isar 1.19.0__py3-none-any.whl → 1.20.1__py3-none-any.whl

isar/__init__.py

@@ -1,6 +1,3 @@
-from pkg_resources import DistributionNotFound, get_distribution
+from importlib.metadata import version
 
-try:
-    __version__ = get_distribution(__name__).version
-except DistributionNotFound:
-    pass  # package is not installed
+__version__ = version(__package__ or __name__)

isar/apis/models/start_mission_definition.py

@@ -2,7 +2,7 @@ import time
 from enum import Enum
 from typing import Any, Dict, List, Optional, Union
 
-from alitra import Position
+from alitra import Position, Pose, Orientation, Frame
 from pydantic import BaseModel, Field
 
 from isar.apis.models.models import InputPose, InputPosition
@@ -61,6 +61,7 @@ class StartMissionDefinition(BaseModel):
     tasks: List[StartMissionTaskDefinition]
     id: Optional[str] = None
     name: Optional[str] = None
+    start_pose: Optional[InputPose] = None
 
 
 def to_isar_mission(mission_definition: StartMissionDefinition) -> Mission:
@@ -92,6 +93,26 @@ def to_isar_mission(mission_definition: StartMissionDefinition) -> Mission:
     if mission_definition.id:
         isar_mission.id = mission_definition.id
 
+    if mission_definition.start_pose:
+        input_pose: InputPose = mission_definition.start_pose
+        input_frame: Frame = Frame(name=input_pose.frame_name)
+        input_position: Position = Position(
+            input_pose.position.x,
+            input_pose.position.y,
+            input_pose.position.z,
+            input_frame,
+        )
+        input_orientation: Orientation = Orientation(
+            input_pose.orientation.x,
+            input_pose.orientation.y,
+            input_pose.orientation.z,
+            input_pose.orientation.w,
+            input_frame,
+        )
+        isar_mission.start_pose = Pose(
+            position=input_position, orientation=input_orientation, frame=input_frame
+        )
+
     return isar_mission
 
 

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/script.py

@@ -0,0 +1,154 @@
+import logging
+import time
+from logging import Logger
+from threading import Thread
+from typing import Any, List
+
+from injector import Injector
+
+import isar
+from isar.apis.api import API
+from isar.config.keyvault.keyvault_service import Keyvault
+from isar.config.log import setup_loggers
+from isar.config.settings import settings
+from isar.models.communication.queues.queues import Queues
+from isar.modules import get_injector
+from isar.services.service_connections.mqtt.mqtt_client import MqttClient
+from isar.services.service_connections.mqtt.robot_heartbeat_publisher import (
+    RobotHeartbeatPublisher,
+)
+from isar.services.service_connections.mqtt.robot_info_publisher import (
+    RobotInfoPublisher,
+)
+from isar.state_machine.state_machine import StateMachine, main
+from isar.storage.uploader import Uploader
+from robot_interface.robot_interface import RobotInterface
+
+
+def print_setting(
+    setting: str = "", value: Any = "", fillchar: str = " ", width: int = 48
+):
+    separator = ": " if value != "" else ""
+    text = setting.ljust(22, fillchar) + separator + str(value)
+    print("*", text.ljust(width - 4, fillchar), "*")
+
+
+def print_startup_info():
+    print(
+        """
+         __   ________   ___        ________
+        / /  / ______/  /   |      / ____  /
+       / /  / /_____   / /| |     / /___/ /
+      / /  /_____  /  / __  |    / __  __/
+     / /  ______/ /  / /  | |   / /  | |
+    /_/  /_______/  /_/   |_|  /_/   |_|
+
+"""
+    )
+
+    WIDTH = 48
+
+    def print_setting(setting: str = "", value: Any = "", fillchar: str = " "):
+        separator = ": " if value != "" else ""
+        text = setting.ljust(22, fillchar) + separator + str(value)
+        print("*", text.ljust(WIDTH - 4, fillchar), "*")
+
+    print("Integration and Supervisory control".center(WIDTH, " "))
+    print("of Autonomous Robots".center(WIDTH, " "))
+    print()
+    print(f"Version: {isar.__version__}\n".center(WIDTH, " "))
+
+    print_setting(fillchar="*")
+    print_setting("ISAR settings")
+    print_setting(fillchar="-")
+    print_setting("Robot package", settings.ROBOT_PACKAGE)
+    print_setting("Robot name", settings.ROBOT_NAME)
+    print_setting("Run mission stepwise", settings.RUN_MISSION_STEPWISE)
+    print_setting("Running on port", settings.API_PORT)
+    print_setting("Mission planner", settings.MISSION_PLANNER)
+    print_setting("Using local storage", settings.STORAGE_LOCAL_ENABLED)
+    print_setting("Using blob storage", settings.STORAGE_BLOB_ENABLED)
+    print_setting("Using SLIMM storage", settings.STORAGE_SLIMM_ENABLED)
+    print_setting("Plant code", settings.PLANT_CODE)
+    print_setting("Plant name", settings.PLANT_NAME)
+    print_setting("Plant shortname", settings.PLANT_SHORT_NAME)
+    print_setting(fillchar="*")
+    print()
+
+
+def start():
+    injector: Injector = get_injector()
+
+    keyvault_client = injector.get(Keyvault)
+    setup_loggers(keyvault=keyvault_client)
+    logger: Logger = logging.getLogger("main")
+
+    print_startup_info()
+
+    state_machine: StateMachine = injector.get(StateMachine)
+    uploader: Uploader = injector.get(Uploader)
+    robot: RobotInterface = injector.get(RobotInterface)
+    queues: Queues = injector.get(Queues)
+
+    threads: List[Thread] = []
+
+    state_machine_thread: Thread = Thread(
+        target=main, name="ISAR State Machine", args=[state_machine], daemon=True
+    )
+    threads.append(state_machine_thread)
+
+    uploader_thread: Thread = Thread(
+        target=uploader.run, name="ISAR Uploader", daemon=True
+    )
+    threads.append(uploader_thread)
+    if settings.MQTT_ENABLED:
+        mqtt_client: MqttClient = MqttClient(mqtt_queue=queues.mqtt_queue)
+
+        mqtt_thread: Thread = Thread(
+            target=mqtt_client.run, name="ISAR MQTT Client", daemon=True
+        )
+        threads.append(mqtt_thread)
+
+        robot_info_publisher: RobotInfoPublisher = RobotInfoPublisher(
+            mqtt_queue=queues.mqtt_queue
+        )
+        robot_info_thread: Thread = Thread(
+            target=robot_info_publisher.run,
+            name="ISAR Robot Info Publisher",
+            daemon=True,
+        )
+        threads.append(robot_info_thread)
+
+        robot_heartbeat_publisher: RobotHeartbeatPublisher = RobotHeartbeatPublisher(
+            mqtt_queue=queues.mqtt_queue
+        )
+
+        robot_heartbeat_thread: Thread = Thread(
+            target=robot_heartbeat_publisher.run,
+            name="ISAR Robot Heartbeat Publisher",
+            daemon=True,
+        )
+        threads.append(robot_heartbeat_thread)
+
+        publishers: List[Thread] = robot.get_telemetry_publishers(
+            queue=queues.mqtt_queue,
+            robot_name=settings.ROBOT_NAME,
+            isar_id=settings.ISAR_ID,
+        )
+        if publishers:
+            threads.extend(publishers)
+
+    api: API = injector.get(API)
+    api_thread: Thread = Thread(target=api.run_app, name="ISAR API", daemon=True)
+    threads.append(api_thread)
+
+    for thread in threads:
+        thread.start()
+        logger.info(f"Started thread: {thread.name}")
+
+    while True:
+        for thread in threads:
+            if not thread.is_alive():
+                logger.critical("Thread '%s' failed - ISAR shutting down", thread.name)
+                exit(1)
+        time.sleep(state_machine.sleep_time)

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/state_machine/states/initialize.py

@@ -1,6 +1,6 @@
 import logging
 import time
-from typing import Callable, Optional, TYPE_CHECKING
+from typing import TYPE_CHECKING, Callable, Optional
 
 from injector import inject
 from transitions import State

isar/state_machine/states/initiate.py

@@ -1,6 +1,6 @@
 import logging
 import time
-from typing import Any, Callable, Optional, TYPE_CHECKING
+from typing import TYPE_CHECKING, Any, Callable, Optional
 
 from transitions import State
 

isar/state_machine/states/monitor.py

@@ -6,8 +6,8 @@ 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.mission_planner.task_selector_interface import TaskSelectorStop
 from isar.services.utilities.threaded_request import (
     ThreadedRequest,
     ThreadedRequestNotFinishedError,
@@ -156,6 +156,10 @@ class Monitor(State):
             else:
                 if isinstance(status, StepStatus):
                     if self._step_finished(self.state_machine.current_step):
+                        self.state_machine.update_current_task()
+                        if self.state_machine.current_task == None:
+                            transition = self.state_machine.full_mission_finished  # type: ignore
+                            break
                         self.state_machine.update_current_step()
                         self.state_machine.current_task.update_task_status()
                     else:  # If not all steps are done

isar/state_machine/states/paused.py

@@ -1,6 +1,6 @@
 import logging
 import time
-from typing import Callable, TYPE_CHECKING
+from typing import TYPE_CHECKING, Callable
 
 from transitions import State
 

isar/state_machine/states/stop.py

@@ -1,6 +1,6 @@
 import logging
 import time
-from typing import Callable, Optional, TYPE_CHECKING
+from typing import TYPE_CHECKING, Callable, Optional
 
 from transitions import State
 

isar/storage/local_storage.py

@@ -2,10 +2,10 @@ import logging
 from pathlib import Path
 
 from isar.config.settings import settings
-from robot_interface.models.mission.mission import Mission
 from isar.storage.storage_interface import StorageException, StorageInterface
 from isar.storage.utilities import construct_metadata_file, construct_paths
 from robot_interface.models.inspection.inspection import Inspection
+from robot_interface.models.mission.mission import Mission
 
 
 class LocalStorage(StorageInterface):
@@ -27,9 +27,10 @@ class LocalStorage(StorageInterface):
             inspection=inspection, mission=mission, filename=local_path.name
         )
         try:
-            with open(absolute_path, "wb") as file, open(
-                absolute_metadata_path, "wb"
-            ) as metadata_file:
+            with (
+                open(absolute_path, "wb") as file,
+                open(absolute_metadata_path, "wb") as metadata_file,
+            ):
                 file.write(inspection.data)
                 metadata_file.write(metadata_bytes)
         except IOError as e:

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}"