Merge pull request #213 from hello-robot/feature/check_updates

Add automatic update checking to command line tools

body/stretch_body/robot_params.py

@@ -41,7 +41,11 @@
                     "datefmt": "%m/%d/%Y %H:%M:%S"
                 }
             }
-        }}
+        },
+    "system_check": {
+            "show_sw_exc": False
+        },
+}
 
 class RobotParams:
     """Build the parameter dictionary that is available as stretch_body.Device().robot_params.

docs/robot_parameters.md

@@ -9,25 +9,25 @@ Additional sources of parameters for Stretch Body to import in when organizing t
 The most common reason to set an additional parameter source is to supply parameters relating to a new [tool](#tool).
 
 | Parameter | Default Value |
-| --------- | ------------- |
-| params  | `[]`          |
+|-----------|---------------|
+| params    | `[]`          |
 
 ### tool
 
 You can swap the tool (or "end-effector") on Stretch. There's a [repository of 3D printable tools](https://github.com/hello-robot/stretch_tool_share/blob/master/README.md) that includes a USB camera tool, a phone holder tool, a dry erase marker tool, and many more. Many of these tools come with a Python class that extends Stretch Body's `EndOfArm` class to implement functionality specific to the tool. For example, the USB camera tool comes with a [`ToolUSBCamWrist`](https://github.com/hello-robot/stretch_tool_share/blob/master/python/stretch_tool_share/usbcam_wrist_v1/tool.py) class, named `tool_usbcam_wrist`, to take pictures or return a video stream directly from Stretch Body. You can also create your own custom tools and extend `EndOfArm` to expose functionality custom to your tool. More information on swapping/creating tools is available in the [Tool Change Tutorial](../../stretch_tutorials/stretch_body/tutorial_tool_change.md).
 
 After attaching the hardware to Stretch's wrist, set this parameter to your tool class's name to change which tool class is imported into Stretch Body. See also [params](#params) for supplying parameters needed by your tool class.
 
-| Parameter    | Default Value            |
-| ------------ | ------------------------ |
+| Parameter  | Default Value            |
+|------------|--------------------------|
 | robot.tool | `'tool_stretch_gripper'` |
 
 ### use_multiturn
 
 The Dynamixel joints on the robot have a "multiturn" or "Extended Position Control" mode, which allows the Dynamixel servo to rotate many revolutions. This is in contrast to regular "Position Control" mode, where the servo is limited to 360° rotation. The joints where the servos have gear reductions operate in multiturn mode to achieve the desired range. In the other joints, the servo directly controls the position of the joint, so multiple revolutions are not required. More details on the Dynamixel's control modes are [available here](https://emanual.robotis.com/docs/en/dxl/x/xl430-w250/#operating-mode11).
 
-| Parameter                       | Default Value |
-| ------------------------------- | ------------- |
+| Parameter                     | Default Value |
+|-------------------------------|---------------|
 | head_pan.use_multiturn        | `0` *         |
 | head_tilt.use_multiturn       | `0`           |
 | stretch_gripper.use_multiturn | `1`           |
@@ -36,3 +36,13 @@ The Dynamixel joints on the robot have a "multiturn" or "Extended Position Contr
 | wrist_roll.use_multiturn      | `0`           |
 
 \* `head_pan.use_multiturn` is `0` for most Stretch robots, except for some early RE1s. For those robots, the parameter is set to `1` in "stretch_configuration_params.yaml". 
+
+## Parameters for Command Line Tools
+
+### show_sw_exc
+
+In the `stretch_robot_system_check.py` tool, the "Checking Software" section is wrapped in a try/except because of the experimental nature of the code. The tool is introspecting the system and relying on resources/files to be available in specific places with specific formats. Since the tool's output needs to be easily understood, the error or exception cannot be shown (hence the try/except block). This parameter allows the tool to raise the exception and display it in the terminal. This is useful for debugging purposes.
+
+| Parameter                | Default Value |
+|--------------------------|---------------|
+| system_check.show_sw_exc | False         |

tools/bin/stretch_robot_home.py

@@ -2,16 +2,122 @@
 from __future__ import print_function
 import stretch_body.robot as robot
 import argparse
+import sys
+import time
+import json
+import yaml
+import pathlib
+import requests
+import xmltodict
+import multiprocessing
+import http.client as httplib
+try:
+    import stretch_factory.firmware_available
+    factory_installed = True
+except:
+    factory_installed = False
 import stretch_body.hello_utils as hu
 hu.print_stretch_re_use()
 
 parser=argparse.ArgumentParser(description='Find zeros for all robot joints')
 args=parser.parse_args()
 
+def fetch_updates_in_background():
+    def have_internet():
+        conn = httplib.HTTPSConnection("8.8.8.8", timeout=5)
+        try:
+            conn.request("HEAD", "/")
+            return True
+        except Exception:
+            return False
+        finally:
+            conn.close()
+    def get_latest_pypi_version(url):
+        resp = requests.get(url)
+        if resp.status_code == 200:
+            releases = xmltodict.parse(resp.text)['rss']['channel']['item']
+            for i in range(len(releases)):
+                if 'dev' not in releases[i]['title']:
+                    return releases[i]['title']
+        return None
+    def get_latest_github_commit(url):
+        resp = requests.get(url)
+        if resp.status_code == 200:
+            return json.loads(resp.text)[0]['sha']
+        return None
+
+    try:
+        start = time.time()
+        scans_dir = pathlib.Path('~/stretch_user/log/updates_logger').expanduser()
+        if not scans_dir.is_dir():
+            scans_dir.mkdir(parents=True, exist_ok=True)
+        datetime_str = hu.create_time_string()
+        scan_file = scans_dir / f'updates_scan.{datetime_str}.yaml'
+        scan_log = scans_dir / f'log_updates_scan.{datetime_str}.log'
+
+        # override stdout/stderr
+        sys.stdout = open(str(scan_log), "a")
+        sys.stderr = open(str(scan_log), "a")
+
+        # check for Stretch Factory installed
+        if not factory_installed:
+            return
+        print('background: got factory installed!', time.time() - start, flush=True)
+
+        # check for internet connection
+        if not have_internet():
+            return
+        print('background: got internet!', time.time() - start, flush=True)
+
+        # check for firmware updates
+        use_device = {'hello-motor-arm': True, 'hello-motor-right-wheel': True, 'hello-motor-left-wheel': True, 'hello-pimu': True, 'hello-wacc': True,'hello-motor-lift': True}
+        fa = stretch_factory.firmware_available.FirmwareAvailable(use_device)
+        scan_dict = {
+            'firmware': {
+                'hello-pimu': str(fa.get_most_recent_version('hello-pimu', None)),
+                'hello-wacc': str(fa.get_most_recent_version('hello-wacc', None)),
+                'hello-motor-arm': str(fa.get_most_recent_version('hello-motor-arm', None)),
+                'hello-motor-lift': str(fa.get_most_recent_version('hello-motor-lift', None)),
+                'hello-motor-left-wheel': str(fa.get_most_recent_version('hello-motor-left-wheel', None)),
+                'hello-motor-right-wheel': str(fa.get_most_recent_version('hello-motor-right-wheel', None)),
+            },
+            'version': '0.0',
+        }
+        print('background: got latest firmware!', time.time() - start, flush=True)
+
+        # check for pip updates
+        scan_dict['pip'] = {
+            'hello-robot-stretch-body': get_latest_pypi_version("https://pypi.org/rss/project/hello-robot-stretch-body/releases.xml"),
+            'hello-robot-stretch-body-tools': get_latest_pypi_version("https://pypi.org/rss/project/hello-robot-stretch-body-tools/releases.xml"),
+            'hello-robot-stretch-tool-share': get_latest_pypi_version("https://pypi.org/rss/project/hello-robot-stretch-tool-share/releases.xml"),
+            'hello-robot-stretch-factory': get_latest_pypi_version("https://pypi.org/rss/project/hello-robot-stretch-factory/releases.xml"),
+            'hello-robot-stretch-diagnostics': get_latest_pypi_version("https://pypi.org/rss/project/hello-robot-stretch-diagnostics/releases.xml"),
+            'hello-robot-stretch-urdf': get_latest_pypi_version("https://pypi.org/rss/project/hello-robot-stretch-urdf/releases.xml"),
+        }
+        print('background: got latest pip!', time.time() - start, flush=True)
+
+        # check latest pushed github commits
+        scan_dict['ros'] = {
+            'stretch_ros': get_latest_github_commit("https://api.github.com/repos/hello-robot/stretch_ros/commits"),
+            'stretch_ros2': get_latest_github_commit("https://api.github.com/repos/hello-robot/stretch_ros2/commits"),
+        }
+        print('background: got latest github!', time.time() - start, flush=True)
+
+        # save to updates_scan directory
+        with open(str(scan_file), 'w') as outfile:
+            yaml.dump(scan_dict, outfile)
+        print('background: saved to scan logger dir', time.time() - start, flush=True)
+    except:
+        pass
+background_process = multiprocessing.Process(target=fetch_updates_in_background)
+
 r=robot.Robot()
 r.startup()
 if not r.pimu.status['runstop_event']:
+    background_process.start()
     r.home()
+    background_process.terminate()
+    background_process.join()
 else:
     r.logger.warning('Cannot home while run-stopped')
 r.stop()