API version selector

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/inorbit_mir_connector/config/mir100_model.py

@@ -5,8 +5,9 @@
 from pydantic import BaseModel, field_validator
 from .config_base_model import EdgeConnectorModel
 from .utils import read_yaml
+from ..src.mir_api import APIS
 
-# TODO: leverate ruamel.yaml capabilities to add comments to
+# TODO: leverage ruamel.yaml capabilities to add comments to
 # the yaml and improve how the default configuration section
 # that gets added automatically looks.
 default_mir100_config = {
@@ -30,7 +31,6 @@
 
 # Expected values
 CONNECTOR_TYPE = "mir100"
-MIR_API_VERSION = "v2.0"
 
 
 class MiR100ConfigModel(BaseModel):
@@ -49,9 +49,10 @@ class MiR100ConfigModel(BaseModel):
 
     @field_validator("mir_api_version")
     def api_version_validation(cls, mir_api_version):
-        if mir_api_version != MIR_API_VERSION:
+        if mir_api_version not in APIS.keys():
             raise ValueError(
-                f"Unexpected MiR API version '{mir_api_version}'. Expected '{MIR_API_VERSION}'"
+                f"MiR API version '{mir_api_version}' is not supported. "
+                f"Supported versions are: {', '.join(APIS.keys())}"
             )
         return mir_api_version
 

mir_connector/inorbit_mir_connector/src/connector.py

@@ -12,8 +12,7 @@
 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 .mir_api import APIS
 from .mission import MirInorbitMissionTracking
 from ..config.mir100_model import MiR100Config
 
@@ -42,9 +41,11 @@ def __init__(self, robot_id: str, config: MiR100Config) -> None:
         log_level = config.log_level.value
         self.logger = logging.getLogger(name=self.__class__.__name__)
         self.logger.setLevel(log_level)
+        self.api_version = config.connector_config.mir_api_version
+        self.logger.debug(f"Using MiR API version: {self.api_version}")
 
         # Configure the connection to the robot
-        self.mir_api = MirApiV2(
+        self.mir_api = APIS[self.api_version]["rest"](
             mir_host_address=config.connector_config.mir_host_address,
             mir_username=config.connector_config.mir_username,
             mir_password=config.connector_config.mir_password,
@@ -54,7 +55,7 @@ def __init__(self, robot_id: str, config: MiR100Config) -> None:
         )
 
         # Configure the ws connection to the robot
-        self.mir_ws = MirWebSocketV2(
+        self.mir_ws = APIS[self.api_version]["ws"](
             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,

mir_connector/inorbit_mir_connector/src/mir_api/__init__.py

@@ -1,3 +1,8 @@
 from .mir_api_base import MirApiBaseClass  # noqa: F401
 from .mir_api_v2 import MirApiV2  # noqa: F401
 from .mir_api_v2 import MirWebSocketV2  # noqa: F401
+
+# Available API versions
+APIS = {
+    "v2.0": {"rest": MirApiV2, "ws": MirWebSocketV2},
+}

mir_connector/inorbit_mir_connector/tests/test_connector.py

@@ -10,18 +10,21 @@
 import websocket
 from inorbit_mir_connector.src.connector import Mir100Connector
 from unittest.mock import MagicMock, Mock, call
-from inorbit_mir_connector.src.mir_api import MirApiV2
+from inorbit_mir_connector.src.mir_api import APIS
 import inorbit_mir_connector.src.connector
 from inorbit_edge.robot import RobotSession
 from inorbit_mir_connector.config.mir100_model import MiR100Config
 
+API_VERSION = "v2.0"
+MirApi = APIS[API_VERSION]["rest"]
+
 
 # NOTE(b-Tomas): Added some example data below to help creating rea
 @pytest.fixture
 def connector(monkeypatch):
     monkeypatch.setenv("INORBIT_KEY", "abc123")
-    monkeypatch.setattr(MirApiV2, "_create_api_session", MagicMock())
-    monkeypatch.setattr(MirApiV2, "_create_web_session", MagicMock())
+    monkeypatch.setattr(MirApi, "_create_api_session", MagicMock())
+    monkeypatch.setattr(MirApi, "_create_web_session", MagicMock())
     monkeypatch.setattr(websocket, "WebSocketApp", MagicMock())
     monkeypatch.setattr(RobotSession, "connect", MagicMock())
     monkeypatch.setattr(inorbit_mir_connector.src.connector.os, "makedirs", Mock())
@@ -125,8 +128,8 @@ def test_registers_user_scripts_config(monkeypatch):
 
     def create_connector(user_scripts):
         monkeypatch.setenv("INORBIT_KEY", "abc123")
-        monkeypatch.setattr(MirApiV2, "_create_api_session", MagicMock())
-        monkeypatch.setattr(MirApiV2, "_create_web_session", MagicMock())
+        monkeypatch.setattr(MirApi, "_create_api_session", MagicMock())
+        monkeypatch.setattr(MirApi, "_create_web_session", MagicMock())
         monkeypatch.setattr(websocket, "WebSocketApp", MagicMock())
         monkeypatch.setattr(RobotSession, "connect", MagicMock())
         monkeypatch.setattr(RobotSession, "register_commands_path", MagicMock())