1088 lines
42 KiB
Python
1088 lines
42 KiB
Python
#!/usr/bin/env python3
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"""sanad_api_g1 — G1 fleet agent: TELEMETRY + MAP sync in ONE service.
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The single G1 agent (one container, one systemd service) that:
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1. TELEMETRY — every ~2 s POSTs the robot's live status:
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POST {SERVER_URL}/api/v1/fleet/ingest/telemetry
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{ sn, name, mac, brand, type, model, battery, charging, battery_detail,
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motor_temp, storage, status, position, faults, map, ts }
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2. MAP — a background loop (every MAP_POLL_INTERVAL, default 30 s) checks the
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Sanad dashboard's saved maps (web_nav3: RTAB-Map .db + places) and uploads
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each map ONE time (re-upload only if its content changes):
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POST {SERVER_URL}/api/v1/fleet/ingest/{sn}/map (multipart: db + meta)
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The map result is SHOWN inside every telemetry post as the "map" field:
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"map": { "uploaded": true|false,
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"state": "uploaded" | "no_map" | "failed" | "pending",
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"maps_found": N, "last_map": "floor-1"|null,
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"error": "no saved map found …"|null, "checked_ts": … }
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so the server always sees whether the map made it — and why not.
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DATA SOURCES (Unitree G1, unitree_hg DDS)
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-----------------------------------------
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battery / charging : rt/lf/bmsstate (BmsState_) soc, current, voltage, temp, soh, cycles
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faults / motor temp: rt/lowstate (LowState_) per-motor temps + staleness
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position {x,y} : rt/lf/odommodestate (SportModeState_) firmware odom over DDS
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status : derived (charging/moving/idle/offline); optional FSM GET RPC
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(G1 ids: 200 walk-ready / 4 stand / 2 squat / 702 lie2stand)
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storage : host disk via the read-only /:/host mount (+ Sanad data dir size)
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maps : MAPS_DIR/<robot>/*.db (+ maps_meta.json), places under
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DATA_DIR/<robot>/places/<map>.json — the web_nav3 stores
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Read-only toward the robot: never commands motion. Degrades to heartbeats if
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unitree_sdk2py is unavailable; --simulate fakes only the DDS side (the map scan
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stays real).
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CONFIG — environment (see .env.example). Key vars:
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SERVER_URL, DEVICE_TOKEN, SN (required at install), ROBOT_NAME,
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DDS_INTERFACE (eth0), POLL_INTERVAL (2), TELEMETRY_ENDPOINT,
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ROBOT (web_nav3 robot name, default sanad), MAPS_DIR, DATA_DIR, STATE_DIR,
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MAP_SELECT (all|active|newest), MAP_UPLOAD_MODE (multipart|base64json),
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MAP_ENDPOINT, MAP_POLL_INTERVAL (30), VERIFY_TLS, HTTP_TIMEOUT
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CLI: --simulate | --once | --dry-run | --force (map re-upload) | --list (maps) | -v
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"""
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from __future__ import annotations
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import argparse
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import base64
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import hashlib
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import json
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import logging
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import math
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import os
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import shutil
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import sys
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import threading
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import time
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import uuid
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from dataclasses import dataclass, field
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from pathlib import Path
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from typing import Any, Dict, List, Optional
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import requests
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log = logging.getLogger("sanad_api_g1")
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# --------------------------------------------------------------------------- #
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# env helpers
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# --------------------------------------------------------------------------- #
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def _load_dotenv(path: str = ".env") -> None:
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p = Path(path)
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if not p.exists():
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return
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for line in p.read_text().splitlines():
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line = line.strip()
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if not line or line.startswith("#") or "=" not in line:
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continue
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k, _, v = line.partition("=")
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os.environ.setdefault(k.strip(), v.strip().strip('"').strip("'"))
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def _env(name: str, default: str = "") -> str:
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return os.environ.get(name, default).strip()
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def _env_bool(name: str, default: bool) -> bool:
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return _env(name, "1" if default else "0").lower() in ("1", "true", "yes", "on")
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# --------------------------------------------------------------------------- #
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# config
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# --------------------------------------------------------------------------- #
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@dataclass
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class Config:
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server_url: str
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device_token: str
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sn: str
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name: str
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brand: str
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robot_type: str
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model: str
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storage_path: str
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data_path: str
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# telemetry / DDS
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dds_interface: str
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dds_domain: int
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mac_interface: str
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read_fsm: bool
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position_source: str
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rosbridge_url: str
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low_soc: int
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motor_temp_max: float
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poll_interval: float
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telemetry_endpoint: str
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# map sync
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robot: str
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maps_dir: Path
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web_data_dir: Optional[Path]
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legacy_places: Optional[Path]
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web_nav3_url: str
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map_select: str
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map_upload_mode: str
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map_endpoint_tmpl: str
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map_poll_interval: float
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state_dir: Path
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# transport
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verify_tls: bool
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http_timeout: float
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@classmethod
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def from_env(cls) -> "Config":
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server = _env("SERVER_URL").rstrip("/")
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token = _env("DEVICE_TOKEN")
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missing = [n for n, v in (("SERVER_URL", server), ("DEVICE_TOKEN", token)) if not v]
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if missing:
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raise SystemExit(f"[config] missing required env: {', '.join(missing)}")
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iface = _env("DDS_INTERFACE", "eth0")
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data_dir = _env("DATA_DIR")
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legacy = _env("LEGACY_PLACES")
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return cls(
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server_url=server,
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device_token=token,
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sn=_env("SN", "g1_0000"),
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name=_env("ROBOT_NAME", "") or _env("SN", "g1_0000"),
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brand=_env("ROBOT_BRAND", "unitree"),
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robot_type=_env("ROBOT_TYPE", "humanoid"),
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model=_env("ROBOT_MODEL", "g1"),
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storage_path=_env("STORAGE_PATH", ""),
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data_path=_env("STORAGE_DATA_PATH", ""),
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dds_interface=iface,
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dds_domain=int(_env("DDS_DOMAIN", "0")),
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mac_interface=_env("MAC_INTERFACE", iface),
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read_fsm=_env_bool("G1_READ_FSM", False),
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position_source=_env("G1_POSITION_SOURCE", "odom").lower(),
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rosbridge_url=_env("ROSBRIDGE_URL", "ws://127.0.0.1:9090"),
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low_soc=int(_env("LOW_SOC", "15")),
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motor_temp_max=float(_env("MOTOR_TEMP_MAX", "85")),
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poll_interval=float(_env("POLL_INTERVAL", "2")),
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telemetry_endpoint=_env("TELEMETRY_ENDPOINT", "/api/v1/fleet/ingest/telemetry"),
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robot=_env("ROBOT", "sanad"),
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maps_dir=Path(_env("MAPS_DIR", "/data/maps")),
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web_data_dir=Path(data_dir) if data_dir else None,
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legacy_places=Path(legacy) if legacy else None,
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web_nav3_url=_env("WEB_NAV3_URL", "").rstrip("/"),
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map_select=_env("MAP_SELECT", "all").lower(),
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map_upload_mode=_env("MAP_UPLOAD_MODE", "multipart").lower(),
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map_endpoint_tmpl=_env("MAP_ENDPOINT", "/api/v1/fleet/ingest/{sn}/map"),
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map_poll_interval=float(_env("MAP_POLL_INTERVAL", "30")),
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state_dir=Path(_env("STATE_DIR", "/data/state")),
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verify_tls=_env_bool("VERIFY_TLS", True),
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http_timeout=float(_env("HTTP_TIMEOUT", "30")),
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)
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def telemetry_url(self) -> str:
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return self.server_url + self.telemetry_endpoint
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def map_url(self) -> str:
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return self.server_url + self.map_endpoint_tmpl.format(sn=self.sn)
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def auth_headers(self) -> Dict[str, str]:
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return {"Authorization": f"Bearer {self.device_token}"}
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# --------------------------------------------------------------------------- #
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# mac + storage
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# --------------------------------------------------------------------------- #
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def read_mac(interface: str) -> str:
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p = Path(f"/sys/class/net/{interface}/address")
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try:
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mac = p.read_text().strip()
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if mac and mac != "00:00:00:00:00:00":
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return mac.lower()
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except Exception:
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pass
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n = uuid.getnode()
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return ":".join(f"{(n >> b) & 0xff:02x}" for b in range(40, -1, -8))
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_data_size_cache: Dict[str, Any] = {"ts": 0.0, "kb": None}
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def read_storage(cfg: Config) -> Optional[Dict[str, Any]]:
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"""Disk usage of the robot's root fs + optional Sanad data-dir size.
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In docker, bind-mount the host root read-only at /host (the installer does)
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so this reports the HOST disk, not the container overlay."""
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root = cfg.storage_path or ("/host" if os.path.isdir("/host") else "/")
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try:
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du = shutil.disk_usage(root)
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out: Dict[str, Any] = {
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"total_gb": round(du.total / 1e9, 2),
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"free_gb": round(du.free / 1e9, 2),
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"used_percent": round(du.used / du.total * 100, 1),
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}
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except Exception:
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return None
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if cfg.data_path and os.path.isdir(cfg.data_path):
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now = time.monotonic()
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if _data_size_cache["kb"] is None or now - _data_size_cache["ts"] > 60:
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try:
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total = 0
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for r, _, files in os.walk(cfg.data_path):
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for f in files:
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try:
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total += os.path.getsize(os.path.join(r, f))
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except OSError:
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pass
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_data_size_cache.update(ts=now, kb=round(total / 1024, 1))
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except Exception:
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pass
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if _data_size_cache["kb"] is not None:
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out["data_kb"] = _data_size_cache["kb"]
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return out
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# --------------------------------------------------------------------------- #
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# DDS reader (telemetry side — degrades to heartbeats if SDK absent)
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# --------------------------------------------------------------------------- #
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class DDSReader:
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"""Subscribes rt/lf/bmsstate + rt/lowstate (+ rt/lf/odommodestate for position).
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Passive reads; the only RPC ever issued is GET_FSM_ID."""
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def __init__(self, cfg: Config):
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self.cfg = cfg
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self._lock = threading.Lock()
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self._bms: Optional[Dict[str, Any]] = None
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self._bms_ts = 0.0
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self._low_ts = 0.0
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self._temps: List[float] = []
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self._max_dq = 0.0
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self._xy: Optional[Dict[str, float]] = None
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self._loco = None
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self.ok = False
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self._start()
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def _start(self) -> None:
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try:
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from unitree_sdk2py.core.channel import (
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ChannelFactoryInitialize, ChannelSubscriber)
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from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowState_
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try:
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from unitree_sdk2py.idl.unitree_hg.msg.dds_ import BmsState_
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except Exception:
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BmsState_ = None
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SportModeState_ = None
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if self.cfg.position_source == "odom":
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try:
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# G1 firmware publishes odom as unitree_go SportModeState_.
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from unitree_sdk2py.idl.unitree_go.msg.dds_ import SportModeState_
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except Exception:
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SportModeState_ = None
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except Exception as e:
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log.warning("unitree_sdk2py unavailable (%s) — telemetry runs in heartbeat mode", e)
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return
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try:
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ChannelFactoryInitialize(self.cfg.dds_domain, self.cfg.dds_interface)
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self._low_sub = ChannelSubscriber("rt/lowstate", LowState_)
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self._low_sub.Init(self._on_low, 10)
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if BmsState_ is not None:
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self._bms_sub = ChannelSubscriber("rt/lf/bmsstate", BmsState_)
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self._bms_sub.Init(self._on_bms, 10)
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else:
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log.warning("BmsState_ not in this unitree_sdk2py — battery will be null")
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if SportModeState_ is not None:
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self._odom_sub = ChannelSubscriber("rt/lf/odommodestate", SportModeState_)
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self._odom_sub.Init(self._on_odom, 10)
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if self.cfg.read_fsm:
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self._init_loco()
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self.ok = True
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log.info("DDS up: domain=%d iface=%s (bmsstate + lowstate%s)",
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self.cfg.dds_domain, self.cfg.dds_interface,
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" + odom" if SportModeState_ is not None else "")
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except Exception as e:
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log.warning("DDS init failed (%s) — heartbeat mode", e)
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def _init_loco(self) -> None:
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try:
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from unitree_sdk2py.rpc.client import Client # type: ignore
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except Exception as e:
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log.warning("loco RPC client unavailable (%s) — status from BMS/motion only", e)
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return
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try:
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c = Client("loco", 0); c.Init(); c.SetTimeout(3.0)
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self._loco = c
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log.info("loco FSM read enabled (GET-only, no motion)")
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except Exception as e:
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log.warning("loco client init failed (%s) — status from BMS/motion only", e)
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self._loco = None
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def _on_bms(self, msg) -> None:
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try:
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soc = int(getattr(msg, "soc", 0) or 0)
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cur_mA = int(getattr(msg, "current", 0) or 0)
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# Pack voltage: prefer bmsvoltage[0] (mV); else sum of cell voltages.
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volt_mv = 0
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bv = getattr(msg, "bmsvoltage", None)
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try:
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if bv is not None and len(bv) and int(bv[0]):
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volt_mv = int(bv[0])
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except Exception:
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volt_mv = 0
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if not volt_mv:
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cv = getattr(msg, "cell_vol", None)
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if cv is not None:
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try:
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volt_mv = int(sum(int(x) for x in cv if x))
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except Exception:
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volt_mv = 0
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# Max plausible pack temperature (int16 °C).
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temp_c = None
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tt = getattr(msg, "temperature", None)
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if tt is not None:
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try:
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vals = [int(x) for x in tt if -40 <= int(x) <= 150]
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if vals:
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temp_c = max(vals)
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except Exception:
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temp_c = None
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with self._lock:
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self._bms = {
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"soc": max(0, min(100, soc)),
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"current_a": round(cur_mA / 1000.0, 2),
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"voltage_v": round(volt_mv / 1000.0, 1) if volt_mv else None,
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"temp_c": temp_c,
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"soh": int(getattr(msg, "soh", 0) or 0),
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"cycles": int(getattr(msg, "cycle", 0) or 0),
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}
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self._bms_ts = time.monotonic()
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except Exception:
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pass
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def _on_low(self, msg) -> None:
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try:
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temps: List[float] = []
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max_dq = 0.0
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for m in (getattr(msg, "motor_state", None) or []):
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t = getattr(m, "temperature", None)
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if t is not None:
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try:
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vals = [float(x) for x in t] if hasattr(t, "__iter__") else [float(t)]
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# 0 = slot not reporting (unpopulated motor), not a real temp
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temps.extend(v for v in vals if 0 < v <= 200)
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except Exception:
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pass
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dq = getattr(m, "dq", None)
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if dq is not None:
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try:
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max_dq = max(max_dq, abs(float(dq)))
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except Exception:
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pass
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with self._lock:
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self._low_ts = time.monotonic()
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self._temps = temps
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self._max_dq = max_dq
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except Exception:
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pass
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def _on_odom(self, msg) -> None:
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try:
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pos = getattr(msg, "position", None)
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if pos is not None and len(pos) >= 2:
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with self._lock:
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self._xy = {"x": round(float(pos[0]), 3), "y": round(float(pos[1]), 3)}
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except Exception:
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pass
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def snapshot(self) -> Dict[str, Any]:
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with self._lock:
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now = time.monotonic()
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return {
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"bms": dict(self._bms) if self._bms else None,
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"low_age": (now - self._low_ts) if self._low_ts else None,
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"temps": list(self._temps),
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"max_dq": self._max_dq,
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"xy": dict(self._xy) if self._xy else None,
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}
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def fsm_id(self) -> Optional[int]:
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if not self._loco:
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return None
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try:
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code, data = self._loco._Call(7001, "{}") # GET_FSM_ID — read-only
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if code == 0 and data:
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return int(json.loads(data).get("data", data)) if data.strip().startswith("{") else int(data)
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except Exception as e:
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log.debug("fsm read failed: %s", e)
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return None
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# G1 FSM ids (differ from the R1's): 200 balance/walk-ready, 4 StandUp, 2 Squat, 702 Lie2Stand.
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_FSM_STATUS = {200: "ready", 4: "standing", 2: "squat", 702: "lie2stand"}
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class RosbridgePosition:
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def __init__(self, cfg: Config):
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self.cfg = cfg
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self._xy: Optional[Dict[str, float]] = None
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self._lock = threading.Lock()
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self._stop = False
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try:
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import websocket # noqa: F401
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except Exception as e:
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log.warning("websocket-client absent (%s) — rosbridge position disabled", e)
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self._ok = False
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return
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self._ok = True
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threading.Thread(target=self._run, daemon=True).start()
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def _run(self) -> None:
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import websocket
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sub = json.dumps({"op": "subscribe", "topic": "/odom",
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"type": "nav_msgs/Odometry", "throttle_rate": 500})
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while not self._stop:
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try:
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ws = websocket.create_connection(self.cfg.rosbridge_url, timeout=5)
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ws.send(sub)
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while not self._stop:
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msg = json.loads(ws.recv())
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pos = (((msg.get("msg") or {}).get("pose") or {}).get("pose") or {}).get("position")
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if pos:
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with self._lock:
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self._xy = {"x": round(float(pos["x"]), 3), "y": round(float(pos["y"]), 3)}
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except Exception as e:
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log.debug("rosbridge position reconnect: %s", e)
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time.sleep(3)
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def get(self) -> Optional[Dict[str, float]]:
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with self._lock:
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return dict(self._xy) if self._xy else None
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# --------------------------------------------------------------------------- #
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# map sync (web_nav3 saved maps → fleet server, uploaded ONCE per content)
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# --------------------------------------------------------------------------- #
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@dataclass
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class MapArtifact:
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path: Path # .db (rtabmap) or .yaml (slam_toolbox set)
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name: str
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stem: str
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size: int
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mtime: int
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fmt: str = "rtabmap_db" # rtabmap_db | slam_toolbox
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files: Dict[str, Path] = field(default_factory=dict) # slam set: pgm/yaml/posegraph/data
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description: str = ""
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sha256: str = ""
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points: List[Dict[str, Any]] = field(default_factory=list)
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def fingerprint(self) -> str:
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return f"{self.fmt}:{self.size}:{self.mtime}"
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def _sha256(path: Path) -> str:
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h = hashlib.sha256()
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with path.open("rb") as f:
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for chunk in iter(lambda: f.read(1024 * 1024), b""):
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h.update(chunk)
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return h.hexdigest()
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def _sha256_set(paths: List[Path]) -> str:
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h = hashlib.sha256()
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for p in sorted(paths):
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with p.open("rb") as f:
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for chunk in iter(lambda: f.read(1024 * 1024), b""):
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h.update(chunk)
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return h.hexdigest()
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# ---- slam_toolbox map set (office.yaml + office.pgm [+ .posegraph .data]) ----
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def _parse_map_yaml(path: Path) -> Dict[str, Any]:
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"""Tiny parser for a ROS map_server yaml (image/resolution/origin) — no pyyaml."""
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out: Dict[str, Any] = {}
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for line in path.read_text().splitlines():
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line = line.split("#", 1)[0].strip()
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if ":" not in line:
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continue
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k, _, v = line.partition(":")
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k, v = k.strip(), v.strip()
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if k == "image":
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out["image"] = v
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elif k == "resolution":
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try:
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out["resolution"] = float(v)
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except ValueError:
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pass
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elif k == "origin":
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try:
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nums = [float(x) for x in v.strip("[]").split(",")]
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out["origin"] = {"x": nums[0], "y": nums[1],
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"yaw": nums[2] if len(nums) > 2 else 0.0}
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except Exception:
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pass
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return out
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def _read_pgm(path: Path) -> Optional[Dict[str, Any]]:
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"""Parse a binary PGM (P5): returns {width, height, maxval, pixels(bytes)}."""
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try:
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data = path.read_bytes()
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if not data.startswith(b"P5"):
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return None
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# tokenize header (magic, width, height, maxval), skipping comments
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tokens: List[bytes] = []
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i = 2
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while len(tokens) < 3 and i < len(data):
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c = data[i:i + 1]
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if c in b" \t\r\n":
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i += 1
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elif c == b"#":
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i = data.index(b"\n", i) + 1
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else:
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j = i
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while j < len(data) and data[j:j + 1] not in b" \t\r\n":
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j += 1
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tokens.append(data[i:j])
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i = j
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w, h, maxval = int(tokens[0]), int(tokens[1]), int(tokens[2])
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pixels = data[i + 1: i + 1 + w * h]
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if len(pixels) < w * h:
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return None
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return {"width": w, "height": h, "maxval": maxval, "pixels": pixels}
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except Exception:
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return None
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def _pgm_to_png_b64(pgm: Dict[str, Any]) -> str:
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"""Grayscale 8-bit PNG from parsed PGM — pure stdlib (zlib + struct)."""
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import struct
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import zlib
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w, h, pixels = pgm["width"], pgm["height"], pgm["pixels"]
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def chunk(tag: bytes, body: bytes) -> bytes:
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return (struct.pack(">I", len(body)) + tag + body
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+ struct.pack(">I", zlib.crc32(tag + body) & 0xFFFFFFFF))
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ihdr = struct.pack(">IIBBBBB", w, h, 8, 0, 0, 0, 0) # 8-bit grayscale
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raw = b"".join(b"\x00" + pixels[y * w:(y + 1) * w] for y in range(h))
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png = (b"\x89PNG\r\n\x1a\n" + chunk(b"IHDR", ihdr)
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+ chunk(b"IDAT", zlib.compress(raw, 6)) + chunk(b"IEND", b""))
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return base64.b64encode(png).decode("ascii")
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def _discover_slam_sets(cfg: Config) -> List[MapArtifact]:
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"""Find slam_toolbox / map_server map sets: <stem>.yaml + <stem>.pgm
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(+ optional .posegraph/.data) under the maps roots and maps_slam/."""
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roots = [cfg.maps_dir, cfg.maps_dir / cfg.robot, cfg.maps_dir / "maps_slam"]
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seen: set = set()
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out: List[MapArtifact] = []
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for root in roots:
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if not root.exists():
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continue
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for y in sorted(root.glob("*.yaml")):
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meta = _parse_map_yaml(y)
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img = meta.get("image", "")
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pgm = (y.parent / img) if img else y.with_suffix(".pgm")
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if not pgm.exists():
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pgm = y.with_suffix(".pgm")
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if not pgm.exists():
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continue # yaml without a raster — not a map set
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rp = str(y.resolve())
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if rp in seen:
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continue
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seen.add(rp)
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files: Dict[str, Path] = {"yaml": y, "pgm": pgm}
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for ext in ("posegraph", "data"):
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p = y.with_suffix("." + ext)
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if p.exists():
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files[ext] = p
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size = sum(p.stat().st_size for p in files.values())
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mtime = max(int(p.stat().st_mtime) for p in files.values())
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out.append(MapArtifact(path=y, name=y.name, stem=y.stem,
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size=size, mtime=mtime,
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fmt="slam_toolbox", files=files))
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return out
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def _map_key(stem: str) -> str:
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stem = Path(stem).name
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if stem.endswith(".db"):
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stem = stem[:-3]
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return "".join(c for c in stem if c.isalnum() or c in "_-.")
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def _read_json(path: Path, default: Any) -> Any:
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try:
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return json.loads(path.read_text() or "")
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except Exception:
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return default
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def _yaw_from_pose(pose: Dict[str, Any]) -> float:
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if "qw" in pose or "qz" in pose:
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qx = float(pose.get("qx", 0.0)); qy = float(pose.get("qy", 0.0))
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qz = float(pose.get("qz", 0.0)); qw = float(pose.get("qw", 1.0))
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return math.atan2(2.0 * (qw * qz + qx * qy),
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1.0 - 2.0 * (qy * qy + qz * qz))
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return float(pose.get("yaw", 0.0))
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def _places_files_for(cfg: Config, stem: str) -> List[Path]:
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out: List[Path] = []
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key = _map_key(stem)
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if cfg.web_data_dir:
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out.append(cfg.web_data_dir / cfg.robot / "places" / f"{key}.json")
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if cfg.legacy_places:
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out.append(cfg.legacy_places)
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return out
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def load_points(cfg: Config, stem: str) -> List[Dict[str, Any]]:
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for pf in _places_files_for(cfg, stem):
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data = _read_json(pf, None) if pf.exists() else None
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if isinstance(data, dict) and data:
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pts: List[Dict[str, Any]] = []
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for name, pose in data.items():
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if not isinstance(pose, dict):
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continue
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try:
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pts.append({
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"name": name,
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"type": str(pose.get("type", "waypoint")),
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"x": float(pose["x"]),
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"y": float(pose["y"]),
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"yaw": round(_yaw_from_pose(pose), 4),
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})
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except (KeyError, TypeError, ValueError):
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continue
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return pts
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return []
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def discover_maps(cfg: Config) -> List[MapArtifact]:
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roots = [cfg.maps_dir / cfg.robot, cfg.maps_dir]
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meta: Dict[str, Any] = {}
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meta_file = cfg.maps_dir / cfg.robot / "maps_meta.json"
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if meta_file.exists():
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meta = _read_json(meta_file, {}) or {}
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seen: set = set()
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out: List[MapArtifact] = []
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for root in roots:
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if not root.exists():
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continue
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for p in sorted(root.glob("*.db")):
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rp = str(p.resolve())
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if rp in seen:
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continue
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seen.add(rp)
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st = p.stat()
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out.append(MapArtifact(
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path=p, name=p.name, stem=p.stem,
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size=st.st_size, mtime=int(st.st_mtime),
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description=(meta.get(p.name) or {}).get("description", ""),
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))
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# slam_toolbox map sets (office.yaml + office.pgm …) live alongside
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out.extend(_discover_slam_sets(cfg))
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out.sort(key=lambda m: m.mtime, reverse=True)
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return out
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def _active_map_name(cfg: Config) -> Optional[str]:
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if not cfg.web_nav3_url:
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return None
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try:
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r = requests.get(cfg.web_nav3_url + "/api/status",
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headers={"X-Robot-Name": cfg.robot},
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timeout=min(cfg.http_timeout, 5))
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r.raise_for_status()
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am = (r.json() or {}).get("active_map")
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return _map_key(am) if am else None
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except requests.RequestException:
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return None
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def select_maps(cfg: Config, maps: List[MapArtifact]) -> List[MapArtifact]:
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if not maps:
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return []
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if cfg.map_select == "newest":
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return maps[:1]
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if cfg.map_select == "active":
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active = _active_map_name(cfg)
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if active:
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picked = [m for m in maps if _map_key(m.stem) == active]
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if picked:
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return picked
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return maps[:1]
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return maps # "all"
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def _state_file(cfg: Config) -> Path:
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return cfg.state_dir / "uploaded.json"
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def load_state(cfg: Config) -> Dict[str, str]:
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return _read_json(_state_file(cfg), {}) if _state_file(cfg).exists() else {}
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def save_state(cfg: Config, state: Dict[str, str]) -> None:
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try:
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cfg.state_dir.mkdir(parents=True, exist_ok=True)
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_state_file(cfg).write_text(json.dumps(state, indent=2))
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except Exception as e:
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log.warning("could not persist map state: %s", e)
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def build_meta(cfg: Config, m: MapArtifact) -> Dict[str, Any]:
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return {
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"sn": cfg.sn,
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"name": m.stem,
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"file": m.name,
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"format": m.fmt,
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"size_bytes": m.size,
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"sha256": m.sha256,
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"mtime": m.mtime,
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"description": m.description,
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"points": m.points,
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}
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def _upload_slam_map(cfg: Config, m: MapArtifact, session: requests.Session) -> bool:
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"""slam_toolbox map → the spec's image JSON: PNG (from the pgm) + resolution
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+ origin + width/height + points. This is what the dashboard renders."""
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url = cfg.map_url()
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ymeta = _parse_map_yaml(m.files["yaml"])
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pgm = _read_pgm(m.files["pgm"])
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if pgm is None:
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log.error("map %s: cannot parse %s (not binary P5?)", m.stem, m.files["pgm"].name)
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return False
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body = build_meta(cfg, m)
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body.update({
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"resolution": ymeta.get("resolution"),
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"origin": ymeta.get("origin"),
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"width": pgm["width"],
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"height": pgm["height"],
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"image_base64": _pgm_to_png_b64(pgm),
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})
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try:
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resp = session.post(url, json=body, headers=cfg.auth_headers(),
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timeout=cfg.http_timeout, verify=cfg.verify_tls)
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except requests.RequestException as e:
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log.error("map upload %s FAILED (transport): %s", m.stem, e)
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return False
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if not resp.ok:
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log.error("map upload %s FAILED: HTTP %s %s", m.stem, resp.status_code, resp.text[:300])
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return False
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log.info("map uploaded: %s (slam_toolbox %dx%d @ %sm, %d points) -> HTTP %s",
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m.stem, pgm["width"], pgm["height"], ymeta.get("resolution"),
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len(m.points), resp.status_code)
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return True
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def upload_map(cfg: Config, m: MapArtifact, session: requests.Session) -> bool:
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if m.fmt == "slam_toolbox":
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return _upload_slam_map(cfg, m, session)
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url = cfg.map_url()
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meta = build_meta(cfg, m)
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try:
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if cfg.map_upload_mode == "base64json":
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body = dict(meta)
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body["db_base64"] = base64.b64encode(m.path.read_bytes()).decode("ascii")
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resp = session.post(url, json=body, headers=cfg.auth_headers(),
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timeout=cfg.http_timeout, verify=cfg.verify_tls)
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else: # multipart (default)
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with m.path.open("rb") as fh:
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files = {"db": (m.name, fh, "application/octet-stream")}
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data = {"meta": json.dumps(meta)}
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resp = session.post(url, files=files, data=data,
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headers=cfg.auth_headers(),
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timeout=cfg.http_timeout, verify=cfg.verify_tls)
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except requests.RequestException as e:
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log.error("map upload %s FAILED (transport): %s", m.name, e)
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return False
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if not resp.ok:
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log.error("map upload %s FAILED: HTTP %s %s", m.name, resp.status_code, resp.text[:300])
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return False
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log.info("map uploaded: %s (%.2f MB, %d points) -> HTTP %s",
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m.name, m.size / 1024 / 1024, len(m.points), resp.status_code)
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return True
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|
|
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# Shared map status — SHOWN in every telemetry post ("map" field).
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_MAP_STATUS_LOCK = threading.Lock()
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_MAP_STATUS: Dict[str, Any] = {
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"uploaded": False, "state": "pending", "maps_found": 0,
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"last_map": None, "error": None, "checked_ts": None,
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}
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|
|
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def _set_map_status(**kw: Any) -> None:
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with _MAP_STATUS_LOCK:
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_MAP_STATUS.update(kw)
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_MAP_STATUS["checked_ts"] = int(time.time())
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|
|
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def get_map_status() -> Dict[str, Any]:
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with _MAP_STATUS_LOCK:
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return dict(_MAP_STATUS)
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|
|
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def map_sync_once(cfg: Config, session: requests.Session,
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force: bool = False, dry_run: bool = False) -> int:
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"""One map pass: scan the Sanad dashboard maps and upload anything new.
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Always updates the shared map status (visible in telemetry)."""
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try:
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maps = select_maps(cfg, discover_maps(cfg))
|
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except Exception as e:
|
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_set_map_status(state="failed", uploaded=False, error=f"map scan failed: {e}")
|
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return 0
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if not maps:
|
|
_set_map_status(state="no_map", uploaded=False, maps_found=0, last_map=None,
|
|
error=f"no saved map found in Sanad dashboard "
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f"(maps_dir={cfg.maps_dir}, robot={cfg.robot})")
|
|
return 0
|
|
|
|
state = load_state(cfg)
|
|
uploaded = failed = 0
|
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last_err: Optional[str] = None
|
|
now = time.time()
|
|
for m in maps:
|
|
prev = state.get(str(m.path.resolve()))
|
|
if not force and prev == m.fingerprint():
|
|
continue # already uploaded this exact content — one-time rule
|
|
# stability guard: a db modified in the last 120 s is still being
|
|
# written (active mapping) — wait until it settles before uploading
|
|
if not force and (now - m.mtime) < 120:
|
|
log.info("map %s still changing (mapping in progress) — waiting to settle", m.name)
|
|
continue
|
|
m.sha256 = (_sha256_set(list(m.files.values()))
|
|
if m.fmt == "slam_toolbox" else _sha256(m.path))
|
|
m.points = load_points(cfg, m.stem)
|
|
if dry_run:
|
|
log.info("[dry-run] would upload map %s (%.2f MB, %d points)",
|
|
m.name, m.size / 1024 / 1024, len(m.points))
|
|
continue
|
|
if upload_map(cfg, m, session):
|
|
state[str(m.path.resolve())] = m.fingerprint()
|
|
save_state(cfg, state)
|
|
uploaded += 1
|
|
else:
|
|
failed += 1
|
|
last_err = f"upload failed for {m.name} (see agent log)"
|
|
|
|
if failed:
|
|
_set_map_status(state="failed", uploaded=False, maps_found=len(maps),
|
|
last_map=maps[0].stem, error=last_err)
|
|
else:
|
|
# every discovered map is on the server (just now or previously)
|
|
_set_map_status(state="uploaded", uploaded=True, maps_found=len(maps),
|
|
last_map=maps[0].stem, error=None)
|
|
return uploaded
|
|
|
|
|
|
def map_loop(cfg: Config, session: requests.Session) -> None:
|
|
while True:
|
|
try:
|
|
map_sync_once(cfg, session)
|
|
except Exception as e:
|
|
log.exception("map pass failed: %s", e)
|
|
time.sleep(cfg.map_poll_interval)
|
|
|
|
|
|
# --------------------------------------------------------------------------- #
|
|
# telemetry assembly
|
|
# --------------------------------------------------------------------------- #
|
|
def derive_faults(cfg: Config, snap: Dict[str, Any]) -> List[Dict[str, Any]]:
|
|
# STRINGS, not objects — the fleet ingest 500s on fault objects.
|
|
faults: List[str] = []
|
|
bms = snap.get("bms")
|
|
if bms and bms.get("soc", 100) <= cfg.low_soc:
|
|
faults.append(f"LOW_BATTERY: battery {bms['soc']}% (warning)")
|
|
temps = snap.get("temps") or []
|
|
if temps and max(temps) >= cfg.motor_temp_max:
|
|
faults.append(f"MOTOR_OVERTEMP: motor temp {max(temps):.0f}C (warning)")
|
|
if snap.get("low_age") is not None and snap["low_age"] > 3.0:
|
|
faults.append(f"COMMS_STALE: no rt/lowstate for {snap['low_age']:.0f}s (critical)")
|
|
return faults
|
|
|
|
|
|
def derive_status(cfg: Config, snap: Dict[str, Any], fsm: Optional[int]) -> str:
|
|
base = _FSM_STATUS.get(fsm) if fsm is not None else None
|
|
bms = snap.get("bms")
|
|
charging = bool(bms and bms.get("current_a", 0.0) > 0.05)
|
|
alive = snap.get("low_age") is not None and snap["low_age"] <= 3.0
|
|
if not alive and bms is None:
|
|
return "offline"
|
|
if charging:
|
|
return "charging"
|
|
if snap.get("max_dq", 0.0) > 0.15:
|
|
return "moving"
|
|
return base or "idle"
|
|
|
|
|
|
def build_telemetry(cfg: Config, mac: str, reader: Optional[DDSReader],
|
|
pos: Optional[RosbridgePosition],
|
|
sim: Optional[Dict[str, Any]] = None) -> Dict[str, Any]:
|
|
if sim is not None:
|
|
snap = {"bms": {"soc": sim["battery"], "current_a": 0.5 if sim["charging"] else -0.3,
|
|
"voltage_v": 47.5, "temp_c": 36, "soh": 100, "cycles": 45},
|
|
"low_age": 0.1, "temps": [sim.get("temp", 45)], "max_dq": sim.get("max_dq", 0.0),
|
|
"xy": sim.get("position")}
|
|
fsm = sim.get("fsm")
|
|
else:
|
|
snap = reader.snapshot() if reader else {"bms": None, "low_age": None, "temps": [], "max_dq": 0.0, "xy": None}
|
|
fsm = reader.fsm_id() if (reader and cfg.read_fsm) else None
|
|
|
|
bms = snap.get("bms")
|
|
battery = bms["soc"] if bms else None
|
|
charging = bool(bms and bms.get("current_a", 0.0) > 0.05)
|
|
status = derive_status(cfg, snap, fsm)
|
|
faults = derive_faults(cfg, snap)
|
|
|
|
battery_detail = None
|
|
if bms:
|
|
battery_detail = {"voltage_v": bms.get("voltage_v"), "current_a": bms.get("current_a"),
|
|
"temp_c": bms.get("temp_c"), "soh": bms.get("soh"),
|
|
"cycles": bms.get("cycles")}
|
|
|
|
temps = snap.get("temps") or []
|
|
motor_temp = ({"max": round(max(temps), 1), "avg": round(sum(temps) / len(temps), 1),
|
|
"min": round(min(temps), 1)} if temps else None)
|
|
|
|
position = snap.get("xy")
|
|
if position is None and pos is not None:
|
|
position = pos.get()
|
|
|
|
return {
|
|
"sn": cfg.sn,
|
|
"name": cfg.name, # friendly display name (e.g. g1_58)
|
|
"mac": mac,
|
|
"brand": cfg.brand,
|
|
"type": cfg.robot_type, # humanoid
|
|
"model": cfg.model, # g1
|
|
"battery": battery, # null = couldn't read (heartbeat)
|
|
"charging": charging,
|
|
"battery_detail": battery_detail,
|
|
"motor_temp": motor_temp, # null = not receiving
|
|
"storage": read_storage(cfg),
|
|
"status": status,
|
|
"position": position, # null when no odom/localization source
|
|
"faults": faults,
|
|
"map": get_map_status(), # SHOWS whether the saved map made it to the server
|
|
"ts": int(time.time()),
|
|
}
|
|
|
|
|
|
def post_telemetry(cfg: Config, payload: Dict[str, Any], session: requests.Session) -> bool:
|
|
try:
|
|
r = session.post(cfg.telemetry_url(), json=payload, headers=cfg.auth_headers(),
|
|
timeout=cfg.http_timeout, verify=cfg.verify_tls)
|
|
except requests.RequestException as e:
|
|
log.error("telemetry POST failed (transport): %s", e)
|
|
return False
|
|
if not r.ok:
|
|
log.error("telemetry POST failed: HTTP %s %s", r.status_code, r.text[:200])
|
|
return False
|
|
mp = payload.get("map") or {}
|
|
log.info("telemetry ok: battery=%s charging=%s status=%s pos=%s faults=%d map=%s -> HTTP %s",
|
|
payload["battery"], payload["charging"], payload["status"],
|
|
payload["position"], len(payload["faults"]), mp.get("state"), r.status_code)
|
|
return True
|
|
|
|
|
|
def _sim_state(i: int) -> Dict[str, Any]:
|
|
charging = (i % 6) in (0, 1)
|
|
battery = max(5, 90 - (i % 40))
|
|
moving = (i % 3) == 2 and not charging
|
|
return {"battery": battery, "charging": charging, "temp": 45 + (i % 10),
|
|
"max_dq": 0.4 if moving else 0.0, "fsm": 200 if moving else 4,
|
|
"position": {"x": round(1.0 + 0.1 * i, 2), "y": round(2.0 - 0.05 * i, 2)}}
|
|
|
|
|
|
def cmd_list(cfg: Config) -> None:
|
|
maps = discover_maps(cfg)
|
|
if not maps:
|
|
print(f"(no .db maps under {cfg.maps_dir} for robot '{cfg.robot}')")
|
|
return
|
|
print(f"{len(maps)} map(s) under {cfg.maps_dir} (robot={cfg.robot}):")
|
|
for m in maps:
|
|
pts = load_points(cfg, m.stem)
|
|
print(f" {m.name:<28} {m.size/1024/1024:6.2f} MB {len(pts):>3} points {m.description}")
|
|
|
|
|
|
# --------------------------------------------------------------------------- #
|
|
# main
|
|
# --------------------------------------------------------------------------- #
|
|
def main(argv: Optional[List[str]] = None) -> int:
|
|
ap = argparse.ArgumentParser(description="G1 fleet agent: telemetry + map sync")
|
|
ap.add_argument("--simulate", action="store_true", help="synthetic DDS state (map scan stays real)")
|
|
ap.add_argument("--once", action="store_true", help="one map pass + one telemetry post, then exit")
|
|
ap.add_argument("--dry-run", action="store_true", help="build payloads, never POST")
|
|
ap.add_argument("--force", action="store_true", help="re-upload maps even if unchanged")
|
|
ap.add_argument("--list", action="store_true", help="list discovered maps and exit")
|
|
ap.add_argument("--interval", type=float, default=None, help="override telemetry POLL_INTERVAL")
|
|
ap.add_argument("-v", "--verbose", action="store_true")
|
|
args = ap.parse_args(argv)
|
|
|
|
logging.basicConfig(level=logging.DEBUG if args.verbose else logging.INFO,
|
|
format="%(asctime)s %(levelname)s %(name)s: %(message)s")
|
|
_load_dotenv()
|
|
cfg = Config.from_env()
|
|
if args.interval is not None:
|
|
cfg.poll_interval = args.interval
|
|
|
|
if args.list:
|
|
cmd_list(cfg)
|
|
return 0
|
|
|
|
mac = read_mac(cfg.mac_interface)
|
|
log.info("sanad_api_g1 — sn=%s name=%s mac=%s server=%s iface=%s pos=%s "
|
|
"map_dir=%s map_every=%.0fs%s",
|
|
cfg.sn, cfg.name, mac, cfg.server_url, cfg.dds_interface,
|
|
cfg.position_source, cfg.maps_dir, cfg.map_poll_interval,
|
|
" [SIMULATE]" if args.simulate else "")
|
|
|
|
reader = None
|
|
pos = None
|
|
if not args.simulate:
|
|
reader = DDSReader(cfg)
|
|
if cfg.position_source == "rosbridge":
|
|
pos = RosbridgePosition(cfg)
|
|
time.sleep(1.0)
|
|
|
|
session = requests.Session()
|
|
tick = 0
|
|
|
|
def one_telemetry() -> None:
|
|
nonlocal tick
|
|
sim = _sim_state(tick) if args.simulate else None
|
|
payload = build_telemetry(cfg, mac, reader, pos, sim=sim)
|
|
if args.dry_run:
|
|
log.info("[dry-run] %s", json.dumps(payload))
|
|
else:
|
|
post_telemetry(cfg, payload, session)
|
|
tick += 1
|
|
|
|
if args.once or args.dry_run:
|
|
# one map pass first so the telemetry "map" field reflects it
|
|
map_sync_once(cfg, session, force=args.force, dry_run=args.dry_run)
|
|
if args.once:
|
|
one_telemetry()
|
|
return 0
|
|
for _ in range(3):
|
|
one_telemetry()
|
|
time.sleep(min(cfg.poll_interval, 1.0))
|
|
return 0
|
|
|
|
# loop mode: map sync in a background thread, telemetry in the main loop
|
|
threading.Thread(target=map_loop, args=(cfg, session), daemon=True).start()
|
|
log.info("telemetry every %.1fs; map check every %.0fs (Ctrl-C to stop)",
|
|
cfg.poll_interval, cfg.map_poll_interval)
|
|
while True:
|
|
try:
|
|
one_telemetry()
|
|
except Exception as e:
|
|
log.exception("telemetry tick failed: %s", e)
|
|
try:
|
|
time.sleep(cfg.poll_interval)
|
|
except KeyboardInterrupt:
|
|
log.info("stopped")
|
|
return 0
|
|
|
|
|
|
if __name__ == "__main__":
|
|
sys.exit(main())
|