Commands Handling - InOrbit Docs

Commands from InOrbit are automatically routed to your _inorbit_robot_command_handler() method in the case of a fleet connector, or to your _inorbit_command_handler() method in the case of a single-robot connector. The fleet handler _inorbit_robot_command_handler() receives the following parameters:

robot_id (str): The ID of the robot receiving the command
command_name (str): The name of the command
args (list): Command arguments
options (dict): Options including result_function to report results

While the single-robot handler _inorbit_command_handler() omits the robot_id parameter.

@override
async def _inorbit_robot_command_handler(
    self, robot_id: str, command_name: str, args: list, options: dict
) -> None:
    """Handle InOrbit commands for a specific robot."""
    if command_name == "start_mission":
        result = await self._fleet_manager.send_command(
            robot_id, "start_mission", args[0]
        )

A more complete example including all provided utilities is available at the bottom of this page.

Reporting Command Results

The options dictionary contains a result_function with the following signature:

options['result_function'](/ground-control/robot-integration/connector-framework/usage/
    result_code: CommandResultCode,
    execution_status_details: str | None = None,
    stdout: str | None = None,
    stderr: str | None = None,
) -> None

The result_code parameter must be set to CommandResultCode.SUCCESS or CommandResultCode.FAILURE to report the command result.
The execution_status_details and stderr parameters are optional and can be used to provide specific error details.
The stdout parameter is optional and can be used to provide specific output details.

Reporting Success

The commands handler can call the result_function with a CommandResultCode.SUCCESS to report a successful command execution before returning. The stdout parameter is optional and can be used to provide specific output details.

options["result_function"](/ground-control/robot-integration/connector-framework/usage/
    CommandResultCode.SUCCESS,
    stdout="Mission dispatched with ID 123456",
)

(reporting-failure)=

Reporting Failure

There are three ways to report a failed command execution:

(Recommended) Raise a CommandFailure exception.
Raise any other exception.
Call the result_function with a CommandResultCode.FAILURE and provide the execution_status_details and stderr parameters.

Unhandled exceptions raised during the execution of the command handler will be caught and reported with a generic error message in its execution details, and the exception message attached to the stderr field. All exceptions are logged. The CommandFailure exception can be used to intentionally indicate a failure:

Error details are automatically passed to InOrbit’s result function
execution_status_details is displayed in alert messages when commands are dispatched from the actions UI
Both execution_status_details and stderr are available in audit logs and through the action execution details API

Example usage:

from inorbit_connector.connector import CommandResultCode, CommandFailure

@override
async def _inorbit_robot_command_handler(
    self, robot_id: str, command_name: str, args: list, options: dict
) -> None:
    """Handle InOrbit commands for a specific robot."""
    if command_name == "start_mission":
        try:
            if robot_id not in self.robot_ids:
                raise CommandFailure(
                    execution_status_details=f"Robot {robot_id} not found in fleet",
                    stderr="Invalid robot ID"
                )

            result = await self._fleet_manager.send_command(
                robot_id, "start_mission", args[0]
            )
            if not result:
                raise CommandFailure(
                    execution_status_details=f"Failed to start mission for {robot_id}",
                    stderr="Fleet manager returned error"
                )
            options["result_function"](/ground-control/robot-integration/connector-framework/usage/CommandResultCode.SUCCESS)
        except ValueError as e:
            raise CommandFailure(
                execution_status_details=f"Invalid parameters for {robot_id}",
                stderr=str(e)
            )

Parsing Script Arguments

When handling custom script commands, the Edge SDK delivers arguments in the form:

args[0]: script file name (e.g., "script.sh")
args[1]: a flat list of alternating keys and values (e.g., ["x", "1.0", "y", "2.0"])

In the case of InOrbit actions of RunScript type (identified with the command_name COMMAND_CUSTOM_COMMAND), the script name corresponds to the filename field of the action definition, and the arguments key-value pairs. For details on how to configure actions with arguments, refer to the InOrbit Actions Definitions documentation. Use the helper parse_custom_command_args() to turn these into a script name and a parameters dictionary:

from inorbit_connector.connector import (
    parse_custom_command_args,
    CommandResultCode,
    CommandFailure,
)
from inorbit_edge.commands import COMMAND_CUSTOM_COMMAND

@override
async def _inorbit_robot_command_handler(
    self, robot_id: str, command_name: str, args: list, options: dict
) -> None:
    if command_name == COMMAND_CUSTOM_COMMAND:
        # args format: [file_name, [k1, v1, k2, v2, ...]]
        script, params = parse_custom_command_args(args)
        # Example: script == "script.sh", params == {"x": "1.0", "y": "2.0"}
        # Use script and params as needed
        options["result_function"](/ground-control/robot-integration/connector-framework/usage/
            CommandResultCode.SUCCESS,
            stdout=f"Ran {script} with params {params}",
        )

It is recommended to complement its use with the CommandModel class (see Using CommandModel for Type-Safe Argument Parsing) for safe type validation and parsing. (using-commandmodel-for-type-safe-argument-parsing)=

Using `CommandModel` for Type-Safe Argument Parsing

For structured command arguments that require validation and type safety, use the CommandModel base class. This is particularly useful when commands have multiple parameters with specific types and validation rules. CommandModel provides:

Automatic type validation and conversion using Pydantic
Conversion of validation errors to CommandFailure exceptions
Protection against extra fields (forbids unknown parameters)

Optionally, you can combine CommandModel with ExcludeUnsetMixin to exclude unset fields from model dumps, which is useful for API calls where you only want to send non-default values.

Basic Usage

Define a command model by subclassing CommandModel:

from inorbit_connector.commands import CommandModel, parse_custom_command_args
from inorbit_connector.connector import CommandResultCode, CommandFailure

class CommandQueueMission(CommandModel):
    """Command model for queue_mission command."""
    mission_id: str
    robot_id: int | None = None
    priority: int | None = None
    description: str | None = None

Using with `ExcludeUnsetMixin`

To exclude unset fields from model dumps (useful for API calls), inherit from both ExcludeUnsetMixin and CommandModel. The mixin must come first in the inheritance list:

from inorbit_connector.commands import CommandModel, ExcludeUnsetMixin

class CommandQueueMission(ExcludeUnsetMixin, CommandModel):
    """Command model for queue_mission command."""
    mission_id: str
    robot_id: int | None = None
    priority: int | None = None
    description: str | None = None

Using with `parse_custom_command_args`

CommandModel works seamlessly with parse_custom_command_args():

from inorbit_edge.commands import COMMAND_CUSTOM_COMMAND

@override
async def _inorbit_robot_command_handler(
    self, robot_id: str, command_name: str, args: list, options: dict
) -> None:
    if command_name == COMMAND_CUSTOM_COMMAND:
        script_name, script_args = parse_custom_command_args(args)

        if script_name == "queue_mission":
            # Validation happens automatically - raises CommandFailure on error
            command = CommandQueueMission(**script_args)

            # If using ExcludeUnsetMixin, model_dump() excludes unset fields
            # Useful for API calls where you only want to send non-default values
            await self._fleet_client.schedule_mission(**command.model_dump())

            options["result_function"](/ground-control/robot-integration/connector-framework/usage/CommandResultCode.SUCCESS)

Automatic Error Handling

If validation fails, CommandModel automatically raises a CommandFailure with appropriate error details:

# If script_args contains invalid data:
# script_args = {"mission_id": "test", "priority": "not_an_int"}
command = CommandQueueMission(**script_args)
# Raises CommandFailure with execution_status_details="Bad arguments"
# and stderr containing the validation error details

The exception is automatically handled by the connector’s command execution framework, so you don’t need to catch ValidationError exceptions. See the Reporting Failure section for more details.

Excluding Unset Fields

When using ExcludeUnsetMixin, model_dump() excludes fields that weren’t explicitly set, which is useful when making API calls where you only want to send non-default values:

# With ExcludeUnsetMixin
command = CommandQueueMission(mission_id="test123", priority=5)
command.model_dump()
# Returns: {"mission_id": "test123", "priority": 5}
# Note: robot_id and description are excluded since they weren't set

# Without ExcludeUnsetMixin
class SimpleCommand(CommandModel):
    mission_id: str
    priority: int | None = None

command = SimpleCommand(mission_id="test123")
command.model_dump()
# Returns: {"mission_id": "test123", "priority": None}
# All fields are included, even if they have default values

(example-usage)=

Example Usage

Here’s a concrete example of using CommandModel with ExcludeUnsetMixin to handle a custom command. The command is a RunScript action, whose filename is schedule_mission.

# ActionDefinition.yaml
apiVersion: v0.1
kind: ActionDefinition
metadata:
  id: dock
  scope: tag/my-account-id/my-collection-id # Or any applicable scope
spec:
  type: RunScript
  arguments:
  - name: filename
    type: string
    value: schedule_mission
  - name: mission_id
    type: string
    value: 4eaa3a62-7a17-11ed-9f3c-0001299981c4
  description: Sends robot to charging dock
  label: Dock

Once applied using the InOrbit CLI or REST APIs, the action can be executed through the InOrbit UI or through the REST APIs.

# Apply the action definition
inorbit apply -f ActionDefinition.yaml

# Execute the action
curl --location 'https://api.inorbit.ai/robots/<robot-id>/actions' \
--header 'Content-Type: application/json' \
--header 'Accept: application/json' \
--header 'x-auth-inorbit-app-key: <app-key>' \
--data '
{
    "actionId": "dock"
}'

The connector implements the command handler for the schedule_mission command and passes the arguments to an API client to schedule the mission.

from enum import StrEnum
from inorbit_connector.commands import CommandModel, ExcludeUnsetMixin, parse_custom_command_args
from inorbit_connector.connector import CommandResultCode
from inorbit_edge.commands import COMMAND_CUSTOM_COMMAND

class CommandScheduleMission(ExcludeUnsetMixin, CommandModel):
    """Command model for scheduling a mission."""
    mission_id: str
    robot_id: int | None = None
    priority: int | None = None

class CustomScripts(StrEnum):
    """Custom scripts supported by the connector."""
    SCHEDULE_MISSION = "schedule_mission"
    # Add other custom scripts here

class ExampleConnector(Connector):
    ... # other methods

    @override
    async def _inorbit_command_handler(
        self, command_name: str, args: list, options: dict
    ) -> None:
        if command_name == COMMAND_CUSTOM_COMMAND:
            script_name, script_args = parse_custom_command_args(args)
            # script_name = "schedule_mission"
            # script_args = {"mission_id": "4eaa3a62-7a17-11ed-9f3c-0001299981c4"}

            if script_name == CustomScripts.SCHEDULE_MISSION:
                # Validation and type conversion happen automatically
                command = CommandScheduleMission(**script_args)

                # Only explicitly set fields are included in the dump
                await self._api_client.schedule_mission(**command.model_dump())

            else:
                raise CommandFailure(
                    execution_status_details=f"Command not implemented",
                    stderr=f"Command '{script_name}' not yet implemented",
                )

            # Call the result function to indicate success
            options["result_function"](/ground-control/robot-integration/connector-framework/usage/CommandResultCode.SUCCESS)
        else:
            raise CommandFailure(
                execution_status_details=f"Command not implemented",
                stderr=f"Command '{command_name}' not yet implemented",
            )

​Reporting Command Results

​Reporting Success

​Reporting Failure

​Parsing Script Arguments

​Using CommandModel for Type-Safe Argument Parsing

​Basic Usage

​Using with ExcludeUnsetMixin

​Using with parse_custom_command_args

​Automatic Error Handling

​Excluding Unset Fields

​Example Usage