Automate Warehouse AMR Navigation with Nav2 and ros2_control

                      
                     
"""
Production implementation for Automating Warehouse AMR Navigation using Nav2 and ros2_control.
Provides secure, scalable operations for autonomous mobile robots in warehouse environments.
"""

from typing import Dict, Any, List
import os
import logging
import time
import requests
from contextlib import contextmanager

logging.basicConfig(level=logging.INFO)
logger = logging.getLogger(__name__)

class Config:
    """
    Configuration class for environment variables.
    """
    # Define expected environment variables
    navigation_service_url: str = os.getenv('NAVIGATION_SERVICE_URL')
    robot_id: str = os.getenv('ROBOT_ID')

@contextmanager
def resource_manager(resource: str):
    """
    Context manager for resource handling.
    
    Args:
        resource: The resource to manage (e.g., database connection).
    """
    try:
        logger.info(f'Acquiring resource: {resource}')
        # Simulate resource acquisition
        yield resource  # Placeholder for actual resource
    finally:
        logger.info(f'Releasing resource: {resource}')

async def validate_input(data: Dict[str, Any]) -> bool:
    """Validate request data for navigation commands.
    
    Args:
        data: Input navigation command data
    Returns:
        True if valid
    Raises:
        ValueError: If validation fails
    """
    if 'destination' not in data:
        raise ValueError('Missing destination in data')  # Validate destination
    return True  # Input is valid

async def sanitize_fields(data: Dict[str, Any]) -> Dict[str, Any]:
    """Sanitize input data fields.
    
    Args:
        data: Input data to sanitize
    Returns:
        Sanitized data
    """
    sanitized_data = {key: str(value).strip() for key, value in data.items()}
    return sanitized_data  # Return sanitized data

async def fetch_navigation_data(robot_id: str) -> Dict[str, Any]:
    """Fetch navigation data from the navigation service.
    
    Args:
        robot_id: The ID of the robot
    Returns:
        Navigation data
    Raises:
        RuntimeError: If fetching fails
    """
    response = requests.get(f'{Config.navigation_service_url}/navigation/{robot_id}')
    if response.status_code != 200:
        raise RuntimeError('Failed to fetch navigation data')  # Handle fetch error
    return response.json()  # Parse and return JSON data

async def save_to_db(data: Dict[str, Any]) -> None:
    """Save navigation data to the database.
    
    Args:
        data: Data to save
    Raises:
        RuntimeError: If saving fails
    """
    logger.info('Saving data to database...')  # Inform about saving
    # Simulate save operation
    time.sleep(1)  # Simulate delay
    logger.info('Data saved successfully.')  # Confirm save

async def call_navigation_api(data: Dict[str, Any]) -> None:
    """Call the navigation API for executing commands.
    
    Args:
        data: Command data to send
    Raises:
        RuntimeError: If API call fails
    """
    logger.info('Calling navigation API...')
    response = requests.post(f'{Config.navigation_service_url}/navigate', json=data)
    if response.status_code != 200:
        raise RuntimeError('Navigation API call failed')  # Handle API call error
    logger.info('Navigation command executed successfully.')  # Confirm command execution

async def process_navigation(data: Dict[str, Any]) -> None:
    """Process navigation commands.
    
    Args:
        data: Navigation commands to process
    """
    # Sanitize input data
    sanitized_data = await sanitize_fields(data)
    # Validate input data
    await validate_input(sanitized_data)
    # Fetch navigation data
    navigation_data = await fetch_navigation_data(Config.robot_id)
    # Call navigation API
    await call_navigation_api(navigation_data)
    # Save data to database
    await save_to_db(navigation_data)

class AMRNavigation:
    """Main class for managing AMR navigation workflows.
    """

    async def execute_navigation(self, data: Dict[str, Any]) -> None:
        """Execute the navigation workflow.
        
        Args:
            data: Navigation command data
        """
        try:
            async with resource_manager('navigation_resource'):
                await process_navigation(data)  # Process navigation commands
        except Exception as e:
            logger.error(f'Error during navigation execution: {str(e)}')  # Log error

if __name__ == '__main__':
    # Example usage
    nav = AMRNavigation()
    command_data = {'destination': 'Aisle 5'}
    # Execute navigation command
    import asyncio
    asyncio.run(nav.execute_navigation(command_data))  # Run asynchronous navigation