Plan Collision-Free Industrial Robot Paths with MoveIt 2 and NVIDIA cuMotion

                      
                     
"""
Production implementation for planning collision-free robot paths using MoveIt 2 and NVIDIA cuMotion.
Provides secure, scalable operations with robust error handling.
"""
from typing import Dict, Any, List
import os
import logging
import time
import requests

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

class Config:
    moveit_service_url: str = os.getenv('MOVEIT_SERVICE_URL')
    nvidia_cumotion_url: str = os.getenv('CUMOTION_SERVICE_URL')

def validate_input_data(data: Dict[str, Any]) -> bool:
    """Validate the input data for robot path planning.
    
    Args:
        data: Input data containing robot parameters
    Returns:
        bool: True if valid
    Raises:
        ValueError: If validation fails
    """
    if 'robot_id' not in data or 'waypoints' not in data:
        raise ValueError('Missing required fields: robot_id and waypoints')
    return True

def sanitize_fields(data: Dict[str, Any]) -> Dict[str, Any]:
    """Sanitize input fields to prevent injection attacks.
    
    Args:
        data: Input data to sanitize
    Returns:
        Dict[str, Any]: Sanitized data
    """
    return {key: str(value).strip() for key, value in data.items()}

def fetch_data(url: str) -> Dict[str, Any]:
    """Fetch data from a given URL.
    
    Args:
        url: URL to fetch data from
    Returns:
        Dict[str, Any]: Response data
    Raises:
        ConnectionError: If the request fails
    """
    try:
        response = requests.get(url)
        response.raise_for_status()
        return response.json()
    except requests.exceptions.RequestException as e:
        logger.error(f'Failed to fetch data: {e}')
        raise ConnectionError('Could not connect to the service')

def call_moveit_api(data: Dict[str, Any]) -> Dict[str, Any]:
    """Call the MoveIt API to plan paths.
    
    Args:
        data: Data for the API call
    Returns:
        Dict[str, Any]: Response from the MoveIt API
    Raises:
        RuntimeError: If the API call fails
    """
    try:
        response = requests.post(f'{Config.moveit_service_url}/plan', json=data)
        response.raise_for_status()
        return response.json()
    except requests.exceptions.RequestException as e:
        logger.error(f'Error calling MoveIt API: {e}')
        raise RuntimeError('MoveIt API call failed')

def save_to_db(data: Dict[str, Any]) -> None:
    """Save the planned path data to the database.
    
    Args:
        data: Path data to save
    """
    # Placeholder for database save logic
    logger.info('Saving path data to the database...')

def process_batch(data: List[Dict[str, Any]]) -> List[Dict[str, Any]]:
    """Process a batch of robot path planning requests.
    
    Args:
        data: List of data dictionaries
    Returns:
        List[Dict[str, Any]]: List of processed results
    """
    results = []
    for item in data:
        try:
            sanitized_data = sanitize_fields(item)
            validate_input_data(sanitized_data)
            moveit_response = call_moveit_api(sanitized_data)
            results.append(moveit_response)
            save_to_db(moveit_response)
        except Exception as e:
            logger.error(f'Error processing item: {e}')
            continue  # Handle errors gracefully
    return results

class RobotPathPlanner:
    """Main orchestrator class for robot path planning.
    """
    def __init__(self, config: Config):
        self.config = config

    def plan_paths(self, input_data: List[Dict[str, Any]]) -> List[Dict[str, Any]]:
        """Plan paths for multiple robots.
        
        Args:
            input_data: List of input data for planning
        Returns:
            List[Dict[str, Any]]: Results of the planning
        """
        logger.info('Starting path planning process...')
        return process_batch(input_data)

if __name__ == '__main__':
    # Example usage
    config = Config()
    planner = RobotPathPlanner(config)
    sample_data = [
        {'robot_id': 'robot_1', 'waypoints': [[0, 0], [1, 1], [2, 2]]},
        {'robot_id': 'robot_2', 'waypoints': [[0, 1], [1, 2], [2, 3]]}
    ]
    results = planner.plan_paths(sample_data)
    logger.info(f'Planning results: {results}')