isar 1.16.10__tar.gz → 1.16.11__tar.gz

{isar-1.16.10 → isar-1.16.11}/Dockerfile

@@ -1,13 +1,13 @@
-FROM python:3.10-slim
+FROM python:3.10-slim AS builder
 
-WORKDIR /app
+RUN apt-get update
+RUN apt-get install -y --no-install-recommends build-essential gcc
+RUN python -m pip install --upgrade pip
 
 ENV VIRTUAL_ENV=/venv
 RUN python -m venv --copies $VIRTUAL_ENV
 ENV PATH="$VIRTUAL_ENV/bin:$PATH"
 
-RUN python -m pip install --upgrade pip
-
 # Install dependencies before ISAR to cache pip installation
 RUN mkdir -p src
 COPY setup.py README.md ./
@@ -20,6 +20,12 @@ COPY . .
 
 RUN pip install .
 
+FROM python:3.10-slim
+COPY --from=builder $VIRTUAL_ENV $VIRTUAL_ENV
+ENV PATH="$VIRTUAL_ENV/bin:$PATH"
+
+WORKDIR /app
+
 EXPOSE 3000
 
 # Env variable for ISAR to know it is running in docker

{isar-1.16.10 → isar-1.16.11}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.16.10
+Version: 1.16.11
 Summary: Integration and Supervisory control of Autonomous Robots
 Home-page: https://github.com/equinor/isar
 Author: Equinor ASA
@@ -246,12 +246,6 @@ make docs
 
 The documentation can now be viewed at `docs/build/html/index.html`.
 
-### Contributing
-
-We welcome all kinds of contributions, including code, bug reports, issues, feature requests, and documentation. The
-preferred way of submitting a contribution is to either make an [issue](https://github.com/equinor/isar/issues) on
-GitHub or by forking the project on GitHub and making a pull requests.
-
 ## Components
 
 The system consists of two main components.
@@ -420,3 +414,9 @@ ISAR_MQTT_PASSWORD
 ```
 
 If not specified the password will default to an empty string.
+
+# Contributions
+
+Equinor welcomes all kinds of contributions, including code, bug reports, issues, feature requests, and documentation
+Please initiate your contribution by creating an [issue](https://github.com/equinor/isar/issues) or by forking the
+project and making a pull requests. Commit messages shall be written according to [this guide](https://cbea.msgit-commit/).

{isar-1.16.10 → isar-1.16.11}/README.md

@@ -192,12 +192,6 @@ make docs
 
 The documentation can now be viewed at `docs/build/html/index.html`.
 
-### Contributing
-
-We welcome all kinds of contributions, including code, bug reports, issues, feature requests, and documentation. The
-preferred way of submitting a contribution is to either make an [issue](https://github.com/equinor/isar/issues) on
-GitHub or by forking the project on GitHub and making a pull requests.
-
 ## Components
 
 The system consists of two main components.
@@ -366,3 +360,9 @@ ISAR_MQTT_PASSWORD
 ```
 
 If not specified the password will default to an empty string.
+
+# Contributions
+
+Equinor welcomes all kinds of contributions, including code, bug reports, issues, feature requests, and documentation
+Please initiate your contribution by creating an [issue](https://github.com/equinor/isar/issues) or by forking the
+project and making a pull requests. Commit messages shall be written according to [this guide](https://cbea.msgit-commit/).

{isar-1.16.10 → isar-1.16.11}/src/isar/config/log.py

@@ -54,7 +54,9 @@ def configure_azure_handler(log_config: dict, keyvault: Keyvault) -> logging.Han
             "application-insights-connection-string"
         ).value
     except KeyvaultError:
-        message: str = f"CRITICAL ERROR: Missing connection string for Application Insights in key vault '{keyvault.name}'."
+        message: str = (
+            f"CRITICAL ERROR: Missing connection string for Application Insights in key vault '{keyvault.name}'."
+        )
         print(f"\n{message} \n")
         raise ConfigurationError(message)
 

isar-1.16.11/src/isar/config/predefined_mission_definition/default_exr.json

@@ -0,0 +1,51 @@
+{
+    "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"
+                        },
+                        "analysis_types": "CarSeal, Rust",
+                        "metadata": {
+                            "zoom": "2x"
+                        }
+                    },
+                    {
+                        "type": "ThermalVideo",
+                        "inspection_target": {
+                            "x": 6.6550,
+                            "y": 3.7987,
+                            "z": 0.6145,
+                            "frame_name": "robot"
+                        },
+                        "analysis_types": "GasDetection",
+                        "duration": 10
+                    }
+                ]
+            }
+        ]
+    }
+}

{isar-1.16.10 → isar-1.16.11}/src/isar/services/service_connections/mqtt/mqtt_client.py

@@ -53,7 +53,7 @@ class MqttClient(MqttClientInterface):
 
         self.port: int = settings.MQTT_PORT
 
-        self.client: Client = Client()
+        self.client: Client = Client(mqtt.CallbackAPIVersion.VERSION1)
 
         self.client.enable_logger(logger=self.logger)
 

{isar-1.16.10 → isar-1.16.11}/src/isar/services/service_connections/mqtt/robot_status_publisher.py

@@ -72,15 +72,21 @@ class RobotStatusPublisher:
                 robot_status=combined_status,
                 previous_robot_status=previous_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,
+                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(),
             )
 

{isar-1.16.10 → isar-1.16.11}/src/isar/state_machine/state_machine.py

@@ -492,9 +492,9 @@ class StateMachine(object):
                 "mission_id": self.current_mission.id if self.current_mission else None,
                 "status": self.current_mission.status if self.current_mission else None,
                 "error_reason": error_message.error_reason if error_message else None,
-                "error_description": error_message.error_description
-                if error_message
-                else None,
+                "error_description": (
+                    error_message.error_description if error_message else None
+                ),
                 "timestamp": datetime.utcnow(),
             },
             cls=EnhancedJSONEncoder,
@@ -524,9 +524,9 @@ class StateMachine(object):
                 "task_id": task.id if task else None,
                 "status": task.status if task else None,
                 "error_reason": error_message.error_reason if error_message else None,
-                "error_description": error_message.error_description
-                if error_message
-                else None,
+                "error_description": (
+                    error_message.error_description if error_message else None
+                ),
                 "timestamp": datetime.utcnow(),
             },
             cls=EnhancedJSONEncoder,
@@ -558,9 +558,9 @@ class StateMachine(object):
                 "step_type": step.__class__.__name__ if step else None,
                 "status": step.status if step else None,
                 "error_reason": error_message.error_reason if error_message else None,
-                "error_description": error_message.error_description
-                if error_message
-                else None,
+                "error_description": (
+                    error_message.error_description if error_message else None
+                ),
                 "timestamp": datetime.utcnow(),
             },
             cls=EnhancedJSONEncoder,

{isar-1.16.10 → isar-1.16.11}/src/isar/state_machine/states/idle.py

@@ -25,9 +25,9 @@ class Idle(State):
 
     def _run(self) -> None:
         while True:
-            start_mission: Optional[
-                StartMissionMessage
-            ] = self.state_machine.should_start_mission()
+            start_mission: Optional[StartMissionMessage] = (
+                self.state_machine.should_start_mission()
+            )
             if start_mission:
                 self.state_machine.start_mission(
                     mission=start_mission.mission,

{isar-1.16.10 → isar-1.16.11}/src/isar/state_machine/states/monitor.py

@@ -68,9 +68,9 @@ class Monitor(State):
                     )
 
             try:
-                status: Union[
-                    StepStatus, MissionStatus
-                ] = self.step_status_thread.get_output()
+                status: Union[StepStatus, MissionStatus] = (
+                    self.step_status_thread.get_output()
+                )
             except ThreadedRequestNotFinishedError:
                 time.sleep(self.state_machine.sleep_time)
                 continue
@@ -145,9 +145,9 @@ class Monitor(State):
         self, mission: Mission, current_step: InspectionStep
     ) -> None:
         try:
-            inspections: Sequence[
-                Inspection
-            ] = self.state_machine.robot.get_inspections(step=current_step)
+            inspections: Sequence[Inspection] = (
+                self.state_machine.robot.get_inspections(step=current_step)
+            )
 
         except (RobotRetrieveInspectionException, RobotException) as e:
             self._set_error_message(e)

{isar-1.16.10 → isar-1.16.11}/src/isar/storage/slimm_storage.py

@@ -122,16 +122,18 @@ class SlimmStorage(StorageInterface):
                 "ImageMetadata.CameraOrientation2": str(array_of_orientation[1]),
                 "ImageMetadata.CameraOrientation3": str(array_of_orientation[2]),
                 "ImageMetadata.CameraOrientation4": str(array_of_orientation[3]),
-                "ImageMetadata.AnalysisMethods": inspection.metadata.additional[
-                    "analysis_type"
-                ]
-                if inspection.metadata.additional
-                and inspection.metadata.additional["analysis_type"]
-                else "N/A",
+                "ImageMetadata.AnalysisMethods": (
+                    inspection.metadata.additional["analysis_type"]
+                    if inspection.metadata.additional
+                    and inspection.metadata.additional["analysis_type"]
+                    else "N/A"
+                ),
                 "ImageMetadata.Description": str(inspection.metadata.additional),
-                "ImageMetadata.FunctionalLocation": inspection.metadata.tag_id  # noqa: E501
-                if inspection.metadata.tag_id
-                else "N/A",
+                "ImageMetadata.FunctionalLocation": (
+                    inspection.metadata.tag_id  # noqa: E501
+                    if inspection.metadata.tag_id
+                    else "N/A"
+                ),
                 "Filename": filename,
                 "AttachedFile": (filename, inspection.data),
             }
@@ -170,16 +172,18 @@ class SlimmStorage(StorageInterface):
                 "VideoMetadata.CameraOrientation2": str(array_of_orientation[1]),
                 "VideoMetadata.CameraOrientation3": str(array_of_orientation[2]),
                 "VideoMetadata.CameraOrientation4": str(array_of_orientation[3]),
-                "VideoMetadata.AnalysisMethods": inspection.metadata.additional[
-                    "analysis_type"
-                ]
-                if inspection.metadata.additional
-                and inspection.metadata.additional["analysis_type"]
-                else "N/A",
+                "VideoMetadata.AnalysisMethods": (
+                    inspection.metadata.additional["analysis_type"]
+                    if inspection.metadata.additional
+                    and inspection.metadata.additional["analysis_type"]
+                    else "N/A"
+                ),
                 "VideoMetadata.Description": str(inspection.metadata.additional),
-                "VideoMetadata.FunctionalLocation": inspection.metadata.tag_id  # noqa: E501
-                if inspection.metadata.tag_id
-                else "N/A",
+                "VideoMetadata.FunctionalLocation": (
+                    inspection.metadata.tag_id  # noqa: E501
+                    if inspection.metadata.tag_id
+                    else "N/A"
+                ),
                 "Filename": filename,
                 "AttachedFile": (filename, inspection.data),
             }

{isar-1.16.10 → isar-1.16.11}/src/isar/storage/utilities.py

@@ -40,9 +40,11 @@ def construct_metadata_file(
             "mission_date": datetime.utcnow().date(),
             "isar_id": settings.ISAR_ID,
             "robot_name": settings.ROBOT_NAME,
-            "analysis_type": inspection.metadata.additional["analysis_type"]
-            if inspection.metadata.additional
-            else "N/A",
+            "analysis_type": (
+                inspection.metadata.additional["analysis_type"]
+                if inspection.metadata.additional
+                else "N/A"
+            ),
         },
         "data": [
             {

{isar-1.16.10 → isar-1.16.11}/src/isar.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.16.10
+Version: 1.16.11
 Summary: Integration and Supervisory control of Autonomous Robots
 Home-page: https://github.com/equinor/isar
 Author: Equinor ASA
@@ -246,12 +246,6 @@ make docs
 
 The documentation can now be viewed at `docs/build/html/index.html`.
 
-### Contributing
-
-We welcome all kinds of contributions, including code, bug reports, issues, feature requests, and documentation. The
-preferred way of submitting a contribution is to either make an [issue](https://github.com/equinor/isar/issues) on
-GitHub or by forking the project on GitHub and making a pull requests.
-
 ## Components
 
 The system consists of two main components.
@@ -420,3 +414,9 @@ ISAR_MQTT_PASSWORD
 ```
 
 If not specified the password will default to an empty string.
+
+# Contributions
+
+Equinor welcomes all kinds of contributions, including code, bug reports, issues, feature requests, and documentation
+Please initiate your contribution by creating an [issue](https://github.com/equinor/isar/issues) or by forking the
+project and making a pull requests. Commit messages shall be written according to [this guide](https://cbea.msgit-commit/).

{isar-1.16.10 → isar-1.16.11}/src/isar.egg-info/SOURCES.txt

@@ -63,6 +63,7 @@ src/isar/config/maps/klab_compressor.json
 src/isar/config/maps/klab_turtlebot.json
 src/isar/config/maps/turtleworld.json
 src/isar/config/predefined_mission_definition/__init__.py
+src/isar/config/predefined_mission_definition/default_exr.json
 src/isar/config/predefined_mission_definition/default_mission.json
 src/isar/config/predefined_mission_definition/default_turtlebot.json
 src/isar/config/predefined_missions/__init__.py