wandelbots-nova 2.6.2__tar.gz → 2.7.0__tar.gz

{wandelbots_nova-2.6.2 → wandelbots_nova-2.7.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: wandelbots-nova
-Version: 2.6.2
+Version: 2.7.0
 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-2.6.2 → wandelbots_nova-2.7.0}/nova/actions/__init__.py

@@ -13,6 +13,9 @@ from nova.actions.motions import (
     linear,
     ptp,
 )
+from nova.actions.trajectory_builder import TrajectoryBuilder
+
+TrajectoryMacher = TrajectoryBuilder
 
 __all__ = [
     "Action",
@@ -30,4 +33,6 @@ __all__ = [
     "wait",
     "MovementController",
     "MovementControllerContext",
+    "TrajectoryBuilder",
+    "TrajectoryMacher",
 ]

{wandelbots_nova-2.6.2 → wandelbots_nova-2.7.0}/nova/actions/container.py

@@ -8,7 +8,7 @@ from nova import api
 from nova.actions.io import WriteAction
 from nova.actions.mock import WaitAction
 from nova.actions.motions import CollisionFreeMotion, Motion
-from nova.types import MovementControllerFunction, Pose
+from nova.types import MotionSettings, MovementControllerFunction, Pose
 
 
 class ActionLocation(pydantic.BaseModel):
@@ -135,15 +135,10 @@ class CombinedActions(pydantic.BaseModel):
         motion_commands = []
         for motion in self.motions:
             path = api.models.MotionCommandPath.from_dict(motion.to_api_model().model_dump())
-            blending = (
-                motion.settings.as_blending_setting()
-                if motion.settings.has_blending_settings()
-                else None
-            )
+            settings = motion.settings or MotionSettings()
+            blending = settings.as_blending_setting() if settings.has_blending_settings() else None
             limits_override = (
-                motion.settings.as_limits_settings()
-                if motion.settings.has_limits_override()
-                else None
+                settings.as_limits_settings() if settings.has_limits_override() else None
             )
             motion_commands.append(
                 api.models.MotionCommand(

{wandelbots_nova-2.6.2 → wandelbots_nova-2.7.0}/nova/actions/motions.py

@@ -19,7 +19,7 @@ class CollisionFreeMotion(Action):
 
     type: Literal["collision_free_ptp"] = "collision_free_ptp"
     target: Pose | tuple[float, ...]
-    settings: MotionSettings = MotionSettings()
+    settings: MotionSettings | None = None
     collision_scene: wb.models.CollisionScene | None = None
 
     def to_api_model(self) -> api.models.PlanCollisionFreePTPRequestTarget:
@@ -33,7 +33,7 @@ class CollisionFreeMotion(Action):
 
 def collision_free(
     target: Pose | tuple[float, ...],
-    settings: MotionSettings = MotionSettings(),
+    settings: MotionSettings | None = None,
     collision_scene: wb.models.CollisionScene | None = None,
 ) -> CollisionFreeMotion:
     return CollisionFreeMotion(target=target, settings=settings, collision_scene=collision_scene)
@@ -50,7 +50,7 @@ class Motion(Action, ABC):
 
     type: Literal["linear", "cartesian_ptp", "circular", "joint_ptp", "spline"]
     target: Pose | tuple[float, ...]
-    settings: MotionSettings = MotionSettings()
+    settings: MotionSettings | None = None
     collision_scene: wb.models.CollisionScene | None = None
 
     @property
@@ -88,7 +88,7 @@ class Linear(Motion):
 
 def linear(
     target: PoseOrVectorTuple,
-    settings: MotionSettings = MotionSettings(),
+    settings: MotionSettings | None = None,
     collision_scene: wb.models.CollisionScene | None = None,
 ) -> Linear:
     """Convenience function to create a linear motion
@@ -146,7 +146,7 @@ class CartesianPTP(Motion):
 
 def cartesian_ptp(
     target: PoseOrVectorTuple,
-    settings: MotionSettings = MotionSettings(),
+    settings: MotionSettings | None = None,
     collision_scene: wb.models.CollisionScene | None = None,
 ) -> CartesianPTP:
     """Convenience function to create a point-to-point motion
@@ -208,7 +208,7 @@ class Circular(Motion):
 def circular(
     target: PoseOrVectorTuple,
     intermediate: PoseOrVectorTuple,
-    settings: MotionSettings = MotionSettings(),
+    settings: MotionSettings | None = None,
     collision_scene: wb.models.CollisionScene | None = None,
 ) -> Circular:
     """Convenience function to create a circular motion
@@ -272,7 +272,7 @@ class JointPTP(Motion):
 
 def joint_ptp(
     target: tuple[float, ...],
-    settings: MotionSettings = MotionSettings(),
+    settings: MotionSettings | None = None,
     collision_scene: wb.models.CollisionScene | None = None,
 ) -> JointPTP:
     """Convenience function to create a joint PTP motion
@@ -315,7 +315,7 @@ class Spline(Motion):
 
 def spline(
     target: PoseOrVectorTuple,
-    settings: MotionSettings = MotionSettings(),
+    settings: MotionSettings | None = None,
     path_parameter: float = 1,
     time=None,
     collision_scene: wb.models.CollisionScene | None = None,

wandelbots_nova-2.7.0/nova/actions/trajectory_builder.py

@@ -0,0 +1,67 @@
+from contextlib import contextmanager
+from typing import Optional, Sequence
+
+from nova.actions import Action
+from nova.actions.motions import Motion
+from nova.types import MotionSettings
+
+
+class TrajectoryBuilder:
+    def __init__(self, settings: Optional[MotionSettings] = None):
+        """A builder for trajectories.
+
+        Args:
+            settings (Optional[MotionSettings], optional): The global settings to use for the trajectory. Defaults to None.
+        """
+        self._actions: list[Action] = []
+        self._settings_stack: list[MotionSettings] = [] if settings is None else [settings]
+
+    def __enter__(self):
+        return self
+
+    def __exit__(self, exc_type, exc_val, exc_tb):
+        pass
+
+    @property
+    def actions(self) -> list[Action]:
+        """The built actions in the trajectory."""
+        return self._actions
+
+    def _current_settings(self) -> MotionSettings:
+        """The current settings to use for the trajectory."""
+        return self._settings_stack[-1]
+
+    def move(self, motion: Motion):
+        """Add a motion to the trajectory."""
+        motion.settings = motion.settings or self._current_settings()
+        self._actions.append(motion)
+
+    def trigger(self, action: Action):
+        """Add a action to the trajectory."""
+        self._actions.append(action)
+
+    def sequence(self, actions: Sequence[Action]):
+        """Add a sequence of actions to the trajectory."""
+        for action in actions:
+            if isinstance(action, Motion):
+                self.move(action)
+            else:
+                self.trigger(action)
+
+    @contextmanager
+    def set(self, settings: MotionSettings):
+        """Set the settings for the trajectory context."""
+        self._settings_stack.append(settings)
+        try:
+            yield self
+        finally:
+            self._settings_stack.pop()
+
+    def __iter__(self):
+        return iter(self._actions)
+
+    def __len__(self):
+        return len(self._actions)
+
+    def __getitem__(self, idx):
+        return self._actions[idx]

{wandelbots_nova-2.6.2 → wandelbots_nova-2.7.0}/nova/program/function.py

@@ -133,9 +133,16 @@ class Program(BaseModel, Generic[Parameters, Return]):
             async with Nova() as nova:
                 cell = nova.cell()
                 for controller_id in controller_ids:
-                    await cell.delete_robot_controller(controller_id)
-                    self._log("info", f"Cleaned up controller with ID '{controller_id}'")
+                    try:
+                        await cell.delete_robot_controller(controller_id)
+                        self._log("info", f"Cleaned up controller with ID '{controller_id}'")
+                    except Exception as e:
+                        # WORKAROUND: {"code":9, "message":"Failed to 'Connect to Host' due the
+                        #   following reason:\nConnection refused (2)!\nexception::CommunicationException: Configured robot connection is not reachable.", "details":[]}
+                        # Log and suppress errors for individual controller cleanup
+                        self._log("error", f"Error cleaning up controller '{controller_id}': {e}")
         except Exception as e:
+            # Log and suppress errors for the overall cleanup process
             self._log("error", f"Error during controller cleanup: {e}")
 
     @property

{wandelbots_nova-2.6.2 → wandelbots_nova-2.7.0}/novax/novax.py

@@ -3,7 +3,6 @@ from typing import AsyncIterator, Optional
 
 from decouple import config
 from fastapi import APIRouter, FastAPI
-from nats.js.api import KeyValueConfig
 
 from nova.cell.robot_cell import RobotCell
 from nova.core.logging import logger
@@ -13,10 +12,13 @@ from nova.program.store import ProgramStore
 from novax.program_manager import ProgramDetails, ProgramManager, ProgramSource
 
 # Read BASE_PATH environment variable and extract app name
-BASE_PATH = config("BASE_PATH", default="/default/novax")
-APP_NAME = BASE_PATH.split("/")[-1] if "/" in BASE_PATH else "novax"
-logger.info(f"Extracted app name '{APP_NAME}' from BASE_PATH '{BASE_PATH}'")
+_BASE_PATH = config("BASE_PATH", default="/default/novax")
+_APP_NAME = _BASE_PATH.split("/")[-1] if "/" in _BASE_PATH else "novax"
+logger.info(f"Extracted app name '{_APP_NAME}' from BASE_PATH '{_BASE_PATH}'")
 
+# Create nats programs bucket name
+_CELL_NAME = config("CELL_NAME", default="")
+_NATS_PROGRAM_BUCKET = f"nova.{_CELL_NAME}:programs"
 _NATS_CLIENT_CONFIG = {"connect_timeout": 2.0, "allow_reconnect": True, "max_reconnect_attempts": 2}
 
 
@@ -94,7 +96,7 @@ class Novax:
                         program=program_details.program,
                         name=program_details.name,
                         description=program_details.description,
-                        app=APP_NAME,
+                        app=_APP_NAME,
                         preconditions=preconditions_dict,
                     )
 
@@ -102,18 +104,12 @@ class Novax:
                 except Exception as e:
                     logger.error(f"Failed to convert program {program_id} to store format: {e}")
 
-            # TODO: remove the nats_key_value config once discovery service is merged
-            # even at the NATS permission level, an app NATS client should not be able to create this bucket, this is a system bucket managed by the discovery service
-            # novax app should only be able to read/write to this bucket in their namespace
-
             async with ProgramStore(
-                nats_bucket_name="programs",
-                nats_kv_config=KeyValueConfig(bucket="programs"),
-                nats_client_config=_NATS_CLIENT_CONFIG,
+                nats_bucket_name=_NATS_PROGRAM_BUCKET, nats_client_config=_NATS_CLIENT_CONFIG
             ) as program_store:
                 for program_id, store_program in store_programs.items():
                     try:
-                        await program_store.put(f"{APP_NAME}:{program_id}", store_program)
+                        await program_store.put(f"{_APP_NAME}:{program_id}", store_program)
                         logger.debug(f"Program {program_id} synced to store")
                     except Exception as e:
                         logger.error(f"Failed to sync program {program_id} to store: {e}")
@@ -137,11 +133,11 @@ class Novax:
             program_count = len(program_ids)
 
             async with ProgramStore(
-                nats_bucket_name="programs", nats_client_config=_NATS_CLIENT_CONFIG
+                nats_bucket_name=_NATS_PROGRAM_BUCKET, nats_client_config=_NATS_CLIENT_CONFIG
             ) as program_store:
                 for program_id in program_ids:
                     try:
-                        await program_store.delete(f"{APP_NAME}:{program_id}")
+                        await program_store.delete(f"{_APP_NAME}:{program_id}")
                         logger.debug(f"Program {program_id} removed from store")
                     except Exception as e:
                         logger.error(f"Failed to remove program {program_id} from store: {e}")
@@ -202,8 +198,12 @@ class Novax:
         # Replace the dependency function on the FastAPI app
         app.dependency_overrides[get_program_manager] = get_program_manager_override
 
-        # Attach lifespan to the router
-        programs_router.lifespan_context = self.program_store_lifespan
+        if not _CELL_NAME:
+            logger.error(
+                "Novax: CELL_NAME environment variable is not set, your programs will not be registered"
+            )
+        else:
+            programs_router.lifespan_context = self.program_store_lifespan
 
         # Include the programs router
         app.include_router(programs_router)

{wandelbots_nova-2.6.2 → wandelbots_nova-2.7.0}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "wandelbots-nova"
-version = "2.6.2"
+version = "2.7.0"
 description = "Official Python SDK for the Wandelbots Nova"
 authors = [
     { name = "Wandelbots GmbH" },