLEXCLOUD_PASSWORD = "FLEXCLOUD_PASSWORD"
+    FLEXCLOUD_LOGIN = "FLEXCLOUD_LOGIN"
+    FLEXCLOUD_ACTIVE_PROJECT = "FLEXCLOUD_ACTIVE_PROJECT"
+    FLEXCLOUD_ACTIVE_SHARED_KEY = "FLEXCLOUD_ACTIVE_SHARED_KEY"
+    FLEXCLOUD_CONNECTORID_SECRET = "FLEXCLOUD_CONNECTORID_SECRET"
+
+class COMMAND_TYPE:
+    UNKNOWN = "UNKNOWN"
+    OTA_UPDATE = "OTA_UPDATE"
+    PING = "PING"
+    PUSH = "PUSH"
+    BUILD = "BUILD"
+    RUN = "RUN"
+    PONG = "PONG"
+
+class REGISTRY_TYPE:
+    UNKNOWN = "UNKNOWN"
+    GITHUB = "github"
+    DOCKERHUB = "dockerhub"
+
+class REGISTRY_WORKSPACE:
+    BASE = "apps/"
+
+class APPLICATION_STATUS:
+    UNKNOWN = "UNKNOWN"
+    REGISTERED = "REGISTERED"
+    BUILD = "BUILD"
+    INITIALIZING = "INITIALIZING"
+    INITIALIZED = "INITIALIZED"
+    RUNNING = "RUNNING"
+    COMPLETED = "COMPLETED"
+    ERROR = "ERROR"
+    STOPPED = "STOPPED"
+
+class TESTER_STATUS:
+    UNKNOWN = "UNKNOWN"
+    INITIALIZED = "INITIALIZED"
+    TESTING = "TESTING"
+    COMPLETED = "COMPLETED"
+    ERROR = "ERROR"
+    STOPPED = "STOPPED"
+
+class PACKAGE_TYPE:
+    UNKNOWN = "UNKNOWN"
+    ROBOSAPIENS = "robosapiens"
+    FLEXIA = "flexia"
+
+class WORKFLOW_TYPE:
+    UNKNOWN = "UNKNOWN"
+    DOCKER = "docker"
+    DOCKER_COMPOSE = "docker-compose"
+    CUSTOM = "custom"
+    NONE = "none"
+
+class GITHUB:
+    DEFAULT_BRANCH = "master"
+
+class FLEXCLOUD_VARIABLES:
+    APPLICATIONS = ":applications:"
+    VARIABLES = ":variables:"
+    STATUS = "status"
+    LOGS = "logs"
+    CONFIGURATION = ":configuration:"
+    REQUIREMENTS = ":requirements:"
+    REQUIREMENT_STATUS = ":status"
+    REQUIREMENT_DESCRIPTIONS = ":description"
+    REQUIREMENT_ERROR = ":error"
+    CONTRACTS = ":contract:"
+    ASSUMPTIONS = "assumptions:"
+    GUARANTEES = "guarantees:"
+    PROFILING = ":profiling:"
+    VALIDITY_FRAME = ":validity_frame"
+    RUNTIME_MONITORS = ":runtime_monitors:"
+
+class TRANSPORT_PROTOCOLS:
+    PROTOCOL_MQTT = "mqtt"
+    PROTOCOL_RABBITMQ = "rabbitmq"
+    PROTOCOL_KAFKA = "kafka"
+    PROTOCOL_REDIS = "redis"
+    PROTOCOL_ZENOH = "zenoh"
+    PROTOCOL_WEBSOCKET = "websocket"
+    PROTOCOL_TCP = "tcp"
+    PROTOCOL_TCP_ALT = "tcp/ip"
+    PROTOCOL_OPC_UA = "opc_ua"
+    PROTOCOL_TWINCAT_ADS = "twincat_ads"
+
+class CONFIG_KEYS:
+    KEY_EVENT_MANAGER_CONFIG = "Event_Manager_Config"
+    KEY_MESSAGE_MANAGER_CONFIG = "Message_Manager_Config"
+    KEY_LOGGER_CONFIG = "Logger_Config"
+    KEY_KNOWLEDGE_CONFIG = "Knowledge_Config"
+    KEY_APPLICATION_DESCRIPTOR = "application_Descriptor"
+    KEY_LOG_LEVEL = "log_level"
+    KEY_LOG_FORMAT = "format"
+    KEY_PROTOCOL = "protocol"
+    KEY_COMMUNICATION_MATRIX = "Communication_Matrix"
+    KEY_DATA_MANAGER_CONFIG = "Data_Manager_Config"
+    KEY_FLEXCLOUD_MANAGER_CONFIG = "flexCloud_Manager_Config"
+    KEY_COMMUNICATION_MANAGERS_CONFIG = "Communication_managers"
+
+class FLEXCLOUD_MESSAGES:
+    MSG_INITIALIZING_KNOWLEDGE = "Initializing knowledge: {} knowledge"
+    MSG_INITIALIZING_EVENT_MANAGER = "Initializing Event Manager"
+    MSG_INITIALIZING_IO_MANAGER = "Initializing IO Manager"
+    MSG_USING_COMMUNICATION_MANAGER = "{} is using {} Communication Manager"
+    MSG_STARTING = "{} is starting..."
+    MSG_SHUTTING_DOWN = "{} is shutting down..."
+    MSG_REGISTER_EVENT_CALLBACK = "Registered callback for event: {}"
+    MSG_INITIALIZING_DATA_MANAGER = "Initializing Data Manager"
+    MSG_INITIALIZING_FLEXCLOUD_MANAGER = "Initializing flexCloud Manager"
+    MSG_INITIALIZING_APPLICATION_DESCRIPTOR = "Initializing flexCloud Manager"
+    MSG_INITIALIZING_PROPERTY_REGISTRY = "Initializing Property Registry"
+    MSG_UPDATE_PROPERTY_PROTOCOL_SUCCESS = "Transport protocol is successfully updated of property: "
+
+class FLEXCLOUD_WARNINGS:
+    WARN_REGISTER_EVENT_CALLBACK_NOT_SET = "Event manager is not set for registering event callbacks."
+    WARN_NOT_IMPLEMENTED = "Called functions not implemented yet."
+    WARN_DATA_MANAGER_NOT_SET = "Data manager is not set for setting data."
+    WARN_KNOWLEDGE_MANAGER_NOT_SET = "knowledge manager is not set for storing data."
+    WARN_EVENT_MANAGER_NOT_SET = "Event manager is not set for Event publishing."
+    WARN_EMPTY_COMMUNICATION_MANAGERS = "No Communication managers defined, no inter-component data communication possible."
+    WARN_SINGLE_COMMUNICATION_MANAGER_DEPRICATED = "Only multi-transport communication managers are supported, please specify Communication_managers in config.yaml."
+    WARN_UNKNOWN_FLEXCLOUD_COMMAND = "Received unknown flexcloud command."
+    WARN_NO_MATCHING_TRANSPORT_PROTOCOL = "No matching transport protocol available for "
+
+
+class FLEXCLOUD_ERRORS:
+    ERR_PROPERTY_REGISTRY_NOT_FOUND = "Given property is not defined in the communication matrix or transport protocol is not defined."
+    ERR_COMMUNICATION_MANAGER_NOT_FOUND = "No matching communication manager found, please verify the transport protocol."
+    ERR_REDIS_SUBSCRIPTION_CLOSED = "Redis listener thread exiting: {}"
+    ERR_INVALID_COMMAND_SIGNATURE = "Invalid command signature, no action executed."
+    ERR_UPDATE_PROPERTY_PROTOCOL_FAIL = "Failed to update transport protocol of property: "
+class ENCODING:
+    ENCODING_UTF8 = "utf-8"
+
+class DEFAULT_MESSAGES:
+    DEFAULT_EVENT_MESSAGE = {}
+    DEFAULT_DATA_MESSAGE = {}
+
+class FLEXCLOUD_KEYS:
+    COMMAND = ":cmd"
+    RESPONSE = ":response"
+
+class FLEXCLOUD_COMMANDS:
+    UNKNOWN = "UNKNOWN"
+    PING = "PING"
+    PONG = "PONG"
+    UPDATE_TRANSPORT = "UPDATE_TRANSPORT"
+    UPDATE_CONFIG = "UPDATE_CONFIG"
+
+
+class CONTRACT_VARIABLE_TYPE:
+    ASSUMPTION = "ASSUMPTION"
+    GUARANTEE = "GUARANTEE"
+
+class CONTRACT_CHECK_TYPE:
+    BOUND_CHECK = "BOUND_CHECK"
+    SET_MEMBER_CHECK = "SET_MEMBER_CHECK"
+    CUSTOM = "CUSTOM"
+
+class CONTRACT_VARIABLE_OUTPUT:
+    VALID = "VALID"
+    INVALID = "INVALID"
+    UNKNOWN = "UNKNOWN"
+
+class VF_RUNTIME_MONITOR_TYPE:
+    LOCAL = "LOCAL"
+    REMOTE = "REMOTE"
+
+class RUNTIME_MONITOR_OUTPUT:
+    VALID = "VALID"
+    INVALID = "INVALID"
+    UNKNOWN = "UNKNOWN"
+
+class RUNTIME_MONITOR_CHECK_TYPE:
+    BOUND_CHECK = "BOUND_CHECK"
+    SET_MEMBER_CHECK = "SET_MEMBER_CHECK"
+    CUSTOM = "CUSTOM"
+    REMOTE = "REMOTE"
+
+class GOAL_STATUS:
+    ACCEPTED  = "ACCEPTED "
+    EXECUTING  = "EXECUTING "
+    CANCELING  = "CANCELING "
+    SUCCEEDED = "SUCCEEDED"
+    ABORTED = "ABORTED"
+    CANCELED = "CANCELED"
+
+class FMU_Node_State:
+    STARTUP="start-up"
+    IDLE="idle"
+    NODE_INPUT_UPDATE = "node_input_update"
+    NODE_OUTPUT_UPDATE = "node_output_update"
+    NODE_STEP = "node_step"
+    FMI_SETUP = "FMI_setup"
+    MQTT_SETUP = "MQTT_setup"
+    ERROR = "error"
+
+class simConstants:
+    startTime_Default = 0.0
+
+
+class FMI_communicationProtocol:
+    sim_start = "SIM/START"
+    sim_stop = "SIM/STOP"
+    sim_error = "SIM/ERROR"
+    sim_heartbeatRequest = "SIM/HEARTBEAT"
+    sim_startup = "SIM/STARTUP"
+    node_step = "STEP"
+    node_step_IPO = "STEP_IPO"
+    node_input = "INPUT"
+    node_output = "OUTPUT"
+    node_info = "INFO"
+    node_heartbeat = "HEARTBEAT"
+
+
+class OrchestrationType:
+    FMI_local = "FMI_LOCAL"
+    DISTRIBUTED = "DISTRIBUTED"
+    DISTRIBUTED_FIXED_IO = "DISTRIBUTED_FIXED_IO"
+
+class ExecutionPatterns:
+    TRIGGERED = "TRIGGERED"
+    IPO = "IPO"
+    IOP = "IOP"
+
+
+class VerificationMethods:
+    STATICLOWERBOUND = "StaticLowerBound"
+    STATICUPPERBOUND = "StaticUpperBound"
+    STATICBOUND = "StaticBound"
+
+class MonitorType:
+    RUNTIME = "runtime"
+    POSTPROCESSING = "postprocessing"
+
+
+class RobotArmActions:
+    MOVEJ = "movej"
+    MOVEJ_KINEMATICS = "movej_kinematics"
+    COMMAND = "command"
+    GET_STATUS = "get_status"
+
+class GRIPPERActions:
+    OPEN = "open"
+    CLOSE = "close"
+    MOVE= "move"
+    GET_STATUS = "get_status"
+
+
+class CAMERAStatus:
+    OPERATIONAL = "OPERATIONAL"
+    ERROR = "ERROR"
+    NO_FRAME = "NO_FRAME"
+    MODEL_NOT_LOADED ="MODEL_NOT_LOADED"
+    INFERENCE_ERROR = "INFERENCE_ERROR"
+
+class VALIDITY_FRAME_INTEGRATION:
+    ARCHITECTURE = ":SAIfetyArchitecture"
+    TRACEABILITYGRAPH = ":TraceabilityGraph"

flexCommunicator/clientLibraries/flcpy/utils/decorators.py

@@ -0,0 +1,70 @@
+import functools
+import time
+from flexCommunicator.clientLibraries.flcpy.utils.constants import *
+
+class flexRequirements:
+    """
+    Method‐decorator for linking requirements to application functions
+    """
+    def __init__(self, id: str, description: str, expectedExecutionTime=None):
+        self.call_count = 0
+        self.id = id
+        self.id_key = str(id)
+        self.description = description
+        self.expectedExecutionTime = expectedExecutionTime
+
+    def __call__(self, func):
+        @functools.wraps(func)
+        def wrapper(node, *args, **kwargs):
+            # here `self` is the flexNode instance
+            self.call_count += 1
+            if self.call_count == 1:
+                node.flexCloud_manager.write(key=node.requirements_key+ self.id_key+FLEXCLOUD_VARIABLES.REQUIREMENT_STATUS,value="PASS")
+                node.flexCloud_manager.write(key=node.requirements_key+ self.id_key+FLEXCLOUD_VARIABLES.REQUIREMENT_DESCRIPTIONS,value=self.description)
+                node.flexCloud_manager.write(key=node.requirements_key+ self.id_key+FLEXCLOUD_VARIABLES.REQUIREMENT_ERROR,value="-")
+            try:
+                if self.expectedExecutionTime is None:
+                    # THE ACTUAL FUNCTION
+                    return func(node, *args, **kwargs)
+
+                else:
+                    # CHECK EXECUTION TIME
+                    start_time = time.perf_counter()
+                    value = func(node, *args, **kwargs)
+                    end_time = time.perf_counter()
+                    ET_time = end_time - start_time
+                    if ET_time > self.expectedExecutionTime:
+                        raise Exception(f"Expected execution time {self.expectedExecutionTime} secs, but got {ET_time:.4f} secs")
+                    return value
+
+            except Exception as e:
+                node.flexCloud_manager.write(key=node.requirements_key+ self.id_key+FLEXCLOUD_VARIABLES.REQUIREMENT_STATUS,value="FAIL")
+                node.flexCloud_manager.write(key=node.requirements_key+ self.id_key+FLEXCLOUD_VARIABLES.REQUIREMENT_DESCRIPTIONS,value=self.description)
+                node.flexCloud_manager.write(key=node.requirements_key+ self.id_key+FLEXCLOUD_VARIABLES.REQUIREMENT_ERROR,value=str(e))
+                return -1
+
+        return wrapper
+
+
+
+class flexProfiler:
+    """
+    Method‐decorator for performing a time measurement on a application function and publish (for profiling)
+    """
+    def __init__(self):
+        x=1
+
+    def __call__(self, func):
+        @functools.wraps(func)
+        def wrapper_timer(node,*args, **kwargs):
+            start_time = time.perf_counter()
+            value = func(node,*args, **kwargs)
+            end_time = time.perf_counter()
+            run_time = end_time - start_time
+            node.flexCloud_manager.write_history(key=node.application_profiler_key + func.__name__, value=str(run_time))
+            print(f"Finished {func.__name__}() in {run_time:.4f} secs")  # TODO: instead of printing, publish to flexCloud
+            return value
+
+        return wrapper_timer
+
+

flexCommunicator/clientLibraries/flcpy/validityFrame/runtimeMonitor.py

@@ -0,0 +1,101 @@
+#**************************************************************************
+# * Copyright (C) 2025-present Bert Van Acker (B.MKR) <bva.bmkr@gmail.com>
+# *
+# * This file is part of the flexIA project.
+# *
+# * flexIA can not be copied and/or distributed without the express
+# * permission of Bert Van Acker
+# *************************************************************************
+import threading
+import json
+import time
+
+from flexCommunicator.clientLibraries.flcpy.utils.constants import *
+
+
+class runtimeMonitor(object):
+    def __init__(self, name, initial_value=0, type=VF_RUNTIME_MONITOR_TYPE.LOCAL, check=CONTRACT_CHECK_TYPE.BOUND_CHECK,bound = None,allowed_values=None,customFunction=None):
+        self._name = name
+        self._type = type               # VF RUNTIME TYPE, LOCAL CHECKING OR REMOTE CHECKING
+        self._check = check
+        self._value = initial_value
+        self._requestedValue = initial_value
+
+        #flexCloud handler
+        self.flexCloud_manager = None
+        self.flexCloud_connectorID = None
+        self.flexCloud_applicationID = None
+
+        # Determine validity based on initial value
+        self._bound = bound
+        self._allowed_values = set(allowed_values) if allowed_values is not None else None
+        self._customFunction = customFunction
+
+        # Determine validity based on initial value
+        self._isValid = self._check_validity()
+
+
+
+
+    def _sync_to_redis(self):
+        key = self.flexCloud_connectorID + FLEXCLOUD_VARIABLES.APPLICATIONS + self.flexCloud_applicationID + FLEXCLOUD_VARIABLES.VALIDITY_FRAME + FLEXCLOUD_VARIABLES.RUNTIME_MONITORS + self._name
+        self._write_knowledge(key=key + ":unchecked_value", value=self._requestedValue)
+        self._write_knowledge(key=key+":validity" , value=self._isValid)
+
+    def initialize(self):
+        """ Initialize the flexCloud variable"""
+        self._sync_to_redis()
+
+    def set(self, value):
+        self._requestedValue = value
+        self._isValid = self._check_validity()
+        if self._isValid == RUNTIME_MONITOR_OUTPUT.VALID:
+            self._value = value
+        self._sync_to_redis()
+
+    def get(self):
+        return self._value
+
+
+    #----------------------------- contract variable checks----------------
+    def _check_validity(self):
+        if self._type == VF_RUNTIME_MONITOR_TYPE.LOCAL:
+            if self._check == RUNTIME_MONITOR_CHECK_TYPE.BOUND_CHECK:
+                isValid = self._bound[0] <= self._requestedValue <= self._bound[1]
+                if isValid:
+                    return RUNTIME_MONITOR_OUTPUT.VALID
+                else:
+                    return RUNTIME_MONITOR_OUTPUT.INVALID
+
+            elif self._check == RUNTIME_MONITOR_CHECK_TYPE.SET_MEMBER_CHECK:
+                if self._allowed_values is None:
+                    return RUNTIME_MONITOR_OUTPUT.INVALID
+                isValid = self._requestedValue in self._allowed_values
+                if isValid:
+                    return RUNTIME_MONITOR_OUTPUT.VALID
+                else:
+                    return RUNTIME_MONITOR_OUTPUT.INVALID
+
+            elif self._check == RUNTIME_MONITOR_CHECK_TYPE.CUSTOM:
+                isValid = self._customFunction(self._requestedValue)
+                return isValid
+
+        elif self._type == VF_RUNTIME_MONITOR_TYPE.REMOTE:
+            return RUNTIME_MONITOR_OUTPUT.UNKNOWN
+
+    # --------------------------- HELPER FUNCTIONS ------------------------
+    def _write_knowledge(self, key, value):
+        """Write a value to the knowledge Manager."""
+        if isinstance(key, str):
+            if isinstance(value, str):
+                value = str(value)
+            return self.flexCloud_manager.write(key, value)
+        else:
+            # Convert the class instance to a dictionary
+            class_dict = {}
+            for key_attr, attr_value in key.__dict__.items():
+                public_key = key_attr.lstrip('_')
+                class_dict[public_key] = attr_value
+            value = json.dumps(class_dict)  # Serialize the dictionary to a JSON string
+            return self.flexCloud_manager.write(key.name, value)
+