isar 1.17.0__py3-none-any.whl → 1.19.0__py3-none-any.whl

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)
 
@@ -226,14 +229,13 @@ class Settings(BaseSettings):
     DATA_CLASSIFICATION: str = Field(default="internal")
 
     # List of MQTT Topics
-    TOPIC_ISAR_STATE: str = Field(default="state", validate_default=True)
+    TOPIC_ISAR_STATUS: str = Field(default="status", validate_default=True)
     TOPIC_ISAR_MISSION: str = Field(default="mission", validate_default=True)
     TOPIC_ISAR_TASK: str = Field(default="task", validate_default=True)
     TOPIC_ISAR_STEP: str = Field(default="step", validate_default=True)
     TOPIC_ISAR_INSPECTION_RESULT: str = Field(
         default="inspection_result", validate_default=True
     )
-    TOPIC_ISAR_ROBOT_STATUS: str = Field(default="robot_status", validate_default=True)
     TOPIC_ISAR_ROBOT_INFO: str = Field(default="robot_info", validate_default=True)
     TOPIC_ISAR_ROBOT_HEARTBEAT: str = Field(
         default="robot_heartbeat", validate_default=True
@@ -281,11 +283,10 @@ class Settings(BaseSettings):
         }
 
     @field_validator(
-        "TOPIC_ISAR_STATE",
+        "TOPIC_ISAR_STATUS",
         "TOPIC_ISAR_MISSION",
         "TOPIC_ISAR_TASK",
         "TOPIC_ISAR_STEP",
-        "TOPIC_ISAR_ROBOT_STATUS",
         "TOPIC_ISAR_ROBOT_INFO",
         "TOPIC_ISAR_ROBOT_HEARTBEAT",
         "TOPIC_ISAR_INSPECTION_RESULT",

isar/state_machine/state_machine.py

@@ -24,6 +24,7 @@ from isar.state_machine.states import (
     Initiate,
     Monitor,
     Off,
+    Offline,
     Paused,
     Stop,
 )
@@ -31,7 +32,12 @@ from isar.state_machine.states_enum import States
 from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
 from robot_interface.models.initialize.initialize_params import InitializeParams
 from robot_interface.models.mission.mission import Mission
-from robot_interface.models.mission.status import MissionStatus, StepStatus, TaskStatus
+from robot_interface.models.mission.status import (
+    MissionStatus,
+    RobotStatus,
+    StepStatus,
+    TaskStatus,
+)
 from robot_interface.models.mission.step import Step
 from robot_interface.models.mission.task import Task
 from robot_interface.robot_interface import RobotInterface
@@ -88,6 +94,7 @@ class StateMachine(object):
         self.monitor_state: State = Monitor(self)
         self.initiate_state: State = Initiate(self)
         self.off_state: State = Off(self)
+        self.offline_state: State = Offline(self)
 
         self.states: List[State] = [
             self.off_state,
@@ -97,6 +104,7 @@ class StateMachine(object):
             self.monitor_state,
             self.stop_state,
             self.paused_state,
+            self.offline_state,
         ]
 
         self.machine = Machine(self, states=self.states, initial="off", queued=True)
@@ -194,6 +202,18 @@ class StateMachine(object):
                     "dest": self.idle_state,
                     "before": self._mission_stopped,
                 },
+                {
+                    "trigger": "robot_turned_offline",
+                    "source": [self.idle_state],
+                    "dest": self.offline_state,
+                    "before": self._offline,
+                },
+                {
+                    "trigger": "robot_turned_online",
+                    "source": self.offline_state,
+                    "dest": self.idle_state,
+                    "before": self._online,
+                },
             ]
         )
 
@@ -239,6 +259,12 @@ class StateMachine(object):
     def _off(self) -> None:
         return
 
+    def _offline(self) -> None:
+        return
+
+    def _online(self) -> None:
+        return
+
     def _resume(self) -> None:
         self.logger.info(f"Resuming mission: {self.current_mission.id}")
         self.current_mission.status = MissionStatus.InProgress
@@ -417,7 +443,7 @@ class StateMachine(object):
         self.send_state_status()
         self._log_state_transition(self.current_state)
         self.logger.info(f"State: {self.current_state}")
-        self.publish_state()
+        self.publish_status()
 
     def reset_state_machine(self) -> None:
         self.logger.info("Resetting state machine")
@@ -559,25 +585,33 @@ class StateMachine(object):
             retain=False,
         )
 
-    def publish_state(self) -> None:
+    def publish_status(self) -> None:
         if not self.mqtt_publisher:
             return
         payload: str = json.dumps(
             {
                 "isar_id": settings.ISAR_ID,
                 "robot_name": settings.ROBOT_NAME,
-                "state": self.current_state,
+                "status": self._current_status(),
                 "timestamp": datetime.utcnow(),
             },
             cls=EnhancedJSONEncoder,
         )
 
         self.mqtt_publisher.publish(
-            topic=settings.TOPIC_ISAR_STATE,
+            topic=settings.TOPIC_ISAR_STATUS,
             payload=payload,
             retain=False,
         )
 
+    def _current_status(self) -> RobotStatus:
+        if self.current_state == States.Idle:
+            return RobotStatus.Available
+        elif self.current_state == States.Offline:
+            return RobotStatus.Offline
+        else:
+            return RobotStatus.Busy
+
     def _log_state_transition(self, next_state):
         """Logs all state transitions that are not self-transitions."""
         self.transitions_list.append(next_state)

isar/state_machine/states/__init__.py

@@ -3,5 +3,6 @@ from .initialize import Initialize
 from .initiate import Initiate
 from .monitor import Monitor
 from .off import Off
+from .offline import Offline
 from .paused import Paused
 from .stop import Stop

isar/state_machine/states/idle.py

@@ -1,10 +1,17 @@
 import logging
 import time
-from typing import Optional, TYPE_CHECKING
+from typing import TYPE_CHECKING, Optional
 
 from transitions import State
 
+from isar.config.settings import settings
 from isar.models.communication.message import StartMissionMessage
+from isar.services.utilities.threaded_request import (
+    ThreadedRequest,
+    ThreadedRequestNotFinishedError,
+)
+from robot_interface.models.exceptions.robot_exceptions import RobotException
+from robot_interface.models.mission.status import RobotStatus
 
 if TYPE_CHECKING:
     from isar.state_machine.state_machine import StateMachine
@@ -15,13 +22,17 @@ class Idle(State):
         super().__init__(name="idle", on_enter=self.start, on_exit=self.stop)
         self.state_machine: "StateMachine" = state_machine
         self.logger = logging.getLogger("state_machine")
+        self.robot_status_thread: Optional[ThreadedRequest] = None
+        self.last_robot_status_poll_time: float = time.time()
 
     def start(self) -> None:
         self.state_machine.update_state()
         self._run()
 
     def stop(self) -> None:
-        pass
+        if self.robot_status_thread:
+            self.robot_status_thread.wait_for_thread()
+        self.robot_status_thread = None
 
     def _run(self) -> None:
         while True:
@@ -37,4 +48,38 @@ class Idle(State):
                 break
             time.sleep(self.state_machine.sleep_time)
 
+            time_from_last_robot_status_poll = (
+                time.time() - self.last_robot_status_poll_time
+            )
+            if (
+                time_from_last_robot_status_poll
+                < settings.ROBOT_API_STATUS_POLL_INTERVAL
+            ):
+                continue
+
+            if not self.robot_status_thread:
+                self.robot_status_thread = ThreadedRequest(
+                    request_func=self.state_machine.robot.robot_status
+                )
+                self.robot_status_thread.start_thread(
+                    name="State Machine Offline Get Robot Status"
+                )
+
+            try:
+                robot_status: RobotStatus = self.robot_status_thread.get_output()
+            except ThreadedRequestNotFinishedError:
+                time.sleep(self.state_machine.sleep_time)
+                continue
+
+            except (RobotException,) as e:
+                self.logger.error(
+                    f"Failed to get robot status because: {e.error_description}"
+                )
+
+            self.last_robot_status_poll_time = time.time()
+
+            if robot_status == RobotStatus.Offline:
+                transition = self.state_machine.robot_turned_offline  # type: ignore
+                break
+
         transition()

isar/state_machine/states/monitor.py

@@ -1,18 +1,20 @@
 import logging
 import time
 from copy import deepcopy
-from typing import Callable, Optional, Sequence, TYPE_CHECKING, Tuple, Union
+from typing import TYPE_CHECKING, Callable, Optional, Sequence, Tuple, Union
 
 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,
 )
 from robot_interface.models.exceptions.robot_exceptions import (
     ErrorMessage,
+    RobotCommunicationTimeoutException,
     RobotException,
     RobotMissionStatusException,
     RobotRetrieveInspectionException,
@@ -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
@@ -123,6 +156,7 @@ class Monitor(State):
             else:
                 if isinstance(status, StepStatus):
                     if self._step_finished(self.state_machine.current_step):
+                        self.state_machine.update_current_step()
                         self.state_machine.current_task.update_task_status()
                     else:  # If not all steps are done
                         self.state_machine.current_task.status = TaskStatus.InProgress
@@ -131,7 +165,6 @@ class Monitor(State):
                         self.state_machine.current_task
                     )
                     if self.state_machine.current_task.status == TaskStatus.Successful:
-                        self.state_machine.update_remaining_steps()
                         try:
                             self.state_machine.current_task = (
                                 self.state_machine.task_selector.next_task()

isar/state_machine/states/offline.py

@@ -0,0 +1,62 @@
+import logging
+import time
+from typing import TYPE_CHECKING, Optional
+
+from transitions import State
+
+from isar.config.settings import settings
+from isar.services.utilities.threaded_request import (
+    ThreadedRequest,
+    ThreadedRequestNotFinishedError,
+)
+from robot_interface.models.exceptions.robot_exceptions import RobotException
+from robot_interface.models.mission.status import RobotStatus
+
+if TYPE_CHECKING:
+    from isar.state_machine.state_machine import StateMachine
+
+
+class Offline(State):
+    def __init__(self, state_machine: "StateMachine") -> None:
+        super().__init__(name="offline", on_enter=self.start, on_exit=self.stop)
+        self.state_machine: "StateMachine" = state_machine
+        self.logger = logging.getLogger("state_machine")
+        self.robot_status_thread: Optional[ThreadedRequest] = None
+
+    def start(self) -> None:
+        self.state_machine.update_state()
+        self._run()
+
+    def stop(self) -> None:
+        if self.robot_status_thread:
+            self.robot_status_thread.wait_for_thread()
+        self.robot_status_thread = None
+
+    def _run(self) -> None:
+        while True:
+            if not self.robot_status_thread:
+                self.robot_status_thread = ThreadedRequest(
+                    request_func=self.state_machine.robot.robot_status
+                )
+                self.robot_status_thread.start_thread(
+                    name="State Machine Offline Get Robot Status"
+                )
+
+            try:
+                robot_status: RobotStatus = self.robot_status_thread.get_output()
+            except ThreadedRequestNotFinishedError:
+                time.sleep(self.state_machine.sleep_time)
+                continue
+
+            except (RobotException,) as e:
+                self.logger.error(
+                    f"Failed to get robot status because: {e.error_description}"
+                )
+
+            if robot_status != RobotStatus.Offline:
+                transition = self.state_machine.robot_turned_online  # type: ignore
+                break
+
+            time.sleep(settings.ROBOT_API_STATUS_POLL_INTERVAL)
+
+        transition()

isar/state_machine/states_enum.py

@@ -9,6 +9,7 @@ class States(str, Enum):
     Monitor = "monitor"
     Paused = "paused"
     Stop = "stop"
+    Offline = "offline"
 
     def __repr__(self):
         return self.value

{isar-1.17.0.dist-info → isar-1.19.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.17.0
+Version: 1.19.0
 Summary: Integration and Supervisory control of Autonomous Robots
 Home-page: https://github.com/equinor/isar
 Author: Equinor ASA
@@ -415,6 +415,17 @@ ISAR_MQTT_PASSWORD
 
 If not specified the password will default to an empty string.
 
+## Running several ISAR instances locally
+
+To run several ISAR instances in parallel locally:
+1. Generate a guid: https://www.guidgenerator.com/
+2. Open a new terminal in the isar folder
+3. Run the following command before running main.py:
+
+```
+export ISAR_API_PORT=port_name_higher_than_1024 ISAR_ISAR_ID=guid ISAR_ROBOT_NAME=random_robot_name
+```
+
 # Contributions
 
 Equinor welcomes all kinds of contributions, including code, bug reports, issues, feature requests, and documentation

{isar-1.17.0.dist-info → isar-1.19.0.dist-info}/RECORD

@@ -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=Wfau6k5ZUoC0BWgWXdzj4cSU7lny8SWrwqoy3t1U4Wg,13081
 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
@@ -60,21 +60,21 @@ isar/services/service_connections/mqtt/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JC
 isar/services/service_connections/mqtt/mqtt_client.py,sha256=Aib0lqaddxW9aVXXYD7wGL9jIpr2USCCH91SQgFdIG4,3548
 isar/services/service_connections/mqtt/robot_heartbeat_publisher.py,sha256=TxvpLA_qfyXwwN58h2X-eomTnhbFPhqfjamPxBz084E,1000
 isar/services/service_connections/mqtt/robot_info_publisher.py,sha256=d5HQ6Hfp5E21kaj1IJsFMWXecbzvH8iYByZhOucR004,1383
-isar/services/service_connections/mqtt/robot_status_publisher.py,sha256=KPxRrdtu-yLQolQ7DejC1v1NCeELUzrK_ZoiEpsrqD4,4425
 isar/services/service_connections/stid/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/services/utilities/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/services/utilities/queue_utilities.py,sha256=Pw3hehSwkXJNeDv-bDVDfs58VOwtt3i5hpiJ2ZpphuQ,1225
 isar/services/utilities/scheduling_utilities.py,sha256=LFimEmacML3J9q-FNLfKPhcAr-R3f2rkYkbsoro0Gyo,8434
 isar/services/utilities/threaded_request.py,sha256=py4G-_RjnIdHljmKFAcQ6ddqMmp-ZYV39Ece-dqRqjs,1874
 isar/state_machine/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/state_machine/state_machine.py,sha256=yud8FODucCFLVkK1E4NfKZ5YCrFb8IRfk752Nn_WTIY,22606
-isar/state_machine/states_enum.py,sha256=ks1A8gO7DOpLbSe6Vzq4-BfTCU78IsQZyoEJwQ9Wg4M,254
-isar/state_machine/states/__init__.py,sha256=gUikQDu-O-lmunwzwcN9gN6VaEmlCFlqqgdNfFAfXBc,189
-isar/state_machine/states/idle.py,sha256=tfciqI7NPDVF8WMe5qbSO3c-xDzUTQYLmJinb9e0JS8,1231
+isar/state_machine/state_machine.py,sha256=wmjPXoavlxrLvgMr41LGZekE5D_Cnsoz5IRAreag6_8,23576
+isar/state_machine/states_enum.py,sha256=BlrUcBWkM5K6D_UZXRwTaUgGpAagWmVZH6HhDBGzVU4,278
+isar/state_machine/states/__init__.py,sha256=kErbKPDTwNfCLijvdyN6_AuOqDwR23nu9F0Qovsnir4,218
+isar/state_machine/states/idle.py,sha256=_nrM17s4artaHezanl28_WcNyJod1_hkCyzAqZlPQiE,3034
 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=wJCBJo0xc42pzI8mUtOIsPsAK5V82oY3h9uiy-EkNr4,10609
 isar/state_machine/states/off.py,sha256=jjqN_oJMpBtWuY7hP-c9f0w3p2CYCfe-NpmYHHPnmyI,544
+isar/state_machine/states/offline.py,sha256=wEMMIwM4JWfmDjI7pe9yKce_Mfz9aXqs6WEkxn8cx5I,2125
 isar/state_machine/states/paused.py,sha256=xVZM9WMt90FTiP5forSlA3eJ5Vt9LzZYCFDQDPIocKA,1004
 isar/state_machine/states/stop.py,sha256=Sxdo4FGhxc2Pj91jidYtVIjpSNklbEf1sJYJ6x51HgE,3348
 isar/storage/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -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
@@ -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-1.17.0.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,,
+isar-1.19.0.dist-info/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar-1.19.0.dist-info/METADATA,sha256=E_9yJSv0SF_T3xHun3k_dPsM4DqQ9ayg_E65UpXLC68,15101
+isar-1.19.0.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
+isar-1.19.0.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.19.0.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):

isar/services/service_connections/mqtt/robot_status_publisher.py

@@ -1,119 +0,0 @@
-import json
-import logging
-import time
-from datetime import datetime
-from logging import Logger
-from queue import Queue
-from threading import Thread
-from typing import Optional
-
-from isar.config.settings import settings
-from isar.state_machine.state_machine import StateMachine
-from isar.state_machine.states_enum import States
-from robot_interface.models.exceptions.robot_exceptions import (
-    RobotAPIException,
-    RobotCommunicationException,
-    RobotException,
-)
-from robot_interface.models.mission.status import RobotStatus
-from robot_interface.robot_interface import RobotInterface
-from robot_interface.telemetry.mqtt_client import MqttPublisher
-from robot_interface.telemetry.payloads import RobotStatusPayload
-from robot_interface.utilities.json_service import EnhancedJSONEncoder
-
-
-class RobotStatusPublisher:
-    def __init__(
-        self, mqtt_queue: Queue, robot: RobotInterface, state_machine: StateMachine
-    ):
-        self.mqtt_publisher: MqttPublisher = MqttPublisher(mqtt_queue=mqtt_queue)
-        self.robot: RobotInterface = robot
-        self.state_machine: StateMachine = state_machine
-
-    def _get_combined_robot_status(
-        self, robot_status: RobotStatus, current_state: States
-    ) -> RobotStatus:
-        if robot_status == RobotStatus.Offline:
-            return RobotStatus.Offline
-        elif current_state == States.Idle and robot_status == RobotStatus.Available:
-            return RobotStatus.Available
-        elif robot_status == RobotStatus.Blocked:
-            return RobotStatus.Blocked
-        elif current_state != States.Idle or robot_status == RobotStatus.Busy:
-            return RobotStatus.Busy
-        return None
-
-    def run(self) -> None:
-        robot_status_monitor: RobotStatusMonitor = RobotStatusMonitor(robot=self.robot)
-        robot_status_thread: Thread = Thread(
-            target=robot_status_monitor.run,
-            name="Robot Status Monitor",
-            daemon=True,
-        )
-        robot_status_thread.start()
-
-        previous_robot_status: Optional[RobotStatus] = None
-
-        while True:
-            time.sleep(settings.ROBOT_STATUS_PUBLISH_INTERVAL)
-
-            combined_status: RobotStatus = self._get_combined_robot_status(
-                robot_status=robot_status_monitor.robot_status,
-                current_state=self.state_machine.current_state,
-            )
-
-            if previous_robot_status:
-                if previous_robot_status == combined_status:
-                    continue
-
-            payload: RobotStatusPayload = RobotStatusPayload(
-                isar_id=settings.ISAR_ID,
-                robot_name=settings.ROBOT_NAME,
-                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
-                ),
-                timestamp=datetime.utcnow(),
-            )
-
-            self.mqtt_publisher.publish(
-                topic=settings.TOPIC_ISAR_ROBOT_STATUS,
-                payload=json.dumps(payload, cls=EnhancedJSONEncoder),
-            )
-
-            previous_robot_status = combined_status
-
-
-class RobotStatusMonitor:
-    def __init__(self, robot: RobotInterface):
-        self.robot: RobotInterface = robot
-        self.robot_status: RobotStatus = RobotStatus.Offline
-        self.logger: Logger = logging.getLogger("robot_status_monitor")
-
-    def run(self) -> None:
-        while True:
-            try:
-                self.robot_status = self.robot.robot_status()
-            except (
-                RobotCommunicationException,
-                RobotAPIException,
-                RobotException,
-            ) as e:
-                self.logger.error(
-                    f"Failed to get robot status because: {e.error_description}"
-                )
-            time.sleep(settings.ROBOT_API_STATUS_POLL_INTERVAL)