[WIP] Implementation of the actual python bindings for DroneCore #12

xvzf · 2018-05-23T16:51:00Z

This is still a WIP!

Basic concept is using the bindings like this:

from dronecore import Backend, Action

# Connect to a dronecore backend running on the local machine
core = Core(host="127.0.0.1")

# Initialize the Action plugin
action = Action(core)

# E.g. arm the copter
action.arm().subscribe(on_completed=lambda: print("ARMED!"),
                       on_error=lambda _: print("Could not arm the system!"))

… action plugin

JonasVautherin · 2018-05-24T09:09:51Z

dronecore/backend.py

@@ -0,0 +1,90 @@
+""" Backend """


Wording question: isn't this what we call Core? What we call the "backend" is really just the gRPC server side (C++). So the Core spins up a backend.

Okay, Let's rename that to Core! :-)

- Testing Python 2.7, 3.5 and 3.6 - Tests therefore cover Ubuntu 16.04, 18.04 as well as legacy systems (including Ubuntu 14.04)

JonasVautherin

Seems like good progress to me! :-)

JonasVautherin · 2018-05-29T22:59:02Z

dronecore/plugins/action.py

+        """
+        Takeoff
+
+        :returns: Ovservable


Ovservable -> Observable :)

JonasVautherin

I think I like it :-). Can we merge that in this state already?

xvzf · 2018-05-30T06:17:30Z

I think I like it :-). Can we merge that in this state already?

I'd actually like to get streaming working properly before - also I have some changes that are not commited yet! Let me check this afternoon, maybe then we can merge!

JonasVautherin · 2018-05-30T08:16:42Z

No worries, it's not urgent :)

LorenzMeier · 2018-05-30T10:47:05Z

It's always urgent! 8). I'd love to move the PX4 CI over to this!

JonasVautherin · 2018-05-30T11:04:39Z

dronecore/plugin_manager.py

@@ -60,24 +59,19 @@ def _spinup_backend(self):
        """
        Spinup a backend and connect to it
        """
+        #: backend is running on localhost
+        self.port = "127.0.0.1"


I'm not sure I understand the worgind here: default port is 50051, and address is localhost.

That's indeed wrong. I haven't tested the function yet as I am not sure how we will ship the backend with the python library!

Right. Well, the simple assumption is "the backend is already running on an <IP:port> somewhere". And on top of that, we can provide an interface that starts a backend locally. But it may be that the backend runs on a different machine (e.g. directly on the drone), so at least one should be able to connect to <IP:port>.

In Swift, that's currently the only interface (e.g. let core = Core("localhost", 50051)).

That is possible? Have a look at ``init`

import dronecore # Connect to a backend remote_backend = dronecore.connect(host="192.168.178.56", port=50051) # Start a backend local and connect local_backend = dronecore.connect()

yeah, I know :). I was just answering to your comment, but maybe I missed your point actually ;-).

…iber

@todo

… working, testing is @todo

xvzf · 2018-05-31T17:37:55Z

@JonasVautherin FYI

Basic calls and Streams are working just fine, I kept the code pretty consistent so we can build the auto generator ontop of it!

@hamishwillee I don't think the interface will change - I haven't worked with the Swift bindings yet but tried to keet the API as close as possible, can you compare and give your OK? :-)

JonasVautherin · 2018-05-31T17:40:42Z

dronecore/plugins/telemetry.py

-            observable.on_completed()
+    def _create_position_observable(self):
+        """
+        Create the position ovservable


ovservable -> observable :). In all the other functions, too ;-)

damnit! Thanks!

JonasVautherin · 2018-05-31T17:41:52Z

dronecore/plugins/telemetry.py

 from .._base import Base
 from ..generated import telemetry_pb2, telemetry_pb2_grpc


+class Position(object):


xvzf · 2018-06-04T07:22:43Z

@JonasVautherin I propose we merge and take it as a baseline for the autogenerator - I can't think of anything that has to be changed.

LorenzMeier · 2018-06-04T07:23:58Z

Sounds very reasonable and is definitely the right step before trying auto-generation.

JonasVautherin

Thanks @xvzf!

=> ERROR [ 9/21] RUN cd proto/pb_plugins && pip3 install -r requirements.txt && cd ../.. && pip3 install -r requirements.txt -r requirements-dev.t 7.4s ------ > [ 9/21] RUN cd proto/pb_plugins && pip3 install -r requirements.txt && cd ../.. && pip3 install -r requirements.txt -r requirements-dev.txt: mavlink#12 1.122 Requirement already satisfied: protobuf<=3.20.1,>=3.13 in /usr/local/lib/python3.8/dist-packages (from -r requirements.txt (line 1)) (3.20.1) mavlink#12 1.124 Requirement already satisfied: jinja2>=2.11 in /usr/local/lib/python3.8/dist-packages (from -r requirements.txt (line 2)) (3.1.2) mavlink#12 1.127 Requirement already satisfied: MarkupSafe>=2.0 in /usr/local/lib/python3.8/dist-packages (from jinja2>=2.11->-r requirements.txt (line 2)) (2.1.3) mavlink#12 1.876 Requirement already satisfied: protobuf<=3.20.1 in /usr/local/lib/python3.8/dist-packages (from -r requirements.txt (line 1)) (3.20.1) mavlink#12 2.087 Collecting aiogrpc>=1.8 mavlink#12 2.254 Downloading aiogrpc-1.8-py3-none-any.whl (10 kB) mavlink#12 3.523 Collecting grpcio>=1.50.0 mavlink#12 3.576 Downloading grpcio-1.59.2.tar.gz (24.8 MB) mavlink#12 7.090 ERROR: Command errored out with exit status 1: mavlink#12 7.090 command: /usr/bin/python3 -c ‘import sys, setuptools, tokenize; sys.argv[0] = ‘“’”‘/tmp/pip-install-nq2pboe3/grpcio/setup.py’“‘”’; __file__=‘“’”‘/tmp/pip-install-nq2pboe3/grpcio/setup.py’“‘”’;f=getattr(tokenize, ‘“’”‘open’“‘”’, open)(__file__);code=f.read().replace(‘“’”‘\r\n’“‘”’, ‘“’”‘\n’“‘”’);f.close();exec(compile(code, __file__, ‘“’”‘exec’“‘”’))' egg_info --egg-base /tmp/pip-install-nq2pboe3/grpcio/pip-egg-info mavlink#12 7.090 cwd: /tmp/pip-install-nq2pboe3/grpcio/ mavlink#12 7.090 Complete output (9 lines): mavlink#12 7.090 Traceback (most recent call last): mavlink#12 7.090 File “<string>“, line 1, in <module> mavlink#12 7.090 File “/tmp/pip-install-nq2pboe3/grpcio/setup.py”, line 95, in <module> mavlink#12 7.090 import commands mavlink#12 7.090 File “/tmp/pip-install-nq2pboe3/grpcio/src/python/grpcio/commands.py”, line 31, in <module> mavlink#12 7.090 import support mavlink#12 7.090 File “/tmp/pip-install-nq2pboe3/grpcio/src/python/grpcio/support.py”, line 111, in <module> mavlink#12 7.090 errors.CompileError: diagnose_compile_error, mavlink#12 7.090 AttributeError: module ‘setuptools.errors’ has no attribute ‘CompileError’ mavlink#12 7.090 ---------------------------------------- mavlink#12 7.284 ERROR: Command errored out with exit status 1: python setup.py egg_info Check the logs for full command output. ------ executor failed running [/bin/sh -c cd proto/pb_plugins && pip3 install -r requirements.txt && cd ../.. && pip3 install -r requirements.txt -r requirements-dev.txt]: exit code: 1

xvzf added 4 commits May 22, 2018 17:20

Updated gitignore

11ddfbd

Moved examples

d434a0b

Implemented the backend connection including a plugin manager and the…

6bff336

… action plugin

Added rope to gitignore

47496df

xvzf changed the title ~~Implementation of the actual python bindings for DroneCore~~ [WIP] Implementation of the actual python bindings for DroneCore May 23, 2018

Added tox for testing, initial test for the action plugin, still WIP

5f39fb3

JonasVautherin reviewed May 24, 2018

View reviewed changes

xvzf added 5 commits May 24, 2018 11:17

Added test scripts based on docker

44f6d49

Renamed backend to core

97d8ab9

Updated test framework to use Dockerized ubuntu 18.04

b910be0

- Testing Python 2.7, 3.5 and 3.6 - Tests therefore cover Ubuntu 16.04, 18.04 as well as legacy systems (including Ubuntu 14.04)

Removed debug output of the docker build command

a23699e

Restructure, update of the implementation

b40a397

JonasVautherin reviewed May 28, 2018

View reviewed changes

JonasVautherin reviewed May 29, 2018

View reviewed changes

JonasVautherin approved these changes May 29, 2018

View reviewed changes

Moved core functionality to a plugin manager

fbec930

JonasVautherin reviewed May 30, 2018

View reviewed changes

xvzf added 6 commits May 31, 2018 11:17

Added UTF8 encoding flag

582f397

Connect on publish so only recent information is passed to the subscr…

3c3f792

…iber

Cleanup

da8f8f0

Implemented some streams and wrapper classes for the responses, fully…

f790402

… working, testing is @todo

Added basic example of how to use the library

7a8b40f

Updated readme

ef68a86

JonasVautherin reviewed May 31, 2018

View reviewed changes

Fixed self.port for backend spinup

79e6dbc

xvzf added 2 commits May 31, 2018 19:46

Fixed type

2fbe373

Fixed some typos

d83b2d8

JonasVautherin approved these changes Jun 4, 2018

View reviewed changes

JonasVautherin merged commit 8173593 into mavlink:master Jun 4, 2018

[WIP] Implementation of the actual python bindings for DroneCore #12

[WIP] Implementation of the actual python bindings for DroneCore #12

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xvzf commented May 30, 2018

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xvzf commented May 31, 2018 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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xvzf commented Jun 4, 2018

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xvzf commented May 23, 2018 •

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