Add WebSockets communication capabilities (#9)

Co-authored-by: elvio.aruta98 <[email protected]>

mir_connector/README.md

@@ -123,7 +123,7 @@ flake8 --max-line-length=100 --exclude venv
 ```bash
 # Create the virtualenv if not active already
 virtualenv venv/
-pip install -e '.[test]'
+pip install -e '.[dev]'
 . venv/bin/activate
 pytest -v
 ```

mir_connector/config/.gitignore

@@ -2,3 +2,4 @@
 !.gitignore
 !.example.*
 !example.env
+!my_fleet.example.yaml

mir_connector/config/my_fleet.example.yaml

@@ -0,0 +1,39 @@
+# There can be multiple robot configurations in a single file
+# The InOrbit Robot ID is the key for each robot configuration
+'mir100-1':
+  # Robot key for InOrbit Connect robots, see https://api.inorbit.ai/docs/index.html#operation/generateRobotKey
+  # Delete it if not used
+  inorbit_robot_key: <key>
+  # This is the timezone of the robot location. It must be a valid pytz timezone: https://pythonhosted.org/pytz/#helpers
+  location_tz: America/Los_Angeles
+  # Connector log level. Valid values are DEBUG, INFO, WARNING, ERROR, CRITICAL
+  log_level: INFO
+  # Camera configuration. Multiple cameras can be configured
+  cameras:
+    - video_url: rtsp://username:[email protected]:554/cam/realmonitor?channel=1&subtype=0
+      rate: 2 # Frames per second (optional)
+      scaling: 0.3 # Percentage of the original image size (optional)
+      quality: 60 # JPEG quality (0-100) (optional)
+  # Configuration specific for the connector that will connect this robot
+  connector_type: mir100
+  connector_config:
+    mir_host_address: localhost
+    mir_host_port: 80
+    mir_ws_port: 9090
+    mir_use_ssl: False
+    mir_username: username
+    mir_password: password
+    mir_api_version: v2.0
+    # Toggle InOrbit Mission Tracking features. https://developer.inorbit.ai/tutorials#mission-tracking-tutorial
+    # Mission Tracking features are not available on every InOrbit edition.
+    enable_mission_tracking: false
+  # Configuration for running user scripts
+  user_scripts:
+    # Folder where the user scripts are. If not set, "~/.inorbit_connectors/connector-<robot_id>/local/" will be used
+    path: /home/inorbit/mir100_connector/user_scripts_mir100-1
+    # Environment variables that will be available to the user scripts (Optional)
+    env_vars:
+      INORBIT_API_KEY: foo
+      MIR_API_ENDPOINT: 10.0.0.1:80
+      MIR_USERNAME: username
+      MIR_PASSWORD: password

mir_connector/inorbit_mir_connector/config/mir100_model.py

@@ -16,7 +16,10 @@
     "cameras": [],
     "connector_type": "mir100",
     "connector_config": {
-        "mir_base_url": "http://localhost:80",
+        "mir_host_address": "localhost",
+        "mir_host_port": 80,
+        "mir_ws_port": 9090,
+        "mir_use_ssl": False,
         "mir_username": "",
         "mir_password": "",
         "enable_mission_tracking": True,
@@ -35,7 +38,10 @@ class MiR100ConfigModel(BaseModel):
     Specific configuration for MiR100 connector.
     """
 
-    mir_base_url: str
+    mir_host_address: str
+    mir_host_port: int
+    mir_ws_port: int
+    mir_use_ssl: bool
     mir_username: str
     mir_password: str
     mir_api_version: str

mir_connector/inorbit_mir_connector/src/connector.py

@@ -7,13 +7,13 @@
 from time import sleep
 import math
 import os
-import psutil
 from inorbit_edge.robot import COMMAND_CUSTOM_COMMAND
 from inorbit_edge.robot import COMMAND_MESSAGE
 from inorbit_edge.robot import COMMAND_NAV_GOAL
 from inorbit_edge.robot import RobotSession
 from inorbit_edge.video import OpenCVCamera
 from .mir_api import MirApiV2
+from .mir_api import MirWebSocketV2
 from .mission import MirInorbitMissionTracking
 from ..config.mir100_model import MiR100Config
 
@@ -45,9 +45,19 @@ def __init__(self, robot_id: str, config: MiR100Config) -> None:
 
         # Configure the connection to the robot
         self.mir_api = MirApiV2(
-            mir_base_url=config.connector_config.mir_base_url,
+            mir_host_address=config.connector_config.mir_host_address,
             mir_username=config.connector_config.mir_username,
             mir_password=config.connector_config.mir_password,
+            mir_host_port=config.connector_config.mir_host_port,
+            mir_use_ssl=config.connector_config.mir_use_ssl,
+            loglevel=log_level,
+        )
+
+        # Configure the ws connection to the robot
+        self.mir_ws = MirWebSocketV2(
+            mir_host_address=config.connector_config.mir_host_address,
+            mir_ws_port=config.connector_config.mir_ws_port,
+            mir_use_ssl=config.connector_config.mir_use_ssl,
             loglevel=log_level,
         )
 
@@ -247,16 +257,22 @@ def start(self):
                 "mode_text": mode_text,
                 "robot_model": self.status["robot_model"],
                 "waiting_for": self.mission_tracking.waiting_for_text,
-                # NOTE: System stats come from the system where the connector is running,
-                # likely a server and not the robot itself
-                # TODO(b-Tomas): Report more system stats
-                # TODO(b-Tomas): Include this in the edge-sdk
-                "cpu": psutil.cpu_percent(),  # System-wide load average since last call (0-100)
-                "memory_usage": psutil.virtual_memory().percent,  # Memory usage percentage (0-100)
             }
             self.logger.debug(f"Publishing key values: {key_values}")
             self.inorbit_sess.publish_key_values(key_values)
 
+            # Reporting system stats
+            # TODO(b-Tomas): Report more system stats
+
+            cpu_usage = self.mir_ws.get_cpu_usage()
+            disk_usage = self.mir_ws.get_disk_usage()
+            memory_usage = self.mir_ws.get_memory_usage()
+            self.inorbit_sess.publish_system_stats(
+                cpu_load_percentage=cpu_usage,
+                hdd_usage_percentage=disk_usage,
+                ram_usage_percentage=memory_usage,
+            )
+
             # publish mission data
             try:
                 self.mission_tracking.report_mission(self.status, self.metrics)
@@ -266,4 +282,5 @@ def start(self):
     def stop(self):
         """Exit the Connector cleanly."""
         self._should_run = False
+        self.mir_ws.disconnect()
         self.inorbit_sess.disconnect()

mir_connector/inorbit_mir_connector/src/mir_api/__init__.py

@@ -1,2 +1,3 @@
 from .mir_api_base import MirApiBaseClass  # noqa: F401
 from .mir_api_v2 import MirApiV2  # noqa: F401
+from .mir_api_v2 import MirWebSocketV2  # noqa: F401