MiR100 Connector: Allow disabling the websockets interface (#24)

mir_connector/README.md

@@ -122,8 +122,8 @@ flake8 --max-line-length=100 --exclude venv
 ```bash
 # Create the virtualenv if not active already
 virtualenv venv/
-pip install -e '.[dev]'
 . venv/bin/activate
+pip install -e '.[dev]'
 pytest -v
 ```
 

mir_connector/config/my_fleet.example.yaml

@@ -19,6 +19,7 @@
   connector_config:
     mir_host_address: localhost
     mir_host_port: 80
+    mir_enable_ws: True
     mir_ws_port: 9090
     mir_use_ssl: False
     mir_username: username

mir_connector/inorbit_mir_connector/config/mir100_model.py

@@ -20,6 +20,7 @@
         "mir_host_port": 80,
         "mir_ws_port": 9090,
         "mir_use_ssl": False,
+        "mir_enable_ws": True,
         "mir_username": "",
         "mir_password": "",
         "enable_mission_tracking": True,
@@ -40,6 +41,7 @@ class MiR100ConfigModel(BaseModel):
 
     mir_host_address: str
     mir_host_port: int
+    mir_enable_ws: bool
     mir_ws_port: int
     mir_use_ssl: bool
     mir_username: str

mir_connector/inorbit_mir_connector/src/connector.py

@@ -54,12 +54,14 @@ def __init__(self, robot_id: str, config: MiR100Config) -> None:
         )
 
         # 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,
-        )
+        self.ws_enabled = config.connector_config.mir_enable_ws
+        if self.ws_enabled:
+            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,
+            )
 
         # Configure the timezone
         self.robot_tz_info = pytz.timezone("UTC")
@@ -78,6 +80,7 @@ def __init__(self, robot_id: str, config: MiR100Config) -> None:
             "robot_name": robot_id,
             "api_key": os.environ["INORBIT_KEY"],
             "robot_key": config.inorbit_robot_key,
+            "use_ssl": os.environ.get("INORBIT_USE_SSL", "true").lower() == "true",
         }
         if "INORBIT_URL" in os.environ:
             robot_session_params["endpoint"] = os.environ["INORBIT_URL"]
@@ -264,14 +267,15 @@ def start(self):
             # 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,
-            )
+            if self.ws_enabled:
+                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:
@@ -286,5 +290,6 @@ def inorbit_connected(self):
     def stop(self):
         """Exit the Connector cleanly."""
         self._should_run = False
-        self.mir_ws.disconnect()
         self.inorbit_sess.disconnect()
+        if self.ws_enabled:
+            self.mir_ws.disconnect()

mir_connector/inorbit_mir_connector/tests/test_config_validation.py

@@ -26,6 +26,7 @@ def example_mir100_configuration_dict(example_configuration_dict):
         "connector_config": {
             "mir_host_address": "localhost",
             "mir_host_port": 80,
+            "mir_enable_ws": True,
             "mir_ws_port": 9090,
             "mir_use_ssl": False,
             "mir_username": "admin",

mir_connector/inorbit_mir_connector/tests/test_connector.py

@@ -16,7 +16,6 @@
 from inorbit_mir_connector.config.mir100_model import MiR100Config
 
 
-# NOTE(b-Tomas): Added some example data below to help creating rea
 @pytest.fixture
 def connector(monkeypatch):
     monkeypatch.setenv("INORBIT_KEY", "abc123")
@@ -37,6 +36,7 @@ def connector(monkeypatch):
             connector_config={
                 "mir_host_address": "example.com",
                 "mir_host_port": 80,
+                "mir_enable_ws": True,
                 "mir_ws_port": 9090,
                 "mir_use_ssl": False,
                 "mir_username": "user",
@@ -146,6 +146,7 @@ def create_connector(user_scripts):
                     "mir_password": "pass",
                     "mir_host_address": "example.com",
                     "mir_host_port": 80,
+                    "mir_enable_ws": True,
                     "mir_ws_port": 9090,
                     "mir_use_ssl": False,
                     "mir_api_version": "v2.0",
@@ -184,6 +185,65 @@ def create_connector(user_scripts):
         os.environ[k] = v
 
 
+def test_enable_ws_flag(monkeypatch):
+    monkeypatch.setenv("INORBIT_KEY", "abc123")
+    monkeypatch.setattr(MirApiV2, "_create_api_session", MagicMock())
+    monkeypatch.setattr(MirApiV2, "_create_web_session", MagicMock())
+    monkeypatch.setattr(websocket, "WebSocketApp", MagicMock())
+    monkeypatch.setattr(RobotSession, "connect", MagicMock())
+    monkeypatch.setattr(RobotSession, "register_commands_path", MagicMock())
+    monkeypatch.setattr(time, "sleep", Mock())
+    monkeypatch.setattr(inorbit_mir_connector.src.connector.os, "makedirs", Mock())
+
+    config = MiR100Config(
+        inorbit_robot_key="robot_key",
+        location_tz="UTC",
+        log_level="INFO",
+        connector_type="mir100",
+        connector_version="0.1.0",
+        connector_config={
+            "mir_username": "user",
+            "mir_password": "pass",
+            "mir_host_address": "example.com",
+            "mir_host_port": 80,
+            "mir_enable_ws": False,
+            "mir_ws_port": 9090,
+            "mir_use_ssl": False,
+            "mir_api_version": "v2.0",
+            "enable_mission_tracking": False,
+        },
+        user_scripts={},
+        cameras=[],
+    )
+    connector = Mir100Connector("mir100-1", config)
+    assert connector.ws_enabled is False
+    assert not hasattr(connector, "mir_ws")
+
+    config = MiR100Config(
+        inorbit_robot_key="robot_key",
+        location_tz="UTC",
+        log_level="INFO",
+        connector_type="mir100",
+        connector_version="0.1.0",
+        connector_config={
+            "mir_username": "user",
+            "mir_password": "pass",
+            "mir_host_address": "example.com",
+            "mir_host_port": 80,
+            "mir_enable_ws": True,
+            "mir_ws_port": 9090,
+            "mir_use_ssl": False,
+            "mir_api_version": "v2.0",
+            "enable_mission_tracking": False,
+        },
+        user_scripts={},
+        cameras=[],
+    )
+    connector = Mir100Connector("mir100-1", config)
+    assert connector.ws_enabled is True
+    assert hasattr(connector, "mir_ws")
+
+
 def test_command_callback_state(connector, callback_kwargs):
     MIR_STATE = {3: "READY", 4: "PAUSE", 11: "MANUALCONTROL"}