isar 1.15.0__py3-none-any.whl → 1.34.9__py3-none-any.whl

robot_interface/telemetry/mqtt_client.py

@@ -1,15 +1,38 @@
+import json
 import time
 from abc import ABCMeta, abstractmethod
+from datetime import datetime, timezone
 from queue import Queue
 from typing import Callable, Tuple
 
-from robot_interface.models.exceptions import RobotException
+from paho.mqtt.packettypes import PacketTypes
+from paho.mqtt.properties import Properties
+
+from isar.config.settings import settings
+from robot_interface.models.exceptions.robot_exceptions import (
+    RobotTelemetryException,
+    RobotTelemetryNoUpdateException,
+    RobotTelemetryPoseException,
+)
+from robot_interface.telemetry.payloads import CloudHealthPayload
+from robot_interface.utilities.json_service import EnhancedJSONEncoder
+
+
+def props_expiry(seconds: int) -> Properties:
+    p = Properties(PacketTypes.PUBLISH)
+    p.MessageExpiryInterval = seconds
+    return p
 
 
 class MqttClientInterface(metaclass=ABCMeta):
     @abstractmethod
     def publish(
-        self, topic: str, payload: str, qos: int = 0, retain: bool = False
+        self,
+        topic: str,
+        payload: str,
+        qos: int = 0,
+        retain: bool = False,
+        properties: Properties = None,
     ) -> None:
         """
         Parameters
@@ -25,7 +48,6 @@ class MqttClientInterface(metaclass=ABCMeta):
 
         Returns
         -------
-
         """
         pass
 
@@ -35,9 +57,20 @@ class MqttPublisher(MqttClientInterface):
         self.mqtt_queue: Queue = mqtt_queue
 
     def publish(
-        self, topic: str, payload: str, qos: int = 0, retain: bool = False
+        self,
+        topic: str,
+        payload: str,
+        qos: int = 0,
+        retain: bool = False,
+        properties: Properties = None,
     ) -> None:
-        queue_message: Tuple[str, str, int, bool] = (topic, payload, qos, retain)
+        queue_message: Tuple[str, str, int, bool, Properties] = (
+            topic,
+            payload,
+            qos,
+            retain,
+            properties,
+        )
         self.mqtt_queue.put(queue_message)
 
 
@@ -50,6 +83,7 @@ class MqttTelemetryPublisher(MqttClientInterface):
         interval: float,
         qos: int = 0,
         retain: bool = False,
+        properties: Properties = None,
     ) -> None:
         self.mqtt_queue: Queue = mqtt_queue
         self.telemetry_method: Callable = telemetry_method
@@ -57,23 +91,61 @@ class MqttTelemetryPublisher(MqttClientInterface):
         self.interval: float = interval
         self.qos: int = qos
         self.retain: bool = retain
+        self.properties: Properties = properties
 
     def run(self, isar_id: str, robot_name: str) -> None:
+        self.cloud_health_topic: str = f"isar/{isar_id}/cloud_health"
+        self.battery_topic: str = f"isar/{isar_id}/battery"
+        self.pose_topic: str = f"isar/{isar_id}/pose"
+        self.pressure_topic: str = f"isar/{isar_id}/pressure"
+        topic: str
+        payload: str
+
         while True:
             try:
-                payload: str = self.telemetry_method(
-                    isar_id=isar_id, robot_name=robot_name
-                )
-            except RobotException:
+                payload = self.telemetry_method(isar_id=isar_id, robot_name=robot_name)
+                topic = self.topic
+            except (RobotTelemetryPoseException, RobotTelemetryNoUpdateException):
+                time.sleep(self.interval)
                 continue
+            except RobotTelemetryException:
+                payload = json.dumps(
+                    CloudHealthPayload(isar_id, robot_name, datetime.now(timezone.utc)),
+                    cls=EnhancedJSONEncoder,
+                )
+                topic = self.cloud_health_topic
+
+            publish_properties = self.properties
+
+            if topic in (
+                self.battery_topic,
+                self.pose_topic,
+                self.pressure_topic,
+            ):
+                publish_properties = props_expiry(settings.MQTT_TELEMETRY_EXPIRY)
 
             self.publish(
-                topic=self.topic, payload=payload, qos=self.qos, retain=self.retain
+                topic=topic,
+                payload=payload,
+                qos=self.qos,
+                retain=self.retain,
+                properties=publish_properties,
             )
             time.sleep(self.interval)
 
     def publish(
-        self, topic: str, payload: str, qos: int = 0, retain: bool = False
+        self,
+        topic: str,
+        payload: str,
+        qos: int = 0,
+        retain: bool = False,
+        properties: Properties = None,
     ) -> None:
-        queue_message: Tuple[str, str, int, bool] = (topic, payload, qos, retain)
+        queue_message: Tuple[str, str, int, bool, Properties] = (
+            topic,
+            payload,
+            qos,
+            retain,
+            properties,
+        )
         self.mqtt_queue.put(queue_message)

robot_interface/telemetry/payloads.py

@@ -1,11 +1,15 @@
 from dataclasses import dataclass
 from datetime import datetime
-from typing import List
+from typing import List, Optional
 
 from alitra import Pose
-from transitions import State
 
-from robot_interface.models.mission.status import RobotStatus
+from isar.models.status import IsarStatus
+from isar.storage.storage_interface import BlobStoragePath
+from robot_interface.models.exceptions.robot_exceptions import ErrorReason
+from robot_interface.models.mission.status import MissionStatus, TaskStatus
+from robot_interface.models.mission.task import TaskTypes
+from robot_interface.models.robots.battery_state import BatteryState
 
 
 @dataclass
@@ -15,6 +19,13 @@ class TelemetryPayload:
     timestamp: datetime
 
 
+@dataclass
+class CloudHealthPayload:
+    isar_id: str
+    robot_name: str
+    timestamp: datetime
+
+
 @dataclass
 class TelemetryPosePayload(TelemetryPayload):
     pose: Pose
@@ -23,6 +34,12 @@ class TelemetryPosePayload(TelemetryPayload):
 @dataclass
 class TelemetryBatteryPayload(TelemetryPayload):
     battery_level: float
+    battery_state: Optional[BatteryState] = None
+
+
+@dataclass
+class TelemetryObstacleStatusPayload(TelemetryPayload):
+    obstacle_status: bool
 
 
 @dataclass
@@ -31,21 +48,16 @@ class TelemetryPressurePayload(TelemetryPayload):
 
 
 @dataclass
-class VideoStream:
+class DocumentInfo:
     name: str
     url: str
-    type: str
 
 
 @dataclass
-class RobotStatusPayload:
+class IsarStatusPayload:
     isar_id: str
     robot_name: str
-    robot_status: RobotStatus
-    current_isar_state: State
-    current_mission_id: str
-    current_task_id: str
-    current_step_id: str
+    status: IsarStatus
     timestamp: datetime
 
 
@@ -56,7 +68,94 @@ class RobotInfoPayload:
     robot_model: str
     robot_serial_number: str
     robot_asset: str
-    video_streams: List[VideoStream]
+    documentation: List[DocumentInfo]
     host: str
     port: int
+    capabilities: List[str]
+    timestamp: datetime
+
+
+@dataclass
+class RobotHeartbeatPayload:
+    isar_id: str
+    robot_name: str
+    timestamp: datetime
+
+
+@dataclass
+class MissionPayload:
+    isar_id: str
+    robot_name: str
+    mission_id: Optional[str]
+    status: Optional[MissionStatus]
+    error_reason: Optional[ErrorReason]
+    error_description: Optional[str]
+    timestamp: datetime
+
+
+@dataclass
+class MissionAbortedPayload:
+    isar_id: str
+    robot_name: str
+    mission_id: str
+    can_be_continued: bool
+    timestamp: datetime
+    reason: Optional[str]
+
+
+@dataclass
+class TaskPayload:
+    isar_id: str
+    robot_name: str
+    mission_id: Optional[str]
+    task_id: Optional[str]
+    status: Optional[TaskStatus]
+    task_type: Optional[TaskTypes]
+    error_reason: Optional[ErrorReason]
+    error_description: Optional[str]
+    timestamp: datetime
+
+
+@dataclass
+class InspectionResultPayload:
+    isar_id: str
+    robot_name: str
+    inspection_id: str
+    blob_storage_data_path: BlobStoragePath
+    blob_storage_metadata_path: BlobStoragePath
+    installation_code: str
+    tag_id: Optional[str]
+    inspection_type: Optional[str]
+    inspection_description: Optional[str]
+    timestamp: datetime
+
+
+@dataclass
+class InspectionValuePayload:
+    isar_id: str
+    robot_name: str
+    inspection_id: str
+    installation_code: str
+    tag_id: Optional[str]
+    inspection_type: Optional[str]
+    inspection_description: Optional[str]
+    value: float
+    unit: str
+    x: float
+    y: float
+    z: float
+    timestamp: datetime
+
+
+@dataclass
+class StartUpMessagePayload:
+    isar_id: str
+    timestamp: datetime
+
+
+@dataclass
+class InterventionNeededPayload:
+    isar_id: str
+    robot_name: str
+    reason: str
     timestamp: datetime

robot_interface/utilities/json_service.py

@@ -7,6 +7,7 @@ from uuid import UUID
 
 import numpy as np
 from alitra import Orientation
+from pydantic import BaseModel
 
 
 class EnhancedJSONEncoder(json.JSONEncoder):
@@ -15,8 +16,13 @@ class EnhancedJSONEncoder(json.JSONEncoder):
     """
 
     def default(self, o):
+        if isinstance(o, BaseModel):
+            dump = getattr(o, "model_dump", None)
+            if callable(dump):
+                return dump()
+            return o.__dict__
         if is_dataclass(o):
-            return asdict(o)
+            return asdict(o)  # type: ignore
         if isinstance(o, UUID):
             return str(o)
         if isinstance(o, Orientation):

isar/config/predefined_missions/default_turtlebot.json

@@ -1,110 +0,0 @@
-{
-    "id": "2",
-    "tasks": [
-        {
-            "steps": [
-                {
-                    "type": "drive_to_pose",
-                    "pose": {
-                        "position": {
-                            "x": -3.6,
-                            "y": 4,
-                            "z": 0,
-                            "frame": "asset"
-                        },
-                        "orientation": {
-                            "x": 0,
-                            "y": 0,
-                            "z": -0.7286672256879113,
-                            "w": -0.6848660759820616,
-                            "frame": "asset"
-                        },
-                        "frame": "asset"
-                    }
-                },
-                {
-                    "type": "take_image",
-                    "target": {
-                        "x": -4.7,
-                        "y": 4.9,
-                        "z": 0,
-                        "frame": "robot"
-                    }
-                }
-            ]
-        },
-        {
-            "steps": [
-                {
-                    "type": "drive_to_pose",
-                    "pose": {
-                        "position": {
-                            "x": 4.7,
-                            "y": 3,
-                            "z": 0,
-                            "frame": "asset"
-                        },
-                        "orientation": {
-                            "x": 0,
-                            "y": 0,
-                            "z": 0.5769585,
-                            "w": 0.8167734,
-                            "frame": "asset"
-                        },
-                        "frame": "asset"
-                    }
-                },
-                {
-                    "type": "take_image",
-                    "target": {
-                        "x": 5.6,
-                        "y": 5.2,
-                        "z": 0,
-                        "frame": "robot"
-                    }
-                },
-                {
-                    "type": "take_thermal_image",
-                    "target": {
-                        "x": 3.1,
-                        "y": 5.2,
-                        "z": 0,
-                        "frame": "robot"
-                    }
-                }
-            ]
-        },
-        {
-            "steps": [
-                {
-                    "type": "drive_to_pose",
-                    "pose": {
-                        "position": {
-                            "x": 0.95,
-                            "y": 2.6,
-                            "z": 0,
-                            "frame": "asset"
-                        },
-                        "orientation": {
-                            "x": 0,
-                            "y": 0,
-                            "z": -0.6992469,
-                            "w": 0.7148802,
-                            "frame": "asset"
-                        },
-                        "frame": "asset"
-                    }
-                },
-                {
-                    "type": "take_thermal_image",
-                    "target": {
-                        "x": 1.9,
-                        "y": 1.9,
-                        "z": 0,
-                        "frame": "robot"
-                    }
-                }
-            ]
-        }
-    ]
-}