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[SW-1890] modify lease acquiring/taking #154

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[SW-1890] modify lease acquiring/taking #154

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4743d2f
added try catch in acquireLease()
tcappellari-bdai Feb 4, 2025
60e7d1c
added lease checking to robot command
tcappellari-bdai Feb 5, 2025
c4811e7
Merge branch 'main' into SW-1890-modify-lease-taking
tcappellari-bdai Feb 6, 2025
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32 changes: 19 additions & 13 deletions spot_wrapper/wrapper.py
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@
from bosdyn.client.graph_nav import GraphNavClient
from bosdyn.client.gripper_camera_param import GripperCameraParamClient
from bosdyn.client.image import ImageClient
from bosdyn.client.lease import Lease, LeaseClient, LeaseKeepAlive
from bosdyn.client.lease import Lease, LeaseClient, LeaseKeepAlive, LeaseResponseError
from bosdyn.client.license import LicenseClient
from bosdyn.client.manipulation_api_client import ManipulationApiClient
from bosdyn.client.map_processing import MapProcessingServiceClient
Expand Down Expand Up @@ -1029,7 +1029,7 @@ def releaseEStop(self) -> None:
self._estop_endpoint = None

def takeLease(self) -> typing.Tuple[bool, typing.Optional[Lease]]:
"""Take lease for the robot, which may have been taken already."""
"""Forcefully take the lease for the robot, which may have been taken already."""
lease = self._lease_client.take()
have_new_lease = (self._lease is None and lease is not None) or (
str(lease.lease_proto) != str(self._lease.lease_proto)
Expand All @@ -1042,19 +1042,23 @@ def takeLease(self) -> typing.Tuple[bool, typing.Optional[Lease]]:
return have_new_lease, self._lease

def getLease(self) -> typing.Optional[Lease]:
"""Get a lease for the robot and keep the lease alive automatically."""
"""Get a lease for the robot (if available) and keep the lease alive automatically."""
if self._use_take_lease:
lease = self._lease_client.take()
else:
lease = self._lease_client.acquire()
have_new_lease = (self._lease is None and lease is not None) or (
str(lease.lease_proto) != str(self._lease.lease_proto)
)
if have_new_lease:
if self._lease_keepalive is not None:
self._lease_keepalive.shutdown()
self._lease_keepalive = LeaseKeepAlive(self._lease_client)
self._lease = lease
try:
lease = self._lease_client.acquire()
have_new_lease = (self._lease is None and lease is not None) or (
str(lease.lease_proto) != str(self._lease.lease_proto)
)
if have_new_lease:
if self._lease_keepalive is not None:
self._lease_keepalive.shutdown()
self._lease_keepalive = LeaseKeepAlive(self._lease_client)
self._lease = lease
except LeaseResponseError as e:
self._logger.error("Unable to acquire lease: " + str(e))

return self._lease

def releaseLease(self) -> None:
Expand All @@ -1079,7 +1083,7 @@ def disconnect(self) -> None:
self._valid = False
if self._robot.time_sync:
self._robot.time_sync.stop()
self.releaseLease()
self.release()
self.releaseEStop()

def _robot_command(
Expand All @@ -1106,6 +1110,8 @@ def _robot_command(
timesync_endpoint=timesync_endpoint,
)
return True, "Success", command_id
except LeaseResponseError as e:
return False, "Failed to acquire lease: " + str(e), None
except Exception as e:
self._logger.error(f"Unable to execute robot command: {e}")
return False, str(e), None
Expand Down