wandelbots-nova 3.2.0__tar.gz → 3.3.0__tar.gz

{wandelbots_nova-3.2.0 → wandelbots_nova-3.3.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: wandelbots-nova
-Version: 3.2.0
+Version: 3.3.0
 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-3.2.0 → wandelbots_nova-3.3.0}/nova/program/runner.py

@@ -3,7 +3,6 @@ import contextlib
 import contextvars
 import inspect
 import io
-import json
 import sys
 import threading
 import traceback as tb
@@ -11,6 +10,7 @@ import uuid
 from abc import ABC, abstractmethod
 from collections.abc import Awaitable, Callable
 from concurrent.futures import Future
+from datetime import datetime
 from typing import Any, Coroutine, Optional
 
 import anyio
@@ -19,6 +19,7 @@ from anyio.abc import TaskStatus
 from decouple import config
 from exceptiongroup import ExceptionGroup
 from loguru import logger
+from pydantic import BaseModel, Field, StrictStr
 from wandelbots_api_client.v2.models import ProgramRun as ApiProgramRun
 from wandelbots_api_client.v2.models import ProgramRunState
 
@@ -44,6 +45,18 @@ class ProgramRun(ApiProgramRun):
     output_data: dict[str, Any] = {}
 
 
+class ProgramStatus(BaseModel):
+    run: StrictStr = Field(description="Unique identifier of the program run")
+    program: StrictStr = Field(description="Unique identifier of the program")
+    app: Optional[StrictStr] = Field(description="The app name where the program is hosted")
+    state: ProgramRunState = Field(description="State of the program run")
+    start_time: Optional[datetime] = Field(
+        default=None, description="Start time of the program run"
+    )
+    end_time: Optional[datetime] = Field(default=None, description="End time of the program run")
+    timestamp: datetime = Field(description="The RC3339 timestamp when the message was created")
+
+
 # TODO: should provide a number of tools to the program to control the execution of the program
 class ExecutionContext:
     # Maps the motion group id to the list of recorded motion lists
@@ -146,6 +159,18 @@ class ProgramRunner(ABC):
         """
         return self._program_run
 
+    @property
+    def program_status(self) -> ProgramStatus:
+        return ProgramStatus(
+            run=self._program_run.run,
+            program=self._program_run.program,
+            app=self._app_name,
+            state=self._program_run.state,
+            start_time=self._program_run.start_time,
+            end_time=self._program_run.end_time,
+            timestamp=timestamp.now_utc(),
+        )
+
     @property
     def state(self) -> ProgramRunState:
         """Get the current state of the program run.
@@ -310,24 +335,11 @@ class ProgramRunner(ABC):
         await on_state_change()
 
         if nova is not None:
-            # publish program run to NATS
-            # TODO: also use autogenerated model for NATS
-            data = self._program_run.model_dump()
-            data["timestamp"] = timestamp.now_rfc3339()
-            data["start_time"] = (
-                timestamp.datetime_to_rfc3339(self._program_run.start_time)
-                if self._program_run.start_time
-                else None
-            )
-            data["end_time"] = (
-                timestamp.datetime_to_rfc3339(self._program_run.end_time)
-                if self._program_run.end_time
-                else None
-            )
-            data["app"] = self._app_name
+            data = self.program_status.model_dump_json().encode("utf-8")
 
+            # publish program run to NATS
             subject = f"nova.v2.cells.{self._cell_id}.programs"
-            message = Message(subject=subject, data=json.dumps(data).encode("utf-8"))
+            message = Message(subject=subject, data=data)
             await nova.nats.publish_message(message)
 
     async def _run_program(
@@ -469,12 +481,14 @@ class PythonProgramRunner(ProgramRunner):
         parameters: Optional[dict[str, Any]] = None,
         robot_cell_override: RobotCell | None = None,
         nova_config: NovaConfig | None = None,
+        app_name: str | None = None,
     ):
         super().__init__(
             program,
             parameters=parameters or {},
             robot_cell_override=robot_cell_override,
             nova_config=nova_config,
+            app_name=app_name,
         )
         # TODO: is this still required?
         self.program = program
@@ -541,6 +555,7 @@ def run_program(
     robot_cell_override: RobotCell | None = None,
     on_state_change: Callable[[ProgramRun], Coroutine[Any, Any, None]] | None = None,
     nova_config: NovaConfig | None = None,
+    app_name: str | None = None,
 ) -> PythonProgramRunner:
     """Run a program with given parameters.
 
@@ -560,6 +575,7 @@ def run_program(
         parameters=parameters,
         robot_cell_override=robot_cell_override,
         nova_config=nova_config,
+        app_name=app_name,
     )
 
     # Try to grab a caller loop if there is one; otherwise, fall back to None.

{wandelbots_nova-3.2.0 → wandelbots_nova-3.3.0}/novax/novax.py

@@ -13,12 +13,20 @@ from novax.program_manager import ProgramDetails, ProgramManager
 
 
 class Novax:
-    def __init__(self):
+    def __init__(self, *, app_name: str | None = None):
+        """Initialize the Novax class.
+
+        Args:
+            app_name (str | None, optional): This one is read from the environment variable APP_NAME. Only change it for development purposes. Defaults to None.
+        """
+        app_name = app_name or APP_NAME
+
         nova = Nova()
         self._nova = nova
         self._cell = self._nova.cell(cell_id=CELL_NAME)
+
         self._program_manager: ProgramManager = ProgramManager(
-            cell_id=CELL_NAME, app_name=APP_NAME, nova_config=nova.config
+            cell_id=CELL_NAME, app_name=app_name, nova_config=nova.config
         )
         self._app: FastAPI | None = None
 

{wandelbots_nova-3.2.0 → wandelbots_nova-3.3.0}/novax/program_manager.py

@@ -128,6 +128,7 @@ class ProgramManager:
             on_state_change=on_state_change,
             nova_config=self._nova_config,
             robot_cell_override=self._robot_cell_override,
+            app_name=self._app_name,
         )
 
         self._runner = runner

{wandelbots_nova-3.2.0 → wandelbots_nova-3.3.0}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "wandelbots-nova"
-version = "3.2.0"
+version = "3.3.0"
 description = "Official Python SDK for the Wandelbots Nova"
 authors = [
     { name = "Wandelbots GmbH" },

{wandelbots_nova-3.2.0 → wandelbots_nova-3.3.0}/tests/novax/api/test_program_run.py

@@ -7,7 +7,7 @@ from pydantic import BaseModel
 
 import nova
 from nova.core.nova import Nova
-from nova.program.runner import ProgramRun, ProgramRunState
+from nova.program.runner import ProgramRun, ProgramRunState, ProgramStatus
 from novax.novax import Novax
 
 
@@ -28,12 +28,12 @@ async def test_novax_program_successful_run(novax_app):
     nova = Nova()
     await nova.connect()
 
-    program_run_message = []
+    # subscribe to program run messages
+    program_status_messages = []
 
-    async def cb(msg):
-        program_run_message.append(msg)
-
-    await nova.nats.subscribe("nova.v2.cells.cell.programs", on_message=cb)
+    await nova.nats.subscribe(
+        "nova.v2.cells.cell.programs", on_message=lambda msg: program_status_messages.append(msg)
+    )
 
     with TestClient(novax_app) as client:
         start_program = client.post("/programs/sucessful_program/start", json={"arguments": {}})
@@ -41,15 +41,21 @@ async def test_novax_program_successful_run(novax_app):
 
         await asyncio.sleep(10)
 
-        assert len(program_run_message) == 3, (
-            f"Expected 3 program run messages, but got {len(program_run_message)}"
+        assert len(program_status_messages) == 3, (
+            f"Expected 3 program status messages, but got {len(program_status_messages)}"
         )
 
-        models = [ProgramRun.model_validate_json(message.data) for message in program_run_message]
+        # verify program run messages
+        models = [
+            ProgramStatus.model_validate_json(message.data) for message in program_status_messages
+        ]
         assert models[0].state == ProgramRunState.PREPARING
         assert models[1].state == ProgramRunState.RUNNING
         assert models[2].state == ProgramRunState.COMPLETED
 
+        for model in models:
+            assert model.app == "novax_test"
+
 
 @nova.program(
     id="failing_program",
@@ -68,12 +74,12 @@ async def test_novax_program_failed_run(novax_app):
     nova = Nova()
     await nova.connect()
 
-    program_run_message = []
+    # subscribe to program run messages
+    program_status_messages = []
 
-    async def cb(msg):
-        program_run_message.append(msg)
-
-    await nova.nats.subscribe("nova.v2.cells.cell.programs", on_message=cb)
+    await nova.nats.subscribe(
+        "nova.v2.cells.cell.programs", on_message=lambda msg: program_status_messages.append(msg)
+    )
 
     with TestClient(novax_app) as client:
         start_program = client.post("/programs/failing_program/start", json={"arguments": {}})
@@ -81,15 +87,21 @@ async def test_novax_program_failed_run(novax_app):
 
         await asyncio.sleep(8)
 
-        assert len(program_run_message) == 3, (
-            f"Expected 3 program run messages, but got {len(program_run_message)}"
+        assert len(program_status_messages) == 3, (
+            f"Expected 3 program status messages, but got {len(program_status_messages)}"
         )
 
-        models = [ProgramRun.model_validate_json(message.data) for message in program_run_message]
+        # verify program status messages
+        models = [
+            ProgramStatus.model_validate_json(message.data) for message in program_status_messages
+        ]
         assert models[0].state == ProgramRunState.PREPARING
         assert models[1].state == ProgramRunState.RUNNING
         assert models[2].state == ProgramRunState.FAILED
 
+        for model in models:
+            assert model.app == "novax_test"
+
 
 @nova.program(
     id="long_running_program",
@@ -109,12 +121,12 @@ async def test_novax_program_stopped_run(novax_app):
     nova = Nova()
     await nova.connect()
 
-    program_run_messages = []
-
-    async def cb(msg):
-        program_run_messages.append(msg)
+    # subscribe to program run messages
+    program_status_messages = []
 
-    await nova.nats.subscribe("nova.v2.cells.cell.programs", on_message=cb)
+    await nova.nats.subscribe(
+        "nova.v2.cells.cell.programs", on_message=lambda msg: program_status_messages.append(msg)
+    )
 
     with TestClient(novax_app) as client:
         start_program = client.post("/programs/long_running_program/start", json={"arguments": {}})
@@ -125,10 +137,12 @@ async def test_novax_program_stopped_run(novax_app):
         await asyncio.sleep(5)
 
         # Verify program is running
-        assert len(program_run_messages) >= 2, (
-            f"Expected at least 2 program run messages, but got {len(program_run_messages)}"
+        assert len(program_status_messages) >= 2, (
+            f"Expected at least 2 program run messages, but got {len(program_status_messages)}"
         )
-        models = [ProgramRun.model_validate_json(message.data) for message in program_run_messages]
+        models = [
+            ProgramStatus.model_validate_json(message.data) for message in program_status_messages
+        ]
         assert models[0].state == ProgramRunState.PREPARING
         assert models[1].state == ProgramRunState.RUNNING
 
@@ -140,17 +154,21 @@ async def test_novax_program_stopped_run(novax_app):
         await asyncio.sleep(5)
 
         # Verify that we received the STOPPED event
-        assert len(program_run_messages) == 3, (
-            f"Expected 3 program run messages, but got {len(program_run_messages)}"
+        assert len(program_status_messages) == 3, (
+            f"Expected 3 program status messages, but got {len(program_status_messages)}"
         )
 
+        # verify program status messages
         final_models = [
-            ProgramRun.model_validate_json(message.data) for message in program_run_messages
+            ProgramStatus.model_validate_json(message.data) for message in program_status_messages
         ]
         assert final_models[0].state == ProgramRunState.PREPARING
         assert final_models[1].state == ProgramRunState.RUNNING
         assert final_models[2].state == ProgramRunState.STOPPED
 
+        for model in final_models:
+            assert model.app == "novax_test"
+
 
 @pytest.mark.integration
 @pytest.mark.xdist_group("program-runs")

{wandelbots_nova-3.2.0 → wandelbots_nova-3.3.0}/tests/novax/conftest.py

@@ -29,7 +29,7 @@ async def simple_program(number_of_steps: int = 30):
 
 @pytest.fixture
 def novax_app():
-    novax = Novax()
+    novax = Novax(app_name="novax_test")
     app = novax.create_app()
     novax.include_programs_router(app)