modified to register services in wrapper instead of in camWrapper; no…

… change in runtime bug though
bdaiinstitute · Apr 8, 2024 · 7930ce8 · 7930ce8
1 parent 4e4da85
commit 7930ce8
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Showing 2 changed files with 18 additions and 13 deletions.
diff --git a/spot_wrapper/cam_wrapper.py b/spot_wrapper/cam_wrapper.py
@@ -893,15 +893,15 @@ async def _process_func(self):
 
 
 class SpotCamWrapper:
-    def __init__(self, hostname, username, password, logger, robot, sdk, port: typing.Optional[int] = None):
+    def __init__(self, hostname, username, password, logger, robot, port: typing.Optional[int] = None):
         self._hostname = hostname
         self._username = username
         self._password = password
         self._logger = logger
 
         # Create robot object and authenticate.
-        self.sdk = sdk
-        spot_cam.register_all_service_clients(self.sdk)
+        # self.sdk = sdk
+        # spot_cam.register_all_service_clients(self.sdk)
 
         self.robot = robot
         if port is not None:
@@ -920,15 +920,18 @@ def __init__(self, hostname, username, password, logger, robot, sdk, port: typin
                 "admin interface"
             )
 
-        self.lighting = LightingWrapper(self.robot, self._logger)
-        self.power = PowerWrapper(self.robot, self._logger)
-        self.compositor = CompositorWrapper(self.robot, self._logger)
-        self.image = ImageStreamWrapper(self._hostname, self.robot, self._logger)
-        self.health = HealthWrapper(self.robot, self._logger)
-        self.audio = AudioWrapper(self.robot, self._logger)
-        self.stream_quality = StreamQualityWrapper(self.robot, self._logger)
-        self.media_log = MediaLogWrapper(self.robot, self._logger)
-        self.ptz = PTZWrapper(self.robot, self._logger)
+        try:
+            self.lighting = LightingWrapper(self.robot, self._logger)
+            self.power = PowerWrapper(self.robot, self._logger)
+            self.compositor = CompositorWrapper(self.robot, self._logger)
+            self.image = ImageStreamWrapper(self._hostname, self.robot, self._logger)
+            self.health = HealthWrapper(self.robot, self._logger)
+            self.audio = AudioWrapper(self.robot, self._logger)
+            self.stream_quality = StreamQualityWrapper(self.robot, self._logger)
+            self.media_log = MediaLogWrapper(self.robot, self._logger)
+            self.ptz = PTZWrapper(self.robot, self._logger)
+        except Exception as e:
+            self._logger.warn(f"Error setting up spot cam wrapper components: {str(e)}")
 
         self._logger.info("Finished setting up spot cam wrapper components")
 

diff --git a/spot_wrapper/wrapper.py b/spot_wrapper/wrapper.py
@@ -54,6 +54,7 @@
 from bosdyn.client.spot_check import SpotCheckClient
 from bosdyn.client.time_sync import TimeSyncEndpoint
 from bosdyn.client.world_object import WorldObjectClient
+from bosdyn.client import spot_cam
 from bosdyn.geometry import EulerZXY
 from google.protobuf.timestamp_pb2 import Timestamp
 
@@ -597,8 +598,9 @@ def init_camera_wrapper(self, cam_logger) -> SpotCamWrapper:
         Initializes the spot camera wrapper
         """
         self.authenticate(self._robot, self._username, self._password, cam_logger)
+        spot_cam.register_all_service_clients(self._sdk)
         spot_cam_wrapper = SpotCamWrapper(self._hostname, self._username, self._password, cam_logger, 
-                                          self._robot, self._sdk)
+                                          self._robot)
         return spot_cam_wrapper
 
     def decorate_functions(self):