Module for graphnav (#44)

* refactored code into modules

* refactored image service

* cleanup imports

* add unit tests for some graph_nav_util functions

* pip install requirements

* typing changes

* absolute paths

* clone to specific directory

* check file structure for CI

* check files

* check files

* add test script

* install spot wrapper

* install script

* remove asyncimageservice

* use robot_params to share state variables

* Pytest replacement (#1)

* use pytest instead

* add pytest dependency

* fail test on purpose

* remove failing test

* replace print() with self._logger.error()

* image publishing works well

* moved SPOT_CLIENT_NAME

* static typing for claim()

* black formatting

* comments and passing error feedback

* remove spot_config

* use fstring for short code, move wrench from msg function to class body

* Add changes from [SW-62] Elements for publishing the hand camera in spot_ros2 (#7)

Co-authored-by: Andrew Messing <129519955+amessing-bdai@users.noreply.github.com>

* Wrapper for spot cam interaction (#4)

* simple led brightness control, only able to set all leds to same value

* Add power control, but unclear if it is actually possible to set power for aux and external mic

* most basic functional image stream publisher with webrtc

* add compositor to handle IR and webrtc stream selection with services

Add timestamp for the webrtc images

Add compressed version of the webrtc image stream

* Add health wrapper, move body of robotToLocalTime out of spot wrapper object

robotToLocalTime now takes the timestamp and a robot object, which allows it to
be used by the spot cam wrapper as well.

* add handler and wrapper for audio commands

* update webrtc_client to 3.2 version

* add stream quality wrapper and ros handler

* initial implementation of ptz wrapper and handler, can list ptzs

* ptz handler publishes position and velocity of ptzs, can set position and velocity

* add egg info to gitignore

* fix bad indent after cherry-pick

* fix formatting

* fix short code conversion

* Always include exception message in response strings (#8)

* fix trajectory status unknown not being reset in trajectory command and async idle (#10)

* Add changes from [SW-127] Add function to get images by cameras (#11)

Co-authored-by: Kaiyu Zheng <125413689+kaiyu-zheng@users.noreply.github.com>

* fix dataclass typing issue for older python versions (20.04), check lease object is initialised in claim function (#14)

* remove old camera task mapping introduced in merge

* formatting

* Add changes from [WUD-126] Add manipulation client (#13)

Co-authored-by: myeatman-bdai <129521731+myeatman-bdai@users.noreply.github.com>

* Add changes for added support for the rgb_cameras parameter in spot_ros2 (#15)

Co-authored-by: Philip Keller <keller@fzi.de>
Co-authored-by: Shubham <52372631+skpawar1305@users.noreply.github.com>

* Add changes from [SW-141] Checking edge cases in upload_graph (#12)

Co-authored-by: kzheng <125413689+kaiyu-zheng@users.noreply.github.com>

* Updated bosdyn to 3.2.3 (#16)

* [OC-4] Build a Spot Dance Interface (#17)

* [OC-5] add method to upload hardcoded file

* [OC-4] Code cleanup for PR

* [OC-4] Create separate SpotDacing class

* [OC-4] remove old execute_dance code

* [OC-4] Fix authentication method for compatibility with WUD test

* [OC-5] format files with black

* [OC-4] Modify code based on PR comments

* delete execute_dance from wrapper.py

* [OC-4] Get lease from decorator

* [OC-4] Remove print statements

* [OC-4] Remove extra imports

* [OC-4] Remove extra argument

* formatting

* fix startup issues when choreography or arm is not present

* small changes to choreo check and output when services are not available

* better choreo ordering

* message when choreo module is missing

* cleanup unused spot_image and renamed graphnav private methods

* update graph_nav private methods

* custom arm not found Exception

* _get_lease private method in graphNav

* fix black

* import ordering and removal of unused imports

* wait for arm commands to complete rather than sleeping, using block_until_arm_arrives SDK function

* no longer use convenience dict to access robot params in wrapper class

* missed some robot params usages in wrapper

* add block_until_manipulation_completes method

* improve arm module comments, manipulation request actually makes use of the timesync endpoint and end time

* restore wrapper to main branch state

* restore cam wrapper to main

* restore graph nav util to main

* unnecessary change

* remove other modules and old graph nav util

* wrapper changes and explicit clients

* doesn't actually need robot_params

* Remove import of graph nav utils

* Commented out some decorator functions which are no longer in the wrapper.py. Will get rid of these comments upon final revision

* Updated some minor bug fixes with modular-graphnav and tested on hardware

* formatting

---------

Co-authored-by: jeremysee2 <32976023+jeremysee2@users.noreply.github.com>
Co-authored-by: Andrew Messing <129519955+amessing-bdai@users.noreply.github.com>
Co-authored-by: Kaiyu Zheng <125413689+kaiyu-zheng@users.noreply.github.com>
Co-authored-by: myeatman-bdai <129521731+myeatman-bdai@users.noreply.github.com>
Co-authored-by: Philip Keller <keller@fzi.de>
Co-authored-by: Shubham <52372631+skpawar1305@users.noreply.github.com>
Co-authored-by: David Watkins <129521611+davidwatkins-bdai@users.noreply.github.com>
Co-authored-by: Vedant Gupta <134331854+Guptabot@users.noreply.github.com>
Co-authored-by: Ming Jie See <jeremysee_2@hotmail.com>
Co-authored-by: Brandon Hung <bhung@theaiinstitute.com>

Author: 10 people

.github/workflows/graph_nav_util_test.yml

@@ -0,0 +1,53 @@
+name: graph_nav_util unit tests
+
+# Run on every push
+on: push
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    defaults:
+      run:
+        shell: bash
+
+    steps:
+      - name: Make directory
+        run: mkdir -p ~/spot_wrapper
+
+      - name: Checkout repository
+        uses: actions/checkout@v3
+        with:
+          path: spot_wrapper
+
+      - name: Check files
+        run: ls spot_wrapper
+
+      - name: Set up Python
+        uses: actions/setup-python@v2
+        with:
+          python-version: "3.8"
+
+      - name: Install dependencies
+        run: |
+          pip install -r spot_wrapper/requirements.txt
+          pip install -e spot_wrapper
+
+      - name: Run tests
+        run: pytest --junit-xml=test-results.xml
+
+      - name: Surface failing tests
+        if: always()
+        uses: pmeier/pytest-summary-gha@main
+        with:
+          # A list of JUnit XML files, directories containing the former, and wildcard patterns to process.
+          path: test-results.xml
+
+          # Add a summary of the results at the top of the report
+          summary: true
+
+          # Select which results should be included in the report.
+          # Follows the same syntax as `pytest -r`
+          display-options: fEX
+
+          # Fail the workflow if no JUnit XML was found.
+          fail-on-empty: true

requirements.txt

@@ -1,3 +1,4 @@
 bosdyn_core==3.2.3
 protobuf==4.22.1
 setuptools==45.2.0
+pytest==7.3.1