isar 1.19.1__py3-none-any.whl → 1.20.2__py3-none-any.whl

isar-1.20.2.dist-info/METADATA

@@ -0,0 +1,533 @@
+Metadata-Version: 2.1
+Name: isar
+Version: 1.20.2
+Summary: Integration and Supervisory control of Autonomous Robots
+Author-email: Equinor ASA <fg_robots_dev@equinor.com>
+License: Eclipse Public License version 2.0
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+Project-URL: repository, https://github.com/equinor/isar.git
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+Classifier: License :: OSI Approved :: Eclipse Public License 2.0 (EPL-2.0)
+Classifier: Natural Language :: English
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Topic :: Scientific/Engineering
+Classifier: Topic :: Scientific/Engineering :: Physics
+Classifier: Topic :: Software Development :: Libraries
+Requires-Python: >=3.11
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: alitra >=1.1.3
+Requires-Dist: azure-identity
+Requires-Dist: azure-keyvault-secrets
+Requires-Dist: azure-storage-blob
+Requires-Dist: backoff
+Requires-Dist: click
+Requires-Dist: dacite
+Requires-Dist: fastapi-azure-auth
+Requires-Dist: fastapi
+Requires-Dist: injector
+Requires-Dist: numpy
+Requires-Dist: opencensus-ext-azure
+Requires-Dist: opencensus-ext-logging
+Requires-Dist: opencensus-ext-requests
+Requires-Dist: paho-mqtt
+Requires-Dist: pydantic-settings
+Requires-Dist: pydantic
+Requires-Dist: PyJWT
+Requires-Dist: python-dotenv
+Requires-Dist: PyYAML
+Requires-Dist: requests-toolbelt
+Requires-Dist: requests
+Requires-Dist: transitions
+Requires-Dist: uvicorn
+Provides-Extra: dev
+Requires-Dist: black ; extra == 'dev'
+Requires-Dist: flake8 ; extra == 'dev'
+Requires-Dist: mypy ; extra == 'dev'
+Requires-Dist: myst-parser ; extra == 'dev'
+Requires-Dist: pip-tools ; extra == 'dev'
+Requires-Dist: pre-commit ; extra == 'dev'
+Requires-Dist: pytest-dotenv ; extra == 'dev'
+Requires-Dist: pytest-mock ; extra == 'dev'
+Requires-Dist: pytest-xdist ; extra == 'dev'
+Requires-Dist: pytest ; extra == 'dev'
+Requires-Dist: requests-mock ; extra == 'dev'
+Requires-Dist: sphinx ; extra == 'dev'
+
+# ISAR
+
+[![Python package](https://github.com/equinor/isar/actions/workflows/pythonpackage.yml/badge.svg)](https://github.com/equinor/isar/actions/workflows/pythonpackage.yml)
+[![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
+[![License](https://img.shields.io/badge/License-EPL_2.0-blue.svg)](https://opensource.org/licenses/EPL-2.0)
+
+ISAR - Integration and Supervisory control of Autonomous Robots - is a tool for integrating robot applications into
+operator systems. Through the ISAR API you can send commands to a robot to do missions and collect results from the
+missions.
+
+## Getting started
+
+Steps:
+
+- Install
+- Integrate a robot
+- Run the ISAR server
+- Run a robot mission
+
+### Install
+
+For local development, please fork the repository. Then, clone and install in the repository root folder:
+
+```
+git clone https://github.com/<path_to_parent>/isar
+cd isar
+pip install -e .[dev]
+```
+
+For `zsh` you might have to type `".[dev]"`
+
+Verify that you can run the tests:
+
+```bash
+pytest .
+```
+
+The repository contains a configuration file for installing pre-commit hooks. Currently, [black](https://github.com/psf/black) and a mirror of [mypy](https://github.com/pre-commit/mirrors-mypy) are configured hooks. Install with:
+
+```
+pre-commit install
+```
+
+Verify that pre-commit runs:
+
+```
+pre-commit
+```
+
+pre-commit will now run the installed hooks before code is commited to git. To turn pre-commit off, run:
+
+```
+pre-commit uninstall
+```
+
+### Robot integration
+
+To connect the state machine to a robot in a separate repository, it is required that the separate repository implements
+the [robot interface](https://github.com/equinor/isar/blob/main/src/robot_interface/robot_interface.py).
+The separate repository should also have a settings.env file in a config folder where `CAPABILITIES` and `ROBOT_MODEL` are set.
+A mocked robot can be found in [this repository](https://github.com/equinor/isar-robot). Install the repo, i.e:
+
+```bash
+pip install isar-robot
+```
+
+NB: isar-robot has not been published to PyPi for some time, and needs to be downloaded directly
+from git to work.
+
+Then, ensure the `ISAR_ROBOT_PACKAGE` variable in [settings.env](./src/isar/config/settings.env)
+is set to the name of the package you installed. `isar_robot` is set by default. See the section
+for [configuration](#configuration) for overwriting configuration.
+
+If you have the robot repository locally, you can simply install through
+
+```bash
+pip install -e /path/to/robot/repo/
+```
+
+#### Running ISAR with a robot simulator
+
+A simulator based on the open source robot Turtlebot3 has been implemented for use with ISAR and may be
+found [here](https://github.com/equinor/isar-turtlebot). Follow the installation instructions for the simulator and
+install `isar-turtlebot` in the same manner as given in the [robot integration](#robot-integration) section. Overwrite
+the following configuration variables:
+
+```bash
+ISAR_ROBOT_PACKAGE = isar_turtlebot
+ISAR_DEFAULT_MAP = turtleworld
+```
+
+### Run ISAR server
+
+To run ISAR:
+
+```bash
+python main.py
+```
+
+Note, running the full system requires that an implementation of a robot has been installed. See
+this [section](#robot-integration) for installing a mocked robot or a Turtlebot3 simulator.
+
+### Running a robot mission
+
+Once the application has been started the swagger site may be accessed at
+
+```
+http://localhost:3000/docs
+```
+
+Execute the `/schedule/start-mission` endpoint with `mission_id=1` to run a mission.
+
+In [this](./src/isar/config/predefined_missions) folder there are predefined default missions, for example the mission
+corresponding to `mission_id=1`. A new mission may be added by adding a new json-file with a mission description. Note,
+the mission IDs must be unique.
+
+### Running with docker-compose
+
+ISAR may be started with an instance of the [isar-robot](https://github.com/equinor/isar-robot) package by
+
+```shell
+docker-compose up --build
+```
+
+Provided that the simulator from [isar-turtlebot](https://github.com/equinor/isar-turtlebot) is running ISAR may be
+started with the turtlebot by
+
+```shell
+docker-compose -f docker-compose-turtlebot.yml up --build
+```
+
+### Configuration
+
+The system consists of many configuration variables which may alter the functionality. As an example, it is possible to
+change mission planners or add multiple storage handlers as described in the [mission planner](#mission-planner)
+and [storage](#storage) sections.
+
+There are two methods of specifying configuration.
+
+1. Override the default value by setting an environment variable.
+
+   Every configuration variable is defined in [settings.py](./src/isar/config/settings.py), and they may all be
+   overwritten by specifying the variables in the environment instead. Note that the configuration variable must be
+   prefixed with `ISAR_` when specified in the environment. So for the `ROBOT_PACKAGE`configuration variable:
+
+   ```shell
+   export ISAR_ROBOT_PACKAGE=isar_turtlebot
+   ```
+
+   This means ISAR will connect to `isar_turtlebot` robot package.
+
+2. Adding environment variables through [settings.env](./src/isar/config/settings.env).
+
+   By adding environment variables with the prefix `ISAR_` to the [settings.env](./src/isar/config/settings.env) file
+   the configuration variables will be overwritten by the values in this file.
+
+### Running tests
+
+After following the steps in [Development](#install), you can run the tests:
+
+```bash
+pytest .
+```
+
+To create an interface test in your robot repository, use the function `interface_test` from `robot_interface`. The
+argument should be an interface object from your robot specific implementation.
+See [isar-robot](https://github.com/equinor/isar-robot/blob/main/tests/interfaces/test_robotinterface.py) for example.
+
+#### Integration tests
+
+Integration tests can be found [here](https://github.com/equinor/isar/tree/main/tests/integration) and have been created
+with a simulator in mind. The integration tests will not run as part of `pytest .` or as part of the CI/CD pipeline. To
+run the integration tests please follow the instructions in [this section](#running-isar-with-a-robot-simulator) for
+setting up the `isar-turtlebot` implementation with simulator and run the following command once the simulation has been
+launched.
+
+```bash
+pytest tests/integration
+```
+
+Note that these tests will run towards the actual simulation (you may monitor it through Gazebo and RVIZ) and it will
+take a long time.
+
+### Documentation
+
+To build the project documentation, run the following commands:
+
+```bash
+cd docs
+make docs
+```
+
+The documentation can now be viewed at `docs/build/html/index.html`.
+
+## Components
+
+The system consists of two main components.
+
+1. State machine
+1. FastAPI
+
+### State machine
+
+The state machine handles interaction with the robots API and monitors the execution of missions. It also enables
+interacting with the robot before, during and after missions.
+
+The state machine is based on the [transitions](https://github.com/pytransitions/transitions) package for Python. An visualization of the state machine can be seen below:
+![State Machine](./docs/state_machine_diagram.png)
+
+In general the states
+
+```
+States.Off,
+States.Initialize,
+States.Initiate,
+States.Stop,
+States.Monitor,
+States.Paused,
+```
+
+indicates that the state machine is already running. For running a mission the state machine need to be in the state
+
+```
+States.Idle
+```
+
+### FastAPI
+
+The FastAPI establishes an interface to the state machine for the user. As the API and state machine are separate
+threads, they communicate through python queues. FastAPI runs on an ASGI-server, specifically uvicorn. The
+FastAPI-framework is split into routers where the endpoint operations are defined.
+
+## Mission planner
+
+The mission planner that is currently in use is a local mission planner, where missions are specified in a json file. You can create your own mission planner by implementing
+the [mission planner interface](./src/isar/mission_planner/mission_planner_interface.py) and adding your planner to the
+selection [here](./src/isar/modules.py). Note that you must add your module as an option in the dictionary.
+
+## Storage
+
+The storage modules that are used is defined by the `ISAR_STORAGE` configuration variable. This can be changed by
+overriding the configuration through an environment variable. It accepts a json encoded list and will use each element
+in the list to retrieve the corresponding handler. The current options are
+
+```
+ISAR_STORAGE = '["local", "blob", "slimm"]'
+```
+
+Note that the `blob` and `slimm` options require special configuration to authenticate to these endpoints.
+
+### Implement your own storage module
+
+You can create your own storage module by implementing the [storage interface](./src/isar/storage/storage_interface.py)
+and adding your storage module to the selection [here](./src/isar/modules.py). Note that you must add your module as an
+option in the dictionary.
+
+## Task selection
+
+The tasks of a mission are selected based on a task selector module, defined by the `TASK_SELECTOR` configuration variable. The default task selector is `sequential`. When using the default module, tasks are executed in sequential order defined by the current input mission.
+
+### Implement you own task selector module
+
+Custom task selector modules may be added by implementing additional versions of the [task selector interface](./src/isar/mission_planner/task_selector_interface.py).
+
+For every custom module, the interface function `next_task()` must be implemented. All interface implementations by default have access to the list of tasks in the current mission through the member `self.tasks`, however additional variables may be supplied by adding arguments to `next_task()`. To comply with the interface definition, the function should return the next task upon every call, and raise the `TaskSelectorStop` exception when all tasks in the current mission have been completed:
+
+```python
+class CustomTaskSelector(TaskSelectorInterface):
+    ...
+    def next_task(...) -> Task:
+
+        # Add code here
+        ...
+
+        # Raise `TaskSelectorStop` when all tasks have been completed
+        ...
+```
+
+Optionally, the `initialize()` function may be extended by supplementing the parameter list or function body:
+
+```python
+class CustomTaskSelector(TaskSelectorInterface):
+    ...
+    def initialize(self, tasks: List[Task], ...) -> None:
+        super.initialize(tasks=tasks)
+
+        # Add supplementary code here
+        ...
+```
+
+A custom task selector may be made available during [module selection](./src/isar/modules.py) by adding it to the series of options in the dictionary of injector modules. It can then be activated by overriding the task selector configuration variable:
+
+```python
+# Add custom task selector module to `modules.py`
+
+class CustomTaskSelectorModule(Module):
+    @provider
+    @singleton
+    def provide_task_selector(self) -> TaskSelectorInterface:
+        return CustomTaskSelector()
+
+...
+
+# Make it available to select during injector instantiation
+
+modules: dict[str, tuple[Module, Union[str, bool]]] = {
+    ...
+    "task_selector": (
+        {
+            "sequential": SequentialTaskSelectorModule,
+            "custom": CustomTaskSelectorModule
+        }
+        ...
+    )
+    ...
+}
+```
+
+## API authentication
+
+The API has an option to include user authentication. This can be enabled by setting the environment variable
+
+```
+ISAR_AUTHENTICATION_ENABLED = true
+```
+
+By default, the `local` storage module is used and API authentication is disabled. If using Azure Blob Storage a set of
+environment variables must be available which gives access to an app registration that may use the storage account.
+Enabling API authentication also requires the same environment variables. The required variables are
+
+```
+AZURE_CLIENT_ID
+AZURE_TENANT_ID
+AZURE_CLIENT_SECRET
+```
+
+## MQTT communication
+
+ISAR is able to publish parts of its internal state to topics on an MQTT broker whenever they change. This is by default
+turned off but may be activated by setting the environment variable
+
+```
+ISAR_MQTT_ENABLED = true
+```
+
+The connection to the broker will be determined by the following configuration values in `settings.py`
+
+```
+ISAR_MQTT_USERNAME
+ISAR_MQTT_HOST
+ISAR_MQTT_PORT
+```
+
+The default values of these are overwritten by the environment in `settings.env`.
+
+To specify broker password, add the following environment variable to a .env file in the root of the repository:
+
+```
+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
+```
+
+# Dependencies
+
+The dependencies used for this package are listed in `pyproject.toml` and pinned in `requirements.txt`. This ensures our builds are predictable and deterministic. This project uses `pip-compile` (from [`pip-tools`](https://github.com/jazzband/pip-tools)) for this:
+
+```
+pip-compile --output-file=requirements.txt pyproject.toml
+```
+
+To update the requirements to the latest versions, run the same command with the `--upgrade` flag:
+
+```
+pip-compile --output-file=requirements.txt pyproject.toml --upgrade
+```
+
+# 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-1.19.1.dist-info → isar-1.20.2.dist-info}/RECORD

@@ -1,10 +1,11 @@
-isar/__init__.py,sha256=vGRSvnHq6l7PIQJcAKYS-sM_YIl1D77m4SGMFjyX8lY,187
+isar/__init__.py,sha256=cH8p8bVveu3FUL6kBhldcSlLaoHgD82Kd0-SwSNfGXw,87
 isar/modules.py,sha256=aO8bLSC4i_Qo4bOJ6aFfwAZRTJAw8o9SOOfkceUGCiU,6708
+isar/script.py,sha256=145KXMqKWkP5SjB2MyvO1HmIPJnFOQdwwWM3jy6s-9A,5260
 isar/apis/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/apis/api.py,sha256=vSXfkWR7iITWbh4BsDzjEDtQrz6KS-vi2S8AeaeDc3Q,13112
 isar/apis/models/__init__.py,sha256=NI1BYyN__Ogr00Qqe0XJ-9gEVPva2brXo2RJsbrS4tM,52
 isar/apis/models/models.py,sha256=BRm3Wl6TJHdHEKLRQ2SGDx6Y54qq8IesMbBuVO7RuxE,1757
-isar/apis/models/start_mission_definition.py,sha256=c2nX5Idll935fQ8vdF5hm9Ytblvw2uINBpZVl_VfFmw,6458
+isar/apis/models/start_mission_definition.py,sha256=GuihnkVRXjzopMEiRQ4rOfeCGw98IFK9EYylB-5S0aI,7253
 isar/apis/schedule/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/apis/schedule/scheduling_controller.py,sha256=w2F-6IKBgVN9HVopAOWBb3KUgPjhsnuPLQ3eqjDNfOg,11888
 isar/apis/security/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -70,16 +71,16 @@ isar/state_machine/state_machine.py,sha256=-i7m2xVcgL3cW6AIMGAom97wzt433MXM8EQEG
 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=wJCBJo0xc42pzI8mUtOIsPsAK5V82oY3h9uiy-EkNr4,10609
+isar/state_machine/states/initialize.py,sha256=KUuyXVwzWK5bJNspA1JnYO_Xwu8fPPK6bnHK4mtwf5A,2359
+isar/state_machine/states/initiate.py,sha256=WqBROOGAh0DVB0f39RFkpqzkr0qrHMyrBGkh2svBbKw,5652
+isar/state_machine/states/monitor.py,sha256=t0wtRPrjnWnGQ8JXia7kLkSc8tyd33mBI7UDDAsJ6FM,10874
 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/state_machine/states/paused.py,sha256=HqrvONw6r6AoYPUyFGGOy2ToT7Tid8JEw2pKp2ZhZ7Y,1004
+isar/state_machine/states/stop.py,sha256=zu7bVKR5zfkzU7iCrh8Pe2WRDHHzU2RBeFBxFK6Z-eA,3348
 isar/storage/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/storage/blob_storage.py,sha256=oKdml1VVN8iTr-d_5H4Lz5E7zrhJRknCzOxHD-tO7m8,3230
-isar/storage/local_storage.py,sha256=fLzVuwvdEk9l8z7od1qX2p5MeWzcsx-vN4yWvelZeFM,1836
+isar/storage/local_storage.py,sha256=Bnmoi5gyN8r-oRh0aHrOdGqaH3JqRScFKMRXYojW5kY,1855
 isar/storage/slimm_storage.py,sha256=Hp7ZIgZgIR4KAFjzxDKfgMZjPZwP2kmdc1gG8zVcsMk,8966
 isar/storage/storage_interface.py,sha256=DYDry4I7aZpDHJhsBF6s8zrgokFAc7fdKJKfA8AvL7o,828
 isar/storage/uploader.py,sha256=te3GyiSeu96MhbiqQ7ueIMUPLSKblx3UqYAshkxfVIE,6368
@@ -95,10 +96,10 @@ robot_interface/models/initialize/initialize_params.py,sha256=2eG5Aq5bDKU6tVkaUM
 robot_interface/models/inspection/__init__.py,sha256=14wfuj4XZazrigKD7fL98khFKz-eckIpEgPcYRj40Kg,227
 robot_interface/models/inspection/inspection.py,sha256=TVqUl5o3d3fp8IravOMwJIuRoEU8y4BltFrF1IkwvTA,2176
 robot_interface/models/mission/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-robot_interface/models/mission/mission.py,sha256=obuV2htwoYlcssZF5IIBUYCrd2pIerIONlJsggBYRVs,776
+robot_interface/models/mission/mission.py,sha256=xJ7i79TQkmO0Tv2IQeguhyliNP2J42ziS5iO-FyBpW0,839
 robot_interface/models/mission/status.py,sha256=R5jLmmn6M7oNX907QvbrhoAqAo4C1zB653Ed1PcxAtg,922
 robot_interface/models/mission/step.py,sha256=DEzU-LD-i3RTAaXBy5KwJZ6OnN5S0F3wwDaqX2DZ72M,5587
-robot_interface/models/mission/task.py,sha256=bjp-m_Ak6tzgUIQvbGe90Mnwt6QhofTgFxnVPkqHOY4,4352
+robot_interface/models/mission/task.py,sha256=JJ062AIdwVoj3PUkWYmJDvRl5B7Tcu9S11J2F_0tfjE,4695
 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
@@ -107,8 +108,9 @@ 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-1.19.1.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,,
+isar-1.20.2.dist-info/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar-1.20.2.dist-info/METADATA,sha256=eGOpcvDhrvMdIocMCNNBxUQ_9q4Z_F_1aZOu9kNisiI,30574
+isar-1.20.2.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
+isar-1.20.2.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.20.2.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.20.2.dist-info/RECORD,,

isar-1.20.2.dist-info/entry_points.txt

@@ -0,0 +1,2 @@
+[console_scripts]
+isar-start = isar.script:start

robot_interface/models/mission/mission.py

@@ -1,6 +1,8 @@
 from dataclasses import dataclass, field
 from typing import List, Optional
 
+from alitra import Pose
+
 from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
 from robot_interface.models.mission.status import MissionStatus
 from robot_interface.models.mission.task import Task
@@ -12,6 +14,7 @@ class Mission:
     tasks: List[Task]
     id: str = field(default_factory=uuid4_string, init=True)
     name: str = ""
+    start_pose: Optional[Pose] = None
     status: MissionStatus = MissionStatus.NotStarted
     error_message: Optional[ErrorMessage] = field(default=None, init=False)
 

robot_interface/models/mission/task.py

@@ -4,10 +4,10 @@ from typing import Iterator, List, Optional
 from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
 from robot_interface.models.mission.status import StepStatus, TaskStatus
 from robot_interface.models.mission.step import (
+    STEPS,
     DriveToPose,
     InspectionStep,
     MotionStep,
-    STEPS,
     Step,
 )
 from robot_interface.utilities.uuid_string_factory import uuid4_string
@@ -53,6 +53,7 @@ class Task:
         return True
 
     def update_task_status(self) -> None:
+        some_not_started: bool = False
         for step in self.steps:
             if step.status is StepStatus.Failed and isinstance(step, MotionStep):
                 self.error_message = ErrorMessage(
@@ -79,8 +80,16 @@ class Task:
             elif step.status is StepStatus.Successful:
                 continue
 
+            elif (step.status is StepStatus.NotStarted) and isinstance(
+                step, InspectionStep
+            ):
+                some_not_started = True
+
         if self.status is not TaskStatus.PartiallySuccessful:
-            self.status = TaskStatus.Successful
+            if some_not_started:
+                self.status = TaskStatus.InProgress  # TODO: handle all not_started
+            else:
+                self.status = TaskStatus.Successful
 
         elif self._all_inspection_steps_failed():
             self.error_message = ErrorMessage(