# Copyright (c) 2023 Boston Dynamics, Inc. All rights reserved.
#
# Downloading, reproducing, distributing or otherwise using the SDK Software
# is subject to the terms and conditions of the Boston Dynamics Software
# Development Kit License (20191101-BDSDK-SL).
""" The client uses a web API to send HTTPs requests to a number of REStful endpoints using the Requests library.
"""
from collections.abc import Iterable
from typing import Dict
import requests
import bosdyn.orbit.utils as utils
from bosdyn.orbit.exceptions import UnauthenticatedClientError
DEFAULT_HEADERS = {'Accept': 'application/json'}
OCTET_HEADER = {'Content-type': 'application/octet-stream', 'Accept': 'application/octet-stream'}
[docs]class Client():
"""Client for the Orbit web API"""
def __init__(self, hostname: str, verify: bool = True, cert: str = None):
""" Initializes the attributes of the Client object.
Args:
hostname: the IP address associated with the instance
verify(path to a CA bundle or Boolean): controls whether we verify the server’s TLS certificate
Note that verify=False makes your application vulnerable to man-in-the-middle (MitM) attacks
Defaults to True
cert(.pem file or a tuple with ('cert', 'key') pair): a local cert to use as client side certificate
Note that the private key to your local certificate must be unencrypted because Requests does not support using encrypted keys.
Defaults to None. For additional configurations, use the member Session object "_session" in accordance with Requests library
Raises:
RequestExceptions: exceptions thrown by the Requests library
"""
# The hostname of the instance
self._hostname = hostname
# Set a Session object to persist certain parameters across requests
self._session = requests.Session()
# Set SSL verification strategy
self._session.verify = verify
# Client Side Certificates
self._session.cert = cert
# Initialize session
self._session.get(f'https://{self._hostname}')
# Set default headers for self._session
self._session.headers.update(DEFAULT_HEADERS)
# Set x-csrf-token for self._session
self._session.headers.update({'x-csrf-token': self._session.cookies['x-csrf-token']})
# Flag indicating that the Client is authenticated
self._is_authenticated = False
[docs] def authenticate_with_api_token(self, api_token: str = None) -> requests.Response:
""" Authorizes the client using the provided API token obtained from the instance.
Must call before using other client functions.
Args:
api_token: the API token obtained from the instance
Raises:
RequestExceptions: exceptions thrown by the Requests library
"""
if not api_token:
api_token = utils.get_api_token()
# Set API token for self._session
self._session.headers.update({'Authorization': 'Bearer ' + api_token})
# Check the validity of the API token
authenticate_response = self._session.get(
f'https://{self._hostname}/api/v0/api_token/authenticate')
if authenticate_response.ok:
self._is_authenticated = True
else:
print('Client: Login failed: {} Please, obtain a valid API token from the instance!'.
format(authenticate_response.text))
# Remove the invalid API token from session headers
self._session.headers.pop('Authorization')
return authenticate_response
[docs] def get_resource(self, path: str, **kwargs) -> requests.Response:
""" Base function for getting a resource in /api/v0/
Args:
path: the path appended to /api/v0/
kwargs(**): a variable number of keyword arguments for the get request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the get request
"""
if not self._is_authenticated:
raise UnauthenticatedClientError()
return self._session.get(f'https://{self._hostname}/api/v0/{path}/', **kwargs)
[docs] def post_resource(self, path: str, **kwargs) -> requests.Response:
""" Base function for posting a resource in /api/v0/
Args:
path: the path appended to /api/v0/
kwargs(**): a variable number of keyword arguments for the post request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
The response associated with the post request
"""
if not self._is_authenticated and path != "login":
raise UnauthenticatedClientError()
return self._session.post(f'https://{self._hostname}/api/v0/{path}', **kwargs)
[docs] def delete_resource(self, path: str, **kwargs) -> requests.Response:
""" Base function for deleting a resource in /api/v0/
Args:
path: the path appended to /api/v0/
kwargs(**): a variable number of keyword arguments for the delete request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
The response associated with the delete request
"""
if not self._is_authenticated:
raise UnauthenticatedClientError()
return self._session.delete(f'https://{self._hostname}/api/v0/{path}', **kwargs)
[docs] def get_version(self, **kwargs) -> requests.Response:
""" Retrieves version info.
Args:
kwargs(**): a variable number of keyword arguments for the get request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the get request
"""
return self.get_resource("version", **kwargs)
[docs] def get_system_time(self, **kwargs) -> requests.Response:
""" Returns the current system time.
Args:
kwargs(**): a variable number of keyword arguments for the get request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the get request
"""
return self.get_resource("settings/system-time", **kwargs)
[docs] def get_robots(self, **kwargs) -> requests.Response:
""" Returns robots on the specified instance.
Args:
kwargs(**): a variable number of keyword arguments for the get request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the get request
"""
return self.get_resource("robots", **kwargs)
[docs] def get_robot_by_hostname(self, hostname: str, **kwargs) -> requests.Response:
""" Returns a robot on given a hostname of a specific robot.
Args:
hostname: the IP address associated with the desired robot on the instance
kwargs(**): a variable number of keyword arguments for the get request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the get request
"""
return self.get_resource(f'robots/{hostname}', **kwargs)
[docs] def get_site_walks(self, **kwargs) -> requests.Response:
""" Returns site walks on the specified instance
Args:
kwargs(**): a variable number of keyword arguments for the get request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the get request
"""
return self.get_resource("site_walks", **kwargs)
[docs] def get_site_walk_by_id(self, uuid: str, **kwargs) -> requests.Response:
""" Given a site walk uuid, returns a site walk on the specified instance
Args:
uuid: the ID associated with the site walk
kwargs(**): a variable number of keyword arguments for the get request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the get request
"""
return self.get_resource(f'site_walks/{uuid}', **kwargs)
[docs] def get_site_elements(self, **kwargs) -> requests.Response:
""" Returns site elements on the specified instance
Args:
kwargs(**): a variable number of keyword arguments for the get request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the get request
"""
return self.get_resource("site_elements", **kwargs)
[docs] def get_site_element_by_id(self, uuid: str, **kwargs) -> requests.Response:
""" Given a site element uuid, returns a site element on the specified instance
Args:
uuid: the ID associated with the site element
kwargs(**): a variable number of keyword arguments for the get request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the get request
"""
return self.get_resource(f'site_elements/{uuid}', **kwargs)
[docs] def get_site_docks(self, **kwargs) -> requests.Response:
""" Returns site docks on the specified instance
Args:
kwargs(**): a variable number of keyword arguments for the get request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the get request
"""
return self.get_resource("site_docks", **kwargs)
[docs] def get_site_dock_by_id(self, uuid: str, **kwargs) -> requests.Response:
""" Given a site dock uuid, returns a site dock on the specified instance
Args:
uuid: the ID associated with the site dock
kwargs(**): a variable number of keyword arguments for the get request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the get request
"""
return self.get_resource(f'site_docks/{uuid}', **kwargs)
[docs] def get_calendar(self, **kwargs) -> requests.Response:
""" Returns calendar events on the specified instance
Args:
kwargs(**): a variable number of keyword arguments for the get request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the get request
"""
return self.get_resource("calendar/schedule", **kwargs)
[docs] def get_run_events(self, **kwargs) -> requests.Response:
""" Given a dictionary of query params, returns run events
Args:
kwargs(**): a variable number of keyword arguments for the get request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the get request
"""
return self.get_resource("run_events", **kwargs)
[docs] def get_run_event_by_id(self, uuid: str, **kwargs) -> requests.Response:
""" Given a runEventUuid, returns a run event
Args:
uuid: the ID associated with the run event
kwargs(**): a variable number of keyword arguments for the get request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the get request
"""
return self.get_resource(f'run_events/{uuid}', **kwargs)
[docs] def get_run_captures(self, **kwargs) -> requests.Response:
""" Given a dictionary of query params, returns run captures
Args:
kwargs(**): a variable number of keyword arguments for the get request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the get request
"""
return self.get_resource("run_captures", **kwargs)
[docs] def get_run_capture_by_id(self, uuid: str, **kwargs) -> requests.Response:
""" Given a runCaptureUuid, returns a run capture
Args:
uuid: the ID associated with the run capture
kwargs(**): a variable number of keyword arguments for the get request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the get request
"""
return self.get_resource(f'run_captures/{uuid}', **kwargs)
[docs] def get_runs(self, **kwargs) -> requests.Response:
""" Given a dictionary of query params, returns runs
Args:
kwargs(**): a variable number of keyword arguments for the get request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the get request
"""
return self.get_resource("runs", **kwargs)
[docs] def get_run_by_id(self, uuid: str, **kwargs) -> requests.Response:
""" Given a runUuid, returns a run
Args:
uuid: the ID associated with the run
kwargs(**): a variable number of keyword arguments for the get request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the get request
"""
return self.get_resource(f'runs/{uuid}', **kwargs)
[docs] def get_run_archives_by_id(self, uuid: str, **kwargs) -> requests.Response:
""" Given a runUuid, returns run archives
Args:
uuid: the ID associated with the run
kwargs(**): a variable number of keyword arguments for the get request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the get request
"""
return self.get_resource(f'run_archives/{uuid}', **kwargs)
[docs] def get_image(self, url: str, **kwargs) -> 'urllib3.response.HTTPResponse':
""" Given a data capture url, returns a decoded image
Args:
url: the url associated with the data capture in the form of https://hostname + RunCapture["dataUrl"].
kwargs(**): a variable number of keyword arguments for the get request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
urllib3.response.HTTPResponse: the decoded response associated with the get request
"""
if not self._is_authenticated:
raise UnauthenticatedClientError()
response = self._session.get(url, stream=True, **kwargs)
response.raise_for_status()
response.raw.decode_content = True
return response.raw
[docs] def get_image_response(self, url: str, **kwargs) -> requests.Response:
""" Given a data capture url, returns an image response
Args:
url: the url associated with the data capture in the form of https://hostname + RunCapture["dataUrl"]
kwargs(**): a variable number of keyword arguments for the get request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the image response associated with the get request
"""
if not self._is_authenticated:
raise UnauthenticatedClientError()
response = self._session.get(url, stream=True, **kwargs)
return response
[docs] def get_webhook(self, **kwargs) -> requests.Response:
""" Returns webhook on the specified instance
Args:
kwargs(**): a variable number of keyword arguments for the get request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the get request
"""
return self.get_resource("webhooks", **kwargs)
[docs] def get_webhook_by_id(self, uuid: str, **kwargs) -> requests.Response:
""" Given a uuid, returns a specific webhook instance
Args:
uuid: the ID associated with the webhook
kwargs(**): a variable number of keyword arguments for the get request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the get request
"""
return self.get_resource(f'webhooks/{uuid}', **kwargs)
[docs] def get_robot_info(self, robot_nickname: str, **kwargs) -> requests.Response:
""" Given a robot nickname, returns information about the robot
Args:
robot_nickname: the nickname of the robot
kwargs(**): a variable number of keyword arguments for the get request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the post request
"""
return self.get_resource(f'robot-session/{robot_nickname}/session', **kwargs)
[docs] def post_export_as_walk(self, site_walk_uuid: str, **kwargs) -> requests.Response:
""" Given a site walk uuid, it exports the walks_pb2.Walk equivalent
Args:
site_walk_uuid: the ID associated with the site walk
kwargs(**): a variable number of keyword arguments for the get request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the post request
"""
return self.post_resource(f'site_walks/export_as_walk/{site_walk_uuid}', **kwargs)
[docs] def post_import_from_walk(self, **kwargs) -> requests.Response:
""" Given a walk data, imports it to the specified instance
Args:
kwargs(**): a variable number of keyword arguments for the post request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the post request
"""
return self.post_resource("site_walks/import_from_walk", **kwargs)
[docs] def post_site_element(self, **kwargs) -> requests.Response:
""" Create a site element. It also updates a pre-existing Site Element using the associated UUID.
Args:
kwargs(**): a variable number of keyword arguments for the post request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the post request
"""
return self.post_resource("site_elements", **kwargs)
[docs] def post_site_walk(self, **kwargs) -> requests.Response:
""" Create a site walk. It also updates a pre-existing Site Walk using the associated UUID.
Args:
kwargs(**): a variable number of keyword arguments for the post request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the post request
"""
return self.post_resource("site_walks", **kwargs)
[docs] def post_site_dock(self, **kwargs) -> requests.Response:
""" Create a site element. It also updates a pre-existing Site Dock using the associated UUID.
Args:
kwargs(**): a variable number of keyword arguments for the post request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the post request
"""
return self.post_resource("site_docks", **kwargs)
[docs] def post_robot(self, **kwargs) -> requests.Response:
""" Add a robot to the specified instance
Args:
kwargs(**): a variable number of keyword arguments for the post request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the post request
"""
return self.post_resource("robots", **kwargs)
[docs] def post_calendar_event(self, nickname: str = None, time_ms: int = None, repeat_ms: int = None,
mission_id: str = None, force_acquire_estop: bool = None,
require_docked: bool = None, schedule_name: str = None,
blackout_times: Iterable[Dict[str,
int]] = None, disable_reason: str = None,
event_id: str = None, **kwargs) -> requests.Response:
""" This function serves two purposes. It creates a new calendar event on using the following arguments
when Event ID is not specified. When the Event ID associated with a pre-existing calendar event is specified,
the function overwrites the attributes of the pre-existing calendar event.
Args:
nickname: the name associated with the robot
time_ms: the first kickoff time in terms of milliseconds since epoch
repeat_ms:the delay time in milliseconds for repeating calendar events
mission_id: the UUID associated with the mission( also known as Site Walk)
force_acquire_estop: instructs the system to force acquire the estop when the mission kicks off
require_docked: determines whether the event will require the robot to be docked to start
schedule_name: the desired name of the calendar event
blackout_times: a specification for a time period over the course of a week when a schedule should not run
specified as list of a dictionary defined as {"startMs": <int>, "endMs" : <int>}
with startMs (inclusive) being the millisecond offset from the beginning of the week (Sunday) when this blackout period starts
and endMs (exclusive) being the millisecond offset from beginning of the week(Sunday) when this blackout period ends
disable_reason: (optional) a reason for disabling the calendar event
event_id: the auto-generated ID for a calendar event that is already posted on the instance.
This is only useful when editing a pre-existing calendar event.
kwargs(**): a variable number of keyword arguments for the post request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the post request
"""
# Check if the input contains the json param that is constructed outside the function
if 'json' in kwargs:
return self.post_resource("calendar/schedule", **kwargs)
# Construct payload based on provided inputs
payload = {
"agent": {
"nickname": nickname
},
"schedule": {
"timeMs": time_ms,
"repeatMs": repeat_ms,
"blackouts": blackout_times,
"disableReason": disable_reason,
},
"task": {
"missionId": mission_id,
"forceAcquireEstop": force_acquire_estop,
"requireDocked": require_docked,
},
"eventMetadata": {
"name": schedule_name,
"eventId": event_id
},
}
return self.post_resource("calendar/schedule", json=payload, **kwargs)
[docs] def post_calendar_events_disable_all(self, disable_reason: str, **kwargs) -> requests.Response:
""" Disable all scheduled missions
Args:
disable_reason: Reason for disabling all scheduled missions
kwargs(**): a variable number of keyword arguments for the post request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the post request
"""
return self.post_resource("calendar/disable-enable", json={"disableReason": disable_reason},
**kwargs)
[docs] def post_calendar_event_disable_by_id(self, event_id: str, disable_reason: str,
**kwargs) -> requests.Response:
""" Disable specific scheduled mission by event ID
Args:
event_id: eventId associated with a mission to disable
disable_reason: Reason for disabling a scheduled mission
kwargs(**): a variable number of keyword arguments for the post request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the post request
"""
return self.post_resource("calendar/disable-enable", json={
"disableReason": disable_reason,
"eventId": event_id
}, **kwargs)
[docs] def post_calendar_events_enable_all(self, **kwargs) -> requests.Response:
""" Enable all scheduled missions
Args:
kwargs(**): a variable number of keyword arguments for the post request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the post request
"""
return self.post_resource("calendar/disable-enable", json={"disableReason": ""}, **kwargs)
[docs] def post_calendar_event_enable_by_id(self, event_id: str, **kwargs) -> requests.Response:
""" Enable specific scheduled mission by event ID
Args:
event_id: eventId associated with a mission to enable
kwargs(**): a variable number of keyword arguments for the post request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the post request
"""
return self.post_resource("calendar/disable-enable", json={
"disableReason": "",
"eventId": event_id
}, **kwargs)
[docs] def post_webhook(self, **kwargs) -> requests.Response:
""" Create a webhook instance
Args:
kwargs(**): a variable number of keyword arguments for the post request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the post request
"""
return self.post_resource("webhooks", **kwargs)
[docs] def post_webhook_by_id(self, uuid: str, **kwargs) -> requests.Response:
""" Update an existing webhook instance
Args:
uuid: the ID associated with the desired webhook instance
kwargs(**): a variable number of keyword arguments for the post request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the post request
"""
return self.post_resource(f'webhooks/{uuid}', **kwargs)
[docs] def post_return_to_dock_mission(self, robot_nickname: str, site_dock_uuid: str,
**kwargs) -> requests.Response:
""" Generate a mission to send the robot back to the dock
Args:
robot_nickname: the nickname of the robot
site_dock_uuid: the uuid of the dock to send robot to
kwargs(**): a variable number of keyword arguments for the post request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the post request
"""
return self.post_resource('graph/send-robot', json={
"nickname": robot_nickname,
"siteDockUuid": site_dock_uuid
}, **kwargs)
[docs] def post_dispatch_mission_to_robot(self, robot_nickname: str, driver_id: str, mission_uuid: str,
delete_mission: bool, force_acquire_estop: bool,
**kwargs) -> requests.Response:
""" Dispatch the robot to a mission given a mission uuid
Args:
robot_nickname: the nickname of the robot
driver_id: the current driver ID of the mission
mission_uuid: uuid of the mission(also known as Site Walk) to dispatch
delete_mission: whether to delete the mission after playback
force_acquire_estop: whether to force acquire E-stop from the previous client
kwargs(**): a variable number of keyword arguments for the post request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the post request
"""
# Payload required for dispatching a mission
payload = {
"agent": {
"nickname": robot_nickname
},
"schedule": {
"timeMs": {
"low": 1,
"high": 0,
"unsigned": False
},
"repeatMs": {
"low": 0,
"high": 0,
"unsigned": False
}
},
"task": {
"missionId": mission_uuid,
"forceAcquireEstop": force_acquire_estop,
"deleteMission": delete_mission,
"requireDocked": False
},
"eventMetadata": {
"name": "API Triggered Mission"
}
}
return self.post_resource(
f'calendar/mission/dispatch/{robot_nickname}?currentDriverId={driver_id}', json=payload,
**kwargs)
[docs] def delete_site_walk(self, uuid: str, **kwargs) -> requests.Response:
""" Given a site walk uuid, deletes the site walk associated with the uuid on the specified instance
Args:
uuid: the ID associated with the desired site walk
kwargs(**): a variable number of keyword arguments for the delete request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the delete request
"""
return self.delete_resource(f'site_walks/{uuid}', **kwargs)
[docs] def delete_robot(self, robot_hostname: str, **kwargs) -> requests.Response:
""" Given a robot hostname, deletes the robot associated with the hostname on the specified instance
Args:
robot_hostname: the IP address associated with the robot
kwargs(**): a variable number of keyword arguments for the delete request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the delete request
"""
return self.delete_resource(f'robots/{robot_hostname}', **kwargs)
[docs] def delete_calendar_event(self, event_id: str, **kwargs) -> requests.Response:
""" Delete the specified calendar event on the specified instance
Args:
event_id(string): the ID associated with the calendar event
kwargs(**): a variable number of keyword arguments for the delete request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the delete request
"""
return self.delete_resource(f'calendar/schedule/{event_id}', **kwargs)
[docs] def delete_webhook(self, uuid: str, **kwargs) -> requests.Response:
""" Delete the specified webhook instance on the specified instance
Args:
uuid: the ID associated with the desired webhook
kwargs(**): a variable number of keyword arguments for the delete request
Raises:
RequestExceptions: exceptions thrown by the Requests library
UnauthenticatedClientError: indicates that the client is not authenticated properly
Returns:
requests.Response: the response associated with the delete request
"""
return self.delete_resource(f'webhooks/{uuid}', **kwargs)
[docs]def create_client(options: 'argparse.Namespace') -> 'bosdyn.orbit.client.Client':
""" Creates a client object.
Args:
options: User input containing hostname, verification, and certification info.
Returns:
client: 'bosdyn.orbit.client.Client' object
"""
# Determine the value for the argument "verify"
if options.verify in ["True", "False"]:
verify = options.verify == "True"
else:
print(
"The provided value for the argument verify [%s] is not either 'True' or 'False'. Assuming verify is set to 'path/to/CA bundle'"
.format(options.verify))
verify = options.verify
# A client object represents a single instance.
client = Client(hostname=options.hostname, verify=verify, cert=options.cert)
# The client needs to be authenticated before using its functions
client.authenticate_with_api_token()
return client