Consolidate InOrbit URL env vars

inorbit_edge/models.py

@@ -8,10 +8,13 @@
 from typing import Optional
 
 # Third-party
-from pydantic import BaseModel, AnyUrl, field_validator, HttpUrl
+from pydantic import AnyUrl, BaseModel, HttpUrl, field_validator
 
 # InOrbit
-from inorbit_edge.robot import INORBIT_CLOUD_SDK_ROBOT_CONFIG_URL, INORBIT_REST_API_URL
+from inorbit_edge.robot import (
+    INORBIT_CLOUD_SDK_ROBOT_CONFIG_URL,
+    INORBIT_DEFAULT_API_URL,
+)
 
 
 class CameraConfig(BaseModel):
@@ -85,10 +88,10 @@ class RobotSessionModel(BaseModel):
 
     * INORBIT_API_KEY (required): The InOrbit API key
     * INORBIT_USE_SSL: If SSL should be used (default is true)
-    * INORBIT_API_URL: The URL of the API (default is
-        inorbit_edge.robot.INORBIT_CLOUD_SDK_ROBOT_CONFIG_URL)
-    * INORBIT_REST_API_URL: The URL of the InOrbit REST API (default is
-        inorbit_edge.robot.INORBIT_REST_API_URL)
+    * INORBIT_CONNECTION_CONFIG_URL: The URL of the MQTT configuration API
+       (default is inorbit_edge.robot.INORBIT_CLOUD_SDK_ROBOT_CONFIG_URL)
+    * INORBIT_API_URL: The URL of the InOrbit REST API (default is
+        inorbit_edge.robot.INORBIT_DEFAULT_API_URL)
 
     Attributes:
         robot_id (str): The unique ID of the robot
@@ -99,7 +102,7 @@ class RobotSessionModel(BaseModel):
         endpoint (HttpUrl, optional): The URL of the API or inorbit_edge's
                                       INORBIT_CLOUD_SDK_ROBOT_CONFIG_URL by default
         rest_api_endpoint (HttpUrl, optional): The URL of the InOrbit REST API.
-                                               INORBIT_REST_API_URL by default.
+                                               INORBIT_DEFAULT_API_URL by default.
     """
 
     robot_id: str
@@ -108,10 +111,10 @@ class RobotSessionModel(BaseModel):
     api_key: Optional[str] = os.getenv("INORBIT_API_KEY")
     use_ssl: bool = os.environ.get("INORBIT_USE_SSL", "true").lower() == "true"
     endpoint: HttpUrl = os.environ.get(
-        "INORBIT_API_URL", INORBIT_CLOUD_SDK_ROBOT_CONFIG_URL
+        "INORBIT_CONNECTION_CONFIG_URL", INORBIT_CLOUD_SDK_ROBOT_CONFIG_URL
     )
     rest_api_endpoint: Optional[HttpUrl] = os.environ.get(
-        "INORBIT_REST_API_URL", INORBIT_REST_API_URL
+        "INORBIT_API_URL", INORBIT_DEFAULT_API_URL
     )
 
     # noinspection PyMethodParameters

inorbit_edge/robot.py

@@ -1,76 +1,76 @@
 #!/usr/bin/env python
 # -*- coding: utf-8 -*-
 import io
-import zlib
-from dataclasses import dataclass, field, asdict
 import json
-from typing import Tuple, Optional, List, Dict
-
-from inorbit_edge import __version__ as inorbit_edge_version
-from inorbit_edge.types import Pose, SpatialTolerance
-from inorbit_edge.metrics import (
-    attrs_from_self,
-    with_counter_metric,
-    publish_map_counter,
-    publish_camera_frame_counter,
-    publish_pose_counter,
-    publish_key_values_counter,
-    publish_system_stats_counter,
-    publish_odometry_counter,
-    publish_laser_counter,
-    publish_path_counter,
-)
-import os
 import logging
-import paho.mqtt.client as mqtt
-from PIL import Image
-from urllib.parse import urlsplit
-import socks
+import math
+import os
+import re
 import ssl
+import subprocess
 import threading
+import time
+import zlib
+from dataclasses import asdict, dataclass, field
+from typing import Dict, List, Optional, Tuple
+from urllib.parse import urlsplit
+
+import certifi
+import paho.mqtt.client as mqtt
+import requests
+import socks
 import yaml
+from deprecated import deprecated
+from PIL import Image
 
+from inorbit_edge import __version__ as inorbit_edge_version
+from inorbit_edge.commands import (
+    COMMAND_CUSTOM_COMMAND,
+    COMMAND_INITIAL_POSE,
+    COMMAND_MESSAGE,
+    COMMAND_NAV_GOAL,
+)
 from inorbit_edge.inorbit_pb2 import (
+    CameraMessage,
+    CustomCommandRosMessage,
     CustomDataMessage,
+    CustomScriptCommandMessage,
+    CustomScriptStatusMessage,
+    Echo,
     KeyValueCustomElement,
+    LaserMessage,
     LocationAndPoseMessage,
+    MapMessage,
+    MapRequest,
     OdometryDataMessage,
-    LaserMessage,
+    PathDataMessage,
     PathPoint,
     RobotPath,
-    PathDataMessage,
-    Echo,
-    CustomScriptCommandMessage,
-    CustomScriptStatusMessage,
-    CustomCommandRosMessage,
-    CameraMessage,
     SystemStatsMessage,
-    MapMessage,
-    MapRequest,
 )
-from inorbit_edge.video import CameraStreamer, Camera
-from inorbit_edge.missions import MissionsModule
-from inorbit_edge.commands import (
-    COMMAND_INITIAL_POSE,
-    COMMAND_NAV_GOAL,
-    COMMAND_CUSTOM_COMMAND,
-    COMMAND_MESSAGE,
+from inorbit_edge.metrics import (
+    attrs_from_self,
+    publish_camera_frame_counter,
+    publish_key_values_counter,
+    publish_laser_counter,
+    publish_map_counter,
+    publish_odometry_counter,
+    publish_path_counter,
+    publish_pose_counter,
+    publish_system_stats_counter,
+    with_counter_metric,
 )
-import time
-import requests
-import math
+from inorbit_edge.missions import MissionsModule
+from inorbit_edge.types import Pose, SpatialTolerance
 from inorbit_edge.utils import (
+    calculate_pose_delta,
     encode_floating_point_list,
     reduce_path,
-    calculate_pose_delta,
 )
-import certifi
-import subprocess
-import re
-from deprecated import deprecated
+from inorbit_edge.video import Camera, CameraStreamer
 
 INORBIT_CLOUD_SDK_ROBOT_CONFIG_URL = "https://control.inorbit.ai/cloud_sdk_robot_config"
-INORBIT_REST_API_URL = "https://api.inorbit.ai"
+INORBIT_DEFAULT_API_URL = "https://api.inorbit.ai"
 
 MQTT_SUBTOPIC_POSE = "ros/loc/data2"
 MQTT_SUBTOPIC_PATH = "ros/loc/path"
@@ -299,7 +299,6 @@ def discard_next_delta(self):
 
 
 class RobotSession:
-
     def __init__(self, robot_id, robot_name, api_key=None, **kwargs) -> None:
         """Initialize a robot session.
 
@@ -315,7 +314,7 @@ def __init__(self, robot_id, robot_name, api_key=None, **kwargs) -> None:
             endpoint (str): InOrbit URL. Defaults: INORBIT_CLOUD_SDK_ROBOT_CONFIG_URL.
             use_ssl (bool): Configures MQTT client to use SSL. Defaults: True.
             rest_api_endpoint (str): The URL of the InOrbit REST API.
-                Defaults: INORBIT_REST_API_URL.
+                Defaults: INORBIT_DEFAULT_API_URL.
             keepalive_secs (int): Keepalive for MQTT connection (seconds). Default: 10.
             estimate_distance_linear (bool): Whether to publish an estimate value for
                 linear_distance based on poses when the value is not provided on a
@@ -348,7 +347,7 @@ def __init__(self, robot_id, robot_name, api_key=None, **kwargs) -> None:
         self.use_ssl = kwargs.get("use_ssl", True)
         # InOrbit REST API endpoint
         self.inorbit_rest_api_endpoint = kwargs.get(
-            "rest_api_endpoint", INORBIT_REST_API_URL
+            "rest_api_endpoint", INORBIT_DEFAULT_API_URL
         )
         # Account ID, lazily fetched from REST API via get_account_id()
         self._account_id: str | None = None
@@ -1669,7 +1668,7 @@ def get_account_id(self) -> str:
         account_ids = response.json().get("accountIds") or []
         if not isinstance(account_ids, list):
             raise ValueError(
-                "Unexpected response from the REST API: " "accountIds is not a list"
+                "Unexpected response from the REST API: accountIds is not a list"
             )
         if len(account_ids) == 0:
             raise ValueError("No account IDs found for the authenticated API key")

inorbit_edge/tests/demo/README.md

@@ -14,7 +14,7 @@ cd /path/to/edge-sdk-python
 pip install -e '.[video,telemetry]'
 cd inorbit_edge/tests/demo
 
-export INORBIT_URL="https://control.inorbit.ai"
+export INORBIT_CONNECTION_CONFIG_URL="https://control.inorbit.ai"
 export INORBIT_API_URL="https://api.inorbit.ai"
 export INORBIT_API_KEY="foobar123"
 export INORBIT_ROBOT_ID_PREFIX="$(hostname)"
@@ -51,7 +51,7 @@ metrics on the host:
 ```bash
 docker run --rm -p 9464:9464 \
   -v "$PWD/inorbit_edge/tests/demo:/demo:ro" \
-  -e INORBIT_URL=... \
+  -e INORBIT_CONNECTION_CONFIG_URL=... \
   -e INORBIT_API_URL=... \
   -e INORBIT_API_KEY=... \
   -e INORBIT_ROBOT_ID_PREFIX=$(hostname) \

inorbit_edge/tests/demo/example.py

@@ -206,7 +206,7 @@ def main():
         radius=0.2,
     )
 
-    inorbit_api_endpoint = _required_env("INORBIT_URL")
+    inorbit_api_endpoint = _required_env("INORBIT_CONNECTION_CONFIG_URL")
     inorbit_api_url = _required_env("INORBIT_API_URL")
     inorbit_api_key = _required_env("INORBIT_API_KEY")
 

inorbit_edge/tests/test_robot_session.py

@@ -4,13 +4,19 @@
 import math
 import os
 from unittest.mock import MagicMock
+
 import pytest
 from requests import HTTPError
 
-from inorbit_edge.robot import RobotSession, RobotFootprintSpec, RobotMap
-from inorbit_edge.robot import INORBIT_CLOUD_SDK_ROBOT_CONFIG_URL, INORBIT_REST_API_URL
 from inorbit_edge import get_module_version
-from inorbit_edge.inorbit_pb2 import MapMessage, RobotPath, PathDataMessage, PathPoint
+from inorbit_edge.inorbit_pb2 import MapMessage, PathDataMessage, PathPoint, RobotPath
+from inorbit_edge.robot import (
+    INORBIT_CLOUD_SDK_ROBOT_CONFIG_URL,
+    INORBIT_DEFAULT_API_URL,
+    RobotFootprintSpec,
+    RobotMap,
+    RobotSession,
+)
 
 
 def test_robot_session_init(monkeypatch, mock_sleep):
@@ -125,11 +131,11 @@ def test_method_throttling(mock_sleep):
 
 def test_apply_footprint(requests_mock, mock_sleep):
     requests_mock.get(
-        f"{INORBIT_REST_API_URL}/user",
+        f"{INORBIT_DEFAULT_API_URL}/user",
         json={"userId": "user_abc", "name": "Test User", "accountIds": ["account_123"]},
     )
     adapter = requests_mock.post(
-        f"{INORBIT_REST_API_URL}/configuration/apply",
+        f"{INORBIT_DEFAULT_API_URL}/configuration/apply",
         json={"operationStatus": "SUCCESS"},
     )
     footprint = RobotFootprintSpec(
@@ -168,14 +174,16 @@ def test_apply_footprint(requests_mock, mock_sleep):
     }
 
     # HTTP error on apply
-    requests_mock.post(f"{INORBIT_REST_API_URL}/configuration/apply", status_code=400)
+    requests_mock.post(
+        f"{INORBIT_DEFAULT_API_URL}/configuration/apply", status_code=400
+    )
     with pytest.raises(HTTPError):
         robot_session.apply_footprint(footprint)
 
 
 def test_get_account_id(requests_mock, mock_sleep):
     requests_mock.get(
-        f"{INORBIT_REST_API_URL}/user",
+        f"{INORBIT_DEFAULT_API_URL}/user",
         json={"userId": "user_abc", "name": "Test User", "accountIds": ["account_123"]},
     )
     robot_session = RobotSession(
@@ -202,7 +210,7 @@ def test_get_account_id_no_api_key(mock_sleep):
 
 def test_get_account_id_empty_accounts(requests_mock, mock_sleep):
     requests_mock.get(
-        f"{INORBIT_REST_API_URL}/user",
+        f"{INORBIT_DEFAULT_API_URL}/user",
         json={"userId": "user_abc", "name": "Test User", "accountIds": []},
     )
     robot_session = RobotSession(
@@ -216,7 +224,7 @@ def test_get_account_id_empty_accounts(requests_mock, mock_sleep):
 
 def test_get_account_id_multiple_accounts(requests_mock, mock_sleep):
     requests_mock.get(
-        f"{INORBIT_REST_API_URL}/user",
+        f"{INORBIT_DEFAULT_API_URL}/user",
         json={"userId": "user_abc", "name": "Test", "accountIds": ["a1", "a2"]},
     )
     robot_session = RobotSession(
@@ -229,7 +237,7 @@ def test_get_account_id_multiple_accounts(requests_mock, mock_sleep):
 
 
 def test_get_account_id_api_error(requests_mock, mock_sleep):
-    requests_mock.get(f"{INORBIT_REST_API_URL}/user", status_code=401)
+    requests_mock.get(f"{INORBIT_DEFAULT_API_URL}/user", status_code=401)
     robot_session = RobotSession(
         robot_id="id_123",
         robot_name="name_123",