Skip to content

Commit

Permalink
Tested MiR driver with comments, supports multi-action missions and c…
Browse files Browse the repository at this point in the history 
…haining same action types
  • Loading branch information
@AileenCleary
AileenCleary committed Aug 12, 2024
1 parent e8a2953 commit e1acc49
Showing 1 changed file with 91 additions and 39 deletions.
130 changes: 91 additions & 39 deletions src/mir_driver/mir_driver.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -48,9 +48,9 @@ def get_map(self):
)

maps = json.loads(get_maps.text)
if not maps:
text = input("No maps created. Create new map? [y/n]: ") # WIP
return text
# if not maps:
# text = input("No maps created. Create new map? [y/n]: ") # WIP
# return text

if not self.map_name:
print("Current map not set, using first instance...")
Expand All @@ -63,10 +63,10 @@ def get_map(self):

return current_map[0]

def test_record_new_map(self): # WIP
return
# def test_record_new_map(self): # WIP
# return

def get_actions(self, print=False):
def get_actions(self, printq=False):
"""
get_action: Retrieves and prints all valid action types and their descriptions.
"""
Expand All @@ -77,7 +77,7 @@ def get_actions(self, print=False):

all_actions = json.loads(get_actions.text)

if print:
if printq:
pprint(all_actions)

return all_actions
Expand Down Expand Up @@ -161,6 +161,9 @@ def delete_dashboard(self, id=str):
return

def list_missions(self, print=False):
'''
list_mission : Lists all created missions for the MiR.
'''

get_missions = requests.get(self.host + "missions", headers=self.headers)
all_missions = json.loads(get_missions.text)
Expand All @@ -171,6 +174,9 @@ def list_missions(self, print=False):
return all_missions

def get_mission_queue(self, print=False):
'''
get_mission_queue : Prints all current missions in the mission queue.
'''

mission_queue = requests.get(
self.host + "mission_queue",
Expand All @@ -179,7 +185,7 @@ def get_mission_queue(self, print=False):

if mission_queue.status_code == 200:
if print==True:
pprint(json.loads(mission_queue.text)) # Print nicely?
pprint(json.loads(mission_queue.text))
elif mission_queue.status_code == 404 or mission_queue.status_code == 410:
print("Error: No current mission queue found.")

Expand All @@ -201,6 +207,9 @@ def get_mission_queue_actions(self, print=False):
return mission_queue.text

def delete_mission_queue(self):
'''
delete_mission_queue : Clears all missions from mission queue.
'''

response = requests.delete(
self.host + "mission_queue",
Expand All @@ -213,6 +222,9 @@ def delete_mission_queue(self):
return response

def find_mission_in_queue(self, mission_name):
'''
find_mission_in_queue : Prints mission and action details for given mission name in queue.
'''

all_missions = self.list_missions()

Expand All @@ -228,23 +240,22 @@ def find_mission_in_queue(self, mission_name):
headers=self.headers
)

print("Mission Details: \n") # *** Print nicely? More human-readable?
print("Mission Details: \n")
pprint(json.loads(mission.text))
print("Mission Actions: \n")
pprint(json.loads(details.text))

return

print("Mission name not found in mission queue. Current queue: \n")
self.get_mission_queue()
# text = input("Add current mission name to queue? [y/n]: \n")
# if text.lower() == "y":
# self.post_mission_to_queue(mission_name)
# return

self.get_mission_queue(True)

return

def delete_mission_in_queue(self, mission_name):
'''
delete_mission_in_queue : Deletes given mission name from current queue if found.
'''

all_missions = self.list_missions()

Expand All @@ -267,13 +278,19 @@ def delete_mission_in_queue(self, mission_name):
return

def find_act_type(self, action_type):
'''
find_act_type : Returns parameter details for a given action type.
'''

actions = self.action_dict
parameters = actions.get(action_type)["parameters"]

return parameters

def init_mission(self, mission_name, description, printq=False):
'''
init_mission : Helper function initializing new mission.
'''

Missions = {
"description" : description,
Expand All @@ -297,6 +314,9 @@ def init_mission(self, mission_name, description, printq=False):
return response

def init_action(self, act_param_dict, mission_id, priority, printq=False):
'''
init_action : Helper function initializing actions with default values when creating a new mission.
'''

for i in range(len(act_param_dict)):
action_type = list(act_param_dict[i].keys())[0]
Expand Down Expand Up @@ -325,6 +345,9 @@ def init_action(self, act_param_dict, mission_id, priority, printq=False):
return

def set_action_params(self, mission_id, act_param_dict, printq):
'''
set_action_params : Helper function to modify action parameters for a mission.
'''

response = requests.get(
self.host + "missions/" + mission_id + "/actions",
Expand Down Expand Up @@ -374,6 +397,20 @@ def set_action_params(self, mission_id, act_param_dict, printq):


def post_mission_to_queue(self, mission_name, act_param_dict, description="", priority=1, printq=False):
'''
post_mission_to_queue: Checks if the mission name exists, if not, initializes the mission and actions with default values, then modifies the actions with the new parameters
and posts the mission to queue.
'mission_name' : Name to post mission under. If unique, creates new mission, if not, modifies existing mission.
'act_param_dict' : List of dictionaries, where each dictionary takes the form of:
{<action_type> :
{<parameter id : <new value>,
...
}}
Actions must be given in the same order as when the mission was created. Only include parameter ids that you wish to change, others do not have to be specified.
'description' : Enter a description for the mission if desired, otherwise blank.
'priority' : Assign a priority when posting the mission to queue, otherwise 1.
'printq' : Print all mission and action details throughout the process.
'''

all_missions = self.list_missions()

Expand Down Expand Up @@ -457,6 +494,9 @@ def check_queue_completion(self):
return

def status(self):
'''
status : Retrieves MiR system status.
'''

get_status = requests.get(
self.host + "status",
Expand All @@ -467,6 +507,9 @@ def status(self):
return json.loads(get_status.text)

def get_info(self, index):
'''
get_info : Retrieves mission and corresponding action details for the mission at the given index, for debugging.
'''

get_missions = requests.get(
self.host + "missions",
Expand All @@ -480,7 +523,7 @@ def get_info(self, index):
headers=self.headers,
)
dets = json.loads(get_actions.text)
#pprint(dets)

for thing in dets:
id = thing.get("guid")
get_act = requests.get(
Expand All @@ -491,6 +534,9 @@ def get_info(self, index):
return

def get_user_group_id(self):
'''
get_user_group_id : Gets first mission group id, necessary when posting/creating a mission. Can be modified if different mission group desired.
'''

get_id = requests.get(
self.host + "mission_groups",
Expand All @@ -502,38 +548,44 @@ def get_user_group_id(self):
return users[0].get("guid")

def create_action_dict(self):
'''
create_action_dict : Dictionary setting default parameters for useful action types.
'id' : Parameter name, must be used when changing default value.
'input_name' : Required parameter, set to None, otherwise will create a variable that cannot be changed/stacked with multiple actions.
'value' : Contains default value for all parameters, remains default unless modified explicitly when posting a mission.
'''

action_dict = {
"relative_move" : {
"parameters" : [
{
'id' : 'x',
'input_name' : 'X',
'input_name' : None,
'value' : 0.0
},
{
'id' : 'y',
'input_name' : 'Y',
'input_name' : None,
'value' : 0.0
},
{
'id' : 'orientation',
'input_name' : 'Orientation',
'input_name' : None,
'value' : 0.0
},
{
'id' : 'max_linear_speed',
'input_name' : 'Maximum linear speed',
'input_name' : None,
'value' : 0.25
},
{
'id' : 'max_angular_speed',
'input_name' : 'Maximum angular speed',
'input_name' : None,
'value' : 0.25
},
{
'id' : 'collision_detection',
'input_name' : 'Collision detection',
'input_name' : None,
'value' : True
}
]
Expand All @@ -542,32 +594,32 @@ def create_action_dict(self):
"parameters" : [
{
'id' : 'x',
'input_name' : 'X',
'input_name' : None,
'value' : 0.0
},
{
'id' : 'y',
'input_name' : 'Y',
'input_name' : None,
'value' : 0.0
},
{
'id' : 'orientation',
'input_name' : 'Orientation',
'input_name' : None,
'value' : 0.0
},
{
'id' : 'retries',
'input_name' : 'Retries (Blocked Path)',
'input_name' : None,
'value' : 10
},
{
'id' : 'distance_threshold',
'input_name' : 'Distance threshold',
'input_name' : None,
'value' : 0.1
}
]
},
"move" : { # Populate with default values.. Check with own positions, can automate. WIP
"move" : {
"parameters" : [
{
'id' : 'position',
Expand All @@ -577,30 +629,30 @@ def create_action_dict(self):
},
{
'id' : 'cart_entry_position',
'input_name' : 'Cart position',
'input_name' : None,
'name' : 'Main',
'value' : 'main'
},
{
'id' : 'main_or_entry_position',
'input_name' : 'Position type',
'input_name' : None,
'name' : 'Main',
'value' : 'main'
},
{
'id' : 'marker_entry_position',
'input_name' : 'Position type',
'input_name' : None,
'name' : 'Entry',
'value' : 'entry'
},
{
'id' : 'retries',
'input_name' : 'Retries (Blocked Path)',
'input_name' : None,
'value' : 10
},
{
'id' : 'distance_threshold',
'input_name' : 'Distance threshold',
'input_name' : None,
'value' : 0.1
}
]
Expand All @@ -609,24 +661,24 @@ def create_action_dict(self):
"parameters" : [
{
'id' : 'marker',
'input_name' : 'Marker position',
'input_name' : None,
'name' : 'camera_marker',
'value' : '4ccacd0d-7f46-11ee-8521-0001297b4d50'
},
{
'id' : 'marker_type',
'input_name' : 'Marker_type',
'name' : 'Narrow asymmetric MiR500/1000 shelf', # ??
'input_name' : None,
'name' : 'Narrow asymmetric MiR500/1000 shelf',
'value' : 'mirconst-guid-0000-0001-marker000001'
},
{
'id' : 'retries',
'input_name' : 'Retries (Blocked Path)',
'input_name' : None,
'value' : 10
},
{
'id' : 'max_linear_speed',
'input_name' : 'Maximum linear speed',
'input_name' : None,
'value' : 0.1
}
]
Expand All @@ -641,7 +693,7 @@ def create_action_dict(self):
mir_base = MiR_Base(map_name="RPL")

#response = mir_base.get_action_type("move", True)
mir_base.post_mission_to_queue("testing_8.9.91", [{"move" : {"position" : "d99494c0-54d5-11ef-be3f-0001297b4d50"}},{"move": {"position" : "b34d6e54-5670-11ef-a572-0001297b4d50"}}], "testing", 1, True)
mir_base.post_mission_to_queue("testing_8.12.11", [{"move" : {"position" : "d99494c0-54d5-11ef-be3f-0001297b4d50"}},{"move": {"position" : "b34d6e54-5670-11ef-a572-0001297b4d50"}}], "testing", 1, True)
response = mir_base.get_info(-1)
y = mir_base.status()

Expand Down

0 comments on commit e1acc49

Please sign in to comment.