isar 1.12.3__tar.gz → 1.12.5__tar.gz

{isar-1.12.3 → isar-1.12.5}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.12.3
+Version: 1.12.5
 Summary: Integration and Supervisory control of Autonomous Robots
 Home-page: https://github.com/equinor/isar
 Author: Equinor ASA

{isar-1.12.3 → isar-1.12.5}/main.py

@@ -1,4 +1,6 @@
 import logging
+import os
+import time
 from logging import Logger
 from threading import Thread
 from typing import List
@@ -93,6 +95,9 @@ if __name__ == "__main__":
         thread.start()
         logger.info(f"Started thread: {thread.name}")
 
-    for thread in threads:
-        thread.join()
-        logger.info(f"Joined thread: {thread.name}")
+    while True:
+        for thread in threads:
+            if not thread.is_alive():
+                logger.critical("Thread '%s' failed - ISAR shutting down", thread.name)
+                exit(1)
+        time.sleep(state_machine.sleep_time)

{isar-1.12.3 → isar-1.12.5}/radixconfig.yml

@@ -27,7 +27,7 @@ spec:
       environmentConfig:
         - environment: dev
           variables:
-            AZURE_CLIENT_ID: b29bed99-7637-4fdc-8809-48c777a9b714
+            AZURE_CLIENT_ID: fd384acd-5c1b-4c44-a1ac-d41d720ed0fe
           runAsNonRoot: true
       secrets:
         - AZURE_CLIENT_SECRET

{isar-1.12.3 → isar-1.12.5}/src/isar/apis/api.py

@@ -1,22 +1,21 @@
 import logging
+import os
 from http import HTTPStatus
 from logging import Logger
-import os
 from typing import List, Union
 
 import click
 import uvicorn
-from fastapi import FastAPI, Security, Request
+from fastapi import FastAPI, Request, Security
 from fastapi.middleware.cors import CORSMiddleware
 from fastapi.routing import APIRouter
 from injector import inject
-from pydantic import AnyHttpUrl
-
 from opencensus.ext.azure.trace_exporter import AzureExporter
+from opencensus.trace.attributes_helper import COMMON_ATTRIBUTES
 from opencensus.trace.samplers import ProbabilitySampler
-from opencensus.trace.tracer import Tracer
 from opencensus.trace.span import SpanKind
-from opencensus.trace.attributes_helper import COMMON_ATTRIBUTES
+from opencensus.trace.tracer import Tracer
+from pydantic import AnyHttpUrl
 
 from isar.apis.models.models import ControlMissionResponse, StartMissionResponse
 from isar.apis.schedule.scheduling_controller import SchedulingController
@@ -76,7 +75,7 @@ class API:
             swagger_ui_oauth2_redirect_url="/oauth2-redirect",
             swagger_ui_init_oauth={
                 "usePkceWithAuthorizationCodeGrant": True,
-                "clientId": self.authenticator.openapi_client_id,
+                "clientId": settings.AZURE_CLIENT_ID,
             },
         )
 

{isar-1.12.3 → isar-1.12.5}/src/isar/apis/security/authentication.py

@@ -21,10 +21,10 @@ class NoSecurity(SecurityBase):
 
 
 azure_scheme = SingleTenantAzureAuthorizationCodeBearer(
-    app_client_id=settings.APP_CLIENT_ID,
+    app_client_id=settings.AZURE_CLIENT_ID,
     tenant_id=settings.AZURE_TENANT_ID,
     scopes={
-        f"api://{settings.APP_CLIENT_ID}/user_impersonation": "user_impersonation",
+        f"api://{settings.AZURE_CLIENT_ID}/user_impersonation": "user_impersonation",
     },
 )
 
@@ -32,7 +32,7 @@ azure_scheme = SingleTenantAzureAuthorizationCodeBearer(
 async def validate_has_role(user: User = Depends(azure_scheme)) -> None:
     """
     Validate if the user has the required role in order to access the API.
-    Raises a 401 authorization error if not.
+    Raises a 403 authorization error if not.
     """
     if settings.REQUIRED_ROLE not in user.roles:
         raise InvalidAuth(
@@ -43,11 +43,9 @@ async def validate_has_role(user: User = Depends(azure_scheme)) -> None:
 class Authenticator:
     def __init__(
         self,
-        openapi_client_id: str = settings.OPENAPI_CLIENT_ID,
         authentication_enabled: bool = settings.AUTHENTICATION_ENABLED,
     ) -> None:
         self.logger = logging.getLogger("api")
-        self.openapi_client_id: str = openapi_client_id
         self.authentication_enabled: bool = authentication_enabled
         enabled_string = "enabled" if self.authentication_enabled else "disabled"
         self.logger.info(f"API authentication is {enabled_string}")

{isar-1.12.3 → isar-1.12.5}/src/isar/config/settings.py

@@ -1,6 +1,7 @@
 import importlib.resources as pkg_resources
 import os
 from typing import List
+
 from dotenv import load_dotenv
 from pydantic import BaseSettings, Field, validator
 
@@ -100,11 +101,15 @@ class Settings(BaseSettings):
     # Tenant ID for the Azure tenant with your Azure Active Directory application
     AZURE_TENANT_ID: str = Field(default="3aa4a235-b6e2-48d5-9195-7fcf05b459b0")
 
-    # Client ID for the API client
-    APP_CLIENT_ID: str = Field(default="68cca82d-84e7-495c-96b4-4c32509f2a46")
-
-    # Client ID for the OpenAPI client
-    OPENAPI_CLIENT_ID: str = Field(default="5f412c20-8c36-4c69-898f-d2b5051f5fb6")
+    # Client ID for ISAR
+    AZURE_CLIENT_ID: str = Field(default="fd384acd-5c1b-4c44-a1ac-d41d720ed0fe")
+    # If AZURE_CLIENT_ID is set as an environment variable, overwrite this despite missing prefix.
+    # This is done to avoid double config of ISAR_AZURE_CLIENT_ID and AZURE_CLIENT_ID.
+    # We need the latter as an environment variable for the EnvironmentCredential method for AzureAD.
+    azure_client_id_name: str = "AZURE_CLIENT_ID"
+    if os.environ.get(azure_client_id_name) is not None:
+        print("Using environment variable for AZURE_CLIENT_ID")
+        AZURE_CLIENT_ID = os.environ[azure_client_id_name]
 
     # MQTT username
     # The username and password is set by the MQTT broker and must be known in advance

{isar-1.12.3 → isar-1.12.5}/src/isar.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.12.3
+Version: 1.12.5
 Summary: Integration and Supervisory control of Autonomous Robots
 Home-page: https://github.com/equinor/isar
 Author: Equinor ASA

{isar-1.12.3 → isar-1.12.5}/src/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 List, Optional
+from typing import List, Optional, Type
 from uuid import UUID, uuid4
 
 from alitra import Pose
@@ -43,22 +43,42 @@ 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