isar 1.16.18__py3-none-any.whl → 1.17.0__py3-none-any.whl

isar/apis/models/start_mission_definition.py

@@ -10,11 +10,12 @@ from isar.config.settings import settings
 from isar.mission_planner.mission_planner_interface import MissionPlannerError
 from robot_interface.models.mission.mission import Mission
 from robot_interface.models.mission.step import (
+    STEPS,
     DockingProcedure,
     DriveToPose,
     Localize,
     RecordAudio,
-    STEPS,
+    ReturnToHome,
     TakeImage,
     TakeThermalImage,
     TakeThermalVideo,
@@ -35,6 +36,7 @@ class TaskType(str, Enum):
     Inspection: str = "inspection"
     DriveTo: str = "drive_to"
     Localization: str = "localization"
+    ReturnToHome: str = "return_to_home"
     Dock: str = "dock"
 
 
@@ -112,6 +114,8 @@ def generate_steps(task) -> List[STEPS]:
                 steps.append(generate_steps_for_drive_to_task(task=task))
             case TaskType.Localization:
                 steps.append(generate_steps_for_localization_task(task=task))
+            case TaskType.ReturnToHome:
+                steps.append(generate_steps_for_return_to_home_task(task=task))
             case TaskType.Dock:
                 steps.append(generate_steps_for_dock_task())
     except ValueError as e:
@@ -146,6 +150,12 @@ def generate_steps_for_localization_task(task: StartMissionTaskDefinition) -> Lo
     return Localize(localization_pose=task.pose.to_alitra_pose())
 
 
+def generate_steps_for_return_to_home_task(
+    task: StartMissionTaskDefinition,
+) -> ReturnToHome:
+    return ReturnToHome(pose=task.pose.to_alitra_pose())
+
+
 def generate_steps_for_dock_task() -> DockingProcedure:
     return DockingProcedure(behavior="dock")
 

isar/apis/schedule/scheduling_controller.py

@@ -21,7 +21,12 @@ from isar.mission_planner.mission_planner_interface import MissionPlannerError
 from isar.services.utilities.scheduling_utilities import SchedulingUtilities
 from isar.state_machine.states_enum import States
 from robot_interface.models.mission.mission import Mission
-from robot_interface.models.mission.step import DriveToPose, Localize, MoveArm
+from robot_interface.models.mission.step import (
+    DriveToPose,
+    Localize,
+    MoveArm,
+    ReturnToHome,
+)
 from robot_interface.models.mission.task import Task
 
 

{isar-1.16.18.dist-info → isar-1.17.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.16.18
+Version: 1.17.0
 Summary: Integration and Supervisory control of Autonomous Robots
 Home-page: https://github.com/equinor/isar
 Author: Equinor ASA

{isar-1.16.18.dist-info → isar-1.17.0.dist-info}/RECORD

@@ -4,9 +4,9 @@ isar/apis/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/apis/api.py,sha256=vSXfkWR7iITWbh4BsDzjEDtQrz6KS-vi2S8AeaeDc3Q,13112
 isar/apis/models/__init__.py,sha256=NI1BYyN__Ogr00Qqe0XJ-9gEVPva2brXo2RJsbrS4tM,52
 isar/apis/models/models.py,sha256=BRm3Wl6TJHdHEKLRQ2SGDx6Y54qq8IesMbBuVO7RuxE,1757
-isar/apis/models/start_mission_definition.py,sha256=_gKjibphr0hJHcFuOA9l9ZQExud_r5xMakJjfhUvUGg,6119
+isar/apis/models/start_mission_definition.py,sha256=c2nX5Idll935fQ8vdF5hm9Ytblvw2uINBpZVl_VfFmw,6458
 isar/apis/schedule/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/apis/schedule/scheduling_controller.py,sha256=3WcYttaN4mMVS9lHZrQfYLCO89W_VaJ56RE3ofUegmA,11853
+isar/apis/schedule/scheduling_controller.py,sha256=w2F-6IKBgVN9HVopAOWBb3KUgPjhsnuPLQ3eqjDNfOg,11888
 isar/apis/security/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/apis/security/authentication.py,sha256=TI8U9Y_L6ihHLMeM50ZONd5EPfuHdw_XMU_Q987W4AY,1975
 isar/config/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -97,7 +97,7 @@ robot_interface/models/inspection/inspection.py,sha256=TVqUl5o3d3fp8IravOMwJIuRo
 robot_interface/models/mission/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/models/mission/mission.py,sha256=obuV2htwoYlcssZF5IIBUYCrd2pIerIONlJsggBYRVs,776
 robot_interface/models/mission/status.py,sha256=R5jLmmn6M7oNX907QvbrhoAqAo4C1zB653Ed1PcxAtg,922
-robot_interface/models/mission/step.py,sha256=FazjTmVWT5zL8cvthhmizm59_KEcF1OOhKlJ5bC-YgA,5391
+robot_interface/models/mission/step.py,sha256=DEzU-LD-i3RTAaXBy5KwJZ6OnN5S0F3wwDaqX2DZ72M,5587
 robot_interface/models/mission/task.py,sha256=bjp-m_Ak6tzgUIQvbGe90Mnwt6QhofTgFxnVPkqHOY4,4352
 robot_interface/models/robots/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/models/robots/robot_model.py,sha256=pZQsqhn9hh6XE3EjMZhWMzYqg5oJ4CJ4CXeOASKvEf8,452
@@ -107,8 +107,8 @@ robot_interface/telemetry/payloads.py,sha256=eMK7mjZPsLY6yvu7AK-OcdvkeUpChzDrySD
 robot_interface/utilities/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/utilities/json_service.py,sha256=nU2Q_3P9Fq9hs6F_wtUjWtHfl_g1Siy-yDhXXSKwHwg,1018
 robot_interface/utilities/uuid_string_factory.py,sha256=_NQIbBQ56w0qqO0MUDP6aPpHbxW7ATRhK8HnQiBSLkc,76
-isar-1.16.18.dist-info/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
-isar-1.16.18.dist-info/METADATA,sha256=kVSluDGtKWU_oYcDkJvO9cv6OLUmVWBLH5gwV8sseug,14752
-isar-1.16.18.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
-isar-1.16.18.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
-isar-1.16.18.dist-info/RECORD,,
+isar-1.17.0.dist-info/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar-1.17.0.dist-info/METADATA,sha256=hXe-kwMnV9ZxNxA2o4KmiZXiQhAqVG6hh5xhlp6hTdo,14751
+isar-1.17.0.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
+isar-1.17.0.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.17.0.dist-info/RECORD,,

robot_interface/models/mission/step.py

@@ -111,6 +111,16 @@ class DockingProcedure(MotionStep):
     type: Literal["docking_procedure"] = "docking_procedure"
 
 
+@dataclass
+class ReturnToHome(MotionStep):
+    """
+    Step which cases the robot to return home
+    """
+
+    pose: Pose
+    type: Literal["return_to_home"] = "return_to_home"
+
+
 @dataclass
 class Localize(MotionStep):
     """
@@ -213,6 +223,7 @@ class RecordAudio(InspectionStep):
 STEPS = Union[
     DriveToPose,
     DockingProcedure,
+    ReturnToHome,
     Localize,
     TakeImage,
     TakeThermalImage,