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BREAKING CHANGE: Response data from API is now automatically unwrapped
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,3 +1,4 @@ | ||
| .rollup.cache | ||
| dist | ||
| node_modules | ||
| tsconfig.tsbuildinfo | ||
| tsconfig.tsbuildinfo |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,245 +0,0 @@ | ||
| import { AxiosError } from "axios" | ||
| import { AutoReconnectingWebsocket } from "./util/AutoReconnectingWebsocket" | ||
| import { tryParseJson } from "./util/converters" | ||
| import type { NovaClient } from "../NovaClient" | ||
| import type { ConnectedMotionGroup } from "./ConnectedMotionGroup" | ||
|
|
||
| export type ProgramRunnerLogEntry = { | ||
| timestamp: number | ||
| message: string | ||
| level?: "warn" | "error" | ||
| } | ||
|
|
||
| export enum ProgramState { | ||
| NotStarted = "not started", | ||
| Running = "running", | ||
| Stopped = "stopped", | ||
| Failed = "failed", | ||
| Completed = "completed", | ||
| } | ||
|
|
||
| export type CurrentProgram = { | ||
| id?: string | ||
| wandelscript?: string | ||
| state?: ProgramState | ||
| } | ||
|
|
||
| type ProgramStateMessage = { | ||
| id: string | ||
| state: ProgramState | ||
| start_time?: number | null | ||
| execution_time?: number | null | ||
| } | ||
|
|
||
| export class ProgramRunner { | ||
| currentProgram: CurrentProgram = {} | ||
| logs: ProgramRunnerLogEntry[] = [] | ||
|
|
||
| executionState = "idle" as "idle" | "starting" | "executing" | "stopping" | ||
| currentlyExecutingProgramRunnerId = null as string | null | ||
|
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| programStateSocket: AutoReconnectingWebsocket | ||
|
|
||
| constructor(readonly nova: NovaClient) { | ||
| this.programStateSocket = new AutoReconnectingWebsocket(` | ||
| ${nova.config.instanceUrl}/cells/${nova.config.cellId}/programs/state | ||
| `) | ||
|
|
||
| this.programStateSocket.addEventListener("message", (ev) => { | ||
| const msg = tryParseJson(ev.data) | ||
|
|
||
| if (!msg) { | ||
| console.error("Failed to parse program state message", ev.data) | ||
| return | ||
| } | ||
|
|
||
| this.handleProgramStateMessage(msg) | ||
| }) | ||
| } | ||
|
|
||
| /** Handle a program state update from the backend */ | ||
| async handleProgramStateMessage(msg: ProgramStateMessage) { | ||
| // Ignoring other programs for now | ||
| // TODO - show if execution state is busy from another source | ||
| if (msg.id !== this.currentlyExecutingProgramRunnerId) return | ||
|
|
||
| if (msg.state === ProgramState.Failed) { | ||
| try { | ||
| const { data: runnerState } = | ||
| await this.nova.api.program.getProgramRunner(msg.id) | ||
|
|
||
| // TODO - wandelengine should send print statements in real time over | ||
| // websocket as well, rather than at the end | ||
| const stdout = (runnerState as any).stdout | ||
| if (stdout) { | ||
| this.log(stdout) | ||
| } | ||
| this.logError( | ||
| `Program runner ${msg.id} failed with error: ${runnerState.error}\n${runnerState.traceback}`, | ||
| ) | ||
| } catch (err) { | ||
| this.logError( | ||
| `Failed to retrieve results for program ${msg.id}: ${err}`, | ||
| ) | ||
| } | ||
|
|
||
| this.currentProgram.state = ProgramState.Failed | ||
|
|
||
| this.gotoIdleState() | ||
| } else if (msg.state === ProgramState.Stopped) { | ||
| try { | ||
| const { data: runnerState } = | ||
| await this.nova.api.program.getProgramRunner(msg.id) | ||
|
|
||
| const stdout = (runnerState as any).stdout | ||
| if (stdout) { | ||
| this.log(stdout) | ||
| } | ||
|
|
||
| this.currentProgram.state = ProgramState.Stopped | ||
| this.log(`Program runner ${msg.id} stopped`) | ||
| } catch (err) { | ||
| this.logError( | ||
| `Failed to retrieve results for program ${msg.id}: ${err}`, | ||
| ) | ||
| } | ||
|
|
||
| this.gotoIdleState() | ||
| } else if (msg.state === ProgramState.Completed) { | ||
| try { | ||
| const { data: runnerState } = | ||
| await this.nova.api.program.getProgramRunner(msg.id) | ||
|
|
||
| const stdout = (runnerState as any).stdout | ||
| if (stdout) { | ||
| this.log(stdout) | ||
| } | ||
| this.log( | ||
| `Program runner ${msg.id} finished successfully in ${msg.execution_time?.toFixed(2)} seconds`, | ||
| ) | ||
|
|
||
| this.currentProgram.state = ProgramState.Completed | ||
| } catch (err) { | ||
| this.logError( | ||
| `Failed to retrieve results for program ${msg.id}: ${err}`, | ||
| ) | ||
| } | ||
|
|
||
| this.gotoIdleState() | ||
| } else if (msg.state === ProgramState.Running) { | ||
| this.currentProgram.state = ProgramState.Running | ||
| this.log(`Program runner ${msg.id} now running`) | ||
| } else if (msg.state !== ProgramState.NotStarted) { | ||
| console.error(msg) | ||
| this.logError( | ||
| `Program runner ${msg.id} entered unexpected state: ${msg.state}`, | ||
| ) | ||
| this.currentProgram.state = ProgramState.NotStarted | ||
| this.gotoIdleState() | ||
| } | ||
| } | ||
|
|
||
| /** Call when a program is no longer executing */ | ||
| gotoIdleState() { | ||
| this.executionState = "idle" | ||
| this.currentlyExecutingProgramRunnerId = null | ||
| } | ||
|
|
||
| async executeProgram( | ||
| wandelscript: string, | ||
| initial_state?: Object, | ||
| activeRobot?: ConnectedMotionGroup, | ||
| ) { | ||
| this.currentProgram = { | ||
| wandelscript: wandelscript, | ||
| state: ProgramState.NotStarted, | ||
| } | ||
|
|
||
| const { currentProgram: openProgram } = this | ||
| if (!openProgram) return | ||
|
|
||
| this.executionState = "starting" | ||
|
|
||
| // Jogging can cause program execution to fail for some time after | ||
| // So we need to explicitly stop jogging before running a program | ||
| if (activeRobot) { | ||
| try { | ||
| await this.nova.api.motionGroupJogging.stopJogging( | ||
| activeRobot.motionGroupId, | ||
| ) | ||
| } catch (err) { | ||
| console.error(err) | ||
| } | ||
| } | ||
|
|
||
| // WOS-1539: Wandelengine parser currently breaks if there are empty lines with indentation | ||
| const trimmedCode = openProgram.wandelscript!.replaceAll(/^\s*$/gm, "") | ||
|
|
||
| try { | ||
| const { data: programRunnerRef } = | ||
| await this.nova.api.program.createProgramRunner( | ||
| { | ||
| code: trimmedCode, | ||
| initial_state: initial_state, | ||
| default_robot: activeRobot?.wandelscriptIdentifier, | ||
| } as any, | ||
| { | ||
| headers: { | ||
| "Content-Type": "application/json", | ||
| }, | ||
| }, | ||
| ) | ||
|
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||
| this.log(`Created program runner ${programRunnerRef.id}"`) | ||
|
|
||
| this.executionState = "executing" | ||
| this.currentlyExecutingProgramRunnerId = programRunnerRef.id | ||
| } catch (error) { | ||
| if (error instanceof AxiosError && error.response && error.request) { | ||
| this.logError( | ||
| `${error.response.status} ${error.response.statusText} from ${error.response.config.url} ${JSON.stringify(error.response.data)}`, | ||
| ) | ||
| } else { | ||
| this.logError(JSON.stringify(error)) | ||
| } | ||
| this.executionState = "idle" | ||
| } | ||
| } | ||
|
|
||
| async stopProgram() { | ||
| if (!this.currentlyExecutingProgramRunnerId) return | ||
|
|
||
| this.executionState = "stopping" | ||
|
|
||
| try { | ||
| await this.nova.api.program.stopProgramRunner( | ||
| this.currentlyExecutingProgramRunnerId, | ||
| ) | ||
| } catch (err) { | ||
| // Reactivate the stop button so user can try again | ||
| this.executionState = "executing" | ||
| throw err | ||
| } | ||
| } | ||
|
|
||
| reset() { | ||
| this.currentProgram = {} | ||
| } | ||
|
|
||
| log(message: string) { | ||
| console.log(message) | ||
| this.logs.push({ | ||
| timestamp: Date.now(), | ||
| message, | ||
| }) | ||
| } | ||
|
|
||
| logError(message: string) { | ||
| console.log(message) | ||
| this.logs.push({ | ||
| timestamp: Date.now(), | ||
| message, | ||
| level: "error", | ||
| }) | ||
| } | ||
| } | ||
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