osiris-agent 0.1.3__py3-none-any.whl → 0.1.5__py3-none-any.whl

osiris_agent/agent_node.py

@@ -34,6 +34,7 @@ class WebBridge(Node):
             raise ValueError("OSIRIS_AUTH_TOKEN environment variable must be set")
     
         self.ws_url = f'wss://osiris-gateway.fly.dev?robot=true&token={auth_token}'
+        # self.ws_url = f'ws://host.docker.internal:8080?robot=true&token={auth_token}'
         self.ws = None
         self._topic_subs = {}
         self._topic_subs_lock = threading.Lock()
@@ -76,10 +77,10 @@ class WebBridge(Node):
                 logger=self.get_logger()
             )
             self._bt_collector.start()
-            self.get_logger().info("BT Collector started")
         else:
             self._bt_collector = None
-            self.get_logger().info("BT Collector disabled (OSIRIS_BT_COLLECTOR_ENABLED not set)")
+        
+        self.get_logger().info("🚀 Osiris agent running")
 
     # Create event loop and queue, run websocket client
     def _run_ws_client(self):
@@ -95,12 +96,10 @@ class WebBridge(Node):
         
         while True:
             try:
-                self.get_logger().info("Attempting to connect to gateway...")
                 await self._client_loop()
             except Exception as e:
-                self.get_logger().error(f"Connection failed: {e}")
+                pass  # Silent retry
             
-            self.get_logger().info(f"Reconnecting in {reconnect_delay} seconds...")
             await asyncio.sleep(reconnect_delay)
             
             reconnect_delay = min(reconnect_delay * 2, RECONNECT_MAX_DELAY)
@@ -112,12 +111,10 @@ class WebBridge(Node):
         send_task = None
         try:
             async with websockets.connect(self.ws_url) as ws:
-                self.get_logger().info("Connected to gateway (socket opened)")
                 # Wait for gateway auth response before sending initial state
                 try:
                     auth_msg = await ws.recv()
                 except Exception as e:
-                    self.get_logger().error(f"Failed to receive auth message: {e}")
                     return
 
                 try:
@@ -125,14 +122,9 @@ class WebBridge(Node):
                 except Exception:
                     auth_data = None
 
-                self.get_logger().debug(f"Gateway auth message received: {auth_msg}")
-
                 if not auth_data or auth_data.get('type') != 'auth_success':
-                    self.get_logger().error(f"Gateway did not authenticate: parsed={auth_data}")
                     return
 
-                self.get_logger().info("Authenticated with gateway")
-
                 self.ws = ws
 
                 send_task = asyncio.create_task(self._send_loop(ws))
@@ -141,7 +133,6 @@ class WebBridge(Node):
 
                 await self._receive_loop(ws)
         except Exception as e:
-            self.get_logger().error(f"Error in client loop: {e}")
             raise
         finally:
             if send_task and not send_task.done():
@@ -980,15 +971,11 @@ class WebBridge(Node):
     def _on_bt_event(self, event):
         """Handle behavior tree events from BTCollector and forward to websocket."""
         event_type = event.get('type')
-        self.get_logger().info(f"BT event received: {event_type}")
         
         # Cache tree events if WS not connected yet
         if not self.ws or not self.loop:
             if event_type == 'bt_tree':
                 self._cached_bt_tree_event = event
-                self.get_logger().info("BT tree event cached (WS not connected yet)")
-            else:
-                self.get_logger().warn(f"Dropping BT event {event_type} (WS not connected)")
             return
         
         try:
@@ -996,7 +983,6 @@ class WebBridge(Node):
                 self._send_queue.put(json.dumps(event)),
                 self.loop
             )
-            self.get_logger().info(f"BT event {event_type} queued for sending")
         except Exception as e:
             self.get_logger().error(f"Failed to queue BT event: {e}")
 
@@ -1005,7 +991,6 @@ class WebBridge(Node):
         # Stop BT collector
         if self._bt_collector:
             self._bt_collector.stop()
-            self.get_logger().info("BT Collector stopped")
         
         super().destroy_node()
 

osiris_agent/bt_collector.py

@@ -22,9 +22,9 @@ import zmq
 import random  # added to support unique_id generation in requests
 
 # Default Groot2 configuration (industry standard)
-DEFAULT_GROOT_SERVER_PORT = 1667  # REQ/REP for tree structure and status polling
-DEFAULT_GROOT_PUBLISHER_PORT = 1668  # PUB/SUB for breakpoint notifications only
-DEFAULT_GROOT_HOST = "127.0.0.1"
+DEFAULT_SERVER_PORT = 1667  # REQ/REP for tree structure and status polling
+DEFAULT_PUBLISHER_PORT = 1668  # PUB/SUB for breakpoint notifications only
+DEFAULT_HOST = "127.0.0.1"
 
 # ZMQ timeouts
 ZMQ_RECV_TIMEOUT_MS = 2000
@@ -94,16 +94,16 @@ class BTCollector:
         
         Args:
             event_callback: Function to call with parsed events (dict)
-            host: Groot2 host address (default: from BT_GROOT_HOST env or 127.0.0.1)
-            server_port: Groot2 server port (default: from BT_GROOT_SERVER_PORT env or 1667)
-            publisher_port: Groot2 publisher port (default: from BT_GROOT_PUBLISHER_PORT env or 1668)
+            host: Groot2 host address (default: from BT_HOST env or 127.0.0.1)
+            server_port: Groot2 server port (default: from BT_SERVER_PORT env or 1667)
+            publisher_port: Groot2 publisher port (default: from BT_PUBLISHER_PORT env or 1668)
             logger: Optional logger (uses print if None)
         """
         self._event_callback = event_callback
         # Read from environment variables with fallback to defaults
-        self._host = host or os.environ.get('OSIRIS_BT_GROOT_HOST', DEFAULT_GROOT_HOST)
-        self._server_port = server_port or int(os.environ.get('OSIRIS_BT_GROOT_SERVER_PORT', str(DEFAULT_GROOT_SERVER_PORT)))
-        self._publisher_port = publisher_port or int(os.environ.get('OSIRIS_BT_GROOT_PUBLISHER_PORT', str(DEFAULT_GROOT_PUBLISHER_PORT)))
+        self._host = host or os.environ.get('OSIRIS_BT_HOST', DEFAULT_HOST)
+        self._server_port = server_port or int(os.environ.get('OSIRIS_BT_SERVER_PORT', str(DEFAULT_SERVER_PORT)))
+        self._publisher_port = publisher_port or int(os.environ.get('OSIRIS_BT_PUBLISHER_PORT', str(DEFAULT_PUBLISHER_PORT)))
         self._logger = logger
         
         self._running = False
@@ -114,14 +114,10 @@ class BTCollector:
         self._last_statuses: Dict[int, str] = {}
 
     def _log_info(self, msg: str):
-        if self._logger:
-            self._logger.info(msg)
-        else:
-            print(f"[BTCollector INFO] {msg}")
+        pass  # Logging disabled
 
     def _log_debug(self, msg: str):
-        if self._logger:
-            self._logger.debug(msg)
+        pass  # Logging disabled
 
     def _log_error(self, msg: str):
         if self._logger:
@@ -130,10 +126,7 @@ class BTCollector:
             print(f"[BTCollector ERROR] {msg}")
 
     def _log_warn(self, msg: str):
-        if self._logger:
-            self._logger.warn(msg)
-        else:
-            print(f"[BTCollector WARN] {msg}")
+        pass  # Logging disabled
 
     def start(self):
         """Start the collector in a background thread."""

{osiris_agent-0.1.3.dist-info → osiris_agent-0.1.5.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: osiris_agent
-Version: 0.1.3
+Version: 0.1.5
 Summary: OSIRIS agent for ROS2/Humble
 Home-page: https://github.com/nicolaselielll/osiris_agent
 Author: Nicolas Tuomaala
@@ -44,45 +44,63 @@ A ROS2 Humble node that bridges your robot to the OSIRIS remote monitoring platf
 
 ## Install
 
-From PyPI:
+Install the OSIRIS agent on your robot:
 ```bash
-python -m pip install --upgrade pip
-python -m pip install osiris_agent
+pip3 install osiris-agent
 ```
 
-Editable / development install:
+## Quick Start
+
+### 1. Add token to your environment
+
 ```bash
-git clone https://github.com/nicolaselielll/osiris_agent.git
-cd osiris_agent
-python -m pip install -e .
+export OSIRIS_AUTH_TOKEN=your-token-here
 ```
 
-## Quick Start
+### 2. (Optional) Enable behaviour tree collector
+
+If you're using BT.CPP with Groot2 monitoring:
 
-Set the auth token and run the agent:
 ```bash
-export OSIRIS_AUTH_TOKEN="your-robot-token-here"
-agent_node
+export OSIRIS_BT_COLLECTOR_ENABLED=true
 ```
 
-Verify installation:
+Default host is `127.0.0.1`. Default port for server is `1667` and for publisher `1668`. To change these:
+
 ```bash
-python -c "import importlib.metadata as m; print(m.version('osiris_agent'))"
+export OSIRIS_BT_HOST=127.0.0.1
+export OSIRIS_BT_SERVER_PORT=1667
+export OSIRIS_BT_PUBLISHER_PORT=1668
+```
+
+### 3. Start agent
+
+```bash
+osiris_node
 ```
 
 ## Usage & Configuration
 
-- Environment: OSIRIS_AUTH_TOKEN — your robot token.
-- Editable install reflects code changes immediately.
-- Common constants are in `osiris_agent/agent_node.py`:
-  - MAX_SUBSCRIPTIONS, ALLOWED_TOPIC_PREFIXES, GRAPH_CHECK_INTERVAL, PARAMETER_REFRESH_INTERVAL, TELEMETRY_INTERVAL
+### Required Environment Variables
+
+- `OSIRIS_AUTH_TOKEN` — Your robot authentication token from the OSIRIS platform
+
+### Optional Environment Variables
+
+**Behaviour Tree Monitoring (BT.CPP + Groot2):**
+- `OSIRIS_BT_COLLECTOR_ENABLED` — Set to `true` to enable BT.CPP tree monitoring (default: `false`)
+- `OSIRIS_BT_HOST` — Groot2 ZMQ host address (default: `127.0.0.1`)
+- `OSIRIS_BT_SERVER_PORT` — Groot2 REQ/REP server port (default: `1667`)
+- `OSIRIS_BT_PUBLISHER_PORT` — Groot2 PUB/SUB publisher port (default: `1668`)
+
+## BT.CPP Integration
+
+The agent automatically collects behaviour tree events from BT.CPP when `OSIRIS_BT_COLLECTOR_ENABLED=true`. Your BT.CPP application must:
 
-## Badge suggestions
+1. Enable Groot2 monitoring in your code
+2. Use the standard Groot2 ZMQ ports (1667/1668) or configure custom ports via environment variables
 
-- PyPI: https://img.shields.io/pypi/v/osiris_agent.svg
-- Python versions: https://img.shields.io/pypi/pyversions/osiris_agent.svg
-- License: https://img.shields.io/pypi/l/osiris_agent.svg
-- GitHub Actions CI: https://github.com/<user>/osiris_agent/actions
+The collector uses BT.CPP's standardized Groot2 protocol, so it works with any behaviour tree without custom configuration.
 
 ## Contributing
 

osiris_agent-0.1.5.dist-info/RECORD

@@ -0,0 +1,9 @@
+osiris_agent/__init__.py,sha256=E0YxGzSMUelxIPB6kRPKL-2Da_QaYCZeOd8fEaLtQ5c,73
+osiris_agent/agent_node.py,sha256=Rx1IXKCL7tRhLwZQS4YaJTKuE9A47pRayMSC_plezZ8,39973
+osiris_agent/bt_collector.py,sha256=lFfrjObFnZKgrAb9HUpEpWAROc52QdqPXBjAtRDpkjg,20976
+osiris_agent-0.1.5.dist-info/licenses/LICENSE,sha256=tv_rYfXPsDuLDPIrpAFFZfgaO15H-gz89GW1TfyCQ48,10758
+osiris_agent-0.1.5.dist-info/METADATA,sha256=CZyg3IW7ndtZM-uX2c6aVcr5VKVKqC53Hjex5QNzKsQ,3230
+osiris_agent-0.1.5.dist-info/WHEEL,sha256=wUyA8OaulRlbfwMtmQsvNngGrxQHAvkKcvRmdizlJi0,92
+osiris_agent-0.1.5.dist-info/entry_points.txt,sha256=eIDN_LuzMOpqZgGnMz8MGqYxZSJ7bS76sm2xv2zwdcU,61
+osiris_agent-0.1.5.dist-info/top_level.txt,sha256=qT-C0LRSrwlNjTuA7bVsTmwYJzhONP18wuyAXwUBZnU,13
+osiris_agent-0.1.5.dist-info/RECORD,,

osiris_agent-0.1.5.dist-info/entry_points.txt

@@ -0,0 +1,2 @@
+[console_scripts]
+osiris_node = osiris_agent.agent_node:main

osiris_agent-0.1.3.dist-info/RECORD

@@ -1,9 +0,0 @@
-osiris_agent/__init__.py,sha256=E0YxGzSMUelxIPB6kRPKL-2Da_QaYCZeOd8fEaLtQ5c,73
-osiris_agent/agent_node.py,sha256=yEnYln1iDahrRILVeeQ3bRHTlWEYj9mLgPbhaKE9ZrY,41051
-osiris_agent/bt_collector.py,sha256=-VkEIkHoL1WNWNU8waMbehjakJywHr6sibbpa015PZQ,21252
-osiris_agent-0.1.3.dist-info/licenses/LICENSE,sha256=tv_rYfXPsDuLDPIrpAFFZfgaO15H-gz89GW1TfyCQ48,10758
-osiris_agent-0.1.3.dist-info/METADATA,sha256=ijbKyI_Vlyl7y6tcFk4Vujz7QWRvdrjZAl6o-dW-TPE,2702
-osiris_agent-0.1.3.dist-info/WHEEL,sha256=wUyA8OaulRlbfwMtmQsvNngGrxQHAvkKcvRmdizlJi0,92
-osiris_agent-0.1.3.dist-info/entry_points.txt,sha256=ff4USKDLj8unIsvb7iQrVvfhP52Fhp3QAR5AchypnuE,60
-osiris_agent-0.1.3.dist-info/top_level.txt,sha256=qT-C0LRSrwlNjTuA7bVsTmwYJzhONP18wuyAXwUBZnU,13
-osiris_agent-0.1.3.dist-info/RECORD,,

osiris_agent-0.1.3.dist-info/entry_points.txt

@@ -1,2 +0,0 @@
-[console_scripts]
-agent_node = osiris_agent.agent_node:main