From bde8d8b339412e21a39b6cb144f2750bbabf6cea Mon Sep 17 00:00:00 2001 From: tginsbu1 Date: Tue, 31 Mar 2026 08:28:06 -0400 Subject: [PATCH 1/8] partial cleanup --- Dockerfile | 2 +- Makefile | 21 -------- pyproject.toml | 4 +- .../{mir_driver.py => mir_interface.py} | 0 tests/test_base.py | 25 --------- tests/test_module.py | 46 ---------------- tests/workcell_defs/test_workcell.yaml | 19 ------- tests/workflow_defs/test_workflow.yaml | 15 ------ wei.compose.yaml | 52 ------------------- 9 files changed, 4 insertions(+), 180 deletions(-) delete mode 100644 Makefile rename src/mir_driver/{mir_driver.py => mir_interface.py} (100%) delete mode 100644 tests/test_base.py delete mode 100644 tests/test_module.py delete mode 100644 tests/workcell_defs/test_workcell.yaml delete mode 100644 tests/workflow_defs/test_workflow.yaml delete mode 100644 wei.compose.yaml diff --git a/Dockerfile b/Dockerfile index f735590..a494da2 100644 --- a/Dockerfile +++ b/Dockerfile @@ -1,4 +1,4 @@ -FROM ghcr.io/ad-sdl/wei +FROM ghcr.io/ad-sdl/madsci LABEL org.opencontainers.image.source=https://github.com/AD-SDL/mir_module LABEL org.opencontainers.image.description="Drivers and REST API's for the mir plate handler robots" diff --git a/Makefile b/Makefile deleted file mode 100644 index 4fb9960..0000000 --- a/Makefile +++ /dev/null @@ -1,21 +0,0 @@ -.DEFAULT_GOAL := init - -.PHONY += init paths checks test clean - -init: # Do the initial configuration of the project - @test -e .env || cp example.env .env - -.env: init - -paths: .env # Create the necessary data directories - @mkdir -p $(shell grep -E '^WEI_DATA_DIR=' .env | cut -d '=' -f 2) - @mkdir -p $(shell grep -E '^REDIS_DIR=' .env | cut -d '=' -f 2) - -checks: # Runs all the pre-commit checks - @pre-commit install - @pre-commit run --all-files || { echo "Checking fixes\n" ; pre-commit run --all-files; } - -test: init .env paths # Runs all the tests - @docker compose -f wei.compose.yaml --env-file .env up --build -d - @docker compose -f wei.compose.yaml --env-file .env exec mir_module pytest -p no:cacheprovider mir_module - @docker compose -f wei.compose.yaml --env-file .env down diff --git a/pyproject.toml b/pyproject.toml index 8e809b8..7f6dd3b 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -12,7 +12,9 @@ authors = [ {name = "Aileen Cleary", email = "acleary@anl.gov"}, ] dependencies = [ - "ad_sdl.wei>=0.5.3", + "madsci-node-module", + "madsci-client", + "madsci-common", "fastapi>=0.103.2", "uvicorn>=0.21.1", "pytest", diff --git a/src/mir_driver/mir_driver.py b/src/mir_driver/mir_interface.py similarity index 100% rename from src/mir_driver/mir_driver.py rename to src/mir_driver/mir_interface.py diff --git a/tests/test_base.py b/tests/test_base.py deleted file mode 100644 index daaddda..0000000 --- a/tests/test_base.py +++ /dev/null @@ -1,25 +0,0 @@ -"""Base module tests.""" - -import unittest - - -class TestModule_Base(unittest.TestCase): - """Base test class for this module.""" - - pass - - -class TestImports(TestModule_Base): - """Test the imports of the module are working correctly""" - - def test_driver_import(self): - """Test the driver and rest node imports""" - import mir_driver - import mir_rest_node - - assert mir_driver - assert mir_rest_node - - -if __name__ == "__main__": - unittest.main() diff --git a/tests/test_module.py b/tests/test_module.py deleted file mode 100644 index 11fe1e8..0000000 --- a/tests/test_module.py +++ /dev/null @@ -1,46 +0,0 @@ -"""Tests the basic functionality of the Module.""" - -import time -import unittest -from pathlib import Path - -import requests -from wei import ExperimentClient -from wei.types import Workcell - - -class TestWEI_Base(unittest.TestCase): - """Base class for WEI's pytest tests""" - - def __init__(self, *args, **kwargs): - """Basic setup for WEI's pytest tests""" - super().__init__(*args, **kwargs) - self.root_dir = Path(__file__).resolve().parent.parent - self.workcell = Workcell.from_yaml(self.root_dir / Path("tests/workcell_defs/test_workcell.yaml")) - self.server_host = self.workcell.config.server_host - self.server_port = self.workcell.config.server_port - self.url = f"http://{self.server_host}:{self.server_port}" - self.module_url = "http://mir_module:3043" - self.redis_host = self.workcell.config.redis_host - self.experiment = ExperimentClient( - server_host=self.server_host, - server_port=self.server_port, - experiment_name="Test_Experiment", - working_dir=Path(__file__).resolve().parent, - ) - # Check to see that server is up - start_time = time.time() - while True: - try: - if requests.get(self.url + "/up").status_code == 200: - break - except Exception: - pass - time.sleep(1) - if time.time() - start_time > 60: - raise TimeoutError("Server did not start in 60 seconds") - - -if __name__ == "__main__": - t = TestWEI_Base() - unittest.main() diff --git a/tests/workcell_defs/test_workcell.yaml b/tests/workcell_defs/test_workcell.yaml deleted file mode 100644 index e043768..0000000 --- a/tests/workcell_defs/test_workcell.yaml +++ /dev/null @@ -1,19 +0,0 @@ -name: Test_Workcell - -#Info about data processing and location of the workcell -config: - workcell_origin_coordinates: [0, 0, 0, 0, 0, 0] - redis_host: "wei_redis" - server_host: "wei_server" - server_port: 8000 - -#List of all components accessible in this workcell -modules: - - - name: mir_module - model: MiR 250 - interface: wei_rest_node - config: - rest_node_address: "http://mir_module:3043" - workcell_coordinates: [0, 0, 0, 0, 0, 0] -locations: {} diff --git a/tests/workflow_defs/test_workflow.yaml b/tests/workflow_defs/test_workflow.yaml deleted file mode 100644 index 8b9e90a..0000000 --- a/tests/workflow_defs/test_workflow.yaml +++ /dev/null @@ -1,15 +0,0 @@ -name: Test mir_module Module -metadata: - author: Doga Ozgulbas - info: Tests the functionality of the mir Module - version: 0.1 - -modules: - - name: mir_module - -flowdef: - - name: Transfer - module: mir_module - action: action - args: - action_id: 'action1' diff --git a/wei.compose.yaml b/wei.compose.yaml deleted file mode 100644 index 9d5e757..0000000 --- a/wei.compose.yaml +++ /dev/null @@ -1,52 +0,0 @@ -include: [compose.yaml] -##################### -# WEI Core Services # -##################### -services: - wei_server: - image: ghcr.io/ad-sdl/wei - container_name: wei_server - ports: - - 8000:8000 - env_file: .env - environment: - - PYTHONUNBUFFERED=1 # Fix weird bug with empty logging - - USER_ID=${USER_ID:-1000} - - GROUP_ID=${GROUP_ID:-1000} - volumes: - - ./tests/workcell_defs:/workcell_defs - - ${WEI_DATA_DIR}:/home/app/.wei - - diaspora_config:/home/app/.diaspora - command: python3 -m wei.server --workcell /workcell_defs/${WORKCELL_FILENAME} - depends_on: - - wei_redis - wei_engine: - image: ghcr.io/ad-sdl/wei - container_name: wei_engine - volumes: - - ./tests/workcell_defs:/workcell_defs - - ${WEI_DATA_DIR}:/home/app/.wei - env_file: .env - environment: - - PYTHONUNBUFFERED=1 # Fix weird bug with empty logging - - USER_ID=${USER_ID:-1000} - - GROUP_ID=${GROUP_ID:-1000} - command: python3 -m wei.engine --workcell /workcell_defs/${WORKCELL_FILENAME} - depends_on: - - wei_redis - - wei_server - wei_redis: - image: redis - container_name: wei_redis - ports: - - 6379:6379 - volumes: - - ${REDIS_DIR}:/data - command: redis-server --save 60 1 --loglevel warning - -################ -# Data Storage # -################ -volumes: - diaspora_config: - driver: local From 40d2c33b7df2ffdfd960174ee115835f1fc2f80c Mon Sep 17 00:00:00 2001 From: rpl Date: Wed, 22 Apr 2026 14:30:17 -0500 Subject: [PATCH 2/8] working version --- .madsci/registry.json | 18 + .pdm-python | 1 + pdm.lock | 2054 +++++++++++++++++ pyproject.toml | 3 +- src/locations.json | 53 + src/{mir_driver => mir_interface}/__init__.py | 0 .../locations.json | 8 + .../mir_interface.py | 0 src/mir_rest_node.py | 14 +- 9 files changed, 2144 insertions(+), 7 deletions(-) create mode 100644 .madsci/registry.json create mode 100644 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diff --git a/src/locations.json b/src/locations.json new file mode 100644 index 0000000..74c078e --- /dev/null +++ b/src/locations.json @@ -0,0 +1,53 @@ +{ + "RPL": { + "camera_marker": { + "pos_x": 8.209, + "guid": "4ccacd0d-7f46-11ee-8521-0001297b4d50", + "orientation": 180.0, + "pos_y": 16.306, + "type_id": 9 + }, + "charger1": { + "pos_x": 10.119, + "guid": "f0908191-7f46-11ee-8521-0001297b4d50", + "orientation": 88.936, + "pos_y": 21.557, + "type_id": 20 + }, + "N9": { + "pos_x": 11.0, + "guid": "7224a20f-d65c-11ee-a833-0001297b4d50", + "orientation": 0.0, + "pos_y": 16.372, + "type_id": 11 + }, + "test_pos": { + "pos_x": 10.119, + "guid": "88c7d8ff-54d0-11ef-90e0-0001297b4d50", + "orientation": 88.936, + "pos_y": 19.0, + "type_id": 0 + }, + "test_move": { + "pos_x": 7.0, + "guid": "d99494c0-54d5-11ef-be3f-0001297b4d50", + "orientation": 180.0, + "pos_y": 20.2, + "type_id": 0 + }, + "another_move": { + "pos_x": 8.1, + "guid": "b34d6e54-5670-11ef-a572-0001297b4d50", + "orientation": 3.18, + "pos_y": 20.4, + "type_id": 0 + }, + "Charger2": { + "pos_x": 2.924, + "guid": "29604cea-1400-11f1-85eb-0001297b4d50", + "orientation": 177.737, + "pos_y": 11.338, + "type_id": 20 + } + } +} \ No newline at end of file diff --git a/src/mir_driver/__init__.py b/src/mir_interface/__init__.py similarity index 100% rename from src/mir_driver/__init__.py rename to src/mir_interface/__init__.py diff --git a/src/mir_driver/locations.json b/src/mir_interface/locations.json similarity index 85% rename from src/mir_driver/locations.json rename to src/mir_interface/locations.json index ac05e2f..1e26a06 100644 --- a/src/mir_driver/locations.json +++ b/src/mir_interface/locations.json @@ -14,6 +14,14 @@ "pos_y": 21.557, "type_id": 20 }, + "charger2": { + "pos_x": 3.266, + "guid": "f0908191-7f46-11ee-8521-0001297b4d50", + "orientation": 179.510, + "pos_y": 11.488, + "type_id": 20 + + }, "N9": { "pos_x": 11.0, "guid": "7224a20f-d65c-11ee-a833-0001297b4d50", diff --git a/src/mir_driver/mir_interface.py b/src/mir_interface/mir_interface.py similarity index 100% rename from src/mir_driver/mir_interface.py rename to src/mir_interface/mir_interface.py diff --git a/src/mir_rest_node.py b/src/mir_rest_node.py index 18bd2f1..9a66199 100644 --- a/src/mir_rest_node.py +++ b/src/mir_rest_node.py @@ -3,7 +3,7 @@ from pathlib import Path from typing import List, Optional -from mir_driver.mir_driver import MiR_Base +from mir_interface.mir_interface import MiR_Base from typing_extensions import Annotated from madsci.common.ownership import get_current_ownership_info from madsci.common.types.node_types import RestNodeConfig @@ -16,7 +16,7 @@ class MIRConfig(RestNodeConfig): mir_host: str = "mirbase2.cels.anl.gov" map_name: str = "RPL" -class MIRNode: +class MIRNode(RestNode): """A node to control the mobile MIR Base""" config: MIRConfig = MIRConfig() @@ -25,6 +25,7 @@ def startup_handler(self): """MIR startup handler.""" self.mir = MiR_Base(mir_ip=self.config.mir_host, map_name=self.config.map_name) + self.mir.create_position_dict() print("MIR Base online") def status_handler(self): @@ -39,7 +40,8 @@ def status_handler(self): error = "Executing current mission, can still accept more missions." elif len(self.node_status.running_actions) == 0: self.node_status.busy = False - + def state_handler(self): + return self.mir.get_state() @action @@ -51,7 +53,7 @@ def move( ) -> None: """Sends a move command to the MIR Base""" self.mir.move( - location_name=target_location.representation, + location_name=target_location.representation["location_name"], ) @@ -64,7 +66,7 @@ def dock(self, ) -> None: """Sends a docking command to the MIR Base""" self.mir.dock( - location_name=target_location.representation, + location_name=target_location.representation["location_name"], ) self.mir.wait_until_finished() @@ -105,4 +107,4 @@ def add_wait( if __name__ == "__main__": MIR_node = MIRNode() - MIR_node.start_node + MIR_node.start_node() From 4a6239b7c15d2c1c470fa02605542b4fda386c93 Mon Sep 17 00:00:00 2001 From: rpl Date: Thu, 23 Apr 2026 14:48:03 -0500 Subject: [PATCH 3/8] switching locations --- src/locations.json | 53 ----------------------------- src/mir_interface/locations.json | 54 ------------------------------ src/mir_interface/mir_interface.py | 18 +++------- 3 files changed, 5 insertions(+), 120 deletions(-) delete mode 100644 src/locations.json delete mode 100644 src/mir_interface/locations.json diff --git a/src/locations.json b/src/locations.json deleted file mode 100644 index 74c078e..0000000 --- a/src/locations.json +++ /dev/null @@ -1,53 +0,0 @@ -{ - "RPL": { - "camera_marker": { - "pos_x": 8.209, - "guid": "4ccacd0d-7f46-11ee-8521-0001297b4d50", - "orientation": 180.0, - "pos_y": 16.306, - "type_id": 9 - }, - "charger1": { - "pos_x": 10.119, - "guid": "f0908191-7f46-11ee-8521-0001297b4d50", - "orientation": 88.936, - "pos_y": 21.557, - "type_id": 20 - }, - "N9": { - "pos_x": 11.0, - "guid": "7224a20f-d65c-11ee-a833-0001297b4d50", - "orientation": 0.0, - "pos_y": 16.372, - "type_id": 11 - }, - "test_pos": { - "pos_x": 10.119, - "guid": "88c7d8ff-54d0-11ef-90e0-0001297b4d50", - "orientation": 88.936, - "pos_y": 19.0, - "type_id": 0 - }, - "test_move": { - "pos_x": 7.0, - "guid": "d99494c0-54d5-11ef-be3f-0001297b4d50", - "orientation": 180.0, - "pos_y": 20.2, - "type_id": 0 - }, - "another_move": { - "pos_x": 8.1, - "guid": "b34d6e54-5670-11ef-a572-0001297b4d50", - "orientation": 3.18, - "pos_y": 20.4, - "type_id": 0 - }, - "Charger2": { - "pos_x": 2.924, - "guid": "29604cea-1400-11f1-85eb-0001297b4d50", - "orientation": 177.737, - "pos_y": 11.338, - "type_id": 20 - } - } -} \ No newline at end of file diff --git a/src/mir_interface/locations.json b/src/mir_interface/locations.json deleted file mode 100644 index 1e26a06..0000000 --- a/src/mir_interface/locations.json +++ /dev/null @@ -1,54 +0,0 @@ -{ - "RPL": { - "camera_marker": { - "pos_x": 8.209, - "guid": "4ccacd0d-7f46-11ee-8521-0001297b4d50", - "orientation": 180.0, - "pos_y": 16.306, - "type_id": 9 - }, - "charger1": { - "pos_x": 10.119, - "guid": "f0908191-7f46-11ee-8521-0001297b4d50", - "orientation": 88.936, - "pos_y": 21.557, - "type_id": 20 - }, - "charger2": { - "pos_x": 3.266, - "guid": "f0908191-7f46-11ee-8521-0001297b4d50", - "orientation": 179.510, - "pos_y": 11.488, - "type_id": 20 - - }, - "N9": { - "pos_x": 11.0, - "guid": "7224a20f-d65c-11ee-a833-0001297b4d50", - "orientation": 0.0, - "pos_y": 16.372, - "type_id": 11 - }, - "test_pos": { - "pos_x": 10.119, - "guid": "88c7d8ff-54d0-11ef-90e0-0001297b4d50", - "orientation": 88.936, - "pos_y": 19.0, - "type_id": 0 - }, - "test_move": { - "pos_x": 7.0, - "guid": "d99494c0-54d5-11ef-be3f-0001297b4d50", - "orientation": 180.0, - "pos_y": 20.2, - "type_id": 0 - }, - "another_move": { - "pos_x": 8.1, - "guid": "b34d6e54-5670-11ef-a572-0001297b4d50", - "orientation": 3.18, - "pos_y": 20.4, - "type_id": 0 - } - } -} diff --git a/src/mir_interface/mir_interface.py b/src/mir_interface/mir_interface.py index 807b9f3..50c00c7 100644 --- a/src/mir_interface/mir_interface.py +++ b/src/mir_interface/mir_interface.py @@ -48,6 +48,7 @@ def __init__( self.position_dict = self.create_position_dict() self.curr_mission_queue_id = self.set_mission_queue_id() self.status = self.get_state() + self.locations_dict = {} def get_map(self): """ @@ -660,12 +661,7 @@ def create_position_dict(self): position_dict[name] = filtered data = {self.map_name: position_dict} - filename = self.filename - - with open(filename, "w") as file: - json.dump(data, file, indent=4) - - return + self.locations_dict = data def set_mission_queue_id(self): """ @@ -703,10 +699,8 @@ def move(self, location_name): dict: The response from posting the mission to the queue. """ mission_name = f"dock_to_{location_name}_{dt.datetime.now()}" - with open(self.filename) as f: - data = json.load(f) - - guid = data[self.map_name][location_name]["guid"] + + guid = self.locations_dict[self.map_name][location_name]["guid"] move = self.post_mission_to_queue(mission_name, [{"move": {"position": guid}}]) return move @@ -722,10 +716,8 @@ def dock(self, location_name): dict: The response from posting the mission to the queue. """ mission_name = f"dock_to_{location_name}_{dt.datetime.now()}" - with open(self.filename) as f: - data = json.load(f) - guid = data[self.map_name][location_name]["guid"] + guid = self.locations_dict[self.map_name][location_name]["guid"] dock = self.post_mission_to_queue(mission_name, [{"docking": {"marker": guid}}]) return dock From eb768f8ea40eaf9beeb33c70be2f6cb41256483d Mon Sep 17 00:00:00 2001 From: rpl Date: Thu, 23 Apr 2026 14:53:04 -0500 Subject: [PATCH 4/8] small tweaks --- example.env | 8 --- locations.json | 46 ----------------- pyproject.toml | 109 --------------------------------------- ruff.toml | 135 +++++++++++++++++++++++++++++++++++++++++++++++++ 4 files changed, 135 insertions(+), 163 deletions(-) delete mode 100644 example.env delete mode 100644 locations.json create mode 100644 ruff.toml diff --git a/example.env b/example.env deleted file mode 100644 index a39a284..0000000 --- a/example.env +++ /dev/null @@ -1,8 +0,0 @@ -# Note: all paths are relative to the docker compose file -MIR_HOST="mirbase2.cels.anl.gov" -MAP_NAME="RPL" -WEI_DATA_DIR=~/.wei -WORKCELL_FILENAME=test_workcell.yaml -WORKCELLS_DIR=./tests/workcell_defs -IMAGE=ghcr.io/ad-sdl/mir_module -REDIS_DIR=~/.wei/redis diff --git a/locations.json b/locations.json deleted file mode 100644 index ac05e2f..0000000 --- a/locations.json +++ /dev/null @@ -1,46 +0,0 @@ -{ - "RPL": { - "camera_marker": { - "pos_x": 8.209, - "guid": "4ccacd0d-7f46-11ee-8521-0001297b4d50", - "orientation": 180.0, - "pos_y": 16.306, - "type_id": 9 - }, - "charger1": { - "pos_x": 10.119, - "guid": "f0908191-7f46-11ee-8521-0001297b4d50", - "orientation": 88.936, - "pos_y": 21.557, - "type_id": 20 - }, - "N9": { - "pos_x": 11.0, - "guid": "7224a20f-d65c-11ee-a833-0001297b4d50", - "orientation": 0.0, - "pos_y": 16.372, - "type_id": 11 - }, - "test_pos": { - "pos_x": 10.119, - "guid": "88c7d8ff-54d0-11ef-90e0-0001297b4d50", - "orientation": 88.936, - "pos_y": 19.0, - "type_id": 0 - }, - "test_move": { - "pos_x": 7.0, - "guid": "d99494c0-54d5-11ef-be3f-0001297b4d50", - "orientation": 180.0, - "pos_y": 20.2, - "type_id": 0 - }, - "another_move": { - "pos_x": 8.1, - "guid": "b34d6e54-5670-11ef-a572-0001297b4d50", - "orientation": 3.18, - "pos_y": 20.4, - "type_id": 0 - } - } -} diff --git a/pyproject.toml b/pyproject.toml index feb518b..ef76cb8 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -34,112 +34,3 @@ homepage = "https://github.com/AD-SDL/mir_module" requires = ["setuptools>=61", "wheel"] build-backend = "setuptools.build_meta" -##################### -# Development Tools # -##################### - -[tool.ruff] -# https://docs.astral.sh/ruff/configuration/ - -# Exclude a variety of commonly ignored directories. -exclude = [ - ".bzr", - ".direnv", - ".eggs", - ".git", - ".git-rewrite", - ".hg", - ".mypy_cache", - ".nox", - ".pants.d", - ".pytype", - ".ruff_cache", - ".svn", - ".tox", - ".venv", - "__pypackages__", - "_build", - "buck-out", - "build", - "dist", - "node_modules", - "venv", - "docs", -] - -# Same as Black. -line-length = 120 -indent-width = 4 - -# Assume Python 3.8 -target-version = "py38" - -[tool.ruff.lint] -# Enable Pyflakes (`F`) and a subset of the pycodestyle (`E`) codes by default. -select = [ - # pycodestyle - "E", - # Pyflakes - "F", - # pyupgrade - # "UP", - # flake8-bugbear - "B", - # flake8-simplify - # "SIM", - # isort - "I", - # Warning - "W", - # pydocstyle - "D100", "D101", "D102", "D103", "D104", "D105", "D106", "D107", - # ruff - # "RUF" -] -ignore = [ - "E501", # Line too long - "B006", # Do not use mutable data structures for argument defaults -] - -# Allow fix for all enabled rules (when `--fix`) is provided. -fixable = ["ALL"] -unfixable = [] - -# Allow unused variables when underscore-prefixed. -dummy-variable-rgx = "^(_+|(_+[a-zA-Z0-9_]*[a-zA-Z0-9]+?))$" - -[tool.ruff.format] -# Like Black, use double quotes for strings. -quote-style = "double" - -# Like Black, indent with spaces, rather than tabs. -indent-style = "space" - -# Like Black, respect magic trailing commas. -skip-magic-trailing-comma = false - -# Like Black, automatically detect the appropriate line ending. -line-ending = "auto" - -[tool.pytest.ini_options] -# https://docs.pytest.org/en/stable/customize.html -addopts = "-x" -junit_family="xunit1" -filterwarnings = [ - "ignore::DeprecationWarning", - "ignore::pottery.exceptions.InefficientAccessWarning", -] -markers = [ - "hardware: marks test as requiring hardware (deselect with '-m \"not hardware\"')", -] - -[tool.mypy] -# https://mypy.readthedocs.io/en/stable/config_file.html#using-a-pyproject-toml -show_error_codes = true -check_untyped_defs = true -follow_imports = "normal" -strict_optional = true -plugins = ["pydantic.mypy"] -strict = true -disallow_untyped_defs = true -implicit_reexport = true diff --git a/ruff.toml b/ruff.toml new file mode 100644 index 0000000..6092609 --- /dev/null +++ b/ruff.toml @@ -0,0 +1,135 @@ +# https://docs.astral.sh/ruff/configuration/ + +# Exclude a variety of commonly ignored directories. +exclude = [ + ".bzr", + ".direnv", + ".eggs", + ".git", + ".git-rewrite", + ".hg", + ".mypy_cache", + ".nox", + ".pants.d", + ".pytype", + ".ruff_cache", + ".svn", + ".tox", + ".venv", + "__pypackages__", + "_build", + "buck-out", + "build", + "dist", + "node_modules", + "venv", + ".venv", + "docs", + "*.ipynb", + "*.md", +] + +# Same as Black. +line-length = 88 +indent-width = 4 + +# Assume Python 3.10 +target-version = "py310" + +[lint] +# Enable Pyflakes (`F`) and a subset of the pycodestyle (`E`) codes by default. +select = [ + # pycodestyle + "E", + # Pyflakes + "F", + # pyupgrade + "UP", + # flake8-bugbear + "B", + # flake8-simplify + "SIM", + # isort + "I", + # Warning + "W", + # pydocstyle + "D100", "D101", "D102", "D103", "D104", "D105", "D106", "D107", + # ruff + "RUF", + # McCabe Complexity + "C90", + # pep8-naming (N) + "N", + # flake8-2020 (YTT) + "YTT", + # flake8-annotations (ANN) + "ANN", + # flake8-async + "ASYNC", + # flake8-bandit + "S", + # flake8-commas + "COM", + # flake8-use-pathlib + "PTH", + # FastAPI + "FAST", + # flake8-logging + "LOG", + # flake8-comprehensions + "C4", + # flake8-pie + "PIE", + # flake8-return + "RET", + # Pylint + "PL", + # eradicate + "ERA", + # refurb + "FURB", + # flake-8-unused-arguments + "ARG", + # flake-8-print + "T20", +] +ignore = [ + "E501", # Line too long + "B006", # Do not use mutable data structures for argument defaults + "ANN401", # Don't flag Any types + "COM812", # Don't fight over trailing commas + "PLR0913", # Allow for a reasonable number of arguments + "PLR2004", # Magic value used in comparison + "UP006", # Ignoring errors for typing types such as Dict or List + "UP045", # Ignoring errors for Unions + "UP007", # Ignoring errors for Optional + "UP035", # Ignoring errors for typing types such as Dict or List + "S311", # Ignoring use of standard random number generators +] + +# Allow fix for all enabled rules (when `--fix`) is provided. +fixable = ["ALL"] +unfixable = [] + +# Allow unused variables when underscore-prefixed. +dummy-variable-rgx = "^(_+|(_+[a-zA-Z0-9_]*[a-zA-Z0-9]+?))$" + +[lint.per-file-ignores] +"**/tests/**/*.py" = ["S101", "ANN", "D", "ARG002"] +"**/*.ipynb" = ["T20"] +"scripts/**/*.py" = ["D", "T20", "S101", "C901", "SIM", "C401"] +"**/cli/**/*.py" = ["PLC0415"] # Allow lazy imports in CLI for startup performance + +[format] +# Like Black, use double quotes for strings. +quote-style = "double" + +# Like Black, indent with spaces, rather than tabs. +indent-style = "space" + +# Like Black, respect magic trailing commas. +skip-magic-trailing-comma = false + +# Like Black, automatically detect the appropriate line ending. +line-ending = "auto" \ No newline at end of file From fcc1a70cf33386747cfdd99b0cd9a6ddc4a4d80e Mon Sep 17 00:00:00 2001 From: tginsbu1 Date: Mon, 27 Apr 2026 09:04:11 -0400 Subject: [PATCH 5/8] fixing example.env --- example.env | 8 ++++++++ 1 file changed, 8 insertions(+) create mode 100644 example.env diff --git a/example.env b/example.env new file mode 100644 index 0000000..a39a284 --- /dev/null +++ b/example.env @@ -0,0 +1,8 @@ +# Note: all paths are relative to the docker compose file +MIR_HOST="mirbase2.cels.anl.gov" +MAP_NAME="RPL" +WEI_DATA_DIR=~/.wei +WORKCELL_FILENAME=test_workcell.yaml +WORKCELLS_DIR=./tests/workcell_defs +IMAGE=ghcr.io/ad-sdl/mir_module +REDIS_DIR=~/.wei/redis From ce0d1879641a3b5eee5ca4cd4c4e3fc912ff3d9a Mon Sep 17 00:00:00 2001 From: tginsbu1 Date: Mon, 27 Apr 2026 10:01:10 -0400 Subject: [PATCH 6/8] fixing pre-commit --- .madsci/registry.json | 2 +- .pdm-python | 2 +- .pre-commit-config.yaml | 6 +- Dockerfile | 1 - README.md | 18 - pdm.lock | 659 ++++++++++++++--------------- pyproject.toml | 1 - ruff.toml | 2 +- src/mir_interface/mir_interface.py | 406 ++++++++---------- src/mir_rest_node.py | 59 ++- 10 files changed, 526 insertions(+), 630 deletions(-) diff --git a/.madsci/registry.json b/.madsci/registry.json index 48997a8..c18f77e 100644 --- a/.madsci/registry.json +++ b/.madsci/registry.json @@ -15,4 +15,4 @@ "workcell_id": null } } -} \ No newline at end of file +} diff --git a/.pdm-python b/.pdm-python index 28a4867..6758b57 100644 --- a/.pdm-python +++ b/.pdm-python @@ -1 +1 @@ -/home/rpl/workspace/mir_module/.venv/bin/python \ No newline at end of file +/home/tginsburg/workspace/mir_module/.venv/bin/python diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 67b8598..0e3173a 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,6 +1,6 @@ repos: - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.5.0 + rev: v6.0.0 hooks: - id: check-yaml - id: check-json @@ -12,12 +12,12 @@ repos: - id: end-of-file-fixer - id: trailing-whitespace - repo: https://github.com/kynan/nbstripout - rev: 0.7.1 + rev: 0.9.1 hooks: - id: nbstripout - repo: https://github.com/astral-sh/ruff-pre-commit # Ruff version. - rev: v0.3.0 + rev: v0.15.12 hooks: # Run the linter. - id: ruff diff --git a/Dockerfile b/Dockerfile index a494da2..715466a 100644 --- a/Dockerfile +++ b/Dockerfile @@ -13,7 +13,6 @@ RUN mkdir -p mir_module COPY ./src mir_module/src COPY ./README.md mir_module/README.md COPY ./pyproject.toml mir_module/pyproject.toml -COPY ./tests mir_module/tests RUN --mount=type=cache,target=/root/.cache \ pip install -e ./mir_module diff --git a/README.md b/README.md index 55f4559..682d7d6 100644 --- a/README.md +++ b/README.md @@ -3,21 +3,3 @@ ## Overview The 'mir_module' repository is a comprehensive package that includes a MiR driver and REST node compatible with Mobile Industrial Robots (MiR) MiR 250 Base robot. This module is designed to provide a comprehensive and intuitive approach to controlling and interacting with a MiR 250. The repository allows for both immediate, simplified control of the MiR along with higher-level development of complex missions and experiments. - -## Features - -### MiR 250 Driver Package - -The MiR 250 driver package in this repository supports various methods to enable complete and comprehensive control of your MiR base robot and development of both simple and complex missions and environments. Key focuses and functions of the driver include: - -1. **Debugging and Development** - - Methods such as *get_actions* and *get_action_type* provide detailed information on the types of actions available to the MiR and the necessary parameters for continued development. - -2. **Mission Queue Configuration and Monitoring** - - Upon initialization of your MiR_Base robot, a new mission "session" is started. Functions related to mission queues will refer only to missions started during the session. The session can be reset after initialization as desired. - -3. **High-Level, Multi-Action Mission Development** - -4. **Simplified and Immediate MiR Control** - -... 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file +line-ending = "auto" diff --git a/src/mir_interface/mir_interface.py b/src/mir_interface/mir_interface.py index 50c00c7..afec6ab 100644 --- a/src/mir_interface/mir_interface.py +++ b/src/mir_interface/mir_interface.py @@ -6,26 +6,21 @@ import datetime as dt import json import time -from pprint import pprint +from typing import Optional import requests -class MiR_Base: +class MIRBase: """Main Driver Class for the MiR Robotic base.""" def __init__( self, - mir_ip="mirbase2.cels.anl.gov", - mir_key="Basic RGlzdHJpYnV0b3I6NjJmMmYwZjFlZmYxMGQzMTUyYzk1ZjZmMDU5NjU3NmU0ODJiYjhlNDQ4MDY0MzNmNGNmOTI5NzkyODM0YjAxNA==", - map_name=None, - group_id=None, - action_dict=None, - position_dict=None, - curr_mission_queue_id=None, - filename="locations.json", - status=None, - ): + mir_ip: str = "mirbase2.cels.anl.gov", + mir_key: str = "Basic RGlzdHJpYnV0b3I6NjJmMmYwZjFlZmYxMGQzMTUyYzk1ZjZmMDU5NjU3NmU0ODJiYjhlNDQ4MDY0MzNmNGNmOTI5NzkyODM0YjAxNA==", + map_name: Optional[str] = None, + filename: str = "locations.json", + ) -> None: """ Initialize the MiRBase class with default or provided values. """ @@ -50,7 +45,7 @@ def __init__( self.status = self.get_state() self.locations_dict = {} - def get_map(self): + def get_map(self) -> dict: """ Retrieve the current map for the MiR base. @@ -64,17 +59,15 @@ def get_map(self): maps = self.receive_response("maps") if not self.map_name: - print("Current map not set, using first instance...") current_map = maps[0] else: current_map = list(filter(lambda map: map["name"] == self.map_name, maps)) if not current_map: current_map = maps[0] - print("Current Map: ", current_map[0]) return current_map[0] - def get_actions(self, printq=False): + def get_actions(self, printq: bool = False) -> list: """ Retrieve all valid action types and their descriptions. @@ -85,10 +78,9 @@ def get_actions(self, printq=False): list: A list of actions available on the MiR base. """ - actions = self.receive_response("actions", printq) - return actions + return self.receive_response("actions", printq) - def get_action_type(self, action_type=str, printq=False): + def get_action_type(self, action_type: str, printq: bool = False) -> dict: """ Retrieve and print action parameters for a given action type. @@ -101,10 +93,9 @@ def get_action_type(self, action_type=str, printq=False): """ url = f"actions/{action_type}" - action_params = self.receive_response(url, printq) - return action_params + return self.receive_response(url, printq) - def list_missions(self, printq=False): + def list_missions(self, printq: bool = False) -> dict: """ List all created missions for the MiR base. @@ -115,10 +106,9 @@ def list_missions(self, printq=False): list: A list of all missions created for the MiR base. """ - all_missions = self.receive_response("missions", printq) - return all_missions + return self.receive_response("missions", printq) - def get_mission_queue(self, printq=False): + def get_mission_queue(self, printq: bool = False) -> dict: """ Retrieve all missions in the queue since the last mission queue ID. @@ -129,16 +119,18 @@ def get_mission_queue(self, printq=False): list: A list of missions posted to the queue since the last session. Returns None if no missions were found. """ - search = {"filters": [{"fieldname": "id", "operator": ">", "value": self.curr_mission_queue_id}]} - mission_queue = self.receive_response("mission_queue", printq, None, search) - - if not mission_queue: - print("No missions posted to queue since last session.") - return None - - return mission_queue + search = { + "filters": [ + { + "fieldname": "id", + "operator": ">", + "value": self.curr_mission_queue_id, + } + ] + } + return self.receive_response("mission_queue", printq, None, search) - def abort_mission_queue(self): + def abort_mission_queue(self) -> dict: """ Abort all pending and executing missions in the mission queue. @@ -146,10 +138,9 @@ def abort_mission_queue(self): dict: The response from the MiR base after aborting the missions. """ - response = self.delete("mission_queue", False, "All missions aborted.") - return response + return self.delete("mission_queue", False, "All missions aborted.") - def clear_mission_queue(self): + def clear_mission_queue(self) -> str: """ Clear the current mission queue by setting a new mission queue ID. @@ -159,7 +150,7 @@ def clear_mission_queue(self): self.curr_mission_queue_id = self.set_mission_queue_id() return self.curr_mission_queue_id - def find_mission_in_queue(self, mission_name): + def find_mission_in_queue(self, mission_name: str) -> None: """ Find and print mission and action details for the given mission name in the queue. @@ -169,25 +160,29 @@ def find_mission_in_queue(self, mission_name): Returns: None """ - search = {"filters": [{"fieldname": "name", "operator": "=", "value": mission_name}]} + search = { + "filters": [{"fieldname": "name", "operator": "=", "value": mission_name}] + } mission = self.receive_response("missions", False, None, search) if not mission: - print("No existing mission found under that name.") return mission_guid = mission[0].get("guid") search = { "filters": [ {"fieldname": "mission_id", "operator": "=", "value": mission_guid}, - {"fieldname": "id", "operator": ">", "value": self.curr_mission_queue_id}, + { + "fieldname": "id", + "operator": ">", + "value": self.curr_mission_queue_id, + }, ] } mission_queue = self.receive_response("mission_queue", False, None, search) if not mission_queue: - print("No existing mission found under that name in the current queue.") return mission_id = mission_queue[0].get("id") @@ -198,9 +193,7 @@ def find_mission_in_queue(self, mission_name): url = f"missions/{mission_guid}/actions" self.receive_response(url, True, "Action details: ") - return - - def cancel_mission_in_queue(self, mission_name): + def cancel_mission_in_queue(self, mission_name: str) -> None: """ Abort the given mission name from the current queue if found. @@ -210,25 +203,29 @@ def cancel_mission_in_queue(self, mission_name): Returns: None """ - search = {"filters": [{"fieldname": "name", "operator": "=", "value": mission_name}]} + search = { + "filters": [{"fieldname": "name", "operator": "=", "value": mission_name}] + } mission = self.receive_response("missions", False, None, search) if not mission: - print("No existing mission found under that name.") return mission_id = mission[0].get("guid") search = { "filters": [ {"fieldname": "mission_id", "operator": "=", "value": mission_id}, - {"fieldname": "id", "operator": ">", "value": self.curr_mission_queue_id}, + { + "fieldname": "id", + "operator": ">", + "value": self.curr_mission_queue_id, + }, ] } mission_queue = self.receive_response("mission_queue", False, None, search) if not mission_queue: - print("No existing mission found under that name in the current queue.") return mission_id = mission_queue[0].get("id") @@ -236,9 +233,7 @@ def cancel_mission_in_queue(self, mission_name): url = f"mission_queue/{mission_id}" self.delete(url) - return - - def find_act_type(self, action_type): + def find_act_type(self, action_type: str) -> dict: """ Retrieve parameter details for a given action type. @@ -248,10 +243,11 @@ def find_act_type(self, action_type): Returns: dict: A dictionary of parameters for the specified action type. """ - parameters = self.action_dict.get(action_type, {}).get("parameters", {}) - return parameters + return self.action_dict.get(action_type, {}).get("parameters", {}) - def init_mission(self, mission_name, description, printq=False): + def init_mission( + self, mission_name: str, description: str, printq: bool = False + ) -> dict: """ Initialize a new mission with the given name and description. @@ -264,12 +260,19 @@ def init_mission(self, mission_name, description, printq=False): dict: The response from the MiR base after initializing the mission. """ - mission_data = {"description": description, "group_id": self.group_id, "name": mission_name} + mission_data = { + "description": description, + "group_id": self.group_id, + "name": mission_name, + } - response = self.send_command("missions", mission_data, printq, "New mission successfully added") - return response + return self.send_command( + "missions", mission_data, printq, "New mission successfully added" + ) - def init_action(self, act_param_dict, mission_id, priority, printq=False): + def init_action( + self, act_param_dict: list, mission_id: str, priority: int, printq: bool = False + ) -> None: """ Initialize actions with default values for a new mission. @@ -283,7 +286,7 @@ def init_action(self, act_param_dict, mission_id, priority, printq=False): None """ for action_params in act_param_dict: - action_type = list(action_params.keys())[0] + action_type = next(iter(action_params.keys())) parameters = self.find_act_type(action_type) action_payload = { @@ -294,11 +297,13 @@ def init_action(self, act_param_dict, mission_id, priority, printq=False): } url = f"missions/{mission_id}/actions" - self.send_command(url, action_payload, printq, "New action successfully added.") - - return + self.send_command( + url, action_payload, printq, "New action successfully added." + ) - def set_action_params(self, mission_id, act_param_dict, printq): + def set_action_params( + self, mission_id: str, act_param_dict: list, printq: bool = False + ) -> None: """ Modify action parameters for a mission. @@ -318,7 +323,7 @@ def set_action_params(self, mission_id, act_param_dict, printq): action_type = action.get("action_type") action_id = action.get("guid") - if action_type != list(act_param_dict[0].keys())[0]: + if action_type != next(iter(act_param_dict[0].keys())): raise ValueError("Action type mismatch.") cur_dict = act_param_dict.pop(0).get(action_type, {}) @@ -328,14 +333,25 @@ def set_action_params(self, mission_id, act_param_dict, printq): if param["id"] == k or param["input_name"] == k: param["value"] = v - mission_actions = {"parameters": params, "priority": 1, "scope_reference": None} + mission_actions = { + "parameters": params, + "priority": 1, + "scope_reference": None, + } url = f"missions/{mission_id}/actions/{action_id}" - self.change_command(url, mission_actions, printq, "Action successfully changed.") - - return + self.change_command( + url, mission_actions, printq, "Action successfully changed." + ) - def post_mission_to_queue(self, mission_name, act_param_dict, description="", priority=0, printq=False): + def post_mission_to_queue( + self, + mission_name: str, + act_param_dict: list, + description: str = "", + priority: int = 0, + printq: bool = False, + ) -> dict: """ Post a mission to the queue. Creates a new mission if it doesn't exist, otherwise updates the existing mission. Initializes and modifies actions as specified and adds the mission to the queue. @@ -350,7 +366,9 @@ def post_mission_to_queue(self, mission_name, act_param_dict, description="", pr Returns: dict: Response from the MiR base after posting the mission to the queue. """ - search = {"filters": [{"fieldname": "name", "operator": "=", "value": mission_name}]} + search = { + "filters": [{"fieldname": "name", "operator": "=", "value": mission_name}] + } mission = self.receive_response("missions", False, None, search) if not mission: @@ -363,13 +381,14 @@ def post_mission_to_queue(self, mission_name, act_param_dict, description="", pr self.set_action_params(mission_id, act_param_dict, printq) mission_queue_payload = {"mission_id": mission_id, "priority": priority} - response = self.send_command( - "mission_queue", mission_queue_payload, printq, "Mission successfully added to queue." + return self.send_command( + "mission_queue", + mission_queue_payload, + printq, + "Mission successfully added to queue.", ) - return response - - def wait_until_finished(self): + def wait_until_finished(self) -> None: """ Continuously checks previously index mission to be done executing. Breaks out of loop once state is achieved. Prevents further missions or actions being sent if desired, since "Executing" != BUSY. @@ -380,9 +399,8 @@ def wait_until_finished(self): mission_finished = self.get_mission_queue()[-1]["state"] time.sleep(5) self.status = "IDLE" - return - def check_queue_completion(self, printq=False): + def check_queue_completion(self, printq: bool = False) -> None: """ Check and print the status of the current mission queue and its actions. @@ -395,40 +413,30 @@ def check_queue_completion(self, printq=False): mission_queue = self.get_mission_queue() if not mission_queue: - print("No missions in the queue.") return - width = 50 current_mission = [m for m in mission_queue if m["state"] == "Executing"] if current_mission: - index = mission_queue.index(current_mission[0]) - percent = (index / len(mission_queue)) * 100 - bar_length = int(width * (index / len(mission_queue))) - bar = "#" * bar_length + "-" * (width - bar_length) - miss_id = current_mission[0].get("id") - mission_guid = self.receive_response("mission_queue/" + str(miss_id)).get("mission_id") + mission_guid = self.receive_response("mission_queue/" + str(miss_id)).get( + "mission_id" + ) mission_name = self.receive_response("missions/" + mission_guid).get("name") - print(f"\r[{bar}] {percent:6.2f}% Queue Complete\n") - print(f"Current Mission: {mission_name}\n") if printq: self.find_mission_in_queue(mission_name) - return - - def self_status(self): + def self_status(self) -> dict: """ Retrieves the current system status of the MiR Robotic base. Returns: dict: The system status information. """ - self_status = self.receive_response("status", True) - return self_status + return self.receive_response("status", True) - def get_user_group_id(self): + def get_user_group_id(self) -> str: """ Retrieves the ID of the first mission group. @@ -438,10 +446,9 @@ def get_user_group_id(self): str: The ID of the first mission group. """ get_id = self.receive_response("mission_groups", False) - id = get_id[0].get("guid") - return id + return get_id[0].get("guid") - def receive_response(self, endpoint, printq=False, message=None, search=None): + def receive_response(self, endpoint: str, search: Optional[dict] = None) -> dict: """ Sends a GET or POST request to the MiR API and handles the response. POST requests are modified GET requests with search payloads to filter the response. @@ -459,32 +466,28 @@ def receive_response(self, endpoint, printq=False, message=None, search=None): """ if search is not None: url = f"{endpoint}/search" - response = requests.post(f"{self.host}{url}", json=search, headers=self.headers) + response = requests.post( + f"{self.host}{url}", json=search, headers=self.headers, timeout=5 + ) else: - response = requests.get(f"{self.host}{endpoint}", headers=self.headers) + response = requests.get( + f"{self.host}{endpoint}", headers=self.headers, timeout=5 + ) text = json.loads(response.text) status = response.status_code if status in {200, 201}: - if message is not None: - print(message) - if printq: - pprint(text) - else: - raise ValueError(f"Error sending GET request: {text} (Status code: {status})") + return text + raise ValueError(f"Error sending GET request: {text} (Status code: {status})") - return text - - def send_command(self, endpoint, body, printq=False, message=None): + def send_command(self, endpoint: str, body: dict) -> dict: """ Sends a POST request to the MiR API and handles the response. Args: endpoint (str): The API endpoint to post data to. body (dict): The JSON payload to send in the request. - printq (bool): Whether to print the response details. - message (str): An optional message to print if the request is successful. Returns: dict: The parsed JSON response from the API. @@ -492,29 +495,23 @@ def send_command(self, endpoint, body, printq=False, message=None): Raises: ValueError: If the API request fails. """ - response = requests.post(f"{self.host}{endpoint}", json=body, headers=self.headers) + response = requests.post( + f"{self.host}{endpoint}", json=body, headers=self.headers, timeout=5 + ) text = json.loads(response.text) status = response.status_code if status == 201: - if message is not None: - print(message) - if printq: - pprint(text) - else: - raise ValueError(f"Error sending POST request: {text} (Status code: {status})") - - return text + return text + raise ValueError(f"Error sending POST request: {text} (Status code: {status})") - def change_command(self, endpoint, body, printq=False, message=None): + def change_command(self, endpoint: str, body: dict) -> dict: """ Sends a PUT request to the MiR API to update data and handles the response. Args: endpoint (str): The API endpoint to update data at. body (dict): The JSON payload to send in the request. - printq (bool): Whether to print the response details. - message (str): An optional message to print if the request is successful. Returns: dict: The parsed JSON response from the API. @@ -522,21 +519,17 @@ def change_command(self, endpoint, body, printq=False, message=None): Raises: ValueError: If the API request fails. """ - response = requests.put(f"{self.host}{endpoint}", json=body, headers=self.headers) + response = requests.put( + f"{self.host}{endpoint}", json=body, headers=self.headers, timeout=5 + ) text = json.loads(response.text) status = response.status_code if status in {200, 201}: - if message is not None: - print(message) - if printq: - pprint(text) - else: - raise ValueError(f"Error sending PUT request: {text} (Status code: {status})") - - return text + return text + raise ValueError(f"Error sending PUT request: {text} (Status code: {status})") - def delete(self, endpoint, printq=False, message=None): + def delete(self, endpoint: str) -> str: """ Sends a DELETE request to the MiR API and handles the response. @@ -551,28 +544,26 @@ def delete(self, endpoint, printq=False, message=None): Raises: ValueError: If the API request fails. """ - response = requests.delete(f"{self.host}{endpoint}", headers=self.headers) + response = requests.delete( + f"{self.host}{endpoint}", headers=self.headers, timeout=5 + ) text = response.text status = response.status_code if status == 204: - if message is not None: - print(message) - if printq: - pprint(text) - else: - raise ValueError(f"Error sending DELETE request: {text} (Status code: {status})") - - return text + return text + raise ValueError( + f"Error sending DELETE request: {text} (Status code: {status})" + ) - def create_action_dict(self): + def create_action_dict(self) -> None: """ Creates a dictionary with default parameters for various action types used in missions. Returns: dict: A dictionary containing default parameter values for action types such as 'relative_move', 'move_to_position', 'move', and 'docking'. """ - action_dict = { + return { "relative_move": { "parameters": [ {"id": "x", "input_name": None, "value": 0.0}, @@ -600,9 +591,24 @@ def create_action_dict(self): "name": "another_move", "value": "b34d6e54-5670-11ef-a572-0001297b4d50", }, - {"id": "cart_entry_position", "input_name": None, "name": "Main", "value": "main"}, - {"id": "main_or_entry_position", "input_name": None, "name": "Main", "value": "main"}, - {"id": "marker_entry_position", "input_name": None, "name": "Entry", "value": "entry"}, + { + "id": "cart_entry_position", + "input_name": None, + "name": "Main", + "value": "main", + }, + { + "id": "main_or_entry_position", + "input_name": None, + "name": "Main", + "value": "main", + }, + { + "id": "marker_entry_position", + "input_name": None, + "name": "Entry", + "value": "entry", + }, {"id": "retries", "input_name": None, "value": 10}, {"id": "distance_threshold", "input_name": None, "value": 0.1}, ] @@ -625,12 +631,14 @@ def create_action_dict(self): {"id": "max_linear_speed", "input_name": None, "value": 0.3}, ] }, - "wait": {"parameters": [{"id": "time", "input_name": None, "value": "00:00:05.000000"}]}, + "wait": { + "parameters": [ + {"id": "time", "input_name": None, "value": "00:00:05.000000"} + ] + }, } - return action_dict - - def create_position_dict(self): + def create_position_dict(self) -> None: """ Creates a dictionary of positions from a map and saves it to a JSON file. @@ -663,7 +671,7 @@ def create_position_dict(self): data = {self.map_name: position_dict} self.locations_dict = data - def set_mission_queue_id(self): + def set_mission_queue_id(self) -> int: """ Gets the ID of the last mission in the mission queue. @@ -671,11 +679,9 @@ def set_mission_queue_id(self): int: The ID of the last mission in the queue. """ mission_queue = self.receive_response("mission_queue") - last_mission_id = mission_queue[-1].get("id") - - return last_mission_id + return mission_queue[-1].get("id") - def get_state(self): + def get_state(self) -> str: """ Retrieves the current state of the system. @@ -684,11 +690,10 @@ def get_state(self): """ url = "status/?whitelist=state_text" state = self.receive_response(url, False).get("state_text") - print(state.upper()) return state.upper() - def move(self, location_name): + def move(self, location_name: str) -> dict: """ Creates a mission to move to a specified location and adds it to the mission queue. @@ -699,13 +704,11 @@ def move(self, location_name): dict: The response from posting the mission to the queue. """ mission_name = f"dock_to_{location_name}_{dt.datetime.now()}" - - guid = self.locations_dict[self.map_name][location_name]["guid"] - move = self.post_mission_to_queue(mission_name, [{"move": {"position": guid}}]) - return move + guid = self.locations_dict[self.map_name][location_name]["guid"] + return self.post_mission_to_queue(mission_name, [{"move": {"position": guid}}]) - def dock(self, location_name): + def dock(self, location_name: str) -> dict: """ Creates a mission to dock at a specified location and adds it to the mission queue. @@ -718,11 +721,9 @@ def dock(self, location_name): mission_name = f"dock_to_{location_name}_{dt.datetime.now()}" guid = self.locations_dict[self.map_name][location_name]["guid"] - dock = self.post_mission_to_queue(mission_name, [{"docking": {"marker": guid}}]) - - return dock + return self.post_mission_to_queue(mission_name, [{"docking": {"marker": guid}}]) - def wait(self, delay_seconds): + def wait(self, delay_seconds: float) -> dict: """ Creates a mission to wait for a specified time and adds it to the mission queue. @@ -734,75 +735,4 @@ def wait(self, delay_seconds): """ time = str(dt.timedelta(seconds=delay_seconds)) mission_name = f"wait_for_{time}_{dt.datetime.now()}" - wait = self.post_mission_to_queue(mission_name, [{"wait": {"time": time}}]) - - return wait - - -if __name__ == "__main__": - mir_base = MiR_Base(map_name="RPL") - print(mir_base.get_state()) - # response = requests.post( - # mir_base.host + "mission_queue/search", - # json = { - # "filters" : [{ - # "fieldname" : "state", - # "operator" : "=", - # "value" : "Done" - # },{ - # "fieldname" : "id", - # "operator" : ">", - # "value" : "5" - # }] - # }, - # headers=mir_base.headers - # ) - # print(response.text) - - # for i in range(5): - # mir_base.post_mission_to_queue("testing_8.14.01" + str(i), [{"move" : {"position" : "d99494c0-54d5-11ef-be3f-0001297b4d50"}}], "testing", 1, True) - # mir_base.find_mission_in_queue("testing_8.14.011") - - # mir_base.post_mission_to_queue("testing_8.13.008", [{"move" : {"position" : "d99494c0-54d5-11ef-be3f-0001297b4d50"}},{"docking" : {"marker" : "f0908191-7f46-11ee-8521-0001297b4d50"}}], "testing", 1, True) - # response = mir_base.get_info(-1) - # y = mir_base.status() - - ## TESTING: - - # mir_base.get_actions(True) - # mir_base.get_action_type("wait", True) - - # mir_base.list_missions(True) - - # mir_base.get_mission_queue(True) - # for i in range(5): - # mir_base.dock("charger1") - # for i in range(5): - # mir_base.get_mission_queue(True) - # mir_base.abort_mission_queue() - # mir_base.get_mission_queue(True) - - # mission_name = "test_" + str(dt.datetime.now()) - # mir_base.post_mission_to_queue(mission_name, [{"move" : {"position" : "d99494c0-54d5-11ef-be3f-0001297b4d50"}}], "testing", 1, False) - # mir_base.find_mission_in_queue(mission_name) - # mir_base.cancel_mission_in_queue(mission_name) - # mir_base.get_mission_queue(True) - - # for i in range(1): - # mir_base.move("test_move") - # mir_base.move("another_move") - # print(mir_base.get_state()) - # print(mir_base.get_state()) - # print(mir_base.get_state()) - # print(mir_base.get_state()) - # time.sleep(20) - # mir_base.check_queue_completion() - # mir_base.abort_mission_queue() - # for _ in range(30): - # mir_base.move("test_pos") - # mir_base.dock("charger1") - # mir_base.wait("60") - - # while mir_base.get_mission_queue() is not None: - # mir_base.check_queue_completion() - # time.sleep(25) + return self.post_mission_to_queue(mission_name, [{"wait": {"time": time}}]) diff --git a/src/mir_rest_node.py b/src/mir_rest_node.py index 9a66199..12a0443 100644 --- a/src/mir_rest_node.py +++ b/src/mir_rest_node.py @@ -1,67 +1,58 @@ """REST-based node for UR robots""" -from pathlib import Path from typing import List, Optional -from mir_interface.mir_interface import MiR_Base -from typing_extensions import Annotated -from madsci.common.ownership import get_current_ownership_info +from madsci.common.types.location_types import LocationArgument from madsci.common.types.node_types import RestNodeConfig from madsci.node_module.helpers import action from madsci.node_module.rest_node_module import RestNode -from madsci.common.types.location_types import LocationArgument +from typing_extensions import Annotated + +from mir_interface.mir_interface import MIRBase + class MIRConfig(RestNodeConfig): """Configuration for the MIR REST node""" + mir_host: str = "mirbase2.cels.anl.gov" map_name: str = "RPL" + class MIRNode(RestNode): """A node to control the mobile MIR Base""" - + config: MIRConfig = MIRConfig() config_model = MIRConfig - def startup_handler(self): + + def startup_handler(self) -> None: """MIR startup handler.""" - - self.mir = MiR_Base(mir_ip=self.config.mir_host, map_name=self.config.map_name) + + self.mir = MIRBase(mir_ip=self.config.mir_host, map_name=self.config.map_name) self.mir.create_position_dict() - print("MIR Base online") - def status_handler(self): + def status_handler(self) -> None: """Periodically called to update the current status of the node.""" - """Returns the current state of the UR module""" - if self.node_status.busy == False: + if not self.node_status.busy: robot_state = self.mir.get_state() if robot_state == "ERROR": self.node_status.errored = True - elif robot_state == "EXECUTING": - self.node_status.busy = True - error = "Executing current mission, can still accept more missions." - elif len(self.node_status.running_actions) == 0: - self.node_status.busy = False - def state_handler(self): + + def state_handler(self) -> str: + """Returns the current state of the MIR Base""" return self.mir.get_state() - @action def move( - self, - target_location: Annotated[LocationArgument, "Target location name"], - description: Annotated[str, "Description of the location"], - priority: Annotated[Optional[int], "Prority of the movement in the queue. Default is 0."], + self, target_location: Annotated[LocationArgument, "Target location name"] ) -> None: """Sends a move command to the MIR Base""" self.mir.move( location_name=target_location.representation["location_name"], ) - - - - @action - def dock(self, + def dock( + self, target_location: Annotated[LocationArgument, "Name of the docking location"], ) -> None: """Sends a docking command to the MIR Base""" @@ -76,7 +67,9 @@ def queue_mission( name: Annotated[List[float], "Name of the mission"], mission: Annotated[List[dict], "A list of action dictionaries"], description: Annotated[str, "Description of the mission"], - priority: Annotated[Optional[int], "Prority of the mission in the queue. Defult is 1"], + priority: Annotated[ + Optional[int], "Prority of the mission in the queue. Defult is 1" + ], ) -> None: """Sends a mission to the MIR Base which could have multiple movement actions""" self.mir.post_mission_to_queue( @@ -87,15 +80,11 @@ def queue_mission( ) self.mir.wait_until_finished() - @action - def abort_mission_queue( - self - ) -> None: + def abort_mission_queue(self) -> None: """Aborts all the missions in the queue""" self.mir.abort_mission_queue() - @action def add_wait( self, From 82292dec92a70674a5b06ba42d2ead8bd7f6690e Mon Sep 17 00:00:00 2001 From: tginsbu1 Date: Tue, 28 Apr 2026 12:28:23 -0400 Subject: [PATCH 7/8] removing tests workflow --- .github/workflows/tests.yml | 19 ------------------- 1 file changed, 19 deletions(-) delete mode 100644 .github/workflows/tests.yml diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml deleted file mode 100644 index 76bd801..0000000 --- a/.github/workflows/tests.yml +++ /dev/null @@ -1,19 +0,0 @@ -name: Pytest Unit Tests - -on: [push] - -jobs: - build_and_test: - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v3 - name: Checkout code - - name: Test makefile - run: make init .env - - name: Check .env file - run: cat .env - - name: Create paths - run: make paths - - name: Initialize, Build, and Test with Docker - run: make test - shell: bash From d59ed6c2e7fbc63f418a736c15aba2711e27b76c Mon Sep 17 00:00:00 2001 From: tginsbu1 Date: Tue, 28 Apr 2026 16:10:56 -0400 Subject: [PATCH 8/8] removing pull request comments --- .gitignore | 4 + .madsci/registry.json | 18 ----- .pdm-python | 1 - Dockerfile | 3 +- pyproject.toml | 11 +-- src/mir_interface/mir_interface.py | 115 ++++++++++------------------- src/mir_rest_node.py | 8 +- 7 files changed, 57 insertions(+), 103 deletions(-) delete mode 100644 .madsci/registry.json delete mode 100644 .pdm-python diff --git a/.gitignore b/.gitignore index e6ef6f2..c996a76 100644 --- a/.gitignore +++ b/.gitignore @@ -108,6 +108,7 @@ ipython_config.py # in version control. # https://pdm.fming.dev/#use-with-ide .pdm.toml +.pdm-python # PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm __pypackages__/ @@ -160,3 +161,6 @@ cython_debug/ #.idea/ .vscode + +# Madsci Folder +.madsci diff --git a/.madsci/registry.json b/.madsci/registry.json deleted file mode 100644 index c18f77e..0000000 --- a/.madsci/registry.json +++ /dev/null @@ -1,18 +0,0 @@ -{ - "version": 1, - "created_at": "2026-04-10T18:48:42.671753Z", - "updated_at": "2026-04-22T19:30:07.188732Z", - "entries": { - "mir_node": { - "id": "01KNWBK6DFKD8A0BW9MQD7X8Z2", - "component_type": "node", - "created_at": "2026-04-10T18:48:42.671780Z", - "last_seen": "2026-04-22T19:30:06.803122Z", - "metadata": { - "module_name": "mir_node" - }, - "lock": null, - "workcell_id": null - } - } -} diff --git a/.pdm-python b/.pdm-python deleted file mode 100644 index 6758b57..0000000 --- a/.pdm-python +++ /dev/null @@ -1 +0,0 @@ -/home/tginsburg/workspace/mir_module/.venv/bin/python diff --git a/Dockerfile b/Dockerfile index 715466a..21ace00 100644 --- a/Dockerfile +++ b/Dockerfile @@ -15,7 +15,8 @@ COPY ./README.md mir_module/README.md COPY ./pyproject.toml mir_module/pyproject.toml RUN --mount=type=cache,target=/root/.cache \ - pip install -e ./mir_module + uv pip install --python ${MADSCI_VENV}/bin/python -e /home/madsci/mir_module && \ + chown -R ${USER_ID}:${GROUP_ID} /home/madsci/mir_module CMD ["python", "mir_module/src/mir_rest_node.py"] diff --git a/pyproject.toml b/pyproject.toml index 6e8ca00..0b83760 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -12,13 +12,10 @@ authors = [ {name = "Aileen Cleary", email = "acleary@anl.gov"}, ] dependencies = [ - "madsci-node-module", - "madsci-client", - "madsci-common", - "fastapi>=0.103.2", - "uvicorn>=0.21.1", - "pytest", - "filelock>=3.25.2", + "madsci-node-module~=0.7", + "madsci-client~=0.7", + "madsci-common~=0.7", + "filelock>=3.25.2" ] requires-python = ">=3.10.1" readme = "README.md" diff --git a/src/mir_interface/mir_interface.py b/src/mir_interface/mir_interface.py index afec6ab..cb94d1d 100644 --- a/src/mir_interface/mir_interface.py +++ b/src/mir_interface/mir_interface.py @@ -15,11 +15,7 @@ class MIRBase: """Main Driver Class for the MiR Robotic base.""" def __init__( - self, - mir_ip: str = "mirbase2.cels.anl.gov", - mir_key: str = "Basic RGlzdHJpYnV0b3I6NjJmMmYwZjFlZmYxMGQzMTUyYzk1ZjZmMDU5NjU3NmU0ODJiYjhlNDQ4MDY0MzNmNGNmOTI5NzkyODM0YjAxNA==", - map_name: Optional[str] = None, - filename: str = "locations.json", + self, mir_ip: str, mir_key: str, map_name: Optional[str] = None ) -> None: """ Initialize the MiRBase class with default or provided values. @@ -34,16 +30,14 @@ def __init__( "Authorization": self.mir_key, } - self.filename = filename self.map_name = map_name self.current_map = self.get_map() self.map_guid = self.current_map["guid"] self.group_id = self.get_user_group_id() - self.action_dict = self.create_action_dict() - self.position_dict = self.create_position_dict() + self.create_action_dict() + self.create_position_dict() self.curr_mission_queue_id = self.set_mission_queue_id() self.status = self.get_state() - self.locations_dict = {} def get_map(self) -> dict: """ @@ -57,7 +51,8 @@ def get_map(self) -> dict: dict: The map data of the current map. """ maps = self.receive_response("maps") - + if len(maps) == 0: + raise ValueError("No maps found for the MiR base.") if not self.map_name: current_map = maps[0] else: @@ -67,53 +62,49 @@ def get_map(self) -> dict: return current_map[0] - def get_actions(self, printq: bool = False) -> list: + def get_actions(self) -> list: """ Retrieve all valid action types and their descriptions. Args: - printq (bool): If True, print the retrieved actions. Defaults to False. Returns: list: A list of actions available on the MiR base. """ - return self.receive_response("actions", printq) + return self.receive_response("actions") - def get_action_type(self, action_type: str, printq: bool = False) -> dict: + def get_action_type(self, action_type: str) -> dict: """ Retrieve and print action parameters for a given action type. Args: action_type (str): The type of action to retrieve. - printq (bool): If True, print the action parameters. Defaults to False. Returns: dict: The parameters for the specified action type. """ url = f"actions/{action_type}" - return self.receive_response(url, printq) + return self.receive_response(url) - def list_missions(self, printq: bool = False) -> dict: + def list_missions(self) -> dict: """ List all created missions for the MiR base. Args: - printq (bool): If True, print the list of missions. Defaults to False. Returns: list: A list of all missions created for the MiR base. """ - return self.receive_response("missions", printq) + return self.receive_response("missions") - def get_mission_queue(self, printq: bool = False) -> dict: + def get_mission_queue(self) -> dict: """ Retrieve all missions in the queue since the last mission queue ID. Args: - printq (bool): If True, print the list of missions in the queue. Defaults to False. Returns: list: A list of missions posted to the queue since the last session. @@ -128,7 +119,7 @@ def get_mission_queue(self, printq: bool = False) -> dict: } ] } - return self.receive_response("mission_queue", printq, None, search) + return self.receive_response("mission_queue", search=search) def abort_mission_queue(self) -> dict: """ @@ -163,10 +154,10 @@ def find_mission_in_queue(self, mission_name: str) -> None: search = { "filters": [{"fieldname": "name", "operator": "=", "value": mission_name}] } - mission = self.receive_response("missions", False, None, search) + mission = self.receive_response("missions", search=search) if not mission: - return + raise ValueError(f"Mission with name '{mission_name}' not found.") mission_guid = mission[0].get("guid") search = { @@ -180,18 +171,20 @@ def find_mission_in_queue(self, mission_name: str) -> None: ] } - mission_queue = self.receive_response("mission_queue", False, None, search) + mission_queue = self.receive_response("mission_queue", search=search) if not mission_queue: - return + raise ValueError( + f"Mission with name '{mission_name}' not found in the queue." + ) mission_id = mission_queue[0].get("id") url = f"mission_queue/{mission_id}" - self.receive_response(url, True, "Mission details: ") + self.receive_response(url) url = f"missions/{mission_guid}/actions" - self.receive_response(url, True, "Action details: ") + self.receive_response(url) def cancel_mission_in_queue(self, mission_name: str) -> None: """ @@ -206,7 +199,7 @@ def cancel_mission_in_queue(self, mission_name: str) -> None: search = { "filters": [{"fieldname": "name", "operator": "=", "value": mission_name}] } - mission = self.receive_response("missions", False, None, search) + mission = self.receive_response("missions", search=search) if not mission: return @@ -223,7 +216,7 @@ def cancel_mission_in_queue(self, mission_name: str) -> None: ] } - mission_queue = self.receive_response("mission_queue", False, None, search) + mission_queue = self.receive_response("mission_queue", search=search) if not mission_queue: return @@ -245,16 +238,13 @@ def find_act_type(self, action_type: str) -> dict: """ return self.action_dict.get(action_type, {}).get("parameters", {}) - def init_mission( - self, mission_name: str, description: str, printq: bool = False - ) -> dict: + def init_mission(self, mission_name: str, description: str) -> dict: """ Initialize a new mission with the given name and description. Args: mission_name (str): The name of the new mission. description (str): A description of the new mission. - printq (bool): If True, print the response. Defaults to False. Returns: dict: The response from the MiR base after initializing the mission. @@ -266,13 +256,9 @@ def init_mission( "name": mission_name, } - return self.send_command( - "missions", mission_data, printq, "New mission successfully added" - ) + return self.send_command("missions", mission_data) - def init_action( - self, act_param_dict: list, mission_id: str, priority: int, printq: bool = False - ) -> None: + def init_action(self, act_param_dict: list, mission_id: str, priority: int) -> None: """ Initialize actions with default values for a new mission. @@ -280,7 +266,6 @@ def init_action( act_param_dict (list of dict): List of dictionaries where each dictionary contains action types and their parameters. mission_id (str): The ID of the mission to which actions are being added. priority (int): Priority level for the actions. - printq (bool): If True, print the response. Defaults to False. Returns: None @@ -297,26 +282,22 @@ def init_action( } url = f"missions/{mission_id}/actions" - self.send_command( - url, action_payload, printq, "New action successfully added." - ) + self.send_command(url, action_payload) - def set_action_params( - self, mission_id: str, act_param_dict: list, printq: bool = False - ) -> None: + def set_action_params(self, mission_id: str, act_param_dict: list) -> None: """ Modify action parameters for a mission. Args: mission_id (str): The ID of the mission to modify actions for. act_param_dict (list of dict): List of dictionaries where each dictionary contains action types and their updated parameters. - printq (bool): If True, print the response. Defaults to False. + Returns: None """ url = f"missions/{mission_id}/actions" - actions = self.receive_response(url, printq) + actions = self.receive_response(url) for action in actions: params = action.get("parameters", []) @@ -340,9 +321,7 @@ def set_action_params( } url = f"missions/{mission_id}/actions/{action_id}" - self.change_command( - url, mission_actions, printq, "Action successfully changed." - ) + self.change_command(url, mission_actions) def post_mission_to_queue( self, @@ -350,7 +329,6 @@ def post_mission_to_queue( act_param_dict: list, description: str = "", priority: int = 0, - printq: bool = False, ) -> dict: """ Post a mission to the queue. Creates a new mission if it doesn't exist, otherwise updates the existing mission. @@ -361,7 +339,6 @@ def post_mission_to_queue( act_param_dict (list of dict): List of dictionaries where each dictionary contains action types and their updated parameters. description (str): Description of the mission. Defaults to an empty string. priority (int): Priority level when posting the mission to the queue. Defaults to 1. - printq (bool): If True, print the response. Defaults to False. Returns: dict: Response from the MiR base after posting the mission to the queue. @@ -369,24 +346,19 @@ def post_mission_to_queue( search = { "filters": [{"fieldname": "name", "operator": "=", "value": mission_name}] } - mission = self.receive_response("missions", False, None, search) + mission = self.receive_response("missions", search=search) if not mission: - mission = self.init_mission(mission_name, description, printq) + mission = self.init_mission(mission_name, description) mission_id = mission.get("guid") - self.init_action(act_param_dict, mission_id, priority, printq) + self.init_action(act_param_dict, mission_id, priority) else: mission_id = mission[0].get("guid") - self.set_action_params(mission_id, act_param_dict, printq) + self.set_action_params(mission_id, act_param_dict) mission_queue_payload = {"mission_id": mission_id, "priority": priority} - return self.send_command( - "mission_queue", - mission_queue_payload, - printq, - "Mission successfully added to queue.", - ) + return self.send_command("mission_queue", mission_queue_payload) def wait_until_finished(self) -> None: """ @@ -400,7 +372,7 @@ def wait_until_finished(self) -> None: time.sleep(5) self.status = "IDLE" - def check_queue_completion(self, printq: bool = False) -> None: + def check_queue_completion(self) -> None: """ Check and print the status of the current mission queue and its actions. @@ -422,10 +394,7 @@ def check_queue_completion(self, printq: bool = False) -> None: mission_guid = self.receive_response("mission_queue/" + str(miss_id)).get( "mission_id" ) - mission_name = self.receive_response("missions/" + mission_guid).get("name") - - if printq: - self.find_mission_in_queue(mission_name) + self.receive_response("missions/" + mission_guid).get("name") def self_status(self) -> dict: """ @@ -434,7 +403,7 @@ def self_status(self) -> dict: Returns: dict: The system status information. """ - return self.receive_response("status", True) + return self.receive_response("status") def get_user_group_id(self) -> str: """ @@ -445,7 +414,7 @@ def get_user_group_id(self) -> str: Returns: str: The ID of the first mission group. """ - get_id = self.receive_response("mission_groups", False) + get_id = self.receive_response("mission_groups") return get_id[0].get("guid") def receive_response(self, endpoint: str, search: Optional[dict] = None) -> dict: @@ -454,7 +423,6 @@ def receive_response(self, endpoint: str, search: Optional[dict] = None) -> dict Args: endpoint (str): The API endpoint to query. - printq (bool): Whether to print the response details. message (str): An optional message to print if the request is successful. search (dict): An optional search payload for POST requests. @@ -535,7 +503,6 @@ def delete(self, endpoint: str) -> str: Args: endpoint (str): The API endpoint to delete data from. - printq (bool): Whether to print the response details. message (str): An optional message to print if the request is successful. Returns: @@ -689,7 +656,7 @@ def get_state(self) -> str: str: The current state of the system. """ url = "status/?whitelist=state_text" - state = self.receive_response(url, False).get("state_text") + state = self.receive_response(url).get("state_text") return state.upper() diff --git a/src/mir_rest_node.py b/src/mir_rest_node.py index 12a0443..00a6806 100644 --- a/src/mir_rest_node.py +++ b/src/mir_rest_node.py @@ -16,6 +16,7 @@ class MIRConfig(RestNodeConfig): mir_host: str = "mirbase2.cels.anl.gov" map_name: str = "RPL" + mir_key: str class MIRNode(RestNode): @@ -27,8 +28,11 @@ class MIRNode(RestNode): def startup_handler(self) -> None: """MIR startup handler.""" - self.mir = MIRBase(mir_ip=self.config.mir_host, map_name=self.config.map_name) - self.mir.create_position_dict() + self.mir = MIRBase( + mir_ip=self.config.mir_host, + mir_key=self.config.mir_key, + map_name=self.config.map_name, + ) def status_handler(self) -> None: """Periodically called to update the current status of the node."""