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

isar/config/logging.conf

@@ -5,54 +5,39 @@ formatters:
   colourized:
     style: "{"
     format: "{asctime} - {levelprefix:<8} - {name} - {message}"
-handlers:
-  api:
-    class: logging.FileHandler
-    formatter: simple
-    filename: api.log
-  main:
-    class: logging.FileHandler
-    formatter: simple
-    filename: main.log
-  mqtt:
-    class: logging.FileHandler
-    formatter: simple
-    filename: mqtt.log
-  state_machine:
-    class: logging.FileHandler
-    formatter: simple
-    filename: state_machine.log
-  uploader:
-    class: logging.FileHandler
-    formatter: simple
-    filename: uploader.log
+  debug-formatter:
+    style: "{"
+    format: "\x1b[2m{asctime}\x1b[22m - {levelprefix:<8} - \x1b[2m{filename}:{lineno:<4} - {funcName:<15} - {name}\x1b[22m\n{message}"
 loggers:
   console:
     handlers: []
     propagate: no
   main:
-    handlers: [main]
+    handlers: []
     propagate: no
   api:
-    handlers: [api]
+    handlers: []
     propagate: no
   mqtt:
-    handlers: [mqtt]
-    propagate: False
+    handlers: []
+    propagate: no
   state_machine:
-    handlers: [state_machine]
-    propagate: False
+    handlers: []
+    propagate: no
   uploader:
-    handlers: [uploader]
-    propagate: False
+    handlers: []
+    propagate: no
   urllib3:
     handlers: []
+    level: WARNING
   uvicorn:
-    handlers: [api]
+    handlers: []
     propagate: no
+    level: WARNING
   azure:
     handlers: []
     propagate: no
+    level: WARNING
 root:
-  level: DEBUG
+  level: INFO
   handlers: []

isar/config/open_telemetry.py

@@ -0,0 +1,102 @@
+import logging
+from urllib.parse import urljoin
+
+from azure.monitor.opentelemetry.exporter import (
+    AzureMonitorLogExporter,
+    AzureMonitorTraceExporter,
+)
+from fastapi import FastAPI
+from opentelemetry import trace
+from opentelemetry._logs import set_logger_provider
+from opentelemetry.exporter.otlp.proto.http._log_exporter import (
+    OTLPLogExporter as OTLPHttpLogExporter,
+)
+from opentelemetry.exporter.otlp.proto.http.trace_exporter import (
+    OTLPSpanExporter as OTLPHttpSpanExporter,
+)
+from opentelemetry.instrumentation.fastapi import FastAPIInstrumentor
+from opentelemetry.sdk._logs import LoggerProvider, LoggingHandler
+from opentelemetry.sdk._logs.export import BatchLogRecordProcessor
+from opentelemetry.sdk.resources import SERVICE_NAME, Resource
+from opentelemetry.sdk.trace import TracerProvider
+from opentelemetry.sdk.trace.export import BatchSpanProcessor
+
+from isar.config.log import load_log_config
+from isar.config.settings import settings
+
+logging.getLogger("opentelemetry.sdk").setLevel(logging.CRITICAL)
+
+
+def setup_open_telemetry(app: FastAPI) -> None:
+
+    service_name = settings.ROBOT_NAME
+    resource = Resource.create({SERVICE_NAME: service_name})
+
+    tracer_provider = TracerProvider(resource=resource)
+    log_provider = LoggerProvider(resource=resource)
+
+    if settings.LOG_HANDLER_APPLICATION_INSIGHTS_ENABLED:
+        print("[OTEL] Azure Monitor exporters enabled")
+        azure_monitor_trace_exporter, azure_monitor_log_exporter = (
+            get_azure_monitor_exporters()
+        )
+
+        tracer_provider.add_span_processor(
+            BatchSpanProcessor(azure_monitor_trace_exporter)
+        )
+
+        log_provider.add_log_record_processor(
+            BatchLogRecordProcessor(azure_monitor_log_exporter)
+        )
+
+    otlp_exporter_endpoint = settings.OPEN_TELEMETRY_OTLP_EXPORTER_ENDPOINT
+    if otlp_exporter_endpoint:
+        print(f"[OTEL] OTLP exporters enabled, endpoint={otlp_exporter_endpoint}")
+        otlp_trace_exporter, otlp_log_exporter = get_otlp_exporters(
+            otlp_exporter_endpoint
+        )
+        tracer_provider.add_span_processor(BatchSpanProcessor(otlp_trace_exporter))
+
+        log_provider.add_log_record_processor(
+            BatchLogRecordProcessor(otlp_log_exporter)
+        )
+
+    set_logger_provider(log_provider)
+    trace.set_tracer_provider(tracer_provider)
+
+    handler = LoggingHandler(logger_provider=log_provider)
+    attach_loggers_for_open_telemetry(handler)
+
+    FastAPIInstrumentor.instrument_app(app, tracer_provider=tracer_provider)
+
+
+def attach_loggers_for_open_telemetry(handler: LoggingHandler):
+    log_config = load_log_config()
+
+    for logger_name in log_config["loggers"].keys():
+        logger = logging.getLogger(logger_name)
+        logger.addHandler(handler)
+
+
+def get_azure_monitor_exporters() -> (
+    tuple[AzureMonitorTraceExporter, AzureMonitorLogExporter]
+):
+    connection_string = settings.APPLICATIONINSIGHTS_CONNECTION_STRING
+    trace_exporter = AzureMonitorTraceExporter(connection_string=connection_string)
+    log_exporter = AzureMonitorLogExporter(connection_string=connection_string)
+
+    return trace_exporter, log_exporter
+
+
+def get_otlp_exporters(
+    endpoint: str,
+) -> tuple[OTLPHttpSpanExporter, OTLPHttpLogExporter]:
+    base = endpoint.rstrip("/") + "/"
+    trace_ep = urljoin(base, "v1/traces")
+    log_ep = urljoin(base, "v1/logs")
+
+    print("[OTEL] Using HTTP/Protobuf protocol for OpenTelemetry export")
+    print(f"[OTEL]  traces → {trace_ep}")
+    print(f"[OTEL]  logs   → {log_ep}")
+
+    return OTLPHttpSpanExporter(endpoint=trace_ep), OTLPHttpLogExporter(endpoint=log_ep)

isar/config/predefined_mission_definition/default_exr.json

@@ -0,0 +1,49 @@
+{
+    "mission_definition": {
+        "tasks": [
+            {
+                "pose": {
+                    "position": {
+                        "x": -3.2629,
+                        "y": 3.0795,
+                        "z": 0.0055,
+                        "frame_name": "robot"
+                    },
+                    "orientation": {
+                        "x": 0,
+                        "y": 0,
+                        "z": 0,
+                        "w": 1,
+                        "frame_name": "robot"
+                    },
+                    "frame_name": "robot"
+                },
+                "tag": "equinor_exR_tag_simulator",
+                "inspections": [
+                    {
+                        "type": "Image",
+                        "inspection_target": {
+                            "x": 6.6550,
+                            "y": 3.7987,
+                            "z": 0.6145,
+                            "frame_name": "robot"
+                        },
+                        "metadata": {
+                            "zoom": "2x"
+                        }
+                    },
+                    {
+                        "type": "ThermalVideo",
+                        "inspection_target": {
+                            "x": 6.6550,
+                            "y": 3.7987,
+                            "z": 0.6145,
+                            "frame_name": "robot"
+                        },
+                        "duration": 10
+                    }
+                ]
+            }
+        ]
+    }
+}

isar/config/predefined_mission_definition/default_mission.json

@@ -28,7 +28,6 @@
                             "z": 0,
                             "frame_name": "robot"
                         },
-                        "analysis_types": "CarSeal, Rust",
                         "metadata": {
                             "zoom": "2x"
                         }
@@ -41,8 +40,6 @@
                             "z": 0,
                             "frame_name": "robot"
                         },
-                        "analysis_types": "GasDetection"
-                        ,
                         "duration": 10
                     }
                 ]
@@ -72,8 +69,7 @@
                             "y": 0,
                             "z": 0,
                             "frame_name": "robot"
-                        },
-                        "analysis_types": "ColdSpot,HotSpot"
+                        }
                     },
                     {
                         "type": "Video",

isar/config/predefined_mission_definition/default_turtlebot.json

@@ -28,8 +28,6 @@
                             "z": 0,
                             "frame": "robot"
                         },
-                        "analysis_types": "CarSeal, Rust"
-                        ,
                         "metadata": {
                             "zoom": "2x"
                         }
@@ -41,8 +39,7 @@
                             "y": 4.9,
                             "z": 0,
                             "frame": "robot"
-                        },
-                        "analysis_types": "GasDetection"
+                        }
                     }
                 ]
             },
@@ -72,9 +69,7 @@
                             "y": 5.2,
                             "z": 0,
                             "frame": "robot"
-                        },
-                        "analysis_types": "ColdSpot, HotSpot"
-                        
+                        }
                     }
                 ]
             },
@@ -104,8 +99,7 @@
                             "y": 5.2,
                             "z": 0,
                             "frame": "robot"
-                        },
-                        "analysis_types": "ColdSpot, HotSpot"
+                        }
                     },
                     {
                         "type": "ThermalImage",
@@ -114,8 +108,7 @@
                             "y": 1.9,
                             "z": 0,
                             "frame": "robot"
-                        },
-                        "analysis_types": "ColdSpot, HotSpot"
+                        }
                     }
                 ]
             }

isar/config/predefined_missions/default.json

@@ -1,92 +1,72 @@
 {
-    "id": "1",
-    "tasks": [
-        {
-            "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"
-                    }
-                }
-            ]
+  "id": "1",
+  "name": "Default mission",
+  "tasks": [
+    {
+      "type": "take_image",
+      "robot_pose": {
+        "position": {
+          "x": -2,
+          "y": -2,
+          "z": 0,
+          "frame": {
+            "name": "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"
-                    }
-                }
-            ]
+        "orientation": {
+          "x": 0,
+          "y": 0,
+          "z": 0.4794255,
+          "w": 0.8775826,
+          "frame": {
+            "name": "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"
-                    }
-                }
-            ]
+        "frame": {
+          "name": "asset"
         }
-    ]
+      },
+      "target": {
+        "x": 2,
+        "y": 2,
+        "z": 0,
+        "frame": {
+          "name": "asset"
+        }
+      }
+    },
+    {
+      "type": "take_image",
+      "robot_pose": {
+        "position": {
+          "x": -2,
+          "y": 2,
+          "z": 0,
+          "frame": {
+            "name": "asset"
+          }
+        },
+        "orientation": {
+          "x": 0,
+          "y": 0,
+          "z": 0.4794255,
+          "w": 0.8775826,
+          "frame": {
+            "name": "asset"
+          }
+        },
+        "frame": {
+          "name": "asset"
+        }
+      },
+      "target": {
+        "x": 2,
+        "y": 2,
+        "z": 0,
+        "frame": {
+          "name": "asset"
+        }
+      }
+    }
+  ]
 }

isar/config/predefined_missions/default_extra_capabilities.json

@@ -0,0 +1,107 @@
+{
+  "id": "2",
+  "name": "Default mission with extra capabilities",
+  "tasks": [
+    {
+      "type": "take_image",
+      "robot_pose": {
+        "position": {
+          "x": -3.6,
+          "y": 4,
+          "z": 0,
+          "frame": {"name": "asset"}
+        },
+        "orientation": {
+          "x": 0,
+          "y": 0,
+          "z": -0.7286672256879113,
+          "w": -0.6848660759820616,
+          "frame": {"name": "asset"}
+        },
+        "frame": {"name": "asset"}
+      },
+      "target": {
+        "x": -4.7,
+        "y": 4.9,
+        "z": 0,
+        "frame": {"name": "asset"}
+      }
+    },
+
+    {
+      "type": "take_image",
+      "robot_pose": {
+        "position": {
+          "x": 4.7,
+          "y": 3,
+          "z": 0,
+          "frame": {"name": "asset"}
+        },
+        "orientation": {
+          "x": 0,
+          "y": 0,
+          "z": 0.5769585,
+          "w": 0.8167734,
+          "frame": {"name": "asset"}
+        },
+        "frame": {"name": "asset"}
+      },
+      "target": {
+        "x": 5.6,
+        "y": 5.2,
+        "z": 0,
+        "frame": {"name": "asset"}
+      }
+    },
+    {
+      "type": "take_thermal_image",
+      "robot_pose": {
+        "position": {
+          "x": 4.7,
+          "y": 3,
+          "z": 0,
+          "frame": {"name": "asset"}
+        },
+        "orientation": {
+          "x": 0,
+          "y": 0,
+          "z": 0.5769585,
+          "w": 0.8167734,
+          "frame": {"name": "asset"}
+        },
+        "frame": {"name": "asset"}
+      },
+      "target": {
+        "x": 3.1,
+        "y": 5.2,
+        "z": 0,
+        "frame": {"name": "asset"}
+      }
+    },
+    {
+      "type": "take_thermal_image",
+      "robot_pose": {
+        "position": {
+          "x": 0.95,
+          "y": 2.6,
+          "z": 0,
+          "frame": {"name": "asset"}
+        },
+        "orientation": {
+          "x": 0,
+          "y": 0,
+          "z": -0.6992469,
+          "w": 0.7148802,
+          "frame": {"name": "asset"}
+        },
+        "frame": {"name": "asset"}
+      },
+      "target": {
+        "x": 1.9,
+        "y": 1.9,
+        "z": 0,
+        "frame": {"name": "asset"}
+      }
+    }
+  ]
+}