wandelbots-nova 2.3.0__tar.gz → 2.4.0__tar.gz

{wandelbots_nova-2.3.0 → wandelbots_nova-2.4.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: wandelbots-nova
-Version: 2.3.0
+Version: 2.4.0
 Summary: Official Python SDK for the Wandelbots Nova
 Author: Wandelbots GmbH
 Author-email: Christoph Biering <christoph.biering@wandelbots.com>, Mahsum Demir <mahsum.demir@wandelbots.com>, Dirk Sonnemann <dirk.sonnemann@wandelbots.com>, Andreas Langenhagen <andreas.langenhagen@wandelbots.com>, Stefan Wagner <stefan.wagner@wandelbots.com>, André Kühnert <andre.kuhnert@wandelbots.com>

{wandelbots_nova-2.3.0 → wandelbots_nova-2.4.0}/nova/program/function.py

@@ -39,7 +39,8 @@ class Program(BaseModel, Generic[Parameters, Return]):
     _wrapped: Callable[Parameters, Any] = PrivateAttr(
         default_factory=lambda: lambda *args, **kwargs: None
     )
-    name: str
+    program_id: str
+    name: str | None
     description: str | None
     input: type[BaseModel]
     output: type[BaseModel]
@@ -52,14 +53,15 @@ class Program(BaseModel, Generic[Parameters, Return]):
         if not callable(value):
             raise TypeError("value must be callable")
 
-        name = value.__name__
-
+        program_id = value.__name__
         docstring = parse_docstring(value.__doc__ or "")
         description = docstring.description
 
         input, output = input_and_output_types(value, docstring)
 
-        function = cls(name=name, description=description, input=input, output=output)
+        function = cls(
+            program_id=program_id, name=None, description=description, input=input, output=output
+        )
         function._wrapped = validate_call(validate_return=True)(value)
         return function
 
@@ -282,7 +284,9 @@ def input_and_output_types(
 
 
 def program(
+    id: str | None = None,
     name: str | None = None,
+    description: str | None = None,
     preconditions: ProgramPreconditions | None = None,
     viewer: Any | None = None,
 ):
@@ -303,8 +307,12 @@ def program(
             raise TypeError(f"Program function '{function.__name__}' must be async")
 
         func_obj = Program.validate(function)
+        if id:
+            func_obj.program_id = id
         if name:
             func_obj.name = name
+        if description:
+            func_obj.description = description
         func_obj.preconditions = preconditions
 
         # Create a wrapper that handles controller lifecycle

{wandelbots_nova-2.3.0 → wandelbots_nova-2.4.0}/nova/program/runner.py

@@ -75,8 +75,8 @@ class ProgramRunState(Enum):
 
 # TODO: import from api.v2.models.ProgramRun
 class ProgramRun(BaseModel):
-    run_id: str = Field(..., description="Id of the program run")
-    program_id: str = Field(..., description="Id of the program")
+    run: str = Field(..., description="Id of the program run")
+    program: str = Field(..., description="Id of the program")
     state: ProgramRunState = Field(..., description="State of the program run")
     logs: str | None = Field(None, description="Logs of the program run")
     stdout: str | None = Field(None, description="Stdout of the program run")
@@ -85,7 +85,6 @@ class ProgramRun(BaseModel):
     start_time: dt.datetime | None = Field(None, description="Start time of the program run")
     end_time: dt.datetime | None = Field(None, description="End time of the program run")
     input_data: dict[str, Any] | None = Field(None, description="Input of the program run")
-    output_data: dict[str, Any] | None = Field(None, description="Output of the program run")
 
 
 class ProgramRunner(ABC):
@@ -98,6 +97,7 @@ class ProgramRunner(ABC):
     def __init__(
         self,
         program_id: str,
+        # TODO: this can be removed soonish
         program: Program,
         args: dict[str, Any],
         robot_cell_override: RobotCell | None = None,
@@ -108,8 +108,8 @@ class ProgramRunner(ABC):
         self._args = args
         self._robot_cell_override = robot_cell_override
         self._program_run: ProgramRun = ProgramRun(
-            run_id=self._run_id,
-            program_id=program_id,
+            run=self._run_id,
+            program=program_id,
             state=ProgramRunState.NOT_STARTED,
             logs=None,
             stdout=None,
@@ -118,7 +118,6 @@ class ProgramRunner(ABC):
             start_time=None,
             end_time=None,
             input_data=args,
-            output_data=None,
         )
         self._thread: threading.Thread | None = None
         self._stop_event: threading.Event | None = None
@@ -382,7 +381,7 @@ class ProgramRunner(ABC):
                 finally:
                     # write path to output
                     # self._program_run.execution_results = execution_context.motion_group_recordings
-                    self._program_run.output_data = execution_context.output_data
+                    # self._program_run.output_data = execution_context.output_data
 
                     logger.info(
                         f"Program {self.program_id} run {self.run_id} finished. Run teardown routine..."

{wandelbots_nova-2.3.0 → wandelbots_nova-2.4.0}/nova/types/motion_settings.py

@@ -36,6 +36,7 @@ class MotionSettings(pydantic.BaseModel):
     """
 
     min_blending_velocity: int | None = pydantic.Field(default=None)
+    # TODO: rename to blending_radius?
     position_zone_radius: float | None = pydantic.Field(default=None)
     joint_velocity_limits: tuple[float, ...] | None = pydantic.Field(default=None)
     joint_acceleration_limits: tuple[float, ...] | None = pydantic.Field(default=None)

{wandelbots_nova-2.3.0 → wandelbots_nova-2.4.0}/novax/novax.py

@@ -1,16 +1,10 @@
 from typing import Any, Optional
 
-from decouple import config
 from fastapi import FastAPI
 
 from nova.program.function import Program
 from novax.program_manager import ProgramDetails, ProgramManager, ProgramSource
 
-# TODO: why are these needed? check with Christoph
-CELL_ID = config("CELL_ID", default="cell", cast=str)
-BASE_PATH = config("BASE_PATH", default="", cast=str)
-app = FastAPI(title="schaeffler", root_path=BASE_PATH)
-
 
 class Novax:
     def __init__(self):

{wandelbots_nova-2.3.0 → wandelbots_nova-2.4.0}/novax/program_manager.py

@@ -69,9 +69,10 @@ class NovaxProgramRunner(ProgramRunner):
 
 
 class ProgramDetails(BaseModel):
-    program_id: str
+    program: str
+    name: str | None
+    description: str | None
     created_at: dt.datetime
-    updated_at: dt.datetime
 
 
 class RunProgramRequest(BaseModel):
@@ -129,12 +130,13 @@ class ProgramManager:
         """
 
         func = program
-        program_id = func.name
-
+        program_id = func.program_id
         now = dt.datetime.now(dt.timezone.utc)
 
         # Create ProgramDetails instance
-        program_details = ProgramDetails(program_id=program_id, created_at=now, updated_at=now)
+        program_details = ProgramDetails(
+            program=program_id, name=program.name, description=program.description, created_at=now
+        )
 
         # Store program details and function separately
         self._programs[program_id] = program_details
@@ -224,7 +226,7 @@ class WandelscriptProgramSource:
         logger.info(f"Creating wandelscript program: {program_id}")
 
         # Create a wrapper function
-        @nova.program(name=program_id)
+        @nova.program(id=program_id)
         async def wandelscript_wrapper():
             async with Nova() as nova:
                 robot_cell = await nova.cell().get_robot_cell()

{wandelbots_nova-2.3.0 → wandelbots_nova-2.4.0}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "wandelbots-nova"
-version = "2.3.0"
+version = "2.4.0"
 description = "Official Python SDK for the Wandelbots Nova"
 authors = [
     { name = "Wandelbots GmbH" },

{wandelbots_nova-2.3.0 → wandelbots_nova-2.4.0}/tests/novax/api/test_programs.py

@@ -14,14 +14,15 @@ def test_get_programs(novax_app):
     assert len(programs) >= 1
 
     # Check that simple_program is in the list
-    program_ids = [p["program_id"] for p in programs]
+    program_ids = [p["program"] for p in programs]
     assert "simple_program" in program_ids
 
     # Check program structure
-    simple_program = next(p for p in programs if p["program_id"] == "simple_program")
-    assert "program_id" in simple_program
+    simple_program = next(p for p in programs if p["program"] == "simple_program")
+    assert "program" in simple_program
+    assert "name" in simple_program
+    assert "description" in simple_program
     assert "created_at" in simple_program
-    assert "updated_at" in simple_program
 
 
 def test_get_program_success(novax_app):
@@ -31,9 +32,10 @@ def test_get_program_success(novax_app):
     assert response.status_code == 200
     program = response.json()
 
-    assert program["program_id"] == "simple_program"
+    assert program["program"] == "simple_program"
     assert "created_at" in program
-    assert "updated_at" in program
+    assert "name" in program
+    assert "description" in program
     assert "input_schema" in program
 
 
@@ -54,8 +56,8 @@ def test_start_program_success(novax_app):
     assert response.status_code == 200
     run = response.json()
 
-    assert "run_id" in run
-    assert "program_id" in run
+    assert "run" in run
+    assert "program" in run
     assert "state" in run
 
 
@@ -66,8 +68,8 @@ def test_start_program_without_parameters(novax_app):
     assert response.status_code == 200
     run = response.json()
 
-    assert "run_id" in run
-    assert "program_id" in run
+    assert "run" in run
+    assert "program" in run
     assert "state" in run
 
 

{wandelbots_nova-2.3.0 → wandelbots_nova-2.4.0}/tests/novax/serve.py

@@ -7,13 +7,18 @@ import nova
 dotenv.load_dotenv()
 
 
-@nova.program(name="test")
+@nova.program(id="test")
 async def test():
     print("Hello, world!")
 
 
-@nova.program(name="simple_program")
+@nova.program(
+    id="simple_program",
+    name="Simple Program",
+    description="Simple program that prints 'Hello World!' and then sleeps a bit.",
+)
 async def simple_program(number_of_steps: int = 30):
+    """Simple program that prints "Hello World!" and then sleeps a bit."""
     print("Hello World!")
 
     for i in range(number_of_steps):

{wandelbots_nova-2.3.0 → wandelbots_nova-2.4.0}/tests/novax/test_program_sources.py

@@ -9,7 +9,7 @@ from novax import Novax
 from novax.program_manager import ProgramManager, WandelscriptProgramSource
 
 
-@nova.program(name="simple_program")
+@nova.program(id="simple_program")
 async def simple_program(number_of_steps: int = 30):
     print("Hello World!")
 

{wandelbots_nova-2.3.0 → wandelbots_nova-2.4.0}/wandelscript/cli.py

@@ -39,7 +39,7 @@ async def main(code: str, foreign_functions: dict[str, Any] | None = None):
         default_robot=None,
         foreign_functions=foreign_functions,
     )
-    echo(f"Execution results:\n{runner.program_run.output_data}")
+    echo(f"Execution results:\n{runner.program_run.state}")
 
 
 @app.command()