Coordinate Heterogeneous Robot Fleets with Nav2 and Open-RMF

                      
                     
"""
Production implementation for coordinating heterogeneous robot fleets using Nav2 and Open-RMF.
Provides secure, scalable operations for managing diverse robotic tasks.
"""
from typing import Dict, Any, List
import os
import logging
import asyncio
import requests
from requests.exceptions import RequestException

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

class Config:
    """
    Configuration settings for the application.
    Loads environment variables for API keys and database connections.
    """
    nav2_api_url: str = os.getenv('NAV2_API_URL', 'http://localhost:5000')
    rmf_api_url: str = os.getenv('RMF_API_URL', 'http://localhost:6000')

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

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

async def fetch_data(api_url: str, endpoint: str) -> Dict[str, Any]:
    """Fetch data from a specified API endpoint.
    
    Args:
        api_url: Base URL of the API.
        endpoint: Specific API endpoint to hit.
    Returns:
        JSON response from the API.
    Raises:
        RequestException: If the request fails.
    """
    try:
        response = requests.get(f'{api_url}/{endpoint}')
        response.raise_for_status()
        return response.json()
    except RequestException as e:
        logger.error(f'Error fetching data from {api_url}: {e}')
        raise

async def save_to_db(data: Dict[str, Any]) -> bool:
    """Simulate saving the data to a database.
    
    Args:
        data: Input data to save.
    Returns:
        True if save is successful.
    Raises:
        Exception: If saving fails.
    """
    # Here we would have actual DB save logic
    logger.info('Data saved to database')
    return True

async def call_api(api_url: str, data: Dict[str, Any]) -> None:
    """Call the robot API to execute tasks.
    
    Args:
        api_url: API URL to call.
        data: Task data to send.
    """
    response = requests.post(api_url, json=data)
    response.raise_for_status()
    logger.info('Task executed successfully')

async def process_batch(data: List[Dict[str, Any]]) -> None:
    """Process a batch of tasks for robots.
    
    Args:
        data: List of tasks to process.
    """
    for item in data:
        try:
            await validate_input(item)
            sanitized = await sanitize_fields(item)
            await call_api(Config.nav2_api_url, sanitized)
            await save_to_db(sanitized)
        except Exception as e:
            logger.error(f'Failed to process item {item}: {e}')

class FleetCoordinator:
    """Class to coordinate the fleet of robots.
    Manages tasks and interactions with Nav2 and RMF.
    """
    def __init__(self):
        self.config = Config()

    async def coordinate_fleet(self, tasks: List[Dict[str, Any]]) -> None:
        """Coordinate tasks among the fleet.
        
        Args:
            tasks: List of tasks to coordinate.
        """
        await process_batch(tasks)

async def main() -> None:
    """Main function to run the fleet coordination.
    Simulated tasks for demonstration.
    """
    tasks = [
        {'robot_id': 'robot_1', 'task': 'navigate', 'destination': 'zone_a'},
        {'robot_id': 'robot_2', 'task': 'charge', 'station': 'station_1'},
    ]
    coordinator = FleetCoordinator()
    await coordinator.coordinate_fleet(tasks)

if __name__ == '__main__':
    asyncio.run(main())