isar 1.16.18__tar.gz → 1.18.0__tar.gz

{isar-1.16.18 → isar-1.18.0}/PKG-INFO

@@ -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 → isar-1.18.0}/src/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-1.16.18 → isar-1.18.0}/src/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 → isar-1.18.0}/src/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-1.16.18 → isar-1.18.0}/src/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 → isar-1.18.0}/src/isar.egg-info/PKG-INFO

@@ -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 → isar-1.18.0}/src/isar.egg-info/SOURCES.txt

@@ -20,7 +20,6 @@ setup.py
 .github/workflows/publish_isar_base_image.yml
 .github/workflows/pythonpackage.yml
 .github/workflows/pythonpublish.yml
-.github/workflows/repository_dispatch_on_merge.yml
 .github/workflows/stale.yml
 docs/Makefile
 docs/make.bat

{isar-1.16.18 → isar-1.18.0}/src/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):

{isar-1.16.18 → isar-1.18.0}/src/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,

isar-1.16.18/.github/workflows/repository_dispatch_on_merge.yml

@@ -1,20 +0,0 @@
-name: Dispatch to repo
-on:
-  push:
-    branches:
-      - main
-  workflow_dispatch:
-jobs:
-  dispatch:
-    runs-on: ubuntu-latest
-    strategy:
-      matrix:
-        repo: ["equinor/robotics-deployment"]
-    steps:
-      - name: Push to repo
-        uses: peter-evans/repository-dispatch@v2.0.0
-        with:
-          token: ${{ secrets.PAT }}
-          repository: ${{ matrix.repo }}
-          event-type: update
-          client-payload: '{"ref": "${{ github.ref }}", "sha": "${{ github.sha }}", "module": "isar", "branch": "main"}'