isar 1.18.0__tar.gz → 1.19.1__tar.gz

{isar-1.18.0 → isar-1.19.1}/.github/workflows/project_automations.yml

@@ -19,7 +19,7 @@ jobs:
     if: github.event_name == 'issues' && github.event.action == 'opened' || github.event.action == 'reopened'
     steps:
       - name: 'Move issue to "Todo"'
-        uses: leonsteinhaeuser/project-beta-automations@v1.0.2
+        uses: leonsteinhaeuser/project-beta-automations@v2.1.0
         with:
           gh_token: ${{ secrets.MY_GITHUB_TOKEN }}
           organization: equinor
@@ -32,7 +32,7 @@ jobs:
     if: github.event_name == 'issues' && github.event.action == 'closed'
     steps:
       - name: 'Moved issue to "Done"'
-        uses: leonsteinhaeuser/project-beta-automations@v1.0.2
+        uses: leonsteinhaeuser/project-beta-automations@v2.1.0
         with:
           gh_token: ${{ secrets.MY_GITHUB_TOKEN }}
           organization: equinor
@@ -45,7 +45,7 @@ jobs:
     if: github.event_name == 'pull_request' && github.event.action == 'opened' || github.event.action == 'reopened' || github.event.action == 'review_requested'
     steps:
       - name: 'Move PR to "In Progress"'
-        uses: leonsteinhaeuser/project-beta-automations@v1.0.2
+        uses: leonsteinhaeuser/project-beta-automations@v2.1.0
         with:
           gh_token: ${{ secrets.MY_GITHUB_TOKEN }}
           organization: equinor
@@ -58,7 +58,7 @@ jobs:
     if: github.event_name == 'pull_request' && github.event.action == 'ready_for_review'
     steps:
       - name: 'Move PR to "Review"'
-        uses: leonsteinhaeuser/project-beta-automations@v1.0.2
+        uses: leonsteinhaeuser/project-beta-automations@v2.1.0
         with:
           gh_token: ${{ secrets.MY_GITHUB_TOKEN }}
           organization: equinor
@@ -71,7 +71,7 @@ jobs:
     if: github.event_name == 'pull_request' && github.event.action == 'closed'
     steps:
       - name: 'Move PR to "Done"'
-        uses: leonsteinhaeuser/project-beta-automations@v1.0.2
+        uses: leonsteinhaeuser/project-beta-automations@v2.1.0
         with:
           gh_token: ${{ secrets.MY_GITHUB_TOKEN }}
           organization: equinor

{isar-1.18.0 → isar-1.19.1}/.github/workflows/publish_isar_base_image.yml

@@ -27,10 +27,10 @@ jobs:
 
     steps:
       - name: Checkout repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Log in to the Container registry
-        uses: docker/login-action@v2
+        uses: docker/login-action@v3
         with:
           registry: ${{ env.REGISTRY }}
           username: ${{ github.actor }}
@@ -38,12 +38,12 @@ jobs:
 
       - name: Extract metadata (tags, labels) for Docker
         id: meta
-        uses: docker/metadata-action@v4
+        uses: docker/metadata-action@v5
         with:
           images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
 
       - name: Build and push Docker image
-        uses: docker/build-push-action@v4
+        uses: docker/build-push-action@v5
         with:
           context: .
           file: Dockerfile

{isar-1.18.0 → isar-1.19.1}/.github/workflows/pythonpackage.yml

@@ -14,13 +14,13 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python-version: ["3.10", "3.11", "3.12"]
+        python-version: ["3.11", "3.12"]
 
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
 
       - name: Set up Python ${{ matrix.python-version }}
-        uses: actions/setup-python@v3
+        uses: actions/setup-python@v5
         with:
           python-version: ${{ matrix.python-version }}
 

{isar-1.18.0 → isar-1.19.1}/.github/workflows/pythonpublish.yml

@@ -8,9 +8,9 @@ jobs:
   deploy:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Set up Python
-        uses: actions/setup-python@v3
+        uses: actions/setup-python@v5
         with:
           python-version: "3.x"
       - name: Install dependencies

isar-1.19.1/.github/workflows/stale.yml

@@ -0,0 +1,32 @@
+# This workflow warns and then closes issues and PRs that have had no activity for a specified amount of time.
+#
+# You can adjust the behavior by modifying this file.
+# For more information, see:
+# https://github.com/actions/stale
+name: Mark stale issues and pull requests
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: "35 8 * * *"
+
+jobs:
+  stale:
+    runs-on: ubuntu-latest
+    permissions:
+      issues: write
+      pull-requests: write
+
+    steps:
+      - name: Close Stale Issues
+        uses: actions/stale@v9
+        with:
+          repo-token: ${{ secrets.STALE_ISSUE_TOKEN }}
+          stale-issue-message: "This issue has automatically been marked as stale as there has been no activity for 60 days."
+          stale-pr-message: "This pull request has automatically been marked as stale as there has been no activity for 30 days."
+          stale-issue-label: "stale"
+          stale-pr-label: "stale"
+          close-issue-message: "This issue has been closed automatically due to a lack of activity."
+          close-pr-message: "This pull request has been closed automatically due to a lack of activity."
+          days-before-pr-stale: 30
+          days-before-close: -1

{isar-1.18.0 → isar-1.19.1}/Dockerfile

@@ -1,4 +1,4 @@
-FROM python:3.10-slim AS builder
+FROM python:3.12-slim AS builder
 
 WORKDIR /app
 RUN apt-get update
@@ -15,7 +15,7 @@ RUN pip install .
 # Install the base isar-robot package
 RUN pip install isar-robot
 
-FROM python:3.10-slim
+FROM python:3.12-slim
 WORKDIR /app
 COPY --from=builder /opt/venv /opt/venv
 ENV PATH="/opt/venv/bin:$PATH"

{isar-1.18.0 → isar-1.19.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.18.0
+Version: 1.19.1
 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: >=3.10
+Requires-Python: >=3.11
 Description-Content-Type: text/markdown
 License-File: LICENSE
 Requires-Dist: alitra>=1.1.3
@@ -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-1.18.0 → isar-1.19.1}/README.md

@@ -361,6 +361,17 @@ 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-1.18.0 → isar-1.19.1}/main.py

@@ -19,9 +19,6 @@ from isar.services.service_connections.mqtt.robot_heartbeat_publisher import (
 from isar.services.service_connections.mqtt.robot_info_publisher import (
     RobotInfoPublisher,
 )
-from isar.services.service_connections.mqtt.robot_status_publisher import (
-    RobotStatusPublisher,
-)
 from isar.state_machine.state_machine import StateMachine, main
 from isar.storage.uploader import Uploader
 from robot_interface.robot_interface import RobotInterface
@@ -56,15 +53,6 @@ if __name__ == "__main__":
             target=mqtt_client.run, name="ISAR MQTT Client", daemon=True
         )
         threads.append(mqtt_thread)
-        robot_status_publisher: RobotStatusPublisher = RobotStatusPublisher(
-            mqtt_queue=queues.mqtt_queue, robot=robot, state_machine=state_machine
-        )
-        robot_status_thread: Thread = Thread(
-            target=robot_status_publisher.run,
-            name="ISAR Robot Status Publisher",
-            daemon=True,
-        )
-        threads.append(robot_status_thread)
 
         robot_info_publisher: RobotInfoPublisher = RobotInfoPublisher(
             mqtt_queue=queues.mqtt_queue

{isar-1.18.0 → isar-1.19.1}/setup.py

@@ -66,5 +66,5 @@ setup(
             "sphinx",
         ]
     },
-    python_requires=">=3.10",
+    python_requires=">=3.11",
 )

isar-1.19.1/src/isar/__init__.py

@@ -0,0 +1,6 @@
+from importlib.metadata import PackageNotFoundError, distribution
+
+try:
+    __version__ = distribution(__name__).version
+except PackageNotFoundError:
+    pass  # package is not installed

{isar-1.18.0 → isar-1.19.1}/src/isar/config/log.py

@@ -1,6 +1,6 @@
-import importlib.resources as pkg_resources
 import logging
 import logging.config
+from importlib.resources import as_file, files
 
 import yaml
 from opencensus.ext.azure.log_exporter import AzureLogHandler
@@ -14,8 +14,9 @@ from isar.config.settings import settings
 
 def setup_loggers(keyvault: Keyvault) -> None:
     log_levels: dict = settings.LOG_LEVELS
-    with pkg_resources.path("isar.config", "logging.conf") as path:
-        log_config = yaml.safe_load(open(path))
+    source = files("isar").joinpath("config").joinpath("logging.conf")
+    with as_file(source) as f:
+        log_config = yaml.safe_load(open(f))
 
     logging.config.dictConfig(log_config)
 

{isar-1.18.0 → isar-1.19.1}/src/isar/config/settings.py

@@ -1,5 +1,5 @@
-import importlib.resources as pkg_resources
 import os
+from importlib.resources import as_file, files
 from typing import Any, List, Optional
 
 from dotenv import load_dotenv
@@ -14,11 +14,12 @@ from robot_interface.telemetry.payloads import VideoStream
 class Settings(BaseSettings):
     def __init__(self) -> None:
         try:
-            with pkg_resources.path(f"isar.config", "settings.env") as path:
-                env_file_path = path
+            source = files("isar").joinpath("config").joinpath("settings.env")
+            with as_file(source) as eml:
+                env_file = eml
         except ModuleNotFoundError:
-            env_file_path = None
-        super().__init__(_env_file=env_file_path)
+            env_file = None
+        super().__init__(_env_file=env_file)
 
     # Determines which robot package ISAR will attempt to import
     # Name must match with an installed python package in the local environment
@@ -229,14 +230,13 @@ 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
@@ -284,11 +284,10 @@ 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",
@@ -312,13 +311,16 @@ settings = Settings()
 class RobotSettings(BaseSettings):
     def __init__(self) -> None:
         try:
-            with pkg_resources.path(
-                f"{settings.ROBOT_PACKAGE}.config", "settings.env"
-            ) as path:
-                env_file_path = path
+            source = (
+                files(f"{settings.ROBOT_PACKAGE}")
+                .joinpath("config")
+                .joinpath("settings.env")
+            )
+            with as_file(source) as eml:
+                env_file = eml
         except ModuleNotFoundError:
-            env_file_path = None
-        super().__init__(_env_file=env_file_path)
+            env_file = None
+        super().__init__(_env_file=env_file)
 
     # ISAR steps the robot is capable of performing
     # This should be set in the robot package settings.env file

{isar-1.18.0 → isar-1.19.1}/src/isar/services/service_connections/mqtt/robot_heartbeat_publisher.py

@@ -1,6 +1,6 @@
 import json
 import time
-from datetime import datetime
+from datetime import UTC, datetime
 from queue import Queue
 
 from isar.config.settings import settings
@@ -18,7 +18,7 @@ class RobotHeartbeatPublisher:
             payload: RobotHeartbeatPayload = RobotHeartbeatPayload(
                 isar_id=settings.ISAR_ID,
                 robot_name=settings.ROBOT_NAME,
-                timestamp=datetime.utcnow(),
+                timestamp=datetime.now(UTC),
             )
 
             self.mqtt_publisher.publish(

{isar-1.18.0 → isar-1.19.1}/src/isar/services/service_connections/mqtt/robot_info_publisher.py

@@ -1,6 +1,6 @@
 import json
 import time
-from datetime import datetime
+from datetime import UTC, datetime
 from queue import Queue
 
 from isar.config.settings import robot_settings, settings
@@ -25,7 +25,7 @@ class RobotInfoPublisher:
                 host=settings.API_HOST_VIEWED_EXTERNALLY,
                 port=settings.API_PORT,
                 capabilities=robot_settings.CAPABILITIES,
-                timestamp=datetime.utcnow(),
+                timestamp=datetime.now(UTC),
             )
 
             self.mqtt_publisher.publish(

{isar-1.18.0 → isar-1.19.1}/src/isar/state_machine/state_machine.py

@@ -2,7 +2,7 @@ import json
 import logging
 import queue
 from collections import deque
-from datetime import datetime
+from datetime import UTC, datetime
 from typing import Deque, List, Optional
 
 from alitra import Pose
@@ -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")
@@ -482,7 +508,7 @@ class StateMachine(object):
                 "error_description": (
                     error_message.error_description if error_message else None
                 ),
-                "timestamp": datetime.utcnow(),
+                "timestamp": datetime.now(UTC),
             },
             cls=EnhancedJSONEncoder,
         )
@@ -490,7 +516,8 @@ class StateMachine(object):
         self.mqtt_publisher.publish(
             topic=settings.TOPIC_ISAR_MISSION,
             payload=payload,
-            retain=False,
+            qos=1,
+            retain=True,
         )
 
     def publish_task_status(self, task: Task) -> None:
@@ -514,7 +541,7 @@ class StateMachine(object):
                 "error_description": (
                     error_message.error_description if error_message else None
                 ),
-                "timestamp": datetime.utcnow(),
+                "timestamp": datetime.now(UTC),
             },
             cls=EnhancedJSONEncoder,
         )
@@ -522,7 +549,8 @@ class StateMachine(object):
         self.mqtt_publisher.publish(
             topic=settings.TOPIC_ISAR_TASK,
             payload=payload,
-            retain=False,
+            qos=1,
+            retain=True,
         )
 
     def publish_step_status(self, step: Step) -> None:
@@ -548,7 +576,7 @@ class StateMachine(object):
                 "error_description": (
                     error_message.error_description if error_message else None
                 ),
-                "timestamp": datetime.utcnow(),
+                "timestamp": datetime.now(UTC),
             },
             cls=EnhancedJSONEncoder,
         )
@@ -556,28 +584,38 @@ class StateMachine(object):
         self.mqtt_publisher.publish(
             topic=settings.TOPIC_ISAR_STEP,
             payload=payload,
-            retain=False,
+            qos=1,
+            retain=True,
         )
 
-    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,
-                "timestamp": datetime.utcnow(),
+                "status": self._current_status(),
+                "timestamp": datetime.now(UTC),
             },
             cls=EnhancedJSONEncoder,
         )
 
         self.mqtt_publisher.publish(
-            topic=settings.TOPIC_ISAR_STATE,
+            topic=settings.TOPIC_ISAR_STATUS,
             payload=payload,
-            retain=False,
+            qos=1,
+            retain=True,
         )
 
+    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-1.18.0 → isar-1.19.1}/src/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-1.19.1/src/isar/state_machine/states/idle.py

@@ -0,0 +1,85 @@
+import logging
+import time
+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
+
+
+class Idle(State):
+    def __init__(self, state_machine: "StateMachine") -> None:
+        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:
+        if self.robot_status_thread:
+            self.robot_status_thread.wait_for_thread()
+        self.robot_status_thread = None
+
+    def _run(self) -> None:
+        while True:
+            start_mission: Optional[StartMissionMessage] = (
+                self.state_machine.should_start_mission()
+            )
+            if start_mission:
+                self.state_machine.start_mission(
+                    mission=start_mission.mission,
+                    initial_pose=start_mission.initial_pose,
+                )
+                transition = self.state_machine.mission_started  # type: ignore
+                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()