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

isar/storage/utilities.py

@@ -14,12 +14,10 @@ from robot_interface.utilities.json_service import EnhancedJSONEncoder
 def construct_local_paths(
     inspection: Inspection, metadata: MissionMetadata
 ) -> Tuple[Path, Path]:
-    inspection_type: str = get_inspection_type(inspection=inspection)
-
     folder: Path = Path(str(metadata.mission_id))
     filename: str = get_filename(
         mission_id=metadata.mission_id,
-        inspection_type=inspection_type,
+        inspection_type=type(inspection).__name__,
         inspection_id=inspection.id,
     )
 
@@ -77,23 +75,3 @@ def get_filename(
     inspection_id: UUID,
 ) -> str:
     return f"{mission_id}_{inspection_type}_{inspection_id}"
-
-
-def get_inspection_type(inspection: Inspection) -> str:
-    if isinstance(inspection, Image):
-        return "image"
-    elif isinstance(inspection, ThermalImage):
-        return "thermal"
-    elif isinstance(inspection, Video):
-        return "video"
-    elif isinstance(inspection, ThermalVideo):
-        return "thermal_video"
-    else:
-        logging.getLogger("uploader").warning(
-            f"Failed to upload inspection with ID: {inspection.id}\n "
-            f"This was due to an inspection type ({type(inspection)}) "
-            f"which is not supported by the uploader"
-        )
-        raise StorageException(
-            f"Inspection type not supported by the uploader. Got {type(inspection)}"
-        )

{isar-1.10.14.dist-info → isar-1.12.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.10.14
+Version: 1.12.0
 Summary: Integration and Supervisory control of Autonomous Robots
 Home-page: https://github.com/equinor/isar
 Author: Equinor ASA
@@ -25,6 +25,9 @@ Requires-Dist: dacite
 Requires-Dist: fastapi-azure-auth
 Requires-Dist: fastapi
 Requires-Dist: injector
+Requires-Dist: opencensus-ext-logging
+Requires-Dist: opencensus-ext-requests
+Requires-Dist: opencensus-ext-azure
 Requires-Dist: numpy
 Requires-Dist: paho-mqtt
 Requires-Dist: pydantic

{isar-1.10.14.dist-info → isar-1.12.0.dist-info}/RECORD

@@ -1,24 +1,24 @@
 isar/__init__.py,sha256=oXTcQpZYQ7jkRIem-Nq3hw9DrveoIV3-8k697XN16rA,190
-isar/modules.py,sha256=Xxq32P6oyxm3Vvo7AWnpPOHwxE2tCR62E7A0rJqso4g,6998
+isar/modules.py,sha256=eA4n9_CZ29H7Bt7L3G8ttDLH42WX98dJVtIPHgOeVEI,7041
 isar/apis/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/apis/api.py,sha256=VWszDH3crXQBWi9UmgxOEk37yJa2j1R3LDneOl_hQF4,9106
+isar/apis/api.py,sha256=rLoqA8YXGpZCsQMm3FGXgt9Yfk6_B5Ka6Hsjq02v-D4,11288
 isar/apis/models/__init__.py,sha256=NI1BYyN__Ogr00Qqe0XJ-9gEVPva2brXo2RJsbrS4tM,52
 isar/apis/models/models.py,sha256=5LiQWnrlHswRlwbTnIp_RpOfbZ6lFSic7E8XWaoIodk,2212
-isar/apis/models/start_mission_definition.py,sha256=cSJ9lSGtuEK6QpAimh6tHOZisFG3MYIi_pqXJXLEGLc,3177
+isar/apis/models/start_mission_definition.py,sha256=o_jObQ2Gbr_2uRJ3Lz6CNgPUfUW1y94XBZvBItBGo40,3325
 isar/apis/schedule/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/apis/schedule/scheduling_controller.py,sha256=PjfHBKw70rpAe1tRkhQn6kVpL2-nC8SLkDn3MGT32dA,8451
 isar/apis/security/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/apis/security/authentication.py,sha256=etbh74dDY0X_CI2kqQXUT6i_FoBtH5OQjs2Rp9SCews,2088
+isar/apis/security/authentication.py,sha256=sn3MgFJEevkBIOHl1nFfFzwZOzdL0jNA4RvHryQ2n8Q,2088
 isar/config/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/config/configuration_error.py,sha256=rO6WOhafX6xvVib8WxV-eY483Z0PpN-9PxGsq5ATfKc,46
-isar/config/log.py,sha256=QkPXCEIfmBJqGw2qTc1WkRLYhy8kQDBrZNDEm3uy39U,918
+isar/config/log.py,sha256=gXbzb4KvxVOD2dVkkTWttQ8w271lEkRd174CeRJ6H8M,2225
 isar/config/logging.conf,sha256=mYO1xf27gAopEMHhGzY7-mwyfN16rwRLkPNMvy3zn2g,1127
-isar/config/settings.env,sha256=UHzCZ1AyvZZdCcIIwQ4LYqJ3kQlt4b5W-NyLSaEByOY,428
-isar/config/settings.py,sha256=xcIvLE9qIvlbDvv0-8RGT6frysxPvL44Ypwgud5-LSU,10181
+isar/config/settings.env,sha256=aG2CAnXzxsZJhxhgx8pCa11clFtkIsXiTxc2FgXZwuw,553
+isar/config/settings.py,sha256=qlpeOqBptgqqzI-hD8beCdTrAvGANjg5cKtRpxKUkcY,12050
 isar/config/certs/ca-cert.pem,sha256=6XnTSkRxSb9slwXSCWxL4tjeNBprgDzPpEhBraL9RDU,2163
 isar/config/keyvault/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/config/keyvault/keyvault_error.py,sha256=zvPCsZLjboxsxthYkxpRERCTFxYV8R5WmACewAUQLwk,41
-isar/config/keyvault/keyvault_service.py,sha256=xFKNNiv40ZCIDn5LcgBmXnj5hw0udvOL2d0Wl1wi3Kw,2591
+isar/config/keyvault/keyvault_service.py,sha256=7M6VdIElAQ_yo0d-VX4i9cqgoH_JIexoRmqS5YGIb2Y,3141
 isar/config/maps/JSP1_intermediate_deck.json,sha256=fdotzN6MVotyLbqpIjRSrbBYM84vogLkdS585NjBnL8,826
 isar/config/maps/JSP1_weather_deck.json,sha256=_dG3cSBI8q4_uHqHMOO5kSYqMXn85JL3_9PaH4uk1yQ,832
 isar/config/maps/default_map.json,sha256=3CdGMr0Qn3PrL4TfUK8I5a-hotMrS_n5DKfaEORJPT4,776
@@ -26,13 +26,16 @@ isar/config/maps/klab_b.json,sha256=qXgWVUYPaTdVuomf6lQL-uRbV3Tsa6CftnzcbT3dY78,
 isar/config/maps/klab_compressor.json,sha256=1Vrk5u_l4WXjrTtG4YfXlrCPbOoRs4TtYHOm0430u2A,803
 isar/config/maps/klab_turtlebot.json,sha256=HcB79XFEdY0Wm96EssIFO4TMyAWzc2KENoqN7TbTT0k,823
 isar/config/maps/turtleworld.json,sha256=EKLMpSK9Gu2lAN-E9l41XOaO3f9Su5n_I97mA6z7sWY,764
+isar/config/predefined_mission_definition/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+isar/config/predefined_mission_definition/default_mission.json,sha256=i-sjgVRDcXKh2Lx-tauxBI3xLxLAuut_73wmLuYNgNc,3130
+isar/config/predefined_mission_definition/default_turtlebot.json,sha256=tiXgBbE1XOT6G6UR07WChEVvj-Y9oB1qn8VBc8q3ang,4410
 isar/config/predefined_missions/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/config/predefined_missions/default.json,sha256=faNUHXx4g_c8uvyMe7HIsmeFVgnShA_UKbFldROKlQw,1807
+isar/config/predefined_missions/default.json,sha256=mRjW4kREfo-KL1LoYU_MN400tYOR8jaLZQvGE5uiqe0,2757
 isar/config/predefined_missions/default_turtlebot.json,sha256=3w-w2EXPd3AnJ7W1bjid0QrIZ6o_-QAy4beimHr2ivc,3350
 isar/config/predefined_poses/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/config/predefined_poses/predefined_poses.py,sha256=fhq8JF00feDLFKNBlyWeFoLfvfs5dVb__C7CmiVbwmQ,25779
 isar/mission_planner/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/mission_planner/echo_planner.py,sha256=28doIA9kgvauWAspSxnbzZgFvlvc1fzgiLgutsYBw90,5680
+isar/mission_planner/echo_planner.py,sha256=xavICAZJYfnZqwAB_bTtRge_QMwrZ8H-JZPw1pZ1sSY,5674
 isar/mission_planner/local_planner.py,sha256=QGJ3PNea6z0A0XsDfF8qm9O1H8n6xWYWeQLuB9l4_74,3067
 isar/mission_planner/mission_planner_interface.py,sha256=5zmwtLAmtnfaQLsvx9o0Qy1YqWBZ2NVnUCV_XkTg1cE,466
 isar/mission_planner/sequential_task_selector.py,sha256=DkEVDmmmQ-bCswN21tJlmxocj6IURhsYWNZ73dmc_Hk,624
@@ -43,48 +46,50 @@ isar/models/communication/message.py,sha256=RC0nQ4YrefveRyibb8QRFLEhPilJ6lvuP7px
 isar/models/communication/queues/__init__.py,sha256=JqwWbdBQnBeIEhSTjBOkl-O3bYBVBSmjPcWUdscsobw,146
 isar/models/communication/queues/queue_io.py,sha256=AnHWUCkZ0tunkxKKeBarq-OUkRM97IaMfA-a1pmf1cQ,394
 isar/models/communication/queues/queue_timeout_error.py,sha256=rF8TlNF7RHS_ueTZ5mp7aFkhLY1j0dcwMwH-Ba6lVpE,45
-isar/models/communication/queues/queues.py,sha256=o2xvippgco3C2DzQDhnlwiR0wb9w0QmRuCHJF3Foi18,795
+isar/models/communication/queues/queues.py,sha256=FzoqlT4AQ4Q5Jufh6yRPV2uq5iUZd1odrpjBl77yU5o,803
 isar/models/communication/queues/status_queue.py,sha256=K_i01uzCu1eciDt9QlDXLBINJnuRLqm6fzrM-PY6qD0,467
 isar/models/mission/__init__.py,sha256=OQMLlRLJl5QIPrCtUi3trGtoy_2vSqeL_aaI_JJPQ7M,81
 isar/models/mission/mission.py,sha256=k4pJuUFwxB5JfUiPYgkskUJmd7ROOnzkdZ_p0mUc-uo,4533
-isar/models/mission/status.py,sha256=UTa8_0OtiZTmQ6sj7pNKZJ2bAnNgQgW1RTovrjdlVZ0,556
+isar/models/mission/status.py,sha256=-vwRX6O_bljR0q7LET8qVY195XTKpniNSiOQ--1STu4,583
 isar/models/mission_metadata/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/models/mission_metadata/mission_metadata.py,sha256=GFVleJ221ywaaNVwQV2L84WSuKip63flf6V-2zWRBI0,801
+isar/models/mission_metadata/mission_metadata.py,sha256=gsGl68i6lBodJuCn8jvAY33NDQ4ovFgU5wiWqKYCiPY,898
 isar/services/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/services/auth/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/services/auth/azure_credentials.py,sha256=9PlwGe5FrPRbW2dp0go7LMp8_l_FRvL8xOXotXwzRDo,364
 isar/services/readers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/services/readers/base_reader.py,sha256=_fNd5fb5dFeMtOvfWzIAGO-KIgl3zT19iEuzSjeZNPc,987
 isar/services/service_connections/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/services/service_connections/request_handler.py,sha256=L3kmbnL1d5CHWOtrZHxhJYzitNjeE__3hL378rvhrLk,4249
+isar/services/service_connections/request_handler.py,sha256=0LxC0lu_HXeEf_xmJWjfEsh14oAUI97cpG1IWtBlcs4,4278
 isar/services/service_connections/mqtt/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/services/service_connections/mqtt/mqtt_client.py,sha256=nHKmU8wLAKKpQYsRfZvWApiI5hs0F-U9Bpk5cZ-yXZs,4071
+isar/services/service_connections/mqtt/mqtt_client.py,sha256=g5RJ85_dsZlHgj6saG2w0sTSetvGFWI4PW4zsb0j9DE,3516
+isar/services/service_connections/mqtt/robot_info_publisher.py,sha256=7g4N1557ZrxnD3dXXbsI6XLvctTLiRmJOvPlEBr2PGk,1226
+isar/services/service_connections/mqtt/robot_status_publisher.py,sha256=-9aeOtKcgc2BZoJYhtiAD6IAGZ12ihZJwPVj3gohE24,2514
 isar/services/service_connections/stid/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/services/service_connections/stid/stid_service.py,sha256=v1D-sHa2pvYl6A4KcY9NPd2w7vf9Y5AdntFE_p8Hk44,1616
 isar/services/utilities/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/services/utilities/queue_utilities.py,sha256=Pw3hehSwkXJNeDv-bDVDfs58VOwtt3i5hpiJ2ZpphuQ,1225
-isar/services/utilities/scheduling_utilities.py,sha256=vBkGKjGu1F9wbVSM_OXcPggILdDp8V32d2AsppVXzuA,8371
-isar/services/utilities/threaded_request.py,sha256=nyEuNF1FG89L1zUGt4E579lfuS8fJfGQb8mcx6EFXqU,1862
+isar/services/utilities/scheduling_utilities.py,sha256=6EQ5G9KpBPf2dM6owH3NmxATzZe6I2oUuC7lxs3dKyM,8371
+isar/services/utilities/threaded_request.py,sha256=py4G-_RjnIdHljmKFAcQ6ddqMmp-ZYV39Ece-dqRqjs,1874
 isar/state_machine/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/state_machine/state_machine.py,sha256=SjwHz7gyYYs2AqVqIwraZGNIhCZXJgGjpVbVOIotYBw,19050
-isar/state_machine/states_enum.py,sha256=y6uSodsR7w5E3-vKEGvovgbxwW9aLJV6hthmLwxoV-Q,273
+isar/state_machine/state_machine.py,sha256=SSVPxn0OrfKTL3oOzB6RJcULZWVRot_h2UL6js94UOQ,19379
+isar/state_machine/states_enum.py,sha256=HVg2xjZTbiqdesr0rhwl1nlj97GzgI3YQNAr3O7rcMk,272
 isar/state_machine/states/__init__.py,sha256=7JdcGIUexNK-7nkm4vkVhgWJqjZ5VDcbc0FkmZr5jfo,207
-isar/state_machine/states/idle.py,sha256=azN_UJxicwTjNsSnxqHTrqMeneREYdUoEXR1XcIHlJw,1181
-isar/state_machine/states/initialize.py,sha256=sPJHIwXERK2G4WtCfiJCatyyprHzsAQ3uw-v6oqMZYY,1895
-isar/state_machine/states/initiate_step.py,sha256=-OD0pME5sBG6z6I2gb7y3sshqrw6RIXAdqWNjePNSeY,3847
-isar/state_machine/states/monitor.py,sha256=-fWQ2JhWNMPSVogSWFRRDmRCkkfRWbBdi7XxczTgK2E,4412
+isar/state_machine/states/idle.py,sha256=_0MtK8Wb305agTg4J9t2x-eUq3cnXg3KSP6J6HOM3ps,1229
+isar/state_machine/states/initialize.py,sha256=KfLc-LeyhwaW-d4-xyarIafBh9PBkBtz7j1aPqS0x8A,2019
+isar/state_machine/states/initiate_step.py,sha256=7ePwB43d2xOXOrVhWk8NRswkZY-67ril4-Pa3I074Kw,3943
+isar/state_machine/states/monitor.py,sha256=fv_xXZR6R9dQzeOAcewIHEeoSRNdF2fgoO8Fm4rMsdQ,4765
 isar/state_machine/states/off.py,sha256=jjqN_oJMpBtWuY7hP-c9f0w3p2CYCfe-NpmYHHPnmyI,544
-isar/state_machine/states/paused.py,sha256=NO0BpcV1eInOnvr1uoIAyp3WqdxHEaMgaM4ePztNKCU,948
-isar/state_machine/states/stop_step.py,sha256=2_q9-3cdqPkh0_Zcjlfi3nrY_lyCjQ9MB4tX4eJVbpI,2582
+isar/state_machine/states/paused.py,sha256=xVZM9WMt90FTiP5forSlA3eJ5Vt9LzZYCFDQDPIocKA,1004
+isar/state_machine/states/stop_step.py,sha256=nU49HfGHFBSadLCoFn7MYecyR1OytHvDS4e0-k-os00,2730
 isar/storage/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/storage/blob_storage.py,sha256=LbOIK1J_rQAq_xbe5wdFSWYmmvUDRmTgEWpVzXkmzDc,2899
-isar/storage/local_storage.py,sha256=zPTejx-MvduF7OR5pGXYzyyg6dOszM0kqq_IUs7m_-s,1827
-isar/storage/slimm_storage.py,sha256=AyYZBGhZEFHpujV-u7h_KaM-7ms9dGO-2dcSFYcPrlo,5399
+isar/storage/local_storage.py,sha256=6hgGYI3l-VrHAnNHp8_UT7ANrknHQuAzCNfeic1eVX0,1843
+isar/storage/slimm_storage.py,sha256=eOOyeJTitxyACD9WlURsTEym30dnYA7eAR2gplb6JSs,8670
 isar/storage/storage_interface.py,sha256=GsfTjSW-dJrp4N9WlxopsN7ElMfLnvP5FCJSFfT09vM,741
-isar/storage/uploader.py,sha256=rUmVb1QM3oyPI0Hzzhj2IhJfvauqpqslFcra24sk2V0,4696
-isar/storage/utilities.py,sha256=UyfFQhJaTIsD77rSelZqXV8jdvgM2jcW6_qizGbghaw,3611
+isar/storage/uploader.py,sha256=NNvXYq9RIHf-w8XNdocgNamgzMNrOCfFwAOENi11klE,4719
+isar/storage/utilities.py,sha256=k7DmNfB7Een3LQF117UNigkLkdU0VZBBFA-k9CtsxFE,2827
 robot_interface/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-robot_interface/robot_interface.py,sha256=ADvF-nXZYMOtQakeKMgFyQ4Kk0EW0SYAXkD5--pXOGU,3532
+robot_interface/robot_interface.py,sha256=ovOcfzGF3HLNpaI4lm5rOrC4GuqnwvIaJT0_ceRQSVU,4143
 robot_interface/test_robot_interface.py,sha256=FV1urn7SbsMyWBIcTKjsBwAG4IsXeZ6pLHE0mA9EGGs,692
 robot_interface/models/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/models/exceptions/__init__.py,sha256=0crcMGDVCkJG_2s8tQOqc6rMk2ITSncBgAy9UQTuKig,156
@@ -92,17 +97,19 @@ robot_interface/models/exceptions/robot_exceptions.py,sha256=EN-3oIEptqMUpyMscoT
 robot_interface/models/initialize/__init__.py,sha256=rz5neEDr59GDbzzI_FF0DId-C-I-50l113P-h-C_QBY,48
 robot_interface/models/initialize/initialize_params.py,sha256=UcsBm8aFgxIojgYMadaa6yOhvYXxTkCuCbjGuZexfuI,171
 robot_interface/models/inspection/__init__.py,sha256=tMn-ka5JxcIDm-So-gUuS5Xod4uwiCMJkcnxsLaRv3k,256
-robot_interface/models/inspection/inspection.py,sha256=UdGZIDxvnLpOxHIrT18RNod6IOTnVCky73i4kPggJOg,1869
+robot_interface/models/inspection/inspection.py,sha256=oQ--NRTctg7NKa3FtSj537doHkbljhZ3u6WSaJEMs8s,1410
 robot_interface/models/mission/__init__.py,sha256=A-o1zkVBCS4wmAUTg6jYW-Md67nKY8nBFFDfIjCG1WE,201
-robot_interface/models/mission/status.py,sha256=Jrx3KK_7aPmK8OH5k3AaLTv1U9Bd9Yf8R5byk9xpQSs,221
-robot_interface/models/mission/step.py,sha256=zIV5wriZ3vCvHjHlDs3zOlXPQQbAB0HWVOdUj9SckwA,4391
+robot_interface/models/mission/status.py,sha256=0-HVdMmxDIqDRdtlxe9Z-1KIcZu5baixnrMP6fgYZ-Y,332
+robot_interface/models/mission/step.py,sha256=ZzR8DM1TCvobyq47kdIZx3SB3ez9DpVVbMDL_xtuH4k,3952
+robot_interface/models/robots/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+robot_interface/models/robots/robot_model.py,sha256=pZQsqhn9hh6XE3EjMZhWMzYqg5oJ4CJ4CXeOASKvEf8,452
 robot_interface/telemetry/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/telemetry/mqtt_client.py,sha256=zDDbnPiBCWNnTJQWBG03Y_HutOs_ag5WY1HZplghBi4,2227
-robot_interface/telemetry/payloads.py,sha256=ANYQOPxKsf2iNq2Pb5DR8GK4EPDxrF-SBE-0Wu9JD78,298
+robot_interface/telemetry/payloads.py,sha256=1Y_RPue9plHmgVA6GZ4wRHXfTGghYGaQndMMdtrmFJg,960
 robot_interface/utilities/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-robot_interface/utilities/json_service.py,sha256=_TAP_dOD7gEGdQ3nnUQw5Py-YNZ7EKAuM1Rhc3mUu5k,937
-isar-1.10.14.dist-info/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
-isar-1.10.14.dist-info/METADATA,sha256=btUeeF5PxuCF3Yxgry9Lyh7pztV7qWrjQkaA9nwoQ98,14578
-isar-1.10.14.dist-info/WHEEL,sha256=2wepM1nk4DS4eFpYrW1TTqPcoGNfHhhO_i5m4cOimbo,92
-isar-1.10.14.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
-isar-1.10.14.dist-info/RECORD,,
+robot_interface/utilities/json_service.py,sha256=nU2Q_3P9Fq9hs6F_wtUjWtHfl_g1Siy-yDhXXSKwHwg,1018
+isar-1.12.0.dist-info/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar-1.12.0.dist-info/METADATA,sha256=Ot81RoweIL0xjx6Edeg8VewWnF9JW76d_we5DH5a_tg,14690
+isar-1.12.0.dist-info/WHEEL,sha256=2wepM1nk4DS4eFpYrW1TTqPcoGNfHhhO_i5m4cOimbo,92
+isar-1.12.0.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.12.0.dist-info/RECORD,,

robot_interface/models/inspection/inspection.py

@@ -1,7 +1,7 @@
 from abc import ABC
 from dataclasses import dataclass, field
 from datetime import datetime
-from typing import Optional, Type
+from typing import List, Optional, Type
 from uuid import UUID, uuid4
 
 from alitra import Pose
@@ -18,8 +18,9 @@ class InspectionMetadata(ABC):
     start_time: datetime
     time_indexed_pose: TimeIndexedPose
     file_type: str
+    analysis: Optional[List] = field(default_factory=list, init=False)
     tag_id: Optional[str] = field(default=None, init=False)
-    additional: Optional[dict] = field(default=None, init=False)
+    additional: Optional[dict] = field(default_factory=dict, init=False)
 
 
 @dataclass
@@ -48,42 +49,22 @@ class Inspection:
     metadata: InspectionMetadata
     data: Optional[bytes] = field(default=None, init=False)
 
-    @staticmethod
-    def get_metadata_type() -> Type[InspectionMetadata]:
-        return InspectionMetadata
-
 
 @dataclass
 class Image(Inspection):
     metadata: ImageMetadata
 
-    @staticmethod
-    def get_metadata_type() -> Type[InspectionMetadata]:
-        return ImageMetadata
-
 
 @dataclass
 class ThermalImage(Inspection):
     metadata: ThermalImageMetadata
 
-    @staticmethod
-    def get_metadata_type() -> Type[InspectionMetadata]:
-        return ThermalImageMetadata
-
 
 @dataclass
 class Video(Inspection):
     metadata: VideoMetadata
 
-    @staticmethod
-    def get_metadata_type() -> Type[InspectionMetadata]:
-        return VideoMetadata
-
 
 @dataclass
 class ThermalVideo(Inspection):
     metadata: ThermalVideoMetadata
-
-    @staticmethod
-    def get_metadata_type() -> Type[InspectionMetadata]:
-        return ThermalVideoMetadata

robot_interface/models/mission/status.py

@@ -2,9 +2,14 @@ from enum import Enum
 
 
 class StepStatus(str, Enum):
-
     NotStarted: str = "not_started"
     Successful: str = "successful"
     InProgress: str = "in_progress"
     Failed: str = "failed"
     Cancelled: str = "cancelled"
+
+
+class RobotStatus(Enum):
+    Available: str = "available"
+    Busy: str = "busy"
+    Offline: str = "offline"

robot_interface/models/mission/step.py

@@ -1,17 +1,10 @@
-from abc import abstractmethod
 from dataclasses import dataclass, field
-from typing import Any, List, Literal, Optional, Type, Union
+from typing import Any, List, Literal, Optional, Union
 from uuid import UUID, uuid4
 
 from alitra import Pose, Position
 
-from robot_interface.models.inspection.inspection import (
-    Image,
-    Inspection,
-    ThermalImage,
-    ThermalVideo,
-    Video,
-)
+from robot_interface.models.inspection.inspection import Inspection
 from robot_interface.models.mission.status import StepStatus
 
 
@@ -24,7 +17,7 @@ class Step:
     id: UUID = field(default_factory=uuid4, init=False)
     status: StepStatus = field(default=StepStatus.NotStarted, init=False)
 
-    def __str__(self):
+    def __str__(self) -> str:
         def add_indent(text: str) -> str:
             return "".join("  " + line for line in text.splitlines(True))
 
@@ -64,12 +57,8 @@ class InspectionStep(Step):
     inspections: List[Inspection] = field(default_factory=list, init=False)
     tag_id: Optional[str] = field(default=None, init=False)
     type = "inspection_type"
-
-    @staticmethod
-    def get_inspection_type() -> Type[Inspection]:
-        return Inspection
-
-    pass
+    analysis: Optional[List] = field(default_factory=list, init=False)
+    metadata: Optional[dict] = field(default_factory=dict, init=False)
 
 
 @dataclass
@@ -119,10 +108,6 @@ class TakeImage(InspectionStep):
     target: Position
     type: Literal["take_image"] = "take_image"
 
-    @staticmethod
-    def get_inspection_type() -> Type[Inspection]:
-        return Image
-
 
 @dataclass
 class TakeThermalImage(InspectionStep):
@@ -133,10 +118,6 @@ class TakeThermalImage(InspectionStep):
     target: Position
     type: Literal["take_thermal_image"] = "take_thermal_image"
 
-    @staticmethod
-    def get_inspection_type() -> Type[Inspection]:
-        return ThermalImage
-
 
 @dataclass
 class TakeVideo(InspectionStep):
@@ -150,10 +131,6 @@ class TakeVideo(InspectionStep):
     duration: float
     type: Literal["take_video"] = "take_video"
 
-    @staticmethod
-    def get_inspection_type() -> Type[Inspection]:
-        return Video
-
 
 @dataclass
 class TakeThermalVideo(InspectionStep):
@@ -167,10 +144,6 @@ class TakeThermalVideo(InspectionStep):
     duration: float
     type: Literal["take_thermal_video"] = "take_thermal_video"
 
-    @staticmethod
-    def get_inspection_type() -> Type[Inspection]:
-        return ThermalVideo
-
 
 STEPS = Union[
     DriveToPose,

robot_interface/models/robots/robot_model.py

@@ -0,0 +1,13 @@
+from enum import Enum
+
+
+# Did you write your own isar-robot package and would like to have it included here?
+# Open a pull request to the ISAR repository!
+class RobotModel(Enum):
+    TaurobInspector: str = "TaurobInspector"
+    TaurobOperator: str = "TaurobOperator"
+    ExR2: str = "ExR2"
+    Robot: str = "Robot"  # This corresponds to the mock in isar_robot
+    Turtlebot: str = "Turtlebot"
+    AnymalX: str = "AnymalX"
+    AnymalD: str = "AnymalD"

robot_interface/robot_interface.py

@@ -6,6 +6,7 @@ from typing import List, Sequence
 from robot_interface.models.initialize import InitializeParams
 from robot_interface.models.inspection.inspection import Inspection
 from robot_interface.models.mission import InspectionStep, Step, StepStatus
+from robot_interface.models.mission.status import RobotStatus
 
 
 class RobotInterface(metaclass=ABCMeta):
@@ -136,3 +137,19 @@ class RobotInterface(metaclass=ABCMeta):
 
         """
         raise NotImplementedError
+
+    @abstractmethod
+    def robot_status(self) -> RobotStatus:
+        """
+        Method which returns an enum indicating if the robot package is able to reach
+        the interface which is used to communicate with the robot. This is further used
+        by ISAR to indicate whether the ISAR instance is fully functional and may be
+        used by other systems.
+
+        Returns
+        -------
+        RobotStatus
+            Enum indicating if the robot may be reached by the isar-robot package.
+
+        """
+        raise NotImplementedError

robot_interface/telemetry/payloads.py

@@ -1,7 +1,12 @@
 from dataclasses import dataclass
 from datetime import datetime
+from typing import List, Union
+from uuid import UUID
 
 from alitra import Pose
+from transitions import State
+
+from robot_interface.models.mission.status import RobotStatus
 
 
 @dataclass
@@ -16,3 +21,32 @@ class TelemetryBatteryPayload:
     battery_level: float
     robot_id: str
     timestamp: datetime
+
+
+@dataclass
+class VideoStream:
+    name: str
+    url: str
+    type: str
+
+
+@dataclass
+class RobotStatusPayload:
+    robot_name: str
+    robot_status: RobotStatus
+    current_isar_state: State
+    current_mission_id: Union[UUID, int, str, None]
+    current_task_id: UUID
+    current_step_id: UUID
+    timestamp: datetime
+
+
+@dataclass
+class RobotInfoPayload:
+    robot_name: str
+    robot_model: str
+    robot_serial_number: str
+    video_streams: List[VideoStream]
+    host: str
+    port: int
+    timestamp: datetime

robot_interface/utilities/json_service.py

@@ -1,6 +1,7 @@
 import json
 from dataclasses import asdict, is_dataclass
 from datetime import date, datetime
+from enum import Enum
 from typing import Iterator
 from uuid import UUID
 
@@ -26,6 +27,8 @@ class EnhancedJSONEncoder(json.JSONEncoder):
             return o.isoformat()
         if isinstance(o, date):
             return o.isoformat()
+        if isinstance(o, Enum):
+            return o.value
         if isinstance(o, bytes):
             return "<<non-serializable: bytes>>"
         if isinstance(o, Iterator):