fix(RPS-1086): add option to close the nova object

examples/01_basic.py

@@ -11,33 +11,33 @@
 
 
 async def main():
-    nova = Nova()
-    cell = nova.cell()
-    controllers = await cell.controllers()
-    controller = controllers[0]
+    async with Nova() as nova:
+        cell = nova.cell()
+        controllers = await cell.controllers()
+        controller = controllers[0]
 
-    async with controller:
-        activated_motion_group_ids = controller.activated_motion_group_ids()
-        print(activated_motion_group_ids)
+        async with controller:
+            activated_motion_group_ids = await controller.activated_motion_group_ids()
+            print(activated_motion_group_ids)
 
-    motion_group = controller[0]
+        motion_group = controller[0]
 
-    tcp_names = await motion_group.tcp_names()
-    print(tcp_names)
+        tcp_names = await motion_group.tcp_names()
+        print(tcp_names)
 
-    tcp = tcp_names[0]
+        tcp = tcp_names[0]
 
-    # Current motion group state
-    state = await motion_group.get_state(tcp)
-    print(state)
+        # Current motion group state
+        state = await motion_group.get_state(tcp)
+        print(state)
 
-    # Current joints positions
-    joints = await motion_group.joints()
-    print(joints)
+        # Current joints positions
+        joints = await motion_group.joints()
+        print(joints)
 
-    # Current TCP pose
-    tcp_pose = await motion_group.tcp_pose(tcp)
-    print(tcp_pose)
+        # Current TCP pose
+        tcp_pose = await motion_group.tcp_pose(tcp)
+        print(tcp_pose)
 
 
 if __name__ == "__main__":

examples/02_plan_and_execute.py

@@ -43,6 +43,8 @@ async def main():
         joint_trajectory = await motion_group.plan(actions, tcp)
         await motion_group.execute(joint_trajectory, tcp, actions=actions)
 
+    await nova.close()
+
 
 if __name__ == "__main__":
     asyncio.run(main())

examples/03_move_and_set_ios.py

@@ -40,6 +40,8 @@ async def main():
         # io_value = await controller.read_io("digital_out[0]")
         await motion_group.plan_and_execute(actions, tcp)
 
+    await nova.close()
+
 
 if __name__ == "__main__":
     asyncio.run(main())

examples/04_move_multiple_robots.py

@@ -29,8 +29,8 @@ async def main():
     cell = nova.cell()
     ur = await cell.controller("ur")
     kuka = await cell.controller("kuka")
-
     await asyncio.gather(move_robot(ur), move_robot(kuka))
+    await nova.close()
 
 
 if __name__ == "__main__":

examples/05_selection_motion_group_activation.py

@@ -59,6 +59,8 @@ async def main():
     async with mg_0, mg_1:
         await asyncio.gather(move_robot(mg_0, tcp), move_robot(mg_1, tcp))
 
+    await nova.close()
+
 
 if __name__ == "__main__":
     asyncio.run(main())

nova/core/nova.py

@@ -32,6 +32,15 @@ def __init__(
     def cell(self, cell_id: str = config("CELL_NAME", default="cell")) -> "Cell":
         return Cell(self._api_client, cell_id)
 
+    async def close(self):
+        return await self._api_client.close()
+
+    async def __aenter__(self):
+        return self
+
+    async def __aexit__(self, exc_type, exc_val, exc_tb):
+        await self.close()
+
 
 class Cell:
     def __init__(self, api_gateway: ApiGateway, cell_id: str):

nova/gateway.py

@@ -114,4 +114,4 @@ def __init__(
         )
 
     async def close(self):
-        await self._api_client.close()
+        return await self._api_client.close()