isar 1.16.18__py3-none-any.whl → 1.18.0__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/config/settings.py

@@ -56,6 +56,9 @@ class Settings(BaseSettings):
     # Number of attempts to initiate a step or mission before cancelling
     INITIATE_FAILURE_COUNTER_LIMIT: int = Field(default=10)
 
+    # Number of attempts to request a step status in monitor before cancelling
+    REQUEST_STATUS_FAILURE_COUNTER_LIMIT: int = Field(default=3)
+
     # Number of attempts to stop the robot before giving up
     STOP_ROBOT_ATTEMPTS_LIMIT: int = Field(default=10)
 

isar/state_machine/states/monitor.py

@@ -7,6 +7,7 @@ from injector import inject
 from transitions import State
 
 from isar.mission_planner.task_selector_interface import TaskSelectorStop
+from isar.config.settings import settings
 from isar.services.utilities.threaded_request import (
     ThreadedRequest,
     ThreadedRequestNotFinishedError,
@@ -17,6 +18,7 @@ from robot_interface.models.exceptions.robot_exceptions import (
     RobotMissionStatusException,
     RobotRetrieveInspectionException,
     RobotStepStatusException,
+    RobotCommunicationTimeoutException,
 )
 from robot_interface.models.inspection.inspection import Inspection
 from robot_interface.models.mission.mission import Mission
@@ -32,6 +34,10 @@ class Monitor(State):
     def __init__(self, state_machine: "StateMachine") -> None:
         super().__init__(name="monitor", on_enter=self.start, on_exit=self.stop)
         self.state_machine: "StateMachine" = state_machine
+        self.request_status_failure_counter: int = 0
+        self.request_status_failure_counter_limit: int = (
+            settings.REQUEST_STATUS_FAILURE_COUNTER_LIMIT
+        )
 
         self.logger = logging.getLogger("state_machine")
         self.step_status_thread: Optional[ThreadedRequest] = None
@@ -61,7 +67,6 @@ class Monitor(State):
                     status_function=self.state_machine.robot.step_status,
                     thread_name="State Machine Monitor Get Step Status",
                 )
-
             try:
                 status: Union[StepStatus, MissionStatus] = (
                     self.step_status_thread.get_output()
@@ -70,6 +75,34 @@ class Monitor(State):
                 time.sleep(self.state_machine.sleep_time)
                 continue
 
+            except RobotCommunicationTimeoutException as e:
+                self.state_machine.current_mission.error_message = ErrorMessage(
+                    error_reason=e.error_reason, error_description=e.error_description
+                )
+                self.step_status_thread = None
+                self.request_status_failure_counter += 1
+                self.logger.warning(
+                    f"Monitoring step {self.state_machine.current_step.id} failed #: "
+                    f"{self.request_status_failure_counter} failed because: {e.error_description}"
+                )
+
+                if (
+                    self.request_status_failure_counter
+                    >= self.request_status_failure_counter_limit
+                ):
+                    self.state_machine.current_step.error_message = ErrorMessage(
+                        error_reason=e.error_reason,
+                        error_description=e.error_description,
+                    )
+                    self.logger.error(
+                        f"Step will be cancelled after failing to get step status "
+                        f"{self.request_status_failure_counter} times because: "
+                        f"{e.error_description}"
+                    )
+                    status = StepStatus.Failed
+                else:
+                    continue
+
             except RobotStepStatusException as e:
                 self.state_machine.current_step.error_message = ErrorMessage(
                     error_reason=e.error_reason, error_description=e.error_description
@@ -98,6 +131,8 @@ class Monitor(State):
                     f"Retrieving the status failed because: {e.error_description}"
                 )
 
+            self.request_status_failure_counter = 0
+
             if isinstance(status, StepStatus):
                 self.state_machine.current_step.status = status
             elif isinstance(status, MissionStatus):

{isar-1.16.18.dist-info → isar-1.18.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.16.18
+Version: 1.18.0
 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-1.18.0.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
@@ -14,7 +14,7 @@ isar/config/configuration_error.py,sha256=rO6WOhafX6xvVib8WxV-eY483Z0PpN-9PxGsq5
 isar/config/log.py,sha256=39G_Cue0qvw0Uv-1NYXvQ83yivPIKcAv-bGNNREFw5o,2251
 isar/config/logging.conf,sha256=mYO1xf27gAopEMHhGzY7-mwyfN16rwRLkPNMvy3zn2g,1127
 isar/config/settings.env,sha256=-kivj0osAAKlInnY81ugySTlcImhVABbnj9kUoBDLu8,535
-isar/config/settings.py,sha256=ZECul4dywwZb-hJeWi-4XfjrUjthqMs42bNfsyI7feA,13056
+isar/config/settings.py,sha256=eiVXkjcKpUDOTchzWYooaZZ3xdEXjD8Uv4V7ynHuXwY,13201
 isar/config/certs/ca-cert.pem,sha256=gSBTyY0tKSFnssyvrvbFvHpQwii0kEkBryklVmevdtc,2029
 isar/config/keyvault/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/config/keyvault/keyvault_error.py,sha256=zvPCsZLjboxsxthYkxpRERCTFxYV8R5WmACewAUQLwk,41
@@ -73,7 +73,7 @@ isar/state_machine/states/__init__.py,sha256=gUikQDu-O-lmunwzwcN9gN6VaEmlCFlqqgd
 isar/state_machine/states/idle.py,sha256=tfciqI7NPDVF8WMe5qbSO3c-xDzUTQYLmJinb9e0JS8,1231
 isar/state_machine/states/initialize.py,sha256=Vx7OxWZI_xEkRwHWFh9ymxK_7mDH0Wayt09dGGqBJWk,2359
 isar/state_machine/states/initiate.py,sha256=b0Fq3tN6TZMg5j4192OsYdGbphTXWCkftBsFX57mhrw,5652
-isar/state_machine/states/monitor.py,sha256=ykVQe54Lm_V-X7kJ16GMkycG7T9Kz3g2hsPtL35NSSk,9004
+isar/state_machine/states/monitor.py,sha256=iuGiIEWSp6_rC6CLz5DNfb71Dttlo0KFxfg7xYwiZYE,10665
 isar/state_machine/states/off.py,sha256=jjqN_oJMpBtWuY7hP-c9f0w3p2CYCfe-NpmYHHPnmyI,544
 isar/state_machine/states/paused.py,sha256=xVZM9WMt90FTiP5forSlA3eJ5Vt9LzZYCFDQDPIocKA,1004
 isar/state_machine/states/stop.py,sha256=Sxdo4FGhxc2Pj91jidYtVIjpSNklbEf1sJYJ6x51HgE,3348
@@ -89,7 +89,7 @@ robot_interface/robot_interface.py,sha256=i2qw1V9mLO-ljtS7LiRliQ7XNmmBJIwD4NG8mD
 robot_interface/test_robot_interface.py,sha256=FV1urn7SbsMyWBIcTKjsBwAG4IsXeZ6pLHE0mA9EGGs,692
 robot_interface/models/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/models/exceptions/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-robot_interface/models/exceptions/robot_exceptions.py,sha256=olW9I6VrAsNPZ4c_4Yr9Uor_0vES84wjqWesqHqSFag,8535
+robot_interface/models/exceptions/robot_exceptions.py,sha256=l1h62gq7lfLzWoHh2ytdEWgn_4lS4M-GPxHkjgAXcP4,9036
 robot_interface/models/initialize/__init__.py,sha256=rz5neEDr59GDbzzI_FF0DId-C-I-50l113P-h-C_QBY,48
 robot_interface/models/initialize/initialize_params.py,sha256=2eG5Aq5bDKU6tVkaUMAoc46GERBgyaKkqv6yLupdRLc,164
 robot_interface/models/inspection/__init__.py,sha256=14wfuj4XZazrigKD7fL98khFKz-eckIpEgPcYRj40Kg,227
@@ -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-1.18.0.dist-info/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar-1.18.0.dist-info/METADATA,sha256=wjDHWKgNqxMggWZ3Rboq-AFVnuuRLeY7j0lzV3py7Z0,14751
+isar-1.18.0.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
+isar-1.18.0.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.18.0.dist-info/RECORD,,

robot_interface/models/exceptions/robot_exceptions.py

@@ -5,6 +5,7 @@ from typing import Optional
 
 class ErrorReason(str, Enum):
     RobotCommunicationException: str = "robot_communication_exception"
+    RobotCommunicationTimeoutException: str = "robot_communication_timeout_exception"
     RobotInfeasibleStepException: str = "robot_infeasible_step_exception"
     RobotInfeasibleMissionException: str = "robot_infeasible_mission_exception"
     RobotMissionStatusException: str = "robot_mission_status_exception"
@@ -49,6 +50,18 @@ class RobotCommunicationException(RobotException):
     pass
 
 
+# An exception which should be thrown by the robot package if the communication has timed
+# out and ISAR should retry the request.
+class RobotCommunicationTimeoutException(RobotException):
+    def __init__(self, error_description: str) -> None:
+        super().__init__(
+            error_reason=ErrorReason.RobotCommunicationTimeoutException,
+            error_description=error_description,
+        )
+
+    pass
+
+
 # An exception which should be thrown by the robot package if it is unable to start the
 # current step.
 class RobotInfeasibleStepException(RobotException):

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,