Implemented main basically

requirements.txt

@@ -1,3 +1,5 @@
 ur-rtde~=1.4.1
 redis~=3.5.3
-pyprocsync>=0.1.0
+pyprocsync>=0.1.0
+requests
+marshmallow~=3.11.1

single_ursim_control/compiler.py

@@ -0,0 +1,17 @@
+from plugins import AbstractCommand
+from typing import List
+from plugin_repository import PluginRepository
+import logging
+
+
+def compile_program(plugin_repository: PluginRepository, program_source: List[dict]) -> List[AbstractCommand]:
+    logger = logging.getLogger('compiler')
+
+    compiled_program = []
+    for command_source in program_source:
+        logger.debug(f"Compiling: [{command_source['name']}],{command_source['args']}")
+        compiled_program.append(
+            plugin_repository.get_compiler(command_source['name']).compile(**command_source['args'])
+        )
+
+    return compiled_program

single_ursim_control/config.py

@@ -1,3 +1,4 @@
+import sys
 import os
 
 
@@ -7,4 +8,7 @@ class Config:
     SYNC_DELAY = float(os.environ.get("SYNC_DELAY", 1.0))
     REDIS_URL = os.environ["REDIS_URL"]
     SYNC_TIMEOUT = os.environ.get("SYNC_TIMEOUT", None)  # Wait infinity by default
-    ROBOT_ADDRESS = os.environ.get("ROBOT_ADDRESS")
+    ROBOT_ADDRESS = os.environ.get("ROBOT_ADDRESS")
+    PROGRAM_URL = os.environ["PROGRAM_URL"]
+    DRY_RUN = ('--dry-run' in sys.argv) or bool(os.environ.get("DRY_RUN", False))
+    DEBUG = ('--debug' in sys.argv) or bool(os.environ.get("DEBUG", False))

single_ursim_control/main.py

@@ -1,14 +1,16 @@
 #!/usr/bin/env python3
-import os
 import sys
 from config import Config
 from plugins import SleepPlugin, SyncPlugin, WaitPlugin, URRTDEPlugin
 from plugin_repository import PluginRepository
-from program_executor import ProgramExecutor
+from program_executor import ProgramExecutor, ProgramExecutorStates
 from http_server import ControllerHTTPServer
 import logging
 import signal
 
+from compiler import compile_program
+from program_loader import load_program
+
 
 class HTTPControl:
 
@@ -22,43 +24,54 @@ class HTTPControl:
         return 201, "Will do sir!"
 
 
-def main():
+def main() -> int:
-    # init
+    # init instance
     logging.basicConfig(
         stream=sys.stdout,
         format="%(asctime)s [%(levelname)s]: %(name)s: %(message)s",
-        level=logging.DEBUG
+        level=logging.DEBUG if Config.DEBUG else logging.INFO
     )
-    http_server = ControllerHTTPServer(HTTPControl())
-    http_server.start()
 
-    compiler_repo = PluginRepository()
+    logging.info("Registering available plugins...")
-    compiler_repo.register_plugin(SleepPlugin)
+    # Register all available plugins
-    compiler_repo.register_plugin(SyncPlugin)
+    plugin_repo = PluginRepository()
-    compiler_repo.register_plugin(WaitPlugin)
+    plugin_repo.register_plugin(SleepPlugin)
-    compiler_repo.register_plugin(URRTDEPlugin)
+    plugin_repo.register_plugin(SyncPlugin)
+    plugin_repo.register_plugin(WaitPlugin)
+    plugin_repo.register_plugin(URRTDEPlugin)
 
-    # Example code:
+    # Download the program
-    compiler_repo.load_plugin("sleep")
+    logging.info("Downloading program...")
-    compiler_repo.load_plugin("sync")
+    try:
-    compiler_repo.load_plugin("wait")
+        program_source = load_program(Config.PROGRAM_URL)
-    compiler_repo.load_plugin("ur_rtde")
+    except Exception as e:
-    program = []
+        logging.error(f"Failed to download program: {e}! Exiting...")
-    program.append(compiler_repo.get_compiler("sleep").compile(secs=2))
+        logging.exception(e)
-    program.append(compiler_repo.get_compiler("moveJ").compile([5.7386425805573555, -0.536165146212658, 1.6278685933351111, -2.661452576366153, -1.5683528658421044, 1.0096729722787197], 1.0, 4.0))
+        return 1
-    program.append(compiler_repo.get_compiler("moveL").compile([-0.4, 0.1, -0.31, 3.142, 0, 0], 0.05, 0.75))
-    program.append(compiler_repo.get_compiler("moveL").compile([-0.4, 0.1, -0.24, 3.142, 0, 0], 0.05, 0.75))
-    program.append(compiler_repo.get_compiler("moveJ").compile([5.923472948343555, 0.032637657012293965, 0.2590068609959585, -0.2935643801854462, -2.7157323161031766, 4.71238898038469], 1.0, 4.0))
-    program.append(compiler_repo.get_compiler("moveJ").compile([4.982042349817814, -0.5256931707006921, 1.620887276327134, -1.0993828958312282, -3.660653573132907, 5.271592472723674], 1.0, 4.0))
-    program.append(compiler_repo.get_compiler("wait").compile())
-    program.append(compiler_repo.get_compiler("sleep").compile(secs=3))
-    program.append(compiler_repo.get_compiler("sync").compile(nodes=2, name="test"))
-    program.append(compiler_repo.get_compiler("sleep").compile(secs=10))
-    program.append(compiler_repo.get_compiler("sleep").compile(secs=10))
 
-    # prepare execution
+    # Load required plugins
-    executor = ProgramExecutor(program, loop=True)
+    logging.info("Loading required plugins...")
+    try:
+        plugin_repo.load_plugins(program_source['load_plugins'])
+    except Exception as e:
+        logging.error(f"Error during plugin loading: {e}! Exiting...")
+        logging.exception(e)
+        return 2
 
+    # Compile the program
+    logging.info("Compiling program...")
+    try:
+        program = compile_program(plugin_repo, program_source['program'])
+    except Exception as e:
+        logging.error(f"Error during compilation: {e}! Exiting...")
+        logging.exception(e)
+        return 3
+
+    # prepare the executor
+    logging.info("Preparing for execution...")
+    executor = ProgramExecutor(program, loop=False)
+
+    # Setup signal handler
     def handle_stop_signal(signum, frame):
         logging.warning(f"Signal {signum} received. Aborting execution!")
         executor.abort()
@@ -70,14 +83,28 @@ def main():
     signal.signal(signal.SIGINT, handle_stop_signal)
     signal.signal(signal.SIGTERM, handle_stop_signal)
 
-    # start execution
+    # Actually execute
-    executor.start()
+    execution_success = True
+    if Config.DRY_RUN:
+        logging.info("DRY_RUN enabled. Dumping command descriptions and exiting!")
+        for i, command in enumerate(program):
+            logging.info(f"{i:04d}: {command.describe()}")
+    else:
+        logging.info("Starting execution...")
+        executor.start()
+        executor.join()
 
-    # End of execution
+        if executor.state == ProgramExecutorStates.DONE:
-    executor.join()
+            logging.info("Program executed successfully!")
-    compiler_repo.close()
+        else:
-    http_server.shutdown()
+            logging.error(f"Could not finish execution! Executor state: {executor.state.name}")
+            execution_success = False
+
+    # Close all resources
+    logging.info("Cleaning up...")
+    plugin_repo.close()
+    return 0 if execution_success else 5
 
 
 if __name__ == '__main__':
-    main()
+    sys.exit(main())

single_ursim_control/plugin_repository.py

@@ -3,7 +3,11 @@ from plugins import AbstractPlugin, AbstractCommandCompiler
 import logging
 
 
-class ConflictingPlugins(BaseException):
+class ConflictingPlugins(Exception):
+    pass
+
+
+class UnknownPlugin(Exception):
     pass
 
 
@@ -19,14 +23,25 @@ class PluginRepository:
         self._registered_plugins[plugin_class.plugin_name] = plugin_class
         self._logger.debug(f"Registered plugin: {plugin_class.plugin_name}")
 
+    def load_plugins(self, plugins: List[str]):
+        for plugin in plugins:
+            self.load_plugin(plugin)
+
     def load_plugin(self, plugin: str):
+        self._logger.debug(f"Loading plugin: {plugin}")
 
         if plugin in self._loaded_plugins.keys():
             self._logger.warning(f"Plugin {plugin} already loaded!")
             return
 
-        # create instance
+        # lookup plugin class
-        plugin_instance = self._registered_plugins[plugin]()  # config is statically loaded
+        try:
+            plugin_cls = self._registered_plugins[plugin]
+        except KeyError:
+            raise UnknownPlugin(f"Tried to load unknown plugin: {plugin}")
+
+        # Create instance
+        plugin_instance = plugin_cls()  # config is statically loaded
 
         # load compilers
         compilers = plugin_instance.load_compilers()

single_ursim_control/program_executor.py

@@ -50,8 +50,14 @@ class ProgramExecutor(Thread):
 
     @property
     def state(self):
+        # Used to check the successfulness of the run as well
         return self._state
 
+    def stop_looping(self):
+        if self._loop:
+            self._logger.info("Looping disabled! Finishing current loop then exiting...")
+            self._loop = False
+
     def run(self) -> None:
         self._state = ProgramExecutorStates.RUNNING
         self._logger.info("Start running program")
@@ -61,7 +67,7 @@ class ProgramExecutor(Thread):
             for i, step in enumerate(self._program):
                 self._pc = i
                 self._current_step_desc = step.describe()
-                self._logger.debug(f"Executing step {self._pc}")
+                self._logger.debug(f"Executing step {self._pc:04d}")
 
                 try:
                     step.execute()

single_ursim_control/program_loader.py

@@ -0,0 +1,14 @@
+from program_schema import ProgramSchema, SUPPORTED_PROGRAM_STRUCTURE_VERSION
+import requests
+
+
+def load_program(url: str) -> dict:
+    headers = {
+        'Accept': 'application/json'
+    }
+    r = requests.get(url, headers=headers)
+    r.raise_for_status()
+
+    program_schema = ProgramSchema(many=False)
+
+    return program_schema.load(r.json())  # Might raise marshmallow exceptions

single_ursim_control/program_schema.py

@@ -0,0 +1,23 @@
+from marshmallow import Schema, fields
+from marshmallow.validate import Length, Equal
+from marshmallow import RAISE
+
+SUPPORTED_PROGRAM_STRUCTURE_VERSION = 1
+
+
+class CommandSchema(Schema):
+    name = fields.Str(required=True)
+    args = fields.Dict(required=True)
+
+    class Meta:
+        unknown = RAISE
+
+
+class ProgramSchema(Schema):
+    version = fields.Int(required=True, validate=Equal(SUPPORTED_PROGRAM_STRUCTURE_VERSION))
+    name = fields.Str()
+    load_plugins = fields.List(fields.Str(), required=True)
+    program = fields.Nested(CommandSchema, many=True, required=True, validate=Length(min=1))
+
+    class Meta:
+        unknown = RAISE