isar 1.20.2__py3-none-any.whl → 1.21.0__py3-none-any.whl

isar/config/settings.py

@@ -341,3 +341,7 @@ class RobotSettings(BaseSettings):
 
 
 robot_settings = RobotSettings()
+
+if not settings.RUN_MISSION_STEPWISE:  # If mission-wise, do not run localize missions
+    if "localize" in robot_settings.CAPABILITIES:
+        robot_settings.CAPABILITIES.remove("localize")

isar/script.py

@@ -10,7 +10,7 @@ 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.config.settings import robot_settings, 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
@@ -72,6 +72,8 @@ def print_startup_info():
     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_setting("Robot capabilities", robot_settings.CAPABILITIES)
     print_setting(fillchar="*")
     print()
 

isar/state_machine/state_machine.py

@@ -122,6 +122,12 @@ class StateMachine(object):
                     "dest": self.monitor_state,
                     "before": self._initiated,
                 },
+                {
+                    "trigger": "pause_full_mission",
+                    "source": [self.initiate_state, self.monitor_state],
+                    "dest": self.paused_state,
+                    "before": self._mission_paused,
+                },
                 {
                     "trigger": "pause",
                     "source": [self.initiate_state, self.monitor_state],
@@ -166,6 +172,12 @@ class StateMachine(object):
                     "dest": self.initiate_state,
                     "before": self._resume,
                 },
+                {
+                    "trigger": "resume_full_mission",
+                    "source": self.paused_state,
+                    "dest": self.monitor_state,
+                    "before": self._resume,
+                },
                 {
                     "trigger": "step_finished",
                     "source": self.monitor_state,
@@ -282,6 +294,8 @@ class StateMachine(object):
         self.current_task.reset_task()
         self.update_current_step()
 
+        self.robot.resume()
+
     def _mission_finished(self) -> None:
         fail_statuses: List[TaskStatus] = [
             TaskStatus.Cancelled,
@@ -348,6 +362,8 @@ class StateMachine(object):
         self.publish_task_status(task=self.current_task)
         self.publish_step_status(step=self.current_step)
 
+        self.robot.pause()
+
     def _stop(self) -> None:
         self.stopped = True
 

isar/state_machine/states/monitor.py

@@ -59,7 +59,10 @@ class Monitor(State):
                 break
 
             if self.state_machine.should_pause_mission():
-                transition = self.state_machine.pause  # type: ignore
+                if self.state_machine.stepwise_mission:
+                    transition = self.state_machine.pause  # type: ignore
+                else:
+                    transition = self.state_machine.pause_full_mission  # type: ignore
                 break
 
             if not self.step_status_thread:

isar/state_machine/states/paused.py

@@ -1,6 +1,6 @@
 import logging
 import time
-from typing import TYPE_CHECKING, Callable
+from typing import Callable, TYPE_CHECKING
 
 from transitions import State
 
@@ -26,7 +26,10 @@ class Paused(State):
                 break
 
             if self.state_machine.should_resume_mission():
-                transition = self.state_machine.resume  # type: ignore
+                if self.state_machine.stepwise_mission:
+                    transition = self.state_machine.resume  # type: ignore
+                else:
+                    transition = self.state_machine.resume_full_mission  # type: ignore
                 break
 
             time.sleep(self.state_machine.sleep_time)

{isar-1.20.2.dist-info → isar-1.21.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.20.2
+Version: 1.21.0
 Summary: Integration and Supervisory control of Autonomous Robots
 Author-email: Equinor ASA <fg_robots_dev@equinor.com>
 License: Eclipse Public License version 2.0

{isar-1.20.2.dist-info → isar-1.21.0.dist-info}/RECORD

@@ -1,6 +1,6 @@
 isar/__init__.py,sha256=cH8p8bVveu3FUL6kBhldcSlLaoHgD82Kd0-SwSNfGXw,87
 isar/modules.py,sha256=aO8bLSC4i_Qo4bOJ6aFfwAZRTJAw8o9SOOfkceUGCiU,6708
-isar/script.py,sha256=145KXMqKWkP5SjB2MyvO1HmIPJnFOQdwwWM3jy6s-9A,5260
+isar/script.py,sha256=xhMMIuulPaaPTcP9-meF0xqNSPDQ7T1W_6yKK6K2RFg,5377
 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
@@ -15,7 +15,7 @@ isar/config/configuration_error.py,sha256=rO6WOhafX6xvVib8WxV-eY483Z0PpN-9PxGsq5
 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=pZrZGe60WoMNl_SlCzJFavU3Qqil_ocCuaKcKfDn0KM,13175
+isar/config/settings.py,sha256=yU1Zgc1Sbby3vHqv2JeIFAK8nXV_8ZAhuE7HzsZiqxc,13368
 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
@@ -67,16 +67,16 @@ isar/services/utilities/queue_utilities.py,sha256=Pw3hehSwkXJNeDv-bDVDfs58VOwtt3
 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=-i7m2xVcgL3cW6AIMGAom97wzt433MXM8EQEGUykAJA,23653
+isar/state_machine/state_machine.py,sha256=UcCQEEscwrOgWqjWVhkeEqRGFm2pLEomud3ROl96qro,24204
 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=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/monitor.py,sha256=KdCPzE6JrnJg3wk936AxWFzp4IuR9a43Dq3-8mL0qAI,11043
 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=HqrvONw6r6AoYPUyFGGOy2ToT7Tid8JEw2pKp2ZhZ7Y,1004
+isar/state_machine/states/paused.py,sha256=qFSauRwalyws8K5bDZ5wkcRDVYyevTDVRtbXkiF9rZc,1174
 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
@@ -86,7 +86,7 @@ isar/storage/storage_interface.py,sha256=DYDry4I7aZpDHJhsBF6s8zrgokFAc7fdKJKfA8A
 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/robot_interface.py,sha256=pY1Wuka0fTP-kCmkEndAcFytkS73cEE2zIHv-v5Fm1E,9466
 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
@@ -108,9 +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-1.20.2.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-1.21.0.dist-info/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar-1.21.0.dist-info/METADATA,sha256=6vIZ_8bCeYRnMyMp6Fod4KXHjcxFsncfsmbX4fuATgg,30574
+isar-1.21.0.dist-info/WHEEL,sha256=GJ7t_kWBFywbagK5eo9IoUwLW6oyOeTKmQ-9iHFVNxQ,92
+isar-1.21.0.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.21.0.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.21.0.dist-info/RECORD,,

robot_interface/robot_interface.py

@@ -142,6 +142,44 @@ class RobotInterface(metaclass=ABCMeta):
         """
         raise NotImplementedError
 
+    @abstractmethod
+    def pause(self) -> None:
+        """Pauses the execution of the current step and stops the movement of the robot.
+
+        Returns
+        -------
+        None
+
+        Raises
+        ------
+        RobotActionException
+            If the robot fails to perform the requested action to pause mission execution
+            the action to pause will be attempted again until a certain number of retries
+        RobotException
+            Will catch other RobotExceptions and retry to pause the mission
+
+        """
+        raise NotImplementedError
+
+    @abstractmethod
+    def resume(self) -> None:
+        """Resumes the execution of the current step and continues the rest of the mission.
+
+        Returns
+        -------
+        None
+
+        Raises
+        ------
+        RobotActionException
+            If the robot fails to perform the requested action to resume mission execution
+            the action to resume will be attempted again until a certain number of retries
+        RobotException
+            Will catch other RobotExceptions and retry to resume the mission
+
+        """
+        raise NotImplementedError
+
     @abstractmethod
     def get_inspections(self, step: InspectionStep) -> Sequence[Inspection]:
         """Return the inspections connected to the given step.