foodforthought-cli 0.2.1__py3-none-any.whl → 0.2.3__py3-none-any.whl

ate/telemetry/fleet_agent.py

@@ -0,0 +1,419 @@
+"""
+Fleet Telemetry Agent
+
+Background agent for continuous telemetry collection from deployed fleet robots.
+Runs on each robot to collect and periodically upload telemetry to FoodforThought.
+
+Usage:
+    agent = FleetTelemetryAgent(
+        robot_id="robot-001",
+        api_key="fft_xxx",
+    )
+    await agent.start()
+"""
+
+import asyncio
+import os
+import sys
+import signal
+import time
+from datetime import datetime
+from typing import Callable, Dict, List, Optional, Any
+from uuid import uuid4
+
+from .collector import TelemetryCollector
+from .types import (
+    TrajectoryRecording,
+    TrajectoryFrame,
+    TrajectoryMetadata,
+    TelemetrySource,
+    TelemetryBuffer,
+    ExecutionEvent,
+    EventType,
+)
+
+
+class FleetTelemetryAgent:
+    """
+    Background agent for fleet robot telemetry collection.
+
+    Runs continuously on a deployed robot, collecting state data and
+    periodically uploading to FoodforThought for analysis and training.
+
+    Features:
+    - Configurable collection frequency
+    - Automatic batching and upload
+    - Graceful shutdown handling
+    - State provider callback for robot-specific integration
+    """
+
+    def __init__(
+        self,
+        robot_id: str,
+        api_url: str = None,
+        api_key: str = None,
+        collection_interval: float = 0.02,  # 50Hz
+        upload_interval: float = 60.0,  # Upload every minute
+        buffer_size: int = 3600,  # 1 minute at 50Hz
+        project_id: str = None,
+        state_provider: Callable[[], Dict[str, float]] = None,
+        velocity_provider: Callable[[], Dict[str, float]] = None,
+        torque_provider: Callable[[], Dict[str, float]] = None,
+    ):
+        """
+        Initialize the fleet telemetry agent.
+
+        Args:
+            robot_id: Unique identifier for this robot
+            api_url: FoodforThought API URL
+            api_key: API key for authentication
+            collection_interval: Time between state samples (seconds)
+            upload_interval: Time between uploads (seconds)
+            buffer_size: Maximum frames to buffer
+            project_id: FFT project ID for artifacts
+            state_provider: Callback returning joint positions dict
+            velocity_provider: Callback returning joint velocities dict
+            torque_provider: Callback returning joint torques dict
+        """
+        self.robot_id = robot_id
+        self.api_url = api_url or os.getenv("FFT_API_URL", "https://kindly.fyi/api")
+        self.api_key = api_key or os.getenv("FFT_API_KEY") or os.getenv("ATE_API_KEY")
+        self.project_id = project_id or os.getenv("FFT_PROJECT_ID")
+
+        self.collection_interval = collection_interval
+        self.upload_interval = upload_interval
+        self.buffer_size = buffer_size
+
+        self.state_provider = state_provider
+        self.velocity_provider = velocity_provider
+        self.torque_provider = torque_provider
+
+        self.collector = TelemetryCollector(
+            robot_id=robot_id,
+            api_url=self.api_url,
+            api_key=self.api_key,
+            buffer_size=buffer_size,
+            auto_upload=False,  # We handle uploads manually
+            project_id=project_id,
+        )
+
+        self._running = False
+        self._buffer = TelemetryBuffer(max_size=buffer_size)
+        self._start_time: Optional[datetime] = None
+        self._frame_count = 0
+        self._upload_count = 0
+        self._last_upload_time: Optional[float] = None
+
+        # Setup signal handlers for graceful shutdown
+        signal.signal(signal.SIGINT, self._signal_handler)
+        signal.signal(signal.SIGTERM, self._signal_handler)
+
+    def _signal_handler(self, signum, frame):
+        """Handle shutdown signals."""
+        print(f"\n[FleetAgent] Received signal {signum}, shutting down...")
+        self.stop()
+
+    async def start(self) -> None:
+        """Start the telemetry agent."""
+        if self._running:
+            print("[FleetAgent] Already running")
+            return
+
+        if not self.api_key:
+            print("[FleetAgent] Warning: No API key configured, telemetry will not be uploaded",
+                  file=sys.stderr)
+
+        self._running = True
+        self._start_time = datetime.utcnow()
+        self._frame_count = 0
+        self._upload_count = 0
+
+        print(f"[FleetAgent] Starting telemetry collection for robot {self.robot_id}")
+        print(f"[FleetAgent] Collection interval: {self.collection_interval}s ({1/self.collection_interval:.1f}Hz)")
+        print(f"[FleetAgent] Upload interval: {self.upload_interval}s")
+
+        # Start collection and upload tasks
+        await asyncio.gather(
+            self._collection_loop(),
+            self._upload_loop(),
+        )
+
+    def stop(self) -> None:
+        """Stop the telemetry agent."""
+        self._running = False
+
+        # Upload any remaining data
+        if not self._buffer.is_empty():
+            print(f"[FleetAgent] Uploading final {self._buffer.frame_count} frames...")
+            asyncio.create_task(self._upload_buffer())
+
+        print(f"[FleetAgent] Stopped. Collected {self._frame_count} frames, {self._upload_count} uploads.")
+
+    async def _collection_loop(self) -> None:
+        """Main collection loop - samples state at configured frequency."""
+        while self._running:
+            try:
+                # Get current state from providers
+                state = await self._get_robot_state()
+
+                if state:
+                    self._buffer.add(state)
+                    self._frame_count += 1
+
+                await asyncio.sleep(self.collection_interval)
+
+            except Exception as e:
+                print(f"[FleetAgent] Collection error: {e}", file=sys.stderr)
+                await asyncio.sleep(1.0)  # Back off on error
+
+    async def _upload_loop(self) -> None:
+        """Upload loop - periodically uploads buffered data."""
+        while self._running:
+            await asyncio.sleep(self.upload_interval)
+
+            if not self._buffer.is_empty():
+                await self._upload_buffer()
+
+    async def _get_robot_state(self) -> Optional[TrajectoryFrame]:
+        """Get current robot state from providers."""
+        try:
+            joint_positions = {}
+            joint_velocities = {}
+            joint_torques = {}
+
+            if self.state_provider:
+                result = self.state_provider()
+                if asyncio.iscoroutine(result):
+                    joint_positions = await result
+                else:
+                    joint_positions = result
+
+            if self.velocity_provider:
+                result = self.velocity_provider()
+                if asyncio.iscoroutine(result):
+                    joint_velocities = await result
+                else:
+                    joint_velocities = result
+
+            if self.torque_provider:
+                result = self.torque_provider()
+                if asyncio.iscoroutine(result):
+                    joint_torques = await result
+                else:
+                    joint_torques = result
+
+            # Calculate timestamp from start
+            elapsed = (datetime.utcnow() - self._start_time).total_seconds()
+
+            return TrajectoryFrame(
+                timestamp=elapsed,
+                joint_positions=joint_positions,
+                joint_velocities=joint_velocities,
+                joint_torques=joint_torques,
+            )
+
+        except Exception as e:
+            print(f"[FleetAgent] State provider error: {e}", file=sys.stderr)
+            return None
+
+    async def _upload_buffer(self) -> None:
+        """Upload buffered frames to FoodforThought."""
+        if self._buffer.is_empty():
+            return
+
+        frames, events = self._buffer.flush()
+
+        # Create recording from buffered frames
+        recording_id = str(uuid4())
+        now = datetime.utcnow()
+
+        recording = TrajectoryRecording(
+            id=recording_id,
+            robot_id=self.robot_id,
+            source=TelemetrySource.FLEET,
+            start_time=now,
+            end_time=now,
+            success=True,
+            frames=frames,
+            events=events,
+            metadata=TrajectoryMetadata(
+                duration=self.upload_interval,
+                total_frames=len(frames),
+                frame_rate=len(frames) / self.upload_interval if self.upload_interval > 0 else 0,
+                tags=["fleet", "continuous"],
+            ),
+        )
+
+        # Upload using collector
+        result = self.collector._upload_recording_sync(recording)
+
+        if result:
+            self._upload_count += 1
+            self._last_upload_time = time.time()
+            print(f"[FleetAgent] Uploaded {len(frames)} frames (total: {self._upload_count})")
+
+    def log_event(self, event_type: EventType, data: Optional[Dict[str, Any]] = None) -> None:
+        """Log an execution event."""
+        elapsed = (datetime.utcnow() - self._start_time).total_seconds() if self._start_time else 0
+
+        event = ExecutionEvent(
+            timestamp=elapsed,
+            event_type=event_type,
+            data=data or {},
+        )
+        self._buffer.add_event(event)
+
+    def get_status(self) -> Dict[str, Any]:
+        """Get current agent status."""
+        uptime = 0
+        if self._start_time:
+            uptime = (datetime.utcnow() - self._start_time).total_seconds()
+
+        return {
+            "running": self._running,
+            "robot_id": self.robot_id,
+            "uptime": uptime,
+            "frame_count": self._frame_count,
+            "upload_count": self._upload_count,
+            "buffer_size": self._buffer.frame_count,
+            "last_upload": self._last_upload_time,
+            "collection_hz": 1 / self.collection_interval if self.collection_interval > 0 else 0,
+        }
+
+
+# ============================================================================
+# ROS2 Integration
+# ============================================================================
+
+class ROS2TelemetryAgent(FleetTelemetryAgent):
+    """
+    Fleet telemetry agent with ROS2 integration.
+
+    Subscribes to joint_states topic for automatic state collection.
+    """
+
+    def __init__(
+        self,
+        robot_id: str,
+        joint_states_topic: str = "/joint_states",
+        **kwargs,
+    ):
+        """
+        Initialize ROS2 telemetry agent.
+
+        Args:
+            robot_id: Unique identifier for this robot
+            joint_states_topic: ROS2 topic for joint states
+            **kwargs: Additional arguments passed to FleetTelemetryAgent
+        """
+        super().__init__(robot_id, **kwargs)
+        self.joint_states_topic = joint_states_topic
+        self._latest_state: Dict[str, float] = {}
+        self._latest_velocity: Dict[str, float] = {}
+        self._latest_effort: Dict[str, float] = {}
+
+        # Set providers to use ROS2 state
+        self.state_provider = self._get_ros2_positions
+        self.velocity_provider = self._get_ros2_velocities
+        self.torque_provider = self._get_ros2_efforts
+
+    def _get_ros2_positions(self) -> Dict[str, float]:
+        """Get positions from ROS2 joint_states."""
+        return self._latest_state.copy()
+
+    def _get_ros2_velocities(self) -> Dict[str, float]:
+        """Get velocities from ROS2 joint_states."""
+        return self._latest_velocity.copy()
+
+    def _get_ros2_efforts(self) -> Dict[str, float]:
+        """Get efforts from ROS2 joint_states."""
+        return self._latest_effort.copy()
+
+    def update_joint_states(
+        self,
+        names: List[str],
+        positions: List[float],
+        velocities: Optional[List[float]] = None,
+        efforts: Optional[List[float]] = None,
+    ) -> None:
+        """
+        Update joint states from ROS2 callback.
+
+        Call this from your ROS2 joint_states subscriber callback.
+
+        Args:
+            names: Joint names
+            positions: Joint positions (radians)
+            velocities: Joint velocities (rad/s)
+            efforts: Joint efforts (Nm)
+        """
+        for i, name in enumerate(names):
+            if i < len(positions):
+                self._latest_state[name] = positions[i]
+            if velocities and i < len(velocities):
+                self._latest_velocity[name] = velocities[i]
+            if efforts and i < len(efforts):
+                self._latest_effort[name] = efforts[i]
+
+
+# ============================================================================
+# Standalone Runner
+# ============================================================================
+
+async def run_fleet_agent(
+    robot_id: str,
+    api_key: str = None,
+    collection_hz: float = 50.0,
+    upload_interval: float = 60.0,
+    daemon: bool = False,
+) -> None:
+    """
+    Run the fleet telemetry agent.
+
+    This is a convenience function for running the agent from the command line.
+
+    Args:
+        robot_id: Unique identifier for this robot
+        api_key: FoodforThought API key
+        collection_hz: Collection frequency in Hz
+        upload_interval: Upload interval in seconds
+        daemon: Run as daemon (detach from terminal)
+    """
+    if daemon:
+        # Daemonize the process
+        import os
+        pid = os.fork()
+        if pid > 0:
+            print(f"[FleetAgent] Started as daemon (PID: {pid})")
+            sys.exit(0)
+        os.setsid()
+
+    agent = FleetTelemetryAgent(
+        robot_id=robot_id,
+        api_key=api_key,
+        collection_interval=1.0 / collection_hz,
+        upload_interval=upload_interval,
+    )
+
+    await agent.start()
+
+
+if __name__ == "__main__":
+    import argparse
+
+    parser = argparse.ArgumentParser(description="Fleet Telemetry Agent")
+    parser.add_argument("robot_id", help="Unique robot identifier")
+    parser.add_argument("--api-key", help="FoodforThought API key")
+    parser.add_argument("--collection-hz", type=float, default=50.0, help="Collection frequency")
+    parser.add_argument("--upload-interval", type=float, default=60.0, help="Upload interval")
+    parser.add_argument("--daemon", action="store_true", help="Run as daemon")
+
+    args = parser.parse_args()
+
+    asyncio.run(run_fleet_agent(
+        robot_id=args.robot_id,
+        api_key=args.api_key,
+        collection_hz=args.collection_hz,
+        upload_interval=args.upload_interval,
+        daemon=args.daemon,
+    ))

ate/telemetry/formats/__init__.py

@@ -0,0 +1,18 @@
+"""
+Format serializers for telemetry data.
+
+Supports:
+- MCAP: ROS ecosystem standard, Foxglove compatible
+- HDF5: ML-friendly format for training pipelines
+- JSON: Human-readable, debugging
+"""
+
+from .mcap_serializer import serialize_to_mcap, deserialize_from_mcap
+from .hdf5_serializer import serialize_to_hdf5, deserialize_from_hdf5
+
+__all__ = [
+    "serialize_to_mcap",
+    "deserialize_from_mcap",
+    "serialize_to_hdf5",
+    "deserialize_from_hdf5",
+]