Coordinate Multi-Robot Assembly Tasks with ros2_control and Gazebo

"""
Production implementation for coordinating multi-robot assembly tasks using ros2_control and Gazebo.
Provides secure, scalable operations for robotic assembly lines.
"""

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

# Logger setup for tracking events and errors
logging.basicConfig(level=logging.INFO)
logger = logging.getLogger(__name__)

class Config:
    """
    Configuration class for environment variables.
    """
    ros_master_uri: str = os.getenv('ROS_MASTER_URI', 'http://localhost:11311')
    gazebo_model_path: str = os.getenv('GAZEBO_MODEL_PATH', '/models')

@contextmanager
def connection_pool():
    """Context manager for managing connections safely.
    
    Yields:
        Connection object
    """
    conn = create_connection()  # Assuming a function to create connection
    try:
        yield conn
    finally:
        conn.close()  # Ensures connection is closed

async def validate_input(data: Dict[str, Any]) -> bool:
    """Validate robot input data.
    
    Args:
        data: Robot data for validation
    Returns:
        True if valid
    Raises:
        ValueError: If validation fails
    """
    if 'robot_id' not in data:
        raise ValueError('Missing robot_id')  # Raise error for missing field
    if not isinstance(data['robot_id'], str):
        raise ValueError('robot_id must be a string')  # Ensure correct type
    return True

async def sanitize_fields(data: Dict[str, Any]) -> Dict[str, Any]:
    """Sanitize input fields to prevent injection.
    
    Args:
        data: Input data to sanitize
    Returns:
        Sanitized data
    """
    return {k: str(v).strip() for k, v in data.items()}  # Strip whitespace

async def fetch_data(url: str) -> Dict[str, Any]:
    """Fetch data from the given URL.
    
    Args:
        url: URL to fetch data from
    Returns:
        JSON response
    Raises:
        ConnectionError: If the fetch fails
    """
    try:
        response = requests.get(url)
        response.raise_for_status()  # Raise error for bad responses
        return response.json()
    except requests.RequestException as e:
        logger.error(f'Error fetching data: {e}')  # Log error details
        raise ConnectionError('Failed to fetch data')

async def save_to_db(data: Dict[str, Any]) -> None:
    """Saves processed data to a database.
    
    Args:
        data: Data to save
    Raises:
        Exception: If saving fails
    """
    try:
        with connection_pool() as conn:
            # Code to save data to the database
            pass  # Placeholder for database save logic
    except Exception as e:
        logger.error(f'Error saving data: {e}')  # Log save error
        raise

async def process_batch(batch: List[Dict[str, Any]]) -> None:
    """Process a batch of robot data.
    
    Args:
        batch: List of robot data to process
    Raises:
        Exception: If processing fails
    """
    for data in batch:
        await validate_input(data)  # Validate each entry
        sanitized_data = await sanitize_fields(data)  # Sanitize data
        await save_to_db(sanitized_data)  # Save sanitized data

async def aggregate_metrics(data: List[Dict[str, Any]]) -> Dict[str, Any]:
    """Aggregate metrics from robot data.
    
    Args:
        data: List of data to aggregate
    Returns:
        Aggregated metrics
    """
    metrics = {}  # Initialize metrics dictionary
    # Logic to compute metrics based on data
    return metrics

async def call_api(endpoint: str, payload: Dict[str, Any]) -> None:
    """Call an external API with a payload.
    
    Args:
        endpoint: API endpoint to hit
        payload: Data to send to the API
    Raises:
        Exception: If API call fails
    """
    for attempt in range(3):  # Retry logic with exponential backoff
        try:
            response = requests.post(endpoint, json=payload)
            response.raise_for_status()
            return
        except requests.RequestException as e:
            logger.warning(f'API call failed: {e}, retrying...')
            time.sleep(2 ** attempt)  # Exponential backoff
    raise Exception('API call failed after retries')

class RobotAssemblyOrchestrator:
    """Orchestrates the robot assembly tasks.
    """
    def __init__(self, config: Config):
        self.config = config

    async def coordinate_assembly(self, tasks: List[Dict[str, Any]]) -> None:
        """Coordinates assembly tasks for robots.
        
        Args:
            tasks: List of assembly tasks
        """
        await process_batch(tasks)  # Process the list of tasks
        metrics = await aggregate_metrics(tasks)  # Aggregate metrics
        logger.info(f'Aggregated metrics: {metrics}')  # Log the metrics

if __name__ == '__main__':
    # Example usage of the orchestrator
    config = Config()
    orchestrator = RobotAssemblyOrchestrator(config)
    tasks = [{'robot_id': 'robot_1'}, {'robot_id': 'robot_2'}]  # Example task list
    import asyncio
    asyncio.run(orchestrator.coordinate_assembly(tasks))