isar 1.19.0__py3-none-any.whl → 1.19.1__py3-none-any.whl

isar/__init__.py

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

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/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
@@ -310,13 +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/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/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/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
@@ -508,7 +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,
         )
@@ -516,7 +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:
@@ -540,7 +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,
         )
@@ -548,7 +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:
@@ -574,7 +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,
         )
@@ -582,7 +584,8 @@ class StateMachine(object):
         self.mqtt_publisher.publish(
             topic=settings.TOPIC_ISAR_STEP,
             payload=payload,
-            retain=False,
+            qos=1,
+            retain=True,
         )
 
     def publish_status(self) -> None:
@@ -593,7 +596,7 @@ class StateMachine(object):
                 "isar_id": settings.ISAR_ID,
                 "robot_name": settings.ROBOT_NAME,
                 "status": self._current_status(),
-                "timestamp": datetime.utcnow(),
+                "timestamp": datetime.now(UTC),
             },
             cls=EnhancedJSONEncoder,
         )
@@ -601,7 +604,8 @@ class StateMachine(object):
         self.mqtt_publisher.publish(
             topic=settings.TOPIC_ISAR_STATUS,
             payload=payload,
-            retain=False,
+            qos=1,
+            retain=True,
         )
 
     def _current_status(self) -> RobotStatus:

isar/storage/uploader.py

@@ -1,7 +1,7 @@
 import json
 import logging
 from dataclasses import dataclass
-from datetime import datetime, timedelta
+from datetime import UTC, datetime, timedelta
 from queue import Empty, Queue
 from typing import List, Union
 
@@ -22,12 +22,12 @@ class UploaderQueueItem:
     mission: Mission
     storage_handler: StorageInterface
     _retry_count: int
-    _next_retry_time: datetime = datetime.utcnow()
+    _next_retry_time: datetime = datetime.now(UTC)
 
     def increment_retry(self, max_wait_time: int) -> None:
         self._retry_count += 1
         seconds_until_retry: int = min(2**self._retry_count, max_wait_time)
-        self._next_retry_time = datetime.utcnow() + timedelta(
+        self._next_retry_time = datetime.now(UTC) + timedelta(
             seconds=seconds_until_retry
         )
 
@@ -35,10 +35,10 @@ class UploaderQueueItem:
         return self._retry_count
 
     def is_ready_for_upload(self) -> bool:
-        return datetime.utcnow() >= self._next_retry_time
+        return datetime.now(UTC) >= self._next_retry_time
 
     def seconds_until_retry(self) -> int:
-        return max(0, int((self._next_retry_time - datetime.utcnow()).total_seconds()))
+        return max(0, int((self._next_retry_time - datetime.now(UTC)).total_seconds()))
 
 
 class Uploader:
@@ -154,12 +154,13 @@ class Uploader:
                 "inspection_id": inspection.id,
                 "inspection_path": inspection_path,
                 "analysis_type": inspection.metadata.analysis_type,
-                "timestamp": datetime.utcnow(),
+                "timestamp": datetime.now(UTC),
             },
             cls=EnhancedJSONEncoder,
         )
         self.mqtt_publisher.publish(
             topic=settings.TOPIC_ISAR_INSPECTION_RESULT,
             payload=payload,
-            retain=False,
+            qos=1,
+            retain=True,
         )

isar/storage/utilities.py

@@ -1,6 +1,6 @@
 import json
 import time
-from datetime import datetime
+from datetime import UTC, datetime
 from pathlib import Path
 from typing import Tuple
 
@@ -37,7 +37,7 @@ def construct_metadata_file(
             "mission_id": mission.id,
             "mission_name": mission.name,
             "plant_name": settings.PLANT_NAME,
-            "mission_date": datetime.utcnow().date(),
+            "mission_date": datetime.now(UTC).date(),
             "isar_id": settings.ISAR_ID,
             "robot_name": settings.ROBOT_NAME,
             "analysis_type": (
@@ -80,4 +80,4 @@ def get_filename(
 
 def get_foldername(mission: Mission) -> str:
     mission_name: str = mission.name.replace(" ", "-")
-    return f"{datetime.utcnow().date()}__{settings.PLANT_SHORT_NAME}__{mission_name}__{mission.id}"
+    return f"{datetime.now(UTC).date()}__{settings.PLANT_SHORT_NAME}__{mission_name}__{mission.id}"

{isar-1.19.0.dist-info → isar-1.19.1.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.19.0
+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

{isar-1.19.0.dist-info → isar-1.19.1.dist-info}/RECORD

@@ -1,4 +1,4 @@
-isar/__init__.py,sha256=oXTcQpZYQ7jkRIem-Nq3hw9DrveoIV3-8k697XN16rA,190
+isar/__init__.py,sha256=vGRSvnHq6l7PIQJcAKYS-sM_YIl1D77m4SGMFjyX8lY,187
 isar/modules.py,sha256=aO8bLSC4i_Qo4bOJ6aFfwAZRTJAw8o9SOOfkceUGCiU,6708
 isar/apis/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/apis/api.py,sha256=vSXfkWR7iITWbh4BsDzjEDtQrz6KS-vi2S8AeaeDc3Q,13112
@@ -11,10 +11,10 @@ isar/apis/security/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuF
 isar/apis/security/authentication.py,sha256=TI8U9Y_L6ihHLMeM50ZONd5EPfuHdw_XMU_Q987W4AY,1975
 isar/config/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/config/configuration_error.py,sha256=rO6WOhafX6xvVib8WxV-eY483Z0PpN-9PxGsq5ATfKc,46
-isar/config/log.py,sha256=39G_Cue0qvw0Uv-1NYXvQ83yivPIKcAv-bGNNREFw5o,2251
+isar/config/log.py,sha256=zHFLmGWQRn8TrcsxUS6KHpJt2JE86kYazU7b-bkcN9o,2285
 isar/config/logging.conf,sha256=mYO1xf27gAopEMHhGzY7-mwyfN16rwRLkPNMvy3zn2g,1127
 isar/config/settings.env,sha256=-kivj0osAAKlInnY81ugySTlcImhVABbnj9kUoBDLu8,535
-isar/config/settings.py,sha256=Wfau6k5ZUoC0BWgWXdzj4cSU7lny8SWrwqoy3t1U4Wg,13081
+isar/config/settings.py,sha256=pZrZGe60WoMNl_SlCzJFavU3Qqil_ocCuaKcKfDn0KM,13175
 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
@@ -58,15 +58,15 @@ isar/services/service_connections/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeR
 isar/services/service_connections/request_handler.py,sha256=0LxC0lu_HXeEf_xmJWjfEsh14oAUI97cpG1IWtBlcs4,4278
 isar/services/service_connections/mqtt/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 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_heartbeat_publisher.py,sha256=0Qjo2wRZZoooXG-UE4z8YJc9QCCz6v-9YAqHRJgx-kE,1005
+isar/services/service_connections/mqtt/robot_info_publisher.py,sha256=f1vhBNPlx6p3Au8l7OsWIJXRM_xjA8qcLHvnkwCtRBM,1388
 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=wmjPXoavlxrLvgMr41LGZekE5D_Cnsoz5IRAreag6_8,23576
+isar/state_machine/state_machine.py,sha256=-i7m2xVcgL3cW6AIMGAom97wzt433MXM8EQEGUykAJA,23653
 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
@@ -82,8 +82,8 @@ isar/storage/blob_storage.py,sha256=oKdml1VVN8iTr-d_5H4Lz5E7zrhJRknCzOxHD-tO7m8,
 isar/storage/local_storage.py,sha256=fLzVuwvdEk9l8z7od1qX2p5MeWzcsx-vN4yWvelZeFM,1836
 isar/storage/slimm_storage.py,sha256=Hp7ZIgZgIR4KAFjzxDKfgMZjPZwP2kmdc1gG8zVcsMk,8966
 isar/storage/storage_interface.py,sha256=DYDry4I7aZpDHJhsBF6s8zrgokFAc7fdKJKfA8AvL7o,828
-isar/storage/uploader.py,sha256=Jpjml4fwPOeApHWfYWEO4gCfIxJKotujUTz2-5TTCt0,6345
-isar/storage/utilities.py,sha256=xnJHT_lu985k0Jlq7_Seu_nWVlocOCVAR8yz2zLkv5Q,3108
+isar/storage/uploader.py,sha256=te3GyiSeu96MhbiqQ7ueIMUPLSKblx3UqYAshkxfVIE,6368
+isar/storage/utilities.py,sha256=eTyY56WCTda5YswE9znWNeNEoTbT3jokNbwcLVmmQjA,3113
 robot_interface/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/robot_interface.py,sha256=i2qw1V9mLO-ljtS7LiRliQ7XNmmBJIwD4NG8mDfwMEI,8317
 robot_interface/test_robot_interface.py,sha256=FV1urn7SbsMyWBIcTKjsBwAG4IsXeZ6pLHE0mA9EGGs,692
@@ -102,13 +102,13 @@ robot_interface/models/mission/task.py,sha256=bjp-m_Ak6tzgUIQvbGe90Mnwt6QhofTgFx
 robot_interface/models/robots/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/models/robots/robot_model.py,sha256=pZQsqhn9hh6XE3EjMZhWMzYqg5oJ4CJ4CXeOASKvEf8,452
 robot_interface/telemetry/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-robot_interface/telemetry/mqtt_client.py,sha256=p82lvfCqLyBHQ2n4jhWGRNb0RktAn4ptL8FZkASGGl4,2753
+robot_interface/telemetry/mqtt_client.py,sha256=AHBmOpVvoo6pY5uXwyBY7SooN_cnpuS0DMkfLUPwpl8,2743
 robot_interface/telemetry/payloads.py,sha256=eMK7mjZPsLY6yvu7AK-OcdvkeUpChzDrySDY7IjQ9RM,1464
 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-1.19.0.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,,
+isar-1.19.1.dist-info/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar-1.19.1.dist-info/METADATA,sha256=kZ4uX6V3gxK6sUg-sNnXAzi0JYmvgOm5G38ISMy88xs,15101
+isar-1.19.1.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
+isar-1.19.1.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.19.1.dist-info/RECORD,,

robot_interface/telemetry/mqtt_client.py

@@ -1,13 +1,11 @@
+import json
 import time
 from abc import ABCMeta, abstractmethod
+from datetime import UTC, datetime
 from queue import Queue
-from typing import Callable, Tuple, Type
-from datetime import datetime
-import json
+from typing import Callable, Tuple
 
-from robot_interface.models.exceptions.robot_exceptions import (
-    RobotTelemetryException,
-)
+from robot_interface.models.exceptions.robot_exceptions import RobotTelemetryException
 from robot_interface.telemetry.payloads import CloudHealthPayload
 from robot_interface.utilities.json_service import EnhancedJSONEncoder
 
@@ -75,7 +73,7 @@ class MqttTelemetryPublisher(MqttClientInterface):
                 topic = self.topic
             except RobotTelemetryException:
                 payload = json.dumps(
-                    CloudHealthPayload(isar_id, robot_name, datetime.utcnow()),
+                    CloudHealthPayload(isar_id, robot_name, datetime.now(UTC)),
                     cls=EnhancedJSONEncoder,
                 )
                 topic = self.cloud_healt_topic