isar 1.16.9__tar.gz → 1.16.11__tar.gz

{isar-1.16.9 → isar-1.16.11}/.github/workflows/pythonpackage.yml

@@ -14,7 +14,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python-version: ["3.8", "3.9", "3.10"]
+        python-version: ["3.10", "3.11", "3.12"]
 
     steps:
       - uses: actions/checkout@v3

{isar-1.16.9 → 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-1.16.9 → isar-1.16.11}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.16.9
+Version: 1.16.11
 Summary: Integration and Supervisory control of Autonomous Robots
 Home-page: https://github.com/equinor/isar
 Author: Equinor ASA
@@ -12,7 +12,7 @@ Classifier: Programming Language :: Python
 Classifier: Topic :: Scientific/Engineering
 Classifier: Topic :: Scientific/Engineering :: Physics
 Classifier: Topic :: Software Development :: Libraries
-Requires-Python: >=3.8
+Requires-Python: >=3.10
 Description-Content-Type: text/markdown
 License-File: LICENSE
 Requires-Dist: alitra>=1.1.0
@@ -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-1.16.9 → 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-1.16.11/SECURITY.md

@@ -0,0 +1,18 @@
+## SECURITY.md template for isar (public repository)
+
+If you discover a security vulnerability in this project, please follow these steps to responsibly disclose it:
+
+1. **Do not** create a public GitHub issue for the vulnerability.
+2. Follow our guideline for Responsible Disclosure Policy at [https://www.equinor.com/about-us/csirt](https://www.equinor.com/about-us/csirt) to report the issue
+
+The following information will help us triage your report more quickly:
+
+- Type of issue (e.g. buffer overflow, SQL injection, cross-site scripting, etc.)
+- Full paths of source file(s) related to the manifestation of the issue
+- The location of the affected source code (tag/branch/commit or direct URL)
+- Any special configuration required to reproduce the issue
+- Step-by-step instructions to reproduce the issue
+- Proof-of-concept or exploit code (if possible)
+- Impact of the issue, including how an attacker might exploit the issue
+
+We prefer all communications to be in English.

{isar-1.16.9 → isar-1.16.11}/setup.py

@@ -66,5 +66,5 @@ setup(
             "sphinx",
         ]
     },
-    python_requires=">=3.8",
+    python_requires=">=3.10",
 )

{isar-1.16.9 → isar-1.16.11}/src/isar/apis/models/start_mission_definition.py

@@ -10,9 +10,11 @@ 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,
     TakeImage,
     TakeThermalImage,
     TakeThermalVideo,
@@ -29,6 +31,13 @@ class InspectionTypes(str, Enum):
     audio: str = "Audio"
 
 
+class TaskType(str, Enum):
+    Inspection: str = "inspection"
+    DriveTo: str = "drive_to"
+    Localization: str = "localization"
+    Dock: str = "dock"
+
+
 class StartMissionInspectionDefinition(BaseModel):
     type: InspectionTypes = Field(default=InspectionTypes.image)
     inspection_target: InputPosition
@@ -39,6 +48,7 @@ class StartMissionInspectionDefinition(BaseModel):
 
 
 class StartMissionTaskDefinition(BaseModel):
+    type: TaskType = Field(default=TaskType.Inspection)
     pose: InputPose
     inspections: List[StartMissionInspectionDefinition]
     tag: Optional[str] = None
@@ -53,35 +63,13 @@ class StartMissionDefinition(BaseModel):
 
 def to_isar_mission(mission_definition: StartMissionDefinition) -> Mission:
     isar_tasks: List[Task] = []
-    all_inspection_steps: List[STEPS] = []
-    duplicate_ids: List[str] = []
+    all_steps_in_mission: List[STEPS] = []
 
     for task in mission_definition.tasks:
-        try:
-            tag_id: Optional[str] = task.tag
-            drive_step: DriveToPose = DriveToPose(pose=task.pose.to_alitra_pose())
-            inspection_steps: List[STEPS] = [
-                create_inspection_step(
-                    inspection_type=inspection.type,
-                    duration=inspection.duration,
-                    target=inspection.inspection_target.to_alitra_position(),
-                    tag_id=tag_id,
-                    metadata=inspection.metadata,
-                    id=inspection.id,
-                )
-                for inspection in task.inspections
-            ]
-        except ValueError as e:
-            raise MissionPlannerError(f"Failed to create task: {str(e)}")
-
-        duplicate_ids = get_duplicate_ids(items=inspection_steps)
-        if len(duplicate_ids) > 0:
-            raise MissionPlannerError(
-                f"Failed to create task: Duplicate step IDs are not allowed ({duplicate_ids})"
-            )
-        all_inspection_steps.extend(inspection_steps)
-
-        isar_task: Task = Task(steps=[drive_step, *inspection_steps], tag_id=tag_id)
+        steps: List[STEPS] = generate_steps(task)
+        all_steps_in_mission.extend(steps)
+
+        isar_task: Task = Task(steps=steps, tag_id=task.tag)
         if task.id:
             isar_task.id = task.id
         isar_tasks.append(isar_task)
@@ -89,17 +77,8 @@ def to_isar_mission(mission_definition: StartMissionDefinition) -> Mission:
     if not isar_tasks:
         raise MissionPlannerError("Mission does not contain any valid tasks")
 
-    duplicate_ids = get_duplicate_ids(items=isar_tasks)
-    if len(duplicate_ids) > 0:
-        raise MissionPlannerError(
-            f"Failed to create mission: Duplicate task IDs are not allowed ({duplicate_ids})"
-        )
-
-    duplicate_ids = get_duplicate_ids(items=all_inspection_steps)
-    if len(duplicate_ids) > 0:
-        raise MissionPlannerError(
-            f"Failed to create task: Duplicate step IDs are not allowed ({duplicate_ids})"
-        )
+    check_for_duplicate_ids(isar_tasks)
+    check_for_duplicate_ids(all_steps_in_mission)
 
     isar_mission: Mission = Mission(tasks=isar_tasks)
 
@@ -114,6 +93,63 @@ def to_isar_mission(mission_definition: StartMissionDefinition) -> Mission:
     return isar_mission
 
 
+def check_for_duplicate_ids(items: Union[List[Task], List[STEPS]]):
+    duplicate_ids = get_duplicate_ids(items=items)
+    if len(duplicate_ids) > 0:
+        raise MissionPlannerError(
+            f"Failed to create as there were duplicate IDs which is not allowed "
+            f"({duplicate_ids})"
+        )
+
+
+def generate_steps(task) -> List[STEPS]:
+    steps: List[STEPS] = []
+    try:
+        match task.type:
+            case TaskType.Inspection:
+                steps.extend(generate_steps_for_inspection_task(task=task))
+            case TaskType.DriveTo:
+                steps.append(generate_steps_for_drive_to_task(task=task))
+            case TaskType.Localization:
+                steps.append(generate_steps_for_localization_task(task=task))
+            case TaskType.Dock:
+                steps.append(generate_steps_for_dock_task())
+    except ValueError as e:
+        raise MissionPlannerError(f"Failed to create task: {str(e)}")
+
+    return steps
+
+
+def generate_steps_for_inspection_task(task: StartMissionTaskDefinition) -> List[STEPS]:
+    drive_step: DriveToPose = DriveToPose(pose=task.pose.to_alitra_pose())
+
+    inspection_steps: List[STEPS] = [
+        create_inspection_step(
+            inspection_type=inspection.type,
+            duration=inspection.duration,
+            target=inspection.inspection_target.to_alitra_position(),
+            tag_id=task.tag,
+            metadata=inspection.metadata,
+            id=inspection.id,
+        )
+        for inspection in task.inspections
+    ]
+
+    return [drive_step, *inspection_steps]
+
+
+def generate_steps_for_drive_to_task(task: StartMissionTaskDefinition) -> DriveToPose:
+    return DriveToPose(pose=task.pose.to_alitra_pose())
+
+
+def generate_steps_for_localization_task(task: StartMissionTaskDefinition) -> Localize:
+    return Localize(localization_pose=task.pose.to_alitra_pose())
+
+
+def generate_steps_for_dock_task() -> DockingProcedure:
+    return DockingProcedure(behavior="dock")
+
+
 def create_inspection_step(
     inspection_type: InspectionTypes,
     duration: float,

{isar-1.16.9 → 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-1.16.9 → 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-1.16.9 → 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-1.16.9 → 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-1.16.9 → 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-1.16.9 → 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-1.16.9 → 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-1.16.9 → 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-1.16.9 → isar-1.16.11}/src/isar.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.16.9
+Version: 1.16.11
 Summary: Integration and Supervisory control of Autonomous Robots
 Home-page: https://github.com/equinor/isar
 Author: Equinor ASA
@@ -12,7 +12,7 @@ Classifier: Programming Language :: Python
 Classifier: Topic :: Scientific/Engineering
 Classifier: Topic :: Scientific/Engineering :: Physics
 Classifier: Topic :: Software Development :: Libraries
-Requires-Python: >=3.8
+Requires-Python: >=3.10
 Description-Content-Type: text/markdown
 License-File: LICENSE
 Requires-Dist: alitra>=1.1.0
@@ -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-1.16.9 → isar-1.16.11}/src/isar.egg-info/SOURCES.txt

@@ -4,6 +4,7 @@
 Dockerfile
 LICENSE
 README.md
+SECURITY.md
 docker-compose-turtlebot.yml
 docker-compose.yml
 main.py
@@ -62,6 +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

{isar-1.16.9 → isar-1.16.11}/src/robot_interface/models/mission/step.py

@@ -107,7 +107,7 @@ class DockingProcedure(MotionStep):
     Step which causes the robot to dock or undock
     """
 
-    behavior: Literal["dock, undock"]
+    behavior: Literal["dock", "undock"]
     type: Literal["docking_procedure"] = "docking_procedure"