isar 1.10.14__py3-none-any.whl → 1.12.0__py3-none-any.whl

isar/config/predefined_missions/default.json

@@ -1,92 +1,92 @@
 {
-  "id": 1,
-  "tasks": [
-    {
-      "steps": [
+    "id": 1,
+    "tasks": [
         {
-          "type": "drive_to_pose",
-          "pose": {
-            "position": {
-              "x": -2,
-              "y": -2,
-              "z": 0,
-              "frame": "asset"
-            },
-            "orientation": {
-              "x": 0,
-              "y": 0,
-              "z": 0.4794255,
-              "w": 0.8775826,
-              "frame": "asset"
-            },
-            "frame": "asset"
-          }
+            "steps": [
+                {
+                    "type": "drive_to_pose",
+                    "pose": {
+                        "position": {
+                            "x": -2,
+                            "y": -2,
+                            "z": 0,
+                            "frame": "asset"
+                        },
+                        "orientation": {
+                            "x": 0,
+                            "y": 0,
+                            "z": 0.4794255,
+                            "w": 0.8775826,
+                            "frame": "asset"
+                        },
+                        "frame": "asset"
+                    }
+                },
+                {
+                    "type": "take_image",
+                    "target": {
+                        "x": 2,
+                        "y": 2,
+                        "z": 0,
+                        "frame": "robot"
+                    }
+                }
+            ]
         },
         {
-          "type": "take_image",
-          "target": {
-            "x": 2,
-            "y": 2,
-            "z": 0,
-            "frame": "robot"
-          }
-        }
-      ]
-    },
-    {
-      "steps": [
-        {
-          "type": "drive_to_pose",
-          "pose": {
-            "position": {
-              "x": -2,
-              "y": 2,
-              "z": 0,
-              "frame": "asset"
-            },
-            "orientation": {
-              "x": 0,
-              "y": 0,
-              "z": 0.4794255,
-              "w": 0.8775826,
-              "frame": "asset"
-            },
-            "frame": "asset"
-          }
+            "steps": [
+                {
+                    "type": "drive_to_pose",
+                    "pose": {
+                        "position": {
+                            "x": -2,
+                            "y": 2,
+                            "z": 0,
+                            "frame": "asset"
+                        },
+                        "orientation": {
+                            "x": 0,
+                            "y": 0,
+                            "z": 0.4794255,
+                            "w": 0.8775826,
+                            "frame": "asset"
+                        },
+                        "frame": "asset"
+                    }
+                },
+                {
+                    "type": "take_thermal_image",
+                    "target": {
+                        "x": 2,
+                        "y": 2,
+                        "z": 0,
+                        "frame": "robot"
+                    }
+                }
+            ]
         },
         {
-          "type": "take_thermal_image",
-          "target": {
-            "x": 2,
-            "y": 2,
-            "z": 0,
-            "frame": "robot"
-          }
-        }
-      ]
-    },
-    {
-      "steps": [
-        {
-          "type": "drive_to_pose",
-          "pose": {
-            "position": {
-              "x": 2,
-              "y": 2,
-              "z": 0,
-              "frame": "asset"
-            },
-            "orientation": {
-              "x": 0,
-              "y": 0,
-              "z": 0.4794255,
-              "w": 0.8775826,
-              "frame": "asset"
-            },
-            "frame": "asset"
-          }
+            "steps": [
+                {
+                    "type": "drive_to_pose",
+                    "pose": {
+                        "position": {
+                            "x": 2,
+                            "y": 2,
+                            "z": 0,
+                            "frame": "asset"
+                        },
+                        "orientation": {
+                            "x": 0,
+                            "y": 0,
+                            "z": 0.4794255,
+                            "w": 0.8775826,
+                            "frame": "asset"
+                        },
+                        "frame": "asset"
+                    }
+                }
+            ]
         }
-      ]
-    }
-  ]
+    ]
 }

isar/config/settings.env

@@ -6,6 +6,9 @@ ISAR_STORAGE_LOCAL_ENABLED = true
 ISAR_STORAGE_BLOB_ENABLED = false
 ISAR_STORAGE_SLIMM_ENABLED = false
 
+ISAR_LOG_HANDLER_LOCAL_ENABLED = true
+ISAR_LOG_HANDLER_APPLICATION_INSIGHTS_ENABLED = false
+
 ISAR_MQTT_ENABLED = true
 ISAR_MQTT_SSL_ENABLED = true
 
@@ -19,3 +22,5 @@ ISAR_API_HOST_VIEWED_EXTERNALLY = 0.0.0.0
 ISAR_MQTT_USERNAME = isar
 ISAR_MQTT_HOST = localhost
 ISAR_MQTT_PORT = 1883
+
+ISAR_KEYVAULT_NAME = IsarDevKv

isar/config/settings.py

@@ -5,6 +5,8 @@ from typing import List
 from pydantic import BaseSettings, Field, validator
 
 from isar.config import predefined_missions
+from robot_interface.models.robots.robot_model import RobotModel
+from robot_interface.telemetry.payloads import VideoStream
 
 
 class Settings(BaseSettings):
@@ -50,6 +52,11 @@ class Settings(BaseSettings):
     # Number of attempts to stop the robot before giving up
     UPLOAD_FAILURE_MAX_WAIT: int = Field(default=60)
 
+    # ISAR telemetry intervals
+    ROBOT_STATUS_PUBLISH_INTERVAL: int = Field(default=1)
+    ROBOT_INFO_PUBLISH_INTERVAL: int = Field(default=5)
+    ROBOT_API_STATUS_POLL_INTERVAL: int = Field(default=5)
+
     # FastAPI host
     API_HOST_VIEWED_EXTERNALLY: str = Field(default="0.0.0.0")
 
@@ -112,7 +119,7 @@ class Settings(BaseSettings):
     MQTT_PORT: int = Field(default=1883)
 
     # Keyvault name
-    KEYVAULT: str = Field(default="EqRobotKeyVault")
+    KEYVAULT_NAME: str = Field(default="IsarDevKv")
 
     # URL to storage account for Azure Blob Storage
     BLOB_STORAGE_ACCOUNT_URL: str = Field(
@@ -144,14 +151,14 @@ class Settings(BaseSettings):
     ECHO_API_URL: str = Field(default="https://echohubapi.equinor.com/api")
 
     # Client ID for SLIMM App Registration
-    SLIMM_CLIENT_ID: str = Field(default="94c048cc-58e9-4570-85c0-4028c50ab6f3")
+    SLIMM_CLIENT_ID: str = Field(default="c630ca4d-d8d6-45ab-8cc6-68a363d0de9e")
 
     # Scope for access to SLIMM Ingestion API
     SLIMM_APP_SCOPE: str = Field(default=".default")
 
     # URL for SLIMM endpoint
     SLIMM_API_URL: str = Field(
-        default="https://slimmingestapitest.azurewebsites.net/SpatialIngest"
+        default="https://scinspectioningestapitest.azurewebsites.net/Ingest"
     )
 
     # Whether the results should be copied directly into the SLIMM datalake or only the
@@ -179,6 +186,25 @@ class Settings(BaseSettings):
     # Name or unique ID of robot
     ROBOT_ID: str = Field(default="R2-D2")
 
+    # Serial number of the robot ISAR is connected to
+    SERIAL_NUMBER: str = Field(default="0001")
+
+    # Endpoints to reach video streams for the robot
+    VIDEO_STREAMS: List[VideoStream] = Field(
+        default=[
+            VideoStream(
+                name="Front camera",
+                url="http://localhost:5000/videostream/front",
+                type="turtlebot",
+            ),
+            VideoStream(
+                name="Rear camera",
+                url="http://localhost:5000/videostream/rear",
+                type="turtlebot",
+            ),
+        ]
+    )
+
     # Data scheme the robot should adhere to
     # Options [DS0001]
     DATA_SCHEME: str = Field(default="DS0001")
@@ -203,17 +229,25 @@ class Settings(BaseSettings):
     DATA_CLASSIFICATION: str = Field(default="internal")
 
     # List of MQTT Topics
-
-    TOPIC_ISAR_ROBOT: str = Field(default="robot")
-
     TOPIC_ISAR_STATE: str = Field(default="state")
-
     TOPIC_ISAR_MISSION: str = Field(default="mission")
-
     TOPIC_ISAR_TASK: str = Field(default="task")
-
     TOPIC_ISAR_STEP: str = Field(default="step")
+    TOPIC_ISAR_ROBOT_STATUS: str = Field(default="robot_status")
+    TOPIC_ISAR_ROBOT_INFO: str = Field(default="robot_info")
+
+    # Logging
 
+    #   Log handlers
+    # Determines which log handlers are used by ISAR
+    # Multiple log handlers can be chosen
+    # Each handler will be called when logging
+    # Selecting a different log handler than local may require certain access rights:
+    #    - The Azure AI logger requires the 'APPLICATIONINSIGHTS_CONNECTION_STRING' to be set as an environment variable.
+    LOG_HANDLER_LOCAL_ENABLED: bool = Field(default=True)
+    LOG_HANDLER_APPLICATION_INSIGHTS_ENABLED: bool = Field(default=False)
+
+    #   Log levels
     API_LOG_LEVEL: str = Field(default="INFO")
     MAIN_LOG_LEVEL: str = Field(default="INFO")
     MQTT_LOG_LEVEL: str = Field(default="INFO")
@@ -243,11 +277,12 @@ class Settings(BaseSettings):
         }
 
     @validator(
-        "TOPIC_ISAR_ROBOT",
         "TOPIC_ISAR_STATE",
         "TOPIC_ISAR_MISSION",
         "TOPIC_ISAR_TASK",
         "TOPIC_ISAR_STEP",
+        "TOPIC_ISAR_ROBOT_STATUS",
+        "TOPIC_ISAR_ROBOT_INFO",
         pre=True,
         always=True,
     )
@@ -278,8 +313,14 @@ class RobotSettings(BaseSettings):
             env_file_path = None
         super().__init__(_env_file=env_file_path)
 
+    # ISAR steps the robot is capable of performing
+    # This should be set in the robot package settings.env file
     CAPABILITIES: List[str] = Field(default=["drive_to_pose", "take_image"])
 
+    # Model of the robot which ISAR is connected to
+    # This should be set in the robot package settings.env file
+    ROBOT_MODEL: RobotModel = Field(default=RobotModel.Robot)  # type: ignore
+
     class Config:
         env_file_encoding = "utf-8"
         case_sensitive = True

isar/mission_planner/echo_planner.py

@@ -1,5 +1,5 @@
 import logging
-from typing import Dict, List, Optional, Union
+from typing import List, Optional, Union
 
 from alitra import Frame, Pose, Position
 from azure.identity import DefaultAzureCredential

isar/models/communication/queues/queues.py

@@ -6,7 +6,7 @@ from isar.models.communication.queues.status_queue import StatusQueue
 
 
 class Queues:
-    def __init__(self):
+    def __init__(self) -> None:
         self.start_mission: QueueIO = QueueIO(input_size=1, output_size=1)
         self.stop_mission: QueueIO = QueueIO(input_size=1, output_size=1)
         self.pause_mission: QueueIO = QueueIO(input_size=1, output_size=1)

isar/models/mission/status.py

@@ -3,19 +3,19 @@ from enum import Enum
 
 class MissionStatus(str, Enum):
     NotStarted: str = "not_started"
-    Started: str = "started"
     InProgress: str = "in_progress"
+    Paused: str = "paused"
     Failed: str = "failed"
     Cancelled: str = "cancelled"
-    Completed: str = "completed"
-    Paused: str = "paused"
+    Successful: str = "successful"
+    PartiallySuccessful: str = "partially_successful"
 
 
 class TaskStatus(str, Enum):
     NotStarted: str = "not_started"
     InProgress: str = "in_progress"
-    PartiallySuccessful: str = "partially_successful"
+    Paused: str = "paused"
     Failed: str = "failed"
     Cancelled: str = "cancelled"
     Successful: str = "successful"
-    Paused: str = "paused"
+    PartiallySuccessful: str = "partially_successful"

isar/models/mission_metadata/mission_metadata.py

@@ -17,8 +17,10 @@ class MissionMetadata:
     source_url: Optional[str] = None
     plant_code: str = settings.PLANT_CODE
     plant_name: str = settings.PLANT_NAME
+    plant_short_name: str = settings.PLANT_SHORT_NAME
     media_orientation_reference_system: str = (
         settings.MEDIA_ORIENTATION_REFERENCE_SYSTEM
     )
     robot_id: str = settings.ROBOT_ID
+    robot_model: str = settings.ROBOT_TYPE
     mission_date: date = datetime.utcnow().date()

isar/modules.py

@@ -36,8 +36,9 @@ class APIModule(Module):
         self,
         authenticator: Authenticator,
         scheduling_controller: SchedulingController,
+        keyvault: Keyvault,
     ) -> API:
-        return API(authenticator, scheduling_controller)
+        return API(authenticator, scheduling_controller, keyvault)
 
     @provider
     @singleton
@@ -153,7 +154,7 @@ class ServiceModule(Module):
     @provider
     @singleton
     def provide_keyvault(self) -> Keyvault:
-        return Keyvault(keyvault_name=settings.KEYVAULT)
+        return Keyvault(keyvault_name=settings.KEYVAULT_NAME)
 
     @provider
     @singleton

isar/services/service_connections/mqtt/mqtt_client.py

@@ -1,7 +1,5 @@
-import json
 import logging
 import os
-from datetime import datetime
 from queue import Empty, Queue
 
 import backoff
@@ -10,7 +8,6 @@ from paho.mqtt.client import Client
 
 from isar.config.settings import settings
 from robot_interface.telemetry.mqtt_client import MqttClientInterface
-from robot_interface.utilities.json_service import EnhancedJSONEncoder
 
 
 def _on_success(data: dict) -> None:
@@ -74,21 +71,6 @@ class MqttClient(MqttClientInterface):
     def run(self) -> None:
         self.connect(host=self.host, port=self.port)
         self.client.loop_start()
-        payload: str = json.dumps(
-            {
-                "robot_id": settings.ROBOT_ID,
-                "host": settings.API_HOST_VIEWED_EXTERNALLY,
-                "port": settings.API_PORT,
-                "timestamp": datetime.utcnow(),
-            },
-            cls=EnhancedJSONEncoder,
-        )
-
-        self.publish(
-            topic=settings.TOPIC_ISAR_ROBOT,
-            payload=payload,
-            retain=True,
-        )
 
         while True:
             if not self.client.is_connected():

isar/services/service_connections/mqtt/robot_info_publisher.py

@@ -0,0 +1,33 @@
+import json
+import time
+from datetime import datetime
+from queue import Queue
+
+from isar.config.settings import robot_settings, settings
+from robot_interface.telemetry.mqtt_client import MqttPublisher
+from robot_interface.telemetry.payloads import RobotInfoPayload
+from robot_interface.utilities.json_service import EnhancedJSONEncoder
+
+
+class RobotInfoPublisher:
+    def __init__(self, mqtt_queue: Queue):
+        self.mqtt_publisher: MqttPublisher = MqttPublisher(mqtt_queue=mqtt_queue)
+
+    def run(self) -> None:
+        while True:
+            payload: RobotInfoPayload = RobotInfoPayload(
+                robot_name=settings.ROBOT_ID,
+                robot_model=robot_settings.ROBOT_MODEL,  # type: ignore
+                robot_serial_number=settings.SERIAL_NUMBER,
+                video_streams=settings.VIDEO_STREAMS,
+                host=settings.API_HOST_VIEWED_EXTERNALLY,
+                port=settings.API_PORT,
+                timestamp=datetime.utcnow(),
+            )
+
+            self.mqtt_publisher.publish(
+                topic=settings.TOPIC_ISAR_ROBOT_INFO,
+                payload=json.dumps(payload, cls=EnhancedJSONEncoder),
+            )
+
+            time.sleep(settings.ROBOT_INFO_PUBLISH_INTERVAL)

isar/services/service_connections/mqtt/robot_status_publisher.py

@@ -0,0 +1,66 @@
+import json
+import time
+from datetime import datetime
+from queue import Queue
+from threading import Thread
+
+from isar.config.settings import settings
+from isar.state_machine.state_machine import StateMachine
+from robot_interface.models.mission.status import RobotStatus
+from robot_interface.robot_interface import RobotInterface
+from robot_interface.telemetry.mqtt_client import MqttPublisher
+from robot_interface.telemetry.payloads import RobotStatusPayload
+from robot_interface.utilities.json_service import EnhancedJSONEncoder
+
+
+class RobotStatusPublisher:
+    def __init__(
+        self, mqtt_queue: Queue, robot: RobotInterface, state_machine: StateMachine
+    ):
+        self.mqtt_publisher: MqttPublisher = MqttPublisher(mqtt_queue=mqtt_queue)
+        self.robot: RobotInterface = robot
+        self.state_machine: StateMachine = state_machine
+
+    def run(self) -> None:
+        robot_status_monitor: RobotStatusMonitor = RobotStatusMonitor(robot=self.robot)
+        robot_status_thread: Thread = Thread(
+            target=robot_status_monitor.run,
+            name="Robot Status Monitor",
+            daemon=True,
+        )
+        robot_status_thread.start()
+
+        while True:
+            payload: RobotStatusPayload = RobotStatusPayload(
+                robot_name=settings.ROBOT_ID,
+                robot_status=robot_status_monitor.robot_status,
+                current_isar_state=self.state_machine.current_state,
+                current_mission_id=self.state_machine.current_mission.id
+                if self.state_machine.current_mission
+                else None,
+                current_task_id=self.state_machine.current_task.id
+                if self.state_machine.current_task
+                else None,
+                current_step_id=self.state_machine.current_step.id
+                if self.state_machine.current_step
+                else None,
+                timestamp=datetime.utcnow(),
+            )
+
+            self.mqtt_publisher.publish(
+                topic=settings.TOPIC_ISAR_ROBOT_STATUS,
+                payload=json.dumps(payload, cls=EnhancedJSONEncoder),
+            )
+
+            time.sleep(settings.ROBOT_STATUS_PUBLISH_INTERVAL)
+
+
+class RobotStatusMonitor:
+    def __init__(self, robot: RobotInterface):
+        self.robot = robot
+        self.robot_status: RobotStatus = RobotStatus.Offline
+
+    def run(self) -> None:
+        while True:
+            self.robot_status = self.robot.robot_status()
+            time.sleep(settings.ROBOT_API_STATUS_POLL_INTERVAL)

isar/services/service_connections/request_handler.py

@@ -51,7 +51,7 @@ class RequestHandler:
             response.raise_for_status()
         except HTTPError:
             self.logger.exception(
-                f"Http error. Http status code= {response.status_code}"
+                f"Http error. Http status code= {response.status_code}, Content: {response.content}"
             )
             raise
         return response

isar/services/utilities/scheduling_utilities.py

@@ -67,7 +67,7 @@ class SchedulingUtilities:
         ------
         HTTPException 404 Not Found
             If requested mission with mission_id is not found
-        HTTPException 500 Internal server error
+        HTTPException 500 Internal Server Error
             If for some reason the mission can not be returned
         """
         try:
@@ -151,7 +151,7 @@ class SchedulingUtilities:
                 self.queues.start_mission,
             )
         except QueueTimeoutError:
-            error_message = "Internal server error - Failed to start mission in ISAR"
+            error_message = "Internal Server Error - Failed to start mission in ISAR"
             self.logger.error(error_message)
             raise HTTPException(
                 status_code=HTTPStatus.INTERNAL_SERVER_ERROR, detail=error_message
@@ -169,7 +169,7 @@ class SchedulingUtilities:
         try:
             return self._send_command(True, self.queues.pause_mission)
         except QueueTimeoutError:
-            error_message = "Internal server error - Failed to pause mission"
+            error_message = "Internal Server Error - Failed to pause mission"
             self.logger.error(error_message)
             raise HTTPException(
                 status_code=HTTPStatus.INTERNAL_SERVER_ERROR, detail=error_message
@@ -188,7 +188,7 @@ class SchedulingUtilities:
         try:
             return self._send_command(True, self.queues.resume_mission)
         except QueueTimeoutError:
-            error_message = "Internal server error - Failed to resume mission"
+            error_message = "Internal Server Error - Failed to resume mission"
             self.logger.error(error_message)
             raise HTTPException(
                 status_code=HTTPStatus.INTERNAL_SERVER_ERROR, detail=error_message
@@ -209,7 +209,7 @@ class SchedulingUtilities:
                 True, self.queues.stop_mission
             )
         except QueueTimeoutError:
-            error_message = "Internal server error - Failed to stop mission"
+            error_message = "Internal Server Error - Failed to stop mission"
             self.logger.error(error_message)
             raise HTTPException(
                 status_code=HTTPStatus.INTERNAL_SERVER_ERROR, detail=error_message

isar/services/utilities/threaded_request.py

@@ -3,7 +3,7 @@ from typing import Any, Optional
 
 
 class ThreadedRequest:
-    def __init__(self, request_func: Any) -> None:
+    def __init__(self, request_func: Any):
         self._thread: Optional[Thread] = None
         self._request_func: Any = request_func
         self._output: Optional[Any] = None
@@ -11,11 +11,11 @@ class ThreadedRequest:
         self._exception: Optional[Exception] = None
         self._exception_lock: Lock = Lock()
 
-    def start_thread(self, *request_args) -> bool:
+    def start_thread(self, *request_args, **kwargs) -> bool:
         if self._is_thread_alive():
             return False
         self._output = None
-        self._thread = Thread(target=self._thread_func, args=request_args)
+        self._thread = Thread(target=self._thread_func, args=request_args, **kwargs)
         self._thread.start()
         return True
 

isar/state_machine/state_machine.py

@@ -7,7 +7,7 @@ from datetime import datetime
 from typing import Deque, List, Optional
 
 from alitra import Pose
-from injector import Injector, inject
+from injector import inject
 from transitions import Machine
 from transitions.core import State
 
@@ -262,7 +262,15 @@ class StateMachine(object):
         self.update_current_step()
 
     def _mission_finished(self) -> None:
-        self.current_mission.status = MissionStatus.Completed
+        fail_statuses: List[TaskStatus] = [
+            TaskStatus.Cancelled,
+            TaskStatus.Failed,
+            TaskStatus.PartiallySuccessful,
+        ]
+        if any(task.status in fail_statuses for task in self.current_mission.tasks):
+            self.current_mission.status = MissionStatus.PartiallySuccessful
+        else:
+            self.current_mission.status = MissionStatus.Successful
         self._finalize()
 
     def _mission_started(self) -> None:
@@ -375,6 +383,7 @@ class StateMachine(object):
         self.current_step = None
         self.current_task = None
         self.current_mission = None
+        self.initial_pose = None
 
     def start_mission(self, mission: Mission, initial_pose: Pose):
         """Starts a scheduled mission."""
@@ -490,7 +499,7 @@ class StateMachine(object):
         self.mqtt_publisher.publish(
             topic=settings.TOPIC_ISAR_STATE,
             payload=payload,
-            retain=True,
+            retain=False,
         )
 
     def _log_state_transition(self, next_state):
@@ -524,7 +533,6 @@ class StateMachine(object):
         )
 
 
-def main(injector: Injector):
+def main(state_machine: StateMachine):
     """Starts a state machine instance."""
-    state_machine = injector.get(StateMachine)
     state_machine.begin()