feat: handle https, add some convenience methods

.env.template

@@ -1,9 +1,12 @@
+# The endpoint where the API is reachable from the container serving the Application.
+NOVA_API="http://api-gateway.wandelbots.svc.cluster.local:8080"
+# The name of the cell to be used for the Application.
+CELL_NAME="cell"
+
 # Using username/password authentication
-NOVA_HOST="https://nova.example.com"
 NOVA_USERNAME="my_username"
 NOVA_PASSWORD="my_password"
 # NOVA_ACCESS_TOKEN="" # Leave empty if not using token-based authentication
 
 # Using token-based authentication (comment out username/password lines)
-# NOVA_HOST="https://nova.example.com"
 # NOVA_ACCESS_TOKEN="eyJhbGciOi..."

.github/workflows/ci-dev.yaml

@@ -26,8 +26,8 @@ jobs:
           poetry install
           mkdir envs
           touch envs/.env.tests
-          echo "NOVA_HOST=test.instance.mock.io" > envs/.env.tests
-          echo "CELL_ID=cell" >> envs/.env.tests
+          echo "NOVA_API=test.instance.mock.io" > envs/.env.tests
+          echo "CELL_NAME=cell" >> envs/.env.tests
           echo "MOTION_GROUP=virtual-robot" >> envs/.env.tests
           echo "TCP=Flange" >> envs/.env.tests
 

README.md

@@ -79,7 +79,7 @@ poetry install
 
 | Variable            | Description                                                               | Required | Default | Example                    |
 |---------------------|---------------------------------------------------------------------------|----------|---------|----------------------------|
-| `NOVA_HOST`         | The base URL or hostname of the NOVA server instance.                     | Yes      | None    | `https://nova.example.com` |
+| `NOVA_API`         | The base URL or hostname of the NOVA server instance.                     | Yes      | None    | `https://nova.example.com` |
 | `NOVA_USERNAME`     | The username credential used for authentication with the NOVA service.    | Yes*     | None    | `my_username`              |
 | `NOVA_PASSWORD`     | The password credential used in conjunction with `NOVA_USERNAME`.         | Yes*     | None    | `my_password`              |
 | `NOVA_ACCESS_TOKEN` | A pre-obtained access token for NOVA if using token-based authentication. | Yes*     | None    | `eyJhbGciOi...`            |

examples/01_basic.py

@@ -4,10 +4,10 @@
 
 
 async def main():
-    nova = Nova()
+    nova = Nova(host="172.30.0.135")
     cell = nova.cell()
-    controller = await cell.controller("ur")
-
+    controllers = await cell.controllers()
+    controller = controllers[0]
     motion_group = controller[0]
 
     # Current motion group state

examples/02_plan_and_execute.py

@@ -10,7 +10,8 @@
 async def main():
     nova = Nova()
     cell = nova.cell()
-    controller = await cell.controller("ur")
+    controllers = await cell.controllers()
+    controller = controllers[0]
 
     # Define a home position
     home_joints = (0, -pi / 4, -pi / 4, -pi / 4, pi / 4, 0)

examples/03_move_and_set_ios.py

@@ -10,7 +10,8 @@
 async def main():
     nova = Nova()
     cell = nova.cell()
-    controller = await cell.controller("ur")
+    controllers = await cell.controllers()
+    controller = controllers[0]
 
     # Define a home position
     home_joints = (0, -pi / 4, -pi / 4, -pi / 4, pi / 4, 0)

nova/core/motion_group.py

@@ -44,6 +44,32 @@ def current_motion(self) -> str:
         #    raise ValueError("No MotionId attached. There is no planned motion available.")
         return self._current_motion
 
+    async def plan(self, actions: list[Action], tcp: str) -> wb.models.JointTrajectory:
+        current_joints = await self.joints(tcp=tcp)
+        robot_setup = await self._get_optimizer_setup(tcp=tcp)
+        motion_commands = CombinedActions(items=actions).to_motion_command()
+
+        request = wb.models.PlanTrajectoryRequest(
+            robot_setup=robot_setup,
+            motion_group=self.motion_group_id,
+            start_joint_position=current_joints.joints,
+            motion_commands=motion_commands,
+            tcp=tcp,
+        )
+
+        motion_api_client = self._api_gateway.motion_api
+        plan_response = await motion_api_client.plan_trajectory(
+            cell=self._cell, plan_trajectory_request=request
+        )
+
+        if isinstance(
+            plan_response.response.actual_instance, wb.models.PlanTrajectoryFailedResponse
+        ):
+            failed_response = plan_response.response.actual_instance
+            raise PlanTrajectoryFailed(failed_response)
+
+        return plan_response.response.actual_instance
+
     async def run(
         self,
         actions: list[Action] | Action,
@@ -80,20 +106,6 @@ async def run(
         _movement_controller = movement_controller(movement_controller_context)
         await self._api_gateway.motion_api.execute_trajectory(self._cell, _movement_controller)
 
-    async def get_state(self, tcp: str) -> wb.models.MotionGroupStateResponse:
-        response = await self._api_gateway.motion_group_infos_api.get_current_motion_group_state(
-            cell=self._cell, motion_group=self.motion_group_id, tcp=tcp
-        )
-        return response
-
-    async def joints(self, tcp: str) -> wb.models.Joints:
-        state = await self.get_state(tcp=tcp)
-        return state.state.joint_position
-
-    async def tcp_pose(self, tcp: str) -> Pose:
-        state = await self.get_state(tcp=tcp)
-        return Pose(state.state.tcp_pose)
-
     async def _get_number_of_joints(self) -> int:
         spec = await self._api_gateway.motion_group_infos_api.get_motion_group_specification(
             cell=self._cell, motion_group=self.motion_group_id
@@ -105,32 +117,6 @@ async def _get_optimizer_setup(self, tcp: str) -> wb.models.OptimizerSetup:
             cell=self._cell, motion_group=self._motion_group_id, tcp=tcp
         )
 
-    async def plan(self, actions: list[Action], tcp: str) -> wb.models.JointTrajectory:
-        current_joints = await self.joints(tcp=tcp)
-        robot_setup = await self._get_optimizer_setup(tcp=tcp)
-        motion_commands = CombinedActions(items=actions).to_motion_command()
-
-        request = wb.models.PlanTrajectoryRequest(
-            robot_setup=robot_setup,
-            motion_group=self.motion_group_id,
-            start_joint_position=current_joints.joints,
-            motion_commands=motion_commands,
-            tcp=tcp,
-        )
-
-        motion_api_client = self._api_gateway.motion_api
-        plan_response = await motion_api_client.plan_trajectory(
-            cell=self._cell, plan_trajectory_request=request
-        )
-
-        if isinstance(
-            plan_response.response.actual_instance, wb.models.PlanTrajectoryFailedResponse
-        ):
-            failed_response = plan_response.response.actual_instance
-            raise PlanTrajectoryFailed(failed_response)
-
-        return plan_response.response.actual_instance
-
     async def _load_planned_motion(
         self, joint_trajectory: wb.models.JointTrajectory, tcp: str
     ) -> wb.models.PlanSuccessfulResponse:
@@ -176,3 +162,29 @@ async def stop(self):
             logger.debug(f"Motion {self.current_motion} stopped.")
         except ValueError as e:
             logger.debug(f"No motion to stop for {self}: {e}")
+
+    async def get_state(self, tcp: str | None) -> wb.models.MotionGroupStateResponse:
+        """Get the current state of the motion group
+
+        Args:
+            tcp (str): The identifier of the tool center point (TCP) to be used for tcp_pose in response. If not set,
+                the flange pose is returned as tcp_pose.
+        """
+        response = await self._api_gateway.motion_group_infos_api.get_current_motion_group_state(
+            cell=self._cell, motion_group=self.motion_group_id, tcp=tcp
+        )
+        return response
+
+    async def joints(self, tcp: str) -> wb.models.Joints:
+        state = await self.get_state(tcp=tcp)
+        return state.state.joint_position
+
+    async def tcp_pose(self, tcp: str) -> Pose:
+        state = await self.get_state(tcp=tcp)
+        return Pose(state.state.tcp_pose)
+
+    async def tcps(self) -> list[wb.models.RobotTcp]:
+        return (await self._api_gateway.motion_group_infos_api.list_tcps()).tcps
+
+    async def tcp_names(self) -> list[str]:
+        return [tcp.id for tcp in await self.tcps()]

nova/core/nova.py

@@ -1,6 +1,8 @@
 from nova.core.controller import Controller
 from nova.core.exceptions import ControllerNotFoundException
 from nova.gateway import ApiGateway
+import wandelbots_api_client as wb
+from decouple import config
 
 
 class Nova:
@@ -21,7 +23,7 @@ def __init__(
             version=version,
         )
 
-    def cell(self, cell_id: str = "cell") -> "Cell":
+    def cell(self, cell_id: str = config("CELL_NAME", "cell")) -> "Cell":
         return Cell(self._api_client, cell_id)
 
 
@@ -30,11 +32,22 @@ def __init__(self, api_gateway: ApiGateway, cell_id: str):
         self._api_gateway = api_gateway
         self._cell_id = cell_id
 
-    async def controller(self, controller_host: str = None) -> "Controller":
+    async def _get_controllers(self) -> list[wb.models.ControllerInstance]:
         controller_api = self._api_gateway.controller_api
-        controller_list = await controller_api.list_controllers(cell=self._cell_id)
+        response = await controller_api.list_controllers(cell=self._cell_id)
+        return response.instances
+
+    async def controllers(self) -> list["Controller"]:
+        controllers = await self._get_controllers()
+        return [
+            Controller(api_gateway=self._api_gateway, cell=self._cell_id, controller_host=c.host)
+            for c in controllers
+        ]
+
+    async def controller(self, controller_host: str = None) -> "Controller":
+        controllers = await self._get_controllers()
         found_controller = next(
-            (c for c in controller_list.instances if c.host == controller_host), None
+            (c for c in controllers if c.host == controller_host), None
         )
 
         if found_controller is None:

nova/gateway.py

@@ -54,18 +54,23 @@ def sync_wrapper(*args, **kwargs):
     return Interceptor(api_instance)
 
 
+def _validate_host(host: str) -> str:
+    """Remove any trailing slashes and validate scheme"""
+    _url = host.rstrip("/")
+    return _url
+
 class ApiGateway:
     def __init__(
         self,
         *,
-        host: str | None = None,
+        host: str = "http://api-gateway.wandelbots.svc.cluster.local:8080",
         username: str | None = None,
         password: str | None = None,
         access_token: str | None = None,
         version: str = "v1",
     ):
         if host is None:
-            host = config("NOVA_HOST")
+            host = config("NOVA_API")
 
         if username is None:
             username = config("NOVA_USERNAME", default=None)
@@ -76,8 +81,12 @@ def __init__(
         if access_token is None:
             access_token = config("NOVA_ACCESS_TOKEN", default=None)
 
+        if (username is None or password is None) and access_token is None:
+            raise ValueError("Please provide either username and password or an access token")
+
+        stripped_host = host.rstrip("/")
         api_client_config = wb.Configuration(
-            host=f"http://{host}/api/{version}",
+            host=f"{stripped_host}/api/{version}",
             username=username,
             password=password,
             access_token=access_token,