fix(RPS-1174): dont deactivate motion groups

.github/workflows/run-examples.yaml

@@ -1,9 +1,10 @@
 name: Run examples
 
 on:
-  pull_request:
-    branches:
-      - main
+  # we are unable to create cloud instances as of now
+  #pull_request:
+  #  branches:
+  #    - main
 
 jobs:
   run-examples:
@@ -45,7 +46,11 @@ jobs:
           GITHUB_RUN_ID: ${{ github.run_id }}
           INSECURE_CURL: "true"   # If you need to skip SSL verification
         run: |
-          source ./scripts/create_nova_instance.sh
+          if ! source ./scripts/create_nova_instance.sh; then
+            echo "Failed to create NOVA instance."
+            exit 1
+          fi
+
           echo $PORTAL_STG_HOST
           echo "PORTAL_STG_HOST=$PORTAL_STG_HOST" >> $GITHUB_ENV
           echo "PORTAL_STG_INSTANCE_ID=$PORTAL_STG_INSTANCE_ID" >> $GITHUB_ENV

examples/03_move_and_set_ios.py

@@ -42,7 +42,6 @@ async def main():
                 jnt(home_joints),
             ]
 
-            # io_value = await controller.read_io("digital_out[0]")
             await motion_group.plan_and_execute(actions, tcp)
 
         await cell.delete_robot_controller(controller.name)

nova/core/controller.py

@@ -31,9 +31,10 @@ async def __aenter__(self):
 
     @final
     async def __aexit__(self, exc_type, exc_val, exc_tb):
-        for motion_group_id in self._activated_motion_group_ids:
-            logger.info(f"Deactivating motion group {motion_group_id}")
-            await self._motion_group_api.deactivate_motion_group(self._cell, motion_group_id)
+        # RPS-1174: when a motion group is deactivated, RAE closes all open connections
+        #           this behaviour is not desired in some cases,
+        #           so for now we will not deactivate for the user
+        pass
 
     def __len__(self) -> int:
         return len(self._activated_motion_group_ids)

nova/core/motion_group.py

@@ -31,9 +31,10 @@ async def __aenter__(self):
         return self
 
     async def __aexit__(self, exc_type, exc_val, exc_tb):
-        await self._api_gateway.motion_group_api.deactivate_motion_group(
-            cell=self._cell, motion_group=self._motion_group_id
-        )
+        # RPS-1174: when a motion group is deactivated, RAE closes all open connections
+        #           this behaviour is not desired in some cases,
+        #           so for now we will not deactivate for the user
+        pass
 
     @property
     def motion_group_id(self) -> str:

nova/gateway.py

@@ -123,6 +123,7 @@ def __init__(
         self.virtual_robot_setup_api = intercept(
             wb.VirtualRobotSetupApi(api_client=self._api_client)
         )
+        self.controller_ios_api = intercept(wb.ControllerIOsApi(api_client=self._api_client))
 
     async def close(self):
         return await self._api_client.close()

scripts/create_nova_instance.sh

@@ -62,11 +62,15 @@ echo "Access token received."
 SANDBOX_NAME="svcmgr-${GITHUB_RUN_ID:-local-run}"
 echo "Creating instance with sandbox name: ${SANDBOX_NAME}"
 
-INSTANCE_RESPONSE="$(curl -X "POST" "https://io.stg.wandelbots.io/instance" \
+if ! INSTANCE_RESPONSE="$(curl -X "POST" "https://io.stg.wandelbots.io/instance" \
   -H "accept: application/json" \
   -H "Authorization: Bearer ${PORTAL_STG_ACCESS_TOKEN}" \
   -H "Content-Type: application/json" \
-  -d "{\"sandbox_name\": \"${SANDBOX_NAME}\"}")"
+  -d "{\"sandbox_name\": \"${SANDBOX_NAME}\"}")"; then
+  echo "Failed to create a new instance."
+  echo "Response from create instance: ${INSTANCE_RESPONSE}"
+  exit 1
+fi
 
 echo "Response from create instance: ${INSTANCE_RESPONSE}"
 PORTAL_STG_HOST="$(echo "${INSTANCE_RESPONSE}" | jq -r .host)"