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eva.go
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eva.go
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// Package eva implements the Eva robot from Automata.
// api found at
// https://github.com/automata-tech/eva_python_sdk/blob/development/evasdk/eva_http_client.py
package eva
import (
"bytes"
"context"
// for embedding model file.
_ "embed"
"encoding/json"
"fmt"
"io"
"net/http"
"strings"
"sync"
"time"
"github.com/edaniels/golog"
"github.com/pkg/errors"
"go.uber.org/multierr"
pb "go.viam.com/api/component/arm/v1"
"go.viam.com/utils"
"go.viam.com/rdk/components/arm"
"go.viam.com/rdk/motionplan"
"go.viam.com/rdk/operation"
"go.viam.com/rdk/referenceframe"
"go.viam.com/rdk/resource"
"go.viam.com/rdk/spatialmath"
)
// Model is the name of the eva model of an arm component.
var Model = resource.DefaultModelFamily.WithModel("eva")
// Config is used for converting config attributes.
type Config struct {
resource.TriviallyValidateConfig
Token string `json:"token"`
Host string `json:"host"`
}
//go:embed eva_kinematics.json
var evamodeljson []byte
func init() {
resource.RegisterComponent(arm.API, Model, resource.Registration[arm.Arm, *Config]{
Constructor: func(ctx context.Context, _ resource.Dependencies, conf resource.Config, logger golog.Logger) (arm.Arm, error) {
return NewEva(ctx, conf, logger)
},
})
}
type evaData struct {
// map[estop:false]
Global map[string]interface{}
// map[d0:false d1:false d2:false d3:false ee_a0:0.034 ee_a1:0.035 ee_d0:false ee_d1:false]
GlobalInputs map[string]interface{} `json:"global.inputs"`
// map[d0:false d1:false d2:false d3:false ee_d0:false ee_d1:false]
GlobalOutputs map[string]interface{} `json:"global.outputs"`
// scheduler : map[enabled:false]
Scheduler map[string]interface{}
// [0.0008628905634395778 0 0.0002876301878131926 0 -0.00038350690738298 0.0005752603756263852]
ServosPosition []float64 `json:"servos.telemetry.position"`
// [53.369998931884766 43.75 43.869998931884766 43.869998931884766 51 48.619998931884766]
ServosTemperature []float64 `json:"servos.telemetry.temperature"`
// [0 0 0 0 0 0]
ServosVelocity []float64 `json:"servos.telemetry.velocity"`
// map[loop_count:1 loop_target:1 run_mode:not_running state:ready toolpath_hash:4d8 toolpath_name:Uploaded]
Control map[string]interface{}
}
type eva struct {
resource.Named
resource.AlwaysRebuild
host string
version string
token string
sessionToken string
moveLock sync.Mutex
logger golog.Logger
model referenceframe.Model
frameJSON []byte
opMgr operation.SingleOperationManager
}
// NewEva TODO.
func NewEva(ctx context.Context, conf resource.Config, logger golog.Logger) (arm.Arm, error) {
model, err := MakeModelFrame(conf.Name)
if err != nil {
return nil, err
}
newConf, err := resource.NativeConfig[*Config](conf)
if err != nil {
return nil, err
}
e := &eva{
Named: conf.ResourceName().AsNamed(),
host: newConf.Host,
version: "v1",
token: newConf.Token,
logger: logger,
model: model,
frameJSON: evamodeljson,
}
name, err := e.apiName(ctx)
if err != nil {
return nil, err
}
e.logger.Debugf("connected to eva: %v", name)
return e, nil
}
func (e *eva) JointPositions(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error) {
data, err := e.DataSnapshot(ctx)
if err != nil {
return &pb.JointPositions{}, err
}
return referenceframe.JointPositionsFromRadians(data.ServosPosition), nil
}
// EndPosition computes and returns the current cartesian position.
func (e *eva) EndPosition(ctx context.Context, extra map[string]interface{}) (spatialmath.Pose, error) {
joints, err := e.JointPositions(ctx, extra)
if err != nil {
return nil, err
}
return motionplan.ComputeOOBPosition(e.model, joints)
}
// MoveToPosition moves the arm to the specified cartesian position.
func (e *eva) MoveToPosition(ctx context.Context, pos spatialmath.Pose, extra map[string]interface{}) error {
ctx, done := e.opMgr.New(ctx)
defer done()
return arm.Move(ctx, e.logger, e, pos)
}
func (e *eva) MoveToJointPositions(ctx context.Context, newPositions *pb.JointPositions, extra map[string]interface{}) error {
// check that joint positions are not out of bounds
if err := arm.CheckDesiredJointPositions(ctx, e, newPositions); err != nil {
return err
}
ctx, done := e.opMgr.New(ctx)
defer done()
radians := referenceframe.JointPositionsToRadians(newPositions)
err := e.doMoveJoints(ctx, radians)
if err == nil {
return nil
}
if !strings.Contains(err.Error(), "Reset hard errors first") {
return err
}
if err2 := e.resetErrors(ctx); err2 != nil {
return errors.Wrapf(multierr.Combine(err, err2), "move failure, and couldn't reset errors")
}
return e.doMoveJoints(ctx, radians)
}
func (e *eva) doMoveJoints(ctx context.Context, joints []float64) error {
if err := e.apiLock(ctx); err != nil {
return err
}
defer e.apiUnlock(ctx)
return e.apiControlGoTo(ctx, joints)
}
func (e *eva) apiRequest(ctx context.Context, method, path string, payload interface{}, auth bool, out interface{}) error {
return e.apiRequestRetry(ctx, method, path, payload, auth, out, true)
}
func (e *eva) apiRequestRetry(
ctx context.Context,
method string,
path string,
payload interface{},
auth bool,
out interface{},
retry bool,
) error {
fullPath := fmt.Sprintf("http://%s/api/%s/%s", e.host, e.version, path)
var reqReader io.Reader
if payload != nil {
data, err := json.Marshal(payload)
if err != nil {
return err
}
reqReader = bytes.NewReader(data)
}
req, err := http.NewRequest(method, fullPath, reqReader)
if err != nil {
return err
}
req = req.WithContext(ctx)
if auth {
req.Header.Add("Authorization", fmt.Sprintf("Bearer %s", e.sessionToken))
}
res, err := http.DefaultClient.Do(req)
if err != nil {
return err
}
defer func() {
utils.UncheckedError(res.Body.Close())
}()
if res.StatusCode == http.StatusUnauthorized {
// need to login
if !retry {
return errors.New("got 401 from eva after trying to login")
}
type Temp struct {
Token string
}
t := Temp{}
err = e.apiRequestRetry(ctx, "POST", "auth", map[string]string{"token": e.token}, false, &t, false)
if err != nil {
return err
}
e.sessionToken = t.Token
return e.apiRequestRetry(ctx, method, path, payload, auth, out, false)
}
if res.StatusCode != http.StatusOK {
more := ""
if res.Body != nil {
more2, e2 := io.ReadAll(res.Body)
if e2 == nil {
more = string(more2)
}
}
return errors.Errorf("got unexpected response code: %d for %s %s", res.StatusCode, fullPath, more)
}
if out == nil {
return nil
}
if !strings.HasPrefix(res.Header["Content-Type"][0], "application/json") {
return errors.Errorf("expected json response from eva, got: %v", res.Header["Content-Type"])
}
decoder := json.NewDecoder(res.Body)
return decoder.Decode(out)
}
func (e *eva) apiName(ctx context.Context) (string, error) {
type Temp struct {
Name string
}
t := Temp{}
err := e.apiRequest(ctx, "GET", "name", nil, false, &t)
if err != nil {
return "", err
}
return t.Name, nil
}
func (e *eva) resetErrors(ctx context.Context) error {
e.moveLock.Lock()
defer e.moveLock.Unlock()
err := e.apiLock(ctx)
if err != nil {
return err
}
defer e.apiUnlock(ctx)
err = e.apiRequest(ctx, "POST", "controls/reset_errors", nil, true, nil)
if err != nil {
return err
}
utils.SelectContextOrWait(ctx, 100*time.Millisecond)
return ctx.Err()
}
func (e *eva) stop(ctx context.Context) error {
if e.opMgr.OpRunning() {
return multierr.Combine(
e.apiRequest(ctx, "POST", "controls/pause", nil, true, nil), // pause robot
e.apiRequest(ctx, "POST", "controls/cancel", nil, true, nil), // make state ready to run again
)
}
return nil
}
func (e *eva) Stop(ctx context.Context, extra map[string]interface{}) error {
return e.stop(ctx)
}
func (e *eva) IsMoving(ctx context.Context) (bool, error) {
return e.opMgr.OpRunning(), nil
}
func (e *eva) DataSnapshot(ctx context.Context) (evaData, error) {
type Temp struct {
Snapshot evaData
}
res := Temp{}
err := e.apiRequest(ctx, "GET", "data/snapshot", nil, true, &res)
return res.Snapshot, err
}
func (e *eva) apiControlGoTo(ctx context.Context, joints []float64) error {
body := map[string]interface{}{"joints": joints, "mode": "teach"} // TODO(erh): change to automatic
err := e.apiRequest(ctx, "POST", "controls/go_to", &body, true, nil)
if err != nil {
return err
}
// we have to poll till we're done to unlock safely
return e.loopTillNotRunning(ctx)
}
func (e *eva) loopTillNotRunning(ctx context.Context) error {
for {
data, err := e.DataSnapshot(ctx)
if err != nil {
return err
}
if data.Control["run_mode"] == "not_running" {
break
}
if !utils.SelectContextOrWait(ctx, 10*time.Millisecond) {
return ctx.Err()
}
}
return nil
}
func (e *eva) apiLock(ctx context.Context) error {
return e.apiRequest(ctx, "POST", "controls/lock", nil, true, nil)
}
func (e *eva) apiUnlock(ctx context.Context) {
err := e.apiRequest(ctx, "DELETE", "controls/lock", nil, true, nil)
if err != nil {
e.logger.Debugf("eva unlock failed: %s", err)
}
}
// ModelFrame returns all the information necessary for including the arm in a FrameSystem.
func (e *eva) ModelFrame() referenceframe.Model {
return e.model
}
func (e *eva) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error) {
res, err := e.JointPositions(ctx, nil)
if err != nil {
return nil, err
}
return e.model.InputFromProtobuf(res), nil
}
func (e *eva) GoToInputs(ctx context.Context, goal []referenceframe.Input) error {
positionDegs := e.model.ProtobufFromInput(goal)
if err := arm.CheckDesiredJointPositions(ctx, e, positionDegs); err != nil {
return err
}
return e.MoveToJointPositions(ctx, positionDegs, nil)
}
func (e *eva) Close(ctx context.Context) error {
return e.stop(ctx)
}
// MakeModelFrame returns the kinematics model of the eva arm, also has all Frame information.
func MakeModelFrame(name string) (referenceframe.Model, error) {
return referenceframe.UnmarshalModelJSON(evamodeljson, name)
}
// Geometries returns the list of geometries associated with the resource, in any order. The poses of the geometries reflect their
// current location relative to the frame of the resource.
func (e *eva) Geometries(ctx context.Context) ([]spatialmath.Geometry, error) {
inputs, err := e.CurrentInputs(ctx)
if err != nil {
return nil, err
}
gif, err := e.model.Geometries(inputs)
if err != nil {
return nil, err
}
return gif.Geometries(), nil
}