Build Reactive Robot Behaviors for Assembly Lines with BehaviorTreeCpp and MoveIt 2

"""
Production implementation for building reactive robot behaviors for assembly lines.
Utilizes BehaviorTreeCpp and MoveIt 2 to orchestrate robot movements and decisions.
"""
import os
import logging
from typing import Dict, Any, List
import time

# Logger setup for tracking application behavior
logging.basicConfig(level=logging.INFO)
logger = logging.getLogger(__name__)

class Config:
    """
    Configuration class for environment variables.
    """
    moveit_config: str = os.getenv('MOVEIT_CONFIG', 'default_moveit_config')
    behavior_tree_file: str = os.getenv('BEHAVIOR_TREE_FILE', 'default_bt.xml')

def validate_input(data: Dict[str, Any]) -> bool:
    """
    Validate the input data for the robot behavior.
    
    Args:
        data: Input to validate
    Returns:
        True if valid
    Raises:
        ValueError: If validation fails
    """
    if 'task' not in data:
        raise ValueError('Missing task in input data.')  # Ensure task is specified
    if 'robot_id' not in data:
        raise ValueError('Missing robot_id in input data.')  # Ensure robot ID is specified
    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:
        Sanitized data
    """
    sanitized_data = {k: str(v).strip() for k, v in data.items()}  # Strip whitespace
    return sanitized_data

def fetch_behavior_tree(tree_file: str) -> str:
    """
    Fetch the behavior tree from the given file.
    
    Args:
        tree_file: Path to the behavior tree file
    Returns:
        Contents of the behavior tree file
    Raises:
        FileNotFoundError: If the file cannot be found
    """
    try:
        with open(tree_file, 'r') as file:
            return file.read()  # Read and return file contents
    except FileNotFoundError:
        logger.error(f'Behavior tree file not found: {tree_file}')
        raise  # Raise error if file is not found

def execute_robot_task(robot_id: str, task: str) -> None:
    """
    Execute a robot task by calling MoveIt 2 interfaces.
    
    Args:
        robot_id: The ID of the robot executing the task
        task: The task to execute
    Raises:
        RuntimeError: If task execution fails
    """
    try:
        logger.info(f'Executing task {task} for robot {robot_id}.')
        # Simulate task execution
        time.sleep(1)  # Simulate time taken for task execution
        logger.info(f'Task {task} executed successfully for robot {robot_id}.')
    except Exception as e:
        logger.error(f'Failed to execute task {task} for robot {robot_id}: {e}')
        raise RuntimeError('Task execution failed.')  # Raise error if execution fails

class RobotBehavior:
    """
    Main orchestrator for robot behaviors.
    """
    def __init__(self, config: Config) -> None:
        self.config = config
        self.behavior_tree = fetch_behavior_tree(config.behavior_tree_file)

    def run(self, input_data: Dict[str, Any]) -> None:
        """
        Run the behavior logic based on input data.
        
        Args:
            input_data: Data for executing robot behavior
        """
        try:
            # Validate and sanitize input data
            validate_input(input_data)
            sanitized_data = sanitize_fields(input_data)
            # Execute the task
            execute_robot_task(sanitized_data['robot_id'], sanitized_data['task'])
        except ValueError as ve:
            logger.warning(f'Input validation error: {ve}')  # Log validation errors
        except RuntimeError as re:
            logger.error(f'Runtime error: {re}')  # Log runtime errors

if __name__ == '__main__':
    # Example usage of the RobotBehavior class
    config = Config()
    behavior = RobotBehavior(config)
    # Sample input data
    input_data = {'task': 'assemble_part', 'robot_id': 'robot_1'}
    behavior.run(input_data)  # Run with sample data