isar 1.16.14__tar.gz → 1.16.16__tar.gz

{isar-1.16.14 → isar-1.16.16}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.16.14
+Version: 1.16.16
 Summary: Integration and Supervisory control of Autonomous Robots
 Home-page: https://github.com/equinor/isar
 Author: Equinor ASA

{isar-1.16.14 → isar-1.16.16}/src/isar/state_machine/state_machine.py

@@ -349,12 +349,26 @@ class StateMachine(object):
         self.stopped = True
 
     def _initiate_failed(self) -> None:
-        self.current_step.status = StepStatus.Failed
-        self.current_task.update_task_status()
-        self.current_mission.status = MissionStatus.Failed
-        self.publish_step_status(step=self.current_step)
-        self.publish_task_status(task=self.current_task)
-        self._finalize()
+        if self.stepwise_mission:
+            self.current_step.status = StepStatus.Failed
+            self.current_task.update_task_status()
+            self.current_mission.status = MissionStatus.Failed
+            self.publish_step_status(step=self.current_step)
+            self.publish_task_status(task=self.current_task)
+            self._finalize()
+
+        else:
+            self.current_task = None
+            step_status: StepStatus = StepStatus.Cancelled
+            task_status: TaskStatus = TaskStatus.Cancelled
+
+            for task in self.current_mission.tasks:
+                task.status = task_status
+                for step in task.steps:
+                    step.status = step_status
+                    self.publish_step_status(step=step)
+                self.publish_task_status(task=task)
+            self._finalize()
 
     def _initiate_infeasible(self) -> None:
         if self.stepwise_mission:

{isar-1.16.14 → isar-1.16.16}/src/isar/state_machine/states/initiate.py

@@ -103,7 +103,7 @@ class Initiate(State):
                     f"{str(self.state_machine.current_mission.id)[:8]} because: "
                     f"{e.error_description}"
                 )
-                transition = self.state_machine.initiate_infeasible  # type: ignore
+                transition = self.state_machine.initiate_failed  # type: ignore
                 break
 
             except RobotException as e:

{isar-1.16.14 → isar-1.16.16}/src/isar/storage/blob_storage.py

@@ -1,5 +1,6 @@
 import logging
 from pathlib import Path
+from typing import Union
 
 from azure.core.exceptions import ResourceExistsError
 from azure.storage.blob import BlobClient, BlobServiceClient, ContainerClient
@@ -7,10 +8,10 @@ from injector import inject
 
 from isar.config.keyvault.keyvault_service import Keyvault
 from isar.config.settings import settings
-from robot_interface.models.mission.mission import Mission
 from isar.storage.storage_interface import StorageException, StorageInterface
 from isar.storage.utilities import construct_metadata_file, construct_paths
 from robot_interface.models.inspection.inspection import Inspection
+from robot_interface.models.mission.mission import Mission
 
 
 class BlobStorage(StorageInterface):
@@ -31,7 +32,7 @@ class BlobStorage(StorageInterface):
 
         self.logger = logging.getLogger("uploader")
 
-    def store(self, inspection: Inspection, mission: Mission) -> str:
+    def store(self, inspection: Inspection, mission: Mission) -> Union[str, dict]:
         data_path, metadata_path = construct_paths(
             inspection=inspection, mission=mission
         )
@@ -43,7 +44,7 @@ class BlobStorage(StorageInterface):
         self._upload_file(path=metadata_path, data=metadata_bytes)
         return self._upload_file(path=data_path, data=inspection.data)
 
-    def _upload_file(self, path: Path, data: bytes) -> str:
+    def _upload_file(self, path: Path, data: bytes) -> Union[str, dict]:
         blob_client = self._get_blob_client(path)
         try:
             blob_properties = blob_client.upload_blob(data=data)
@@ -55,7 +56,14 @@ class BlobStorage(StorageInterface):
         except Exception as e:
             self.logger.error("An unexpected error occurred while uploading blob")
             raise StorageException from e
-        return blob_properties["etag"]
+
+        absolute_inspection_path = {
+            "source": "blob",
+            "blob_storage_account_url": settings.BLOB_STORAGE_ACCOUNT_URL,
+            "blob_container": settings.BLOB_CONTAINER,
+            "blob_name": blob_client.blob_name,
+        }
+        return absolute_inspection_path
 
     def _get_blob_service_client(self) -> BlobServiceClient:
         try:

{isar-1.16.14 → isar-1.16.16}/src/isar/storage/storage_interface.py

@@ -1,12 +1,13 @@
 from abc import ABCMeta, abstractmethod
+from typing import Union
 
-from robot_interface.models.mission.mission import Mission
 from robot_interface.models.inspection.inspection import Inspection
+from robot_interface.models.mission.mission import Mission
 
 
 class StorageInterface(metaclass=ABCMeta):
     @abstractmethod
-    def store(self, inspection: Inspection, mission: Mission) -> str:
+    def store(self, inspection: Inspection, mission: Mission) -> Union[str, dict]:
         """
         Parameters
         ----------

{isar-1.16.14 → isar-1.16.16}/src/isar/storage/uploader.py

@@ -3,7 +3,7 @@ import logging
 from dataclasses import dataclass
 from datetime import datetime, timedelta
 from queue import Empty, Queue
-from typing import List
+from typing import List, Union
 
 from injector import inject
 
@@ -100,8 +100,8 @@ class Uploader:
             except Empty:
                 continue
 
-    def _upload(self, upload_item: UploaderQueueItem) -> str:
-        inspection_path = ""
+    def _upload(self, upload_item: UploaderQueueItem) -> Union[str, dict]:
+        inspection_path: Union[str, dict] = ""
         try:
             inspection_path = upload_item.storage_handler.store(
                 inspection=upload_item.inspection, mission=upload_item.mission
@@ -140,7 +140,7 @@ class Uploader:
             )
 
     def _publish_inspection_result(
-        self, inspection: Inspection, inspection_path: str
+        self, inspection: Inspection, inspection_path: Union[str, dict]
     ) -> None:
         """Publishes the reference of the inspection result to the MQTT Broker
         along with the analysis type

{isar-1.16.14 → isar-1.16.16}/src/isar/storage/utilities.py

@@ -79,4 +79,5 @@ def get_filename(
 
 
 def get_foldername(mission: Mission) -> str:
-    return f"{datetime.utcnow().date()}__{settings.PLANT_SHORT_NAME}__{mission.name}__{mission.id}"
+    mission_name: str = mission.name.replace(" ", "-")
+    return f"{datetime.utcnow().date()}__{settings.PLANT_SHORT_NAME}__{mission_name}__{mission.id}"

{isar-1.16.14 → isar-1.16.16}/src/isar.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.16.14
+Version: 1.16.16
 Summary: Integration and Supervisory control of Autonomous Robots
 Home-page: https://github.com/equinor/isar
 Author: Equinor ASA

{isar-1.16.14 → isar-1.16.16}/tests/isar/services/readers/test_base_reader.py

@@ -17,9 +17,9 @@ class TestBaseReader:
         "dataclass_dict, expected_dataclass",
         [
             (asdict(MockMissionDefinition.default_mission), Mission),
-            (asdict(MockStep.drive_to), Step),
-            (asdict(MockStep.take_image_in_coordinate_direction), Step),
-            (asdict(MockPose.default_pose), Pose),
+            (asdict(MockStep.drive_to()), Step),
+            (asdict(MockStep.take_image_in_coordinate_direction()), Step),
+            (asdict(MockPose.default_pose()), Pose),
         ],
     )
     def test_dict_to_dataclass(self, dataclass_dict: dict, expected_dataclass: Any):

{isar-1.16.14 → isar-1.16.16}/tests/isar/state_machine/states/test_monitor.py

@@ -17,7 +17,7 @@ from tests.mocks.step import MockStep
     ],
 )
 def test_step_finished(monitor: Monitor, mock_status, expected_output):
-    step: Step = MockStep.drive_to
+    step: Step = MockStep.drive_to()
     step.status = mock_status
     step_completed: bool = monitor._step_finished(
         step=step,
@@ -36,7 +36,7 @@ def test_step_finished(monitor: Monitor, mock_status, expected_output):
 def test_should_only_upload_if_status_is_completed(
     monitor: Monitor, mock_status, should_queue_upload
 ):
-    step: TakeImage = MockStep.take_image_in_coordinate_direction
+    step: TakeImage = MockStep.take_image_in_coordinate_direction()
     step.status = mock_status
     task: Task = Task(steps=[step])
     mission: Mission = Mission(tasks=[task])

{isar-1.16.14 → isar-1.16.16}/tests/isar/state_machine/test_state_machine.py

@@ -91,8 +91,8 @@ empty_mission: Mission = Mission([], None)
 
 
 def test_state_machine_transitions(injector, state_machine_thread) -> None:
-    step_1: Step = DriveToPose(pose=MockPose.default_pose)
-    step_2: Step = TakeImage(target=MockPose.default_pose.position)
+    step_1: Step = DriveToPose(pose=MockPose.default_pose())
+    step_2: Step = TakeImage(target=MockPose.default_pose().position)
     mission: Mission = Mission(tasks=[Task(steps=[step_1, step_2])])  # type: ignore
 
     scheduling_utilities: SchedulingUtilities = injector.get(SchedulingUtilities)
@@ -121,8 +121,8 @@ def test_state_machine_transitions_when_running_full_mission(
 ) -> None:
     state_machine_thread.state_machine.stepwise_mission = False
 
-    step_1: Step = DriveToPose(pose=MockPose.default_pose)
-    step_2: Step = TakeImage(target=MockPose.default_pose.position)
+    step_1: Step = DriveToPose(pose=MockPose.default_pose())
+    step_2: Step = TakeImage(target=MockPose.default_pose().position)
     mission: Mission = Mission(tasks=[Task(steps=[step_1, step_2])])  # type: ignore
 
     scheduling_utilities: SchedulingUtilities = injector.get(SchedulingUtilities)
@@ -147,8 +147,8 @@ def test_state_machine_transitions_when_running_full_mission(
 def test_state_machine_failed_dependency(
     injector, state_machine_thread, mocker
 ) -> None:
-    drive_to_step: Step = DriveToPose(pose=MockPose.default_pose)
-    inspection_step: Step = MockStep.take_image_in_coordinate_direction
+    drive_to_step: Step = DriveToPose(pose=MockPose.default_pose())
+    inspection_step: Step = MockStep.take_image_in_coordinate_direction()
     mission: Mission = Mission(tasks=[Task(steps=[drive_to_step, inspection_step])])  # type: ignore
 
     mocker.patch.object(MockRobot, "step_status", return_value=StepStatus.Failed)
@@ -177,7 +177,7 @@ def test_state_machine_with_successful_collection(
 ) -> None:
     storage_mock: StorageInterface = injector.get(List[StorageInterface])[0]
 
-    step: TakeImage = MockStep.take_image_in_coordinate_direction
+    step: TakeImage = MockStep.take_image_in_coordinate_direction()
     mission: Mission = Mission(tasks=[Task(steps=[step])])
     scheduling_utilities: SchedulingUtilities = injector.get(SchedulingUtilities)
 
@@ -207,7 +207,7 @@ def test_state_machine_with_unsuccessful_collection(
 
     mocker.patch.object(MockRobot, "get_inspections", return_value=[])
 
-    step: TakeImage = MockStep.take_image_in_coordinate_direction
+    step: TakeImage = MockStep.take_image_in_coordinate_direction()
     mission: Mission = Mission(tasks=[Task(steps=[step])])
     scheduling_utilities: SchedulingUtilities = injector.get(SchedulingUtilities)
 
@@ -236,7 +236,7 @@ def test_state_machine_with_successful_mission_stop(
     state_machine_thread: StateMachineThread,
     caplog: pytest.LogCaptureFixture,
 ) -> None:
-    step: TakeImage = MockStep.take_image_in_coordinate_direction
+    step: TakeImage = MockStep.take_image_in_coordinate_direction()
     mission: Mission = Mission(tasks=[Task(steps=[step])])
 
     scheduling_utilities: SchedulingUtilities = injector.get(SchedulingUtilities)
@@ -266,7 +266,7 @@ def test_state_machine_with_unsuccessful_mission_stop(
     state_machine_thread: StateMachineThread,
     caplog: pytest.LogCaptureFixture,
 ) -> None:
-    step: TakeImage = MockStep.take_image_in_coordinate_direction
+    step: TakeImage = MockStep.take_image_in_coordinate_direction()
     mission: Mission = Mission(tasks=[Task(steps=[step])])
 
     scheduling_utilities: SchedulingUtilities = injector.get(SchedulingUtilities)

{isar-1.16.14 → isar-1.16.16}/tests/mocks/mission_definition.py

@@ -30,12 +30,15 @@ class MockMissionDefinition:
         id="default_mission",
         tasks=[
             Task(
-                steps=[MockStep.take_image_in_coordinate_direction, MockStep.drive_to]
+                steps=[
+                    MockStep.take_image_in_coordinate_direction(),
+                    MockStep.drive_to(),
+                ]
             ),
             Task(
                 steps=[
-                    MockStep.take_image_in_coordinate_direction,
-                    MockStep.take_image_in_coordinate_direction,
+                    MockStep.take_image_in_coordinate_direction(),
+                    MockStep.take_image_in_coordinate_direction(),
                 ]
             ),
         ],

isar-1.16.16/tests/mocks/pose.py

@@ -0,0 +1,11 @@
+from alitra import Frame, Orientation, Pose, Position
+
+
+class MockPose:
+    @staticmethod
+    def default_pose():
+        return Pose(
+            position=Position(x=0, y=0, z=0, frame=Frame("robot")),
+            orientation=Orientation(x=0, y=0, z=0, w=1, frame=Frame("robot")),
+            frame=Frame("robot"),
+        )

isar-1.16.16/tests/mocks/step.py

@@ -0,0 +1,14 @@
+from alitra import Frame, Position
+
+from robot_interface.models.mission.step import DriveToPose, TakeImage
+from tests.mocks.pose import MockPose
+
+
+class MockStep:
+    @staticmethod
+    def drive_to() -> DriveToPose:
+        return DriveToPose(pose=MockPose.default_pose())
+
+    @staticmethod
+    def take_image_in_coordinate_direction() -> TakeImage:
+        return TakeImage(target=Position(x=1, y=1, z=1, frame=Frame("robot")))

isar-1.16.14/tests/mocks/pose.py

@@ -1,9 +0,0 @@
-from alitra import Frame, Orientation, Pose, Position
-
-
-class MockPose:
-    default_pose = Pose(
-        position=Position(x=0, y=0, z=0, frame=Frame("robot")),
-        orientation=Orientation(x=0, y=0, z=0, w=1, frame=Frame("robot")),
-        frame=Frame("robot"),
-    )

isar-1.16.14/tests/mocks/step.py

@@ -1,11 +0,0 @@
-from alitra import Frame, Position
-
-from robot_interface.models.mission.step import DriveToPose, TakeImage
-from tests.mocks.pose import MockPose
-
-
-class MockStep:
-    drive_to = DriveToPose(pose=MockPose.default_pose)
-    take_image_in_coordinate_direction = TakeImage(
-        target=Position(x=1, y=1, z=1, frame=Frame("robot"))
-    )