[SW-949] Add Mission Client in spot_wrapper (#105)

* started building client for mission

* filled in spot_mission wrapper

* mission client wrapper done; testing/debugging

* PR comments edits

spot_wrapper/spot_mission_wrapper.py

@@ -0,0 +1,192 @@
+import logging
+from typing import Optional
+
+from bosdyn.api.mission import nodes_pb2
+from bosdyn.client import RpcError, robot_command
+from bosdyn.client.lease import LeaseClient, LeaseWallet
+from bosdyn.client.robot import Robot
+from bosdyn.mission.client import (
+    CompilationError,
+    MissionClient,
+    NoMissionError,
+    NoMissionPlayingError,
+    ValidationError,
+)
+
+from spot_wrapper.wrapper_helpers import RobotState
+
+
+class SpotMission:
+    """
+    Allow access to mission functionality through the SDK
+    """
+
+    def __init__(
+        self,
+        robot: Robot,
+        logger: logging.Logger,
+        robot_state: RobotState,
+        mission_client: MissionClient,
+        robot_command_client: robot_command.RobotCommandClient,
+        lease_client: LeaseClient,
+    ) -> None:
+        self._robot = robot
+        self._logger = logger
+        self._mission_client: MissionClient = mission_client
+        self._robot_command_client = robot_command_client
+        self._lease_client = lease_client
+        self._robot_state = robot_state
+        self._spot_check_resp = None
+        self._lease = None
+        self._lease_wallet: LeaseWallet = self._lease_client.lease_wallet
+
+    def load_mission(self, root: nodes_pb2.Node, leases=None, data_chunk_byte_size: Optional[int] = None):
+        """Load a mission
+        Args:
+            root: Root node in a mission.
+            leases: All leases necessary to initialize a mission.
+            data_chunk_byte_size: Optional max size of each streamed message
+        Raises:
+            RpcError: Problem communicating with the robot.
+            bosdyn.mission.client.CompilationError: The mission failed to compile.
+            bosdyn.mission.client.ValidationError: The mission failed to validate.
+        """
+        if leases is None:
+            leases = []
+        if data_chunk_byte_size:
+            return self._load_mission_as_chunks(root, leases, data_chunk_byte_size)
+        try:
+            return self._mission_client.load_mission_async(root, leases)
+        except RpcError:
+            return False, "Could not communicate with the robot"
+        except CompilationError as e:
+            return False, f"The mission failed to compile: {e}"
+        except ValidationError as e:
+            return False, f"The mission could not be validated: {e}"
+
+    def _load_mission_as_chunks(self, root: nodes_pb2.Node, leases=None, data_chunk_byte_size: int = 1000 * 1000):
+        """Load a mission onto the robot.
+        Args:
+            root: Root node in a mission.
+            leases: All leases necessary to initialize a mission.
+            data_chunk_byte_size: max size of each streamed message
+        Raises:
+            RpcError: Problem communicating with the robot.
+            bosdyn.mission.client.CompilationError: The mission failed to compile.
+            bosdyn.mission.client.ValidationError: The mission failed to validate.
+        """
+        if leases is None:
+            leases = []
+        try:
+            return self._mission_client.load_mission_as_chunks2(root, leases, data_chunk_byte_size)
+        except RpcError:
+            return False, "Could not communicate with the robot"
+        except CompilationError as e:
+            return False, f"The mission failed to compile: {e}"
+        except ValidationError as e:
+            return False, f"The mission could not be validated: {e}"
+
+    def get_mission_info(self):
+        """Get static information about the loaded mission.
+
+        Raises:
+            RpcError: Problem communicating with the robot.
+        """
+        try:
+            return self._mission_client.get_info()
+        except RpcError:
+            return False, "Could not communicate with the robot"
+
+    def play_mission(
+        self,
+        pause_time_secs: int,
+        leases=None,
+        settings=None,
+    ):
+        """Play loaded mission or continue a paused mission
+        Args:
+          pause_time_secs: Absolute time when the mission should pause execution. Subsequent RPCs
+              will override this value, so you can use this to say "if you don't hear from me again,
+              stop running the mission at this time."
+          leases: Leases the mission service will need to use. Unlike other clients, these MUST
+              be specified.
+        Raises:
+            RpcError: Problem communicating with the robot.
+            NoMissionError: No mission Loaded.
+        """
+        if leases is None:
+            leases = []
+        try:
+            return self._mission_client.play_mission_async(pause_time_secs, leases, settings)
+        except RpcError:
+            return False, "Could not communicate with the robot"
+        except NoMissionError:
+            return False, "No mission loaded"
+
+    def get_mission_state(
+        self,
+        upper_tick_bound: Optional[int] = None,
+        lower_tick_bound: Optional[int] = None,
+        past_ticks: Optional[int] = None,
+    ):
+        """Get the state of the current playing mission
+        Raises:
+            RpcError: Problem communicating with the robot.
+            NoMissionPlayingError: No mission playing.
+        """
+        try:
+            return self._mission_client.get_state_async(upper_tick_bound, lower_tick_bound, past_ticks)
+        except RpcError:
+            return False, "Could not communicate with the robot"
+        except NoMissionPlayingError:
+            return False, "No mission playing"
+
+    def pause_mission(self):
+        """Pause the current mission
+        Raises:
+            RpcError: Problem communicating with the robot.
+            NoMissionPlayingError: No mission playing.
+        """
+        try:
+            return self._mission_client.pause_mission_async()
+        except RpcError:
+            return False, "Could not communicate with the robot"
+        except NoMissionPlayingError:
+            return False, "No mission playing"
+
+    def restart_mission(self, pause_time_secs, leases=None, settings=None):
+        """Restart mission from the beginning
+        Args:
+          pause_time_secs: Absolute time when the mission should pause execution. Subsequent RPCs
+              to RestartMission will override this value, so you can use this to say "if you don't hear
+              from me again, stop running the mission at this time."
+          leases: Leases the mission service will need to use. Unlike other clients, these MUST
+              be specified.
+        Raises:
+            RpcError: Problem communicating with the robot.
+            NoMissionError: No Mission Loaded.
+            bosdyn.mission.client.ValidationError: The mission failed to validate.
+        """
+        if leases is None:
+            leases = []
+        try:
+            return self._mission_client.restart_mission_async(pause_time_secs, leases, settings)
+        except RpcError:
+            return False, "Could not communicate with the robot"
+        except NoMissionError:
+            return False, "No mission loaded"
+        except ValidationError as e:
+            return False, f"The mission could not be validated: {e}"
+
+    def stop_mission(self):
+        """Stop the current mission
+        Raises:
+            RpcError: Problem communicating with the robot.
+            NoMissionPlayingError: No mission playing.
+        """
+        try:
+            return self._mission_client.stop_mission_async()
+        except RpcError:
+            return False, "Could not communicate with the robot"
+        except NoMissionPlayingError:
+            return False, "No mission playing"

spot_wrapper/wrapper.py

@@ -55,6 +55,7 @@
 from bosdyn.client.time_sync import TimeSyncEndpoint
 from bosdyn.client.world_object import WorldObjectClient
 from bosdyn.geometry import EulerZXY
+from bosdyn.mission.client import MissionClient
 from google.protobuf.timestamp_pb2 import Timestamp
 
 from .spot_arm import SpotArm
@@ -64,6 +65,7 @@
 from .spot_eap import SpotEAP
 from .spot_graph_nav import SpotGraphNav
 from .spot_images import SpotImages
+from .spot_mission_wrapper import SpotMission
 from .spot_world_objects import SpotWorldObjects
 from .wrapper_helpers import ClaimAndPowerDecorator, RobotCommandData, RobotState
 
@@ -392,7 +394,9 @@ def __init__(
         self._command_data = RobotCommandData()
 
         try:
-            self._sdk = create_standard_sdk(SPOT_CLIENT_NAME, cert_resource_glob=cert_resource_glob)
+            self._sdk = create_standard_sdk(
+                SPOT_CLIENT_NAME, service_clients=[MissionClient], cert_resource_glob=cert_resource_glob
+            )
         except Exception as e:
             self._logger.error("Error creating SDK object: %s", e)
             self._valid = False
@@ -437,6 +441,7 @@ def __init__(
                 self._estop_client = self._robot.ensure_client(EstopClient.default_service_name)
                 self._docking_client = self._robot.ensure_client(DockingClient.default_service_name)
                 self._spot_check_client = self._robot.ensure_client(SpotCheckClient.default_service_name)
+                self._mission_client = self._robot.ensure_client(MissionClient.default_service_name)
                 self._license_client = self._robot.ensure_client(LicenseClient.default_service_name)
                 if self._robot.has_arm():
                     self._gripper_cam_param_client = self._robot.ensure_client(
@@ -521,6 +526,15 @@ def __init__(
             self._lease_client,
         )
 
+        self._spot_mission = SpotMission(
+            self._robot,
+            self._logger,
+            self._state,
+            self._mission_client,
+            self._robot_command_client,
+            self._lease_client,
+        )
+
         if self._robot.has_arm():
             self._spot_arm = SpotArm(
                 self._robot,
@@ -726,6 +740,11 @@ def spot_check(self) -> SpotCheck:
         """Return SpotCheck instance"""
         return self._spot_check
 
+    @property
+    def spot_mission(self) -> SpotMission:
+        """Return SpotMission instance"""
+        return self._spot_mission
+
     @property
     def spot_eap_lidar(self) -> typing.Optional[SpotEAP]:
         """Return SpotEAP instance"""