Merge pull request #100 from rapyuta-robotics/devel

🎉 release: 2.2.0

rapyuta_io/clients/device.py

@@ -4,6 +4,7 @@
 import subprocess
 
 from six.moves.urllib.parse import urlencode
+from time import sleep
 import enum
 
 import requests
@@ -567,7 +568,44 @@ def execute_command(self, command, retry_limit=0):
         if response.status_code == requests.codes.BAD_REQUEST:
             raise ParameterMissingException(get_error(response.text))
         execution_result = get_api_response_data(response)
-        return execution_result[self.uuid]
+        if not command.bg:
+            return execution_result[self.uuid]
+        jid = execution_result.get('jid')
+        if not jid:
+            raise ValueError("Job ID not found in the response")
+        return self.fetch_command_result(jid, [self.uuid], timeout=command.timeout)
+
+    def fetch_command_result(self, jid: str, deviceids: list, timeout: int):
+        """
+        Fetch the result of the command execution using the job ID (jid) and the first device ID from the list.
+        Args:
+            jobid (str): The job ID of the executed command.
+            deviceids (list): A list of device IDs on which the command was executed.
+            timeout (int): The maximum time to wait for the result (in seconds). Default is 300 seconds.
+        Returns:
+            dict: The result of the command execution.
+        Raises:
+            TimeoutError: If the result is not available within the timeout period.
+            APIError: If the API returns an error.
+        """
+
+        if not deviceids or not isinstance(deviceids, list):
+            raise ValueError("Device IDs must be provided as a non-empty list.")
+        url = self._device_api_host + DEVICE_COMMAND_API_PATH + "jobid"
+        payload = {
+            "jid": jid,
+            "device_id": deviceids[0]
+        }
+        total_time_waited = 0
+        wait_interval = 10
+        while total_time_waited < timeout:
+            response = self._execute_api(url, HttpMethod.POST, payload)
+            if response.status_code == requests.codes.OK:
+                result = get_api_response_data(response)
+                return result[deviceids[0]]
+            sleep(wait_interval)
+            total_time_waited += wait_interval
+        raise TimeoutError(f"Command result not available after {timeout} seconds")
 
     def get_config_variables(self):
         """

rapyuta_io/clients/model.py

@@ -61,7 +61,7 @@ class Command(ObjDict):
 
     """
 
-    def __init__(self, cmd, shell=None, env=None, bg=False, runas=None, pwd=None, cwd=None):
+    def __init__(self, cmd, shell=None, env=None, bg=False, runas=None, pwd=None, cwd=None, timeout=300):
         super(ObjDict, self).__init__()
         if env is None:
             env = dict()
@@ -73,6 +73,7 @@ def __init__(self, cmd, shell=None, env=None, bg=False, runas=None, pwd=None, cw
         self.cwd = pwd
         if cwd is not None:
             self.cwd = cwd
+        self.timeout = timeout
         self.validate()
 
     def validate(self):
@@ -93,6 +94,8 @@ def validate(self):
                         raise InvalidCommandException('Invalid environment variables')
                 return
             raise InvalidCommandException('Invalid environment variables')
+        if  self.timeout <= 0:
+            raise InvalidCommandException("Invalid timeout value")
 
     def to_json(self):
         # TODO: we need to rewrite this function.