Test Industrial Robot Navigation in Simulation with Genesis and Nav2

"""
Production implementation for testing industrial robot navigation in simulation using Genesis and Nav2.
Provides secure, scalable operations.
"""
from typing import Dict, Any, Tuple, List
import os
import logging
import time
import requests
from contextlib import contextmanager

# Set up logging configuration
logging.basicConfig(level=logging.INFO)
logger = logging.getLogger(__name__)

# Configuration class for environment variables and settings
class Config:
    simulation_url: str = os.getenv('SIMULATION_URL', 'http://localhost:5000/simulate')
    max_retries: int = int(os.getenv('MAX_RETRIES', 5))
    retry_delay: float = float(os.getenv('RETRY_DELAY', 1.0))

# Context manager for handling resource cleanup
@contextmanager
def simulate_navigation() -> None:
    """Context manager for simulating navigation.
    
    Yields:
        None
    """
    try:
        logger.info('Starting navigation simulation.')
        yield
    finally:
        logger.info('Navigation simulation completed.')

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

# Fetch data from the simulation API
def fetch_data(robot_id: str, destination: str) -> Dict[str, Any]:
    """Fetch navigation data from the simulation API.
    
    Args:
        robot_id: The ID of the robot
        destination: The target destination
    Returns:
        JSON response from the simulation API
    Raises:
        ConnectionError: If API request fails
    """
    try:
        response = requests.post(Config.simulation_url, json={'robot_id': robot_id, 'destination': destination})
        response.raise_for_status()  # Raise an error for bad responses
        return response.json()
    except requests.RequestException as e:
        logger.error(f'Error fetching data: {e}')
        raise ConnectionError('Failed to connect to the simulation API.')

# Process the fetched navigation data
def process_navigation_data(data: Dict[str, Any]) -> str:
    """Process the navigation data received.
    
    Args:
        data: Navigation data from API
    Returns:
        Processed navigation result as a string
    Raises:
        KeyError: If expected keys are missing
    """
    try:
        return f"Robot {data['robot_id']} navigated to {data['destination']} successfully."
    except KeyError as e:
        logger.error(f'Missing key in data: {e}')
        raise

# Retry logic with exponential backoff for API calls
def retry_api_call(robot_id: str, destination: str) -> str:
    """Retry fetching data from the API with exponential backoff.
    
    Args:
        robot_id: The ID of the robot
        destination: The target destination
    Returns:
        Processed navigation result
    Raises:
        RuntimeError: If all retries fail
    """
    for attempt in range(Config.max_retries):
        try:
            data = fetch_data(robot_id, destination)  # Attempt to fetch data
            return process_navigation_data(data)  # Process the data
        except ConnectionError:
            sleep_time = Config.retry_delay * (2 ** attempt)  # Exponential backoff
            logger.warning(f'Retrying in {sleep_time:.2f} seconds...')
            time.sleep(sleep_time)
    raise RuntimeError('Max retries exceeded while fetching data.')

# Main orchestrator class for robot navigation
class RobotNavigator:
    def __init__(self, robot_id: str, destination: str):
        self.robot_id = robot_id  # Assigning robot ID
        self.destination = destination  # Assigning destination

    def navigate(self) -> str:
        """Main method to navigate the robot.
        
        Returns:
            Result of the navigation process
        """
        validate_input({'robot_id': self.robot_id, 'destination': self.destination})  # Validate input
        with simulate_navigation():  # Context manager for simulation
            return retry_api_call(self.robot_id, self.destination)  # Retry fetching data

if __name__ == '__main__':
    # Example usage
    try:
        navigator = RobotNavigator(robot_id='robot123', destination='waypointA')
        result = navigator.navigate()  # Start navigation
        logger.info(result)  # Log the result
    except Exception as e:
        logger.error(f'Error during navigation: {e}')  # Handle any errors