isar 1.20.2__py3-none-any.whl → 1.34.13__py3-none-any.whl

isar/state_machine/transitions/mission.py

@@ -0,0 +1,225 @@
+from typing import TYPE_CHECKING, List
+
+if TYPE_CHECKING:
+    from isar.state_machine.state_machine import StateMachine
+
+
+def get_mission_transitions(state_machine: "StateMachine") -> List[dict]:
+    mission_transitions: List[dict] = [
+        {
+            "trigger": "pause",
+            "source": state_machine.monitor_state,
+            "dest": state_machine.pausing_state,
+        },
+        {
+            "trigger": "mission_paused",
+            "source": state_machine.pausing_state,
+            "dest": state_machine.paused_state,
+        },
+        {
+            "trigger": "mission_pausing_failed",
+            "source": state_machine.pausing_state,
+            "dest": state_machine.monitor_state,
+        },
+        {
+            "trigger": "pause_return_home",
+            "source": state_machine.returning_home_state,
+            "dest": state_machine.pausing_return_home_state,
+        },
+        {
+            "trigger": "return_home_mission_pausing_failed",
+            "source": state_machine.pausing_return_home_state,
+            "dest": state_machine.returning_home_state,
+        },
+        {
+            "trigger": "return_home_mission_paused",
+            "source": state_machine.pausing_return_home_state,
+            "dest": state_machine.return_home_paused_state,
+        },
+        {
+            "trigger": "resume",
+            "source": state_machine.paused_state,
+            "dest": state_machine.resuming_state,
+        },
+        {
+            "trigger": "mission_resumed",
+            "source": state_machine.resuming_state,
+            "dest": state_machine.monitor_state,
+        },
+        {
+            "trigger": "mission_resuming_failed",
+            "source": state_machine.resuming_state,
+            "dest": state_machine.await_next_mission_state,
+        },
+        {
+            "trigger": "resume",
+            "source": state_machine.return_home_paused_state,
+            "dest": state_machine.resuming_return_home_state,
+        },
+        {
+            "trigger": "return_home_mission_resumed",
+            "source": state_machine.resuming_return_home_state,
+            "dest": state_machine.returning_home_state,
+        },
+        {
+            "trigger": "return_home_mission_resuming_failed",
+            "source": state_machine.resuming_return_home_state,
+            "dest": state_machine.await_next_mission_state,
+        },
+        {
+            "trigger": "resume_lockdown",
+            "source": state_machine.return_home_paused_state,
+            "dest": state_machine.going_to_lockdown_state,
+        },
+        {
+            "trigger": "stop",
+            "source": [
+                state_machine.await_next_mission_state,
+                state_machine.monitor_state,
+            ],
+            "dest": state_machine.stopping_state,
+        },
+        {
+            "trigger": "stop",
+            "source": [
+                state_machine.paused_state,
+            ],
+            "dest": state_machine.stopping_paused_mission_state,
+        },
+        {
+            "trigger": "stop_go_to_lockdown",
+            "source": [
+                state_machine.monitor_state,
+                state_machine.paused_state,
+            ],
+            "dest": state_machine.stopping_go_to_lockdown_state,
+        },
+        {
+            "trigger": "stop_go_to_recharge",
+            "source": state_machine.monitor_state,
+            "dest": state_machine.stopping_go_to_recharge_state,
+        },
+        {
+            "trigger": "stop_due_to_maintenance",
+            "source": [
+                state_machine.monitor_state,
+                state_machine.paused_state,
+                # state_machine.pausing_return_home_state,  # Not neccessary since it will become paused and then the maintenance can trigger.
+                # state_machine.pausing_state,              # Not neccessary since it will become paused and then the maintenance can trigger.
+                state_machine.return_home_paused_state,
+                state_machine.returning_home_state,
+                # state_machine.stopping_return_home_state, # Not neccessary since it will become monitor and then the maintenance can trigger.
+                # state_machine.stopping_state,             # Not neccessary since it will become await next mission and then the maintenance can trigger.
+            ],
+            "dest": state_machine.stopping_due_to_maintenance_state,
+        },
+        {
+            "trigger": "stop_return_home",
+            "source": [
+                state_machine.returning_home_state,
+            ],
+            "dest": state_machine.stopping_return_home_state,
+        },
+        {
+            "trigger": "stop_return_home",
+            "source": [
+                state_machine.return_home_paused_state,
+            ],
+            "dest": state_machine.stopping_paused_return_home_state,
+        },
+        {
+            "trigger": "mission_stopped",
+            "source": [
+                state_machine.stopping_state,
+                state_machine.stopping_paused_mission_state,
+            ],
+            "dest": state_machine.await_next_mission_state,
+        },
+        {
+            "trigger": "mission_stopped",
+            "source": state_machine.stopping_go_to_lockdown_state,
+            "dest": state_machine.going_to_lockdown_state,
+        },
+        {
+            "trigger": "mission_stopped",
+            "source": state_machine.stopping_due_to_maintenance_state,
+            "dest": state_machine.maintenance_state,
+        },
+        {
+            "trigger": "mission_stopping_failed",
+            "source": [
+                state_machine.stopping_go_to_lockdown_state,
+                state_machine.stopping_go_to_recharge_state,
+                state_machine.stopping_state,
+            ],
+            "dest": state_machine.monitor_state,
+        },
+        {
+            "trigger": "mission_stopping_failed",
+            "source": state_machine.stopping_paused_mission_state,
+            "dest": state_machine.paused_state,
+        },
+        {
+            "trigger": "mission_stopping_failed",
+            "source": state_machine.stopping_due_to_maintenance_state,
+            "dest": state_machine.unknown_status_state,  # We do not know if we need to go to monitor or return_home state
+        },
+        {
+            "trigger": "return_home_mission_stopping_failed",
+            "source": state_machine.stopping_return_home_state,
+            "dest": state_machine.returning_home_state,
+        },
+        {
+            "trigger": "return_home_mission_stopping_failed",
+            "source": state_machine.stopping_paused_return_home_state,
+            "dest": state_machine.return_home_paused_state,
+        },
+        {
+            "trigger": "start_mission_monitoring",
+            "source": [
+                state_machine.await_next_mission_state,
+                state_machine.home_state,
+                state_machine.stopping_return_home_state,
+                state_machine.stopping_paused_return_home_state,
+            ],
+            "dest": state_machine.monitor_state,
+        },
+        {
+            "trigger": "mission_failed_to_start",
+            "source": state_machine.monitor_state,
+            "dest": state_machine.await_next_mission_state,
+        },
+        {
+            "trigger": "mission_finished",
+            "source": state_machine.monitor_state,
+            "dest": state_machine.await_next_mission_state,
+        },
+        {
+            "trigger": "set_maintenance_mode",
+            "source": [
+                state_machine.await_next_mission_state,
+                state_machine.blocked_protective_stopping_state,
+                state_machine.home_state,
+                state_machine.intervention_needed_state,
+                state_machine.offline_state,
+                state_machine.recharging_state,
+                state_machine.unknown_status_state,
+            ],
+            "dest": state_machine.maintenance_state,
+        },
+        {
+            "trigger": "goto_home",
+            "source": [
+                state_machine.maintenance_state,
+            ],
+            "dest": state_machine.home_state,
+        },
+        {
+            "trigger": "goto_intervention_needed",
+            "source": [
+                state_machine.maintenance_state,
+            ],
+            "dest": state_machine.intervention_needed_state,
+        },
+    ]
+    return mission_transitions

isar/state_machine/transitions/return_home.py

@@ -0,0 +1,108 @@
+from typing import TYPE_CHECKING, List
+
+if TYPE_CHECKING:
+    from isar.state_machine.state_machine import StateMachine
+
+
+def get_return_home_transitions(state_machine: "StateMachine") -> List[dict]:
+    return_home_transitions: List[dict] = [
+        {
+            "trigger": "start_return_home_monitoring",
+            "source": [
+                state_machine.await_next_mission_state,
+                state_machine.home_state,
+                state_machine.intervention_needed_state,
+                state_machine.monitor_state,
+                state_machine.stopping_state,
+                state_machine.stopping_return_home_state,
+                state_machine.stopping_paused_mission_state,
+                state_machine.stopping_paused_return_home_state,
+            ],
+            "dest": state_machine.returning_home_state,
+        },
+        {
+            "trigger": "returned_home",
+            "source": state_machine.returning_home_state,
+            "dest": state_machine.home_state,
+        },
+        {
+            "trigger": "starting_recharging",
+            "source": [
+                state_machine.lockdown_state,
+                state_machine.home_state,
+                state_machine.going_to_recharging_state,
+            ],
+            "dest": state_machine.recharging_state,
+        },
+        {
+            "trigger": "return_home_failed",
+            "source": [
+                state_machine.returning_home_state,
+                state_machine.going_to_recharging_state,
+            ],
+            "dest": state_machine.intervention_needed_state,
+        },
+        {
+            "trigger": "release_intervention_needed",
+            "source": state_machine.intervention_needed_state,
+            "dest": state_machine.unknown_status_state,
+        },
+        {
+            "trigger": "start_lockdown_mission_monitoring",
+            "source": [
+                state_machine.stopping_go_to_lockdown_state,
+                state_machine.await_next_mission_state,
+            ],
+            "dest": state_machine.going_to_lockdown_state,
+        },
+        {
+            "trigger": "start_recharging_mission_monitoring",
+            "source": [
+                state_machine.stopping_go_to_recharge_state,
+                state_machine.await_next_mission_state,
+            ],
+            "dest": state_machine.going_to_recharging_state,
+        },
+        {
+            "trigger": "go_to_lockdown",
+            "source": [
+                state_machine.returning_home_state,
+                state_machine.going_to_recharging_state,
+            ],
+            "dest": state_machine.going_to_lockdown_state,
+        },
+        {
+            "trigger": "go_to_recharging",
+            "source": [
+                state_machine.returning_home_state,
+                state_machine.return_home_paused_state,
+                state_machine.home_state,
+            ],
+            "dest": state_machine.going_to_recharging_state,
+        },
+        {
+            "trigger": "reached_lockdown",
+            "source": [
+                state_machine.home_state,
+                state_machine.going_to_lockdown_state,
+                state_machine.recharging_state,
+            ],
+            "dest": state_machine.lockdown_state,
+        },
+        {
+            "trigger": "lockdown_mission_failed",
+            "source": state_machine.going_to_lockdown_state,
+            "dest": state_machine.intervention_needed_state,
+        },
+        {
+            "trigger": "release_from_lockdown",
+            "source": state_machine.lockdown_state,
+            "dest": state_machine.home_state,
+        },
+        {
+            "trigger": "go_to_home",
+            "source": state_machine.intervention_needed_state,
+            "dest": state_machine.home_state,
+        },
+    ]
+    return return_home_transitions

isar/state_machine/transitions/robot_status.py

@@ -0,0 +1,87 @@
+from typing import TYPE_CHECKING, List
+
+if TYPE_CHECKING:
+    from isar.state_machine.state_machine import StateMachine
+
+
+def get_robot_status_transitions(state_machine: "StateMachine") -> List[dict]:
+    robot_status_transitions: List[dict] = [
+        {
+            "trigger": "initial_transition",
+            "source": state_machine.unknown_status_state,
+            "dest": state_machine.unknown_status_state,
+        },
+        {
+            "trigger": "initial_transition",
+            "source": state_machine.maintenance_state,
+            "dest": state_machine.maintenance_state,
+        },
+        {
+            "trigger": "robot_status_available",
+            "source": [
+                state_machine.unknown_status_state,
+            ],
+            "dest": state_machine.await_next_mission_state,
+        },
+        {
+            "trigger": "robot_status_available",
+            "source": [
+                state_machine.offline_state,
+                state_machine.blocked_protective_stopping_state,
+                state_machine.home_state,
+            ],
+            "dest": state_machine.intervention_needed_state,
+        },
+        {
+            "trigger": "robot_status_home",
+            "source": [
+                state_machine.home_state,
+                state_machine.blocked_protective_stopping_state,
+                state_machine.offline_state,
+                state_machine.unknown_status_state,
+            ],
+            "dest": state_machine.home_state,
+        },
+        {
+            "trigger": "robot_status_blocked_protective_stop",
+            "source": [
+                state_machine.home_state,
+                state_machine.offline_state,
+                state_machine.unknown_status_state,
+            ],
+            "dest": state_machine.blocked_protective_stopping_state,
+        },
+        {
+            "trigger": "robot_status_offline",
+            "source": [
+                state_machine.home_state,
+                state_machine.blocked_protective_stopping_state,
+                state_machine.unknown_status_state,
+                state_machine.recharging_state,
+            ],
+            "dest": state_machine.offline_state,
+        },
+        {
+            "trigger": "robot_status_unknown",
+            "source": [
+                state_machine.home_state,
+                state_machine.blocked_protective_stopping_state,
+                state_machine.offline_state,
+                state_machine.unknown_status_state,
+            ],
+            "dest": state_machine.unknown_status_state,
+        },
+        {
+            "trigger": "robot_status_busy",
+            "source": [
+                state_machine.unknown_status_state,
+            ],
+            "dest": state_machine.stopping_state,
+        },
+        {
+            "trigger": "robot_recharged",
+            "source": state_machine.recharging_state,
+            "dest": state_machine.home_state,
+        },
+    ]
+    return robot_status_transitions

isar/state_machine/utils/common_event_handlers.py

@@ -0,0 +1,138 @@
+from typing import TYPE_CHECKING, Callable, Optional
+
+from isar.apis.models.models import ControlMissionResponse, MissionStartResponse
+from isar.models.events import Event
+from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
+from robot_interface.models.mission.mission import Mission
+
+if TYPE_CHECKING:
+    from isar.state_machine.state_machine import StateMachine
+
+
+def start_mission_event_handler(
+    state_machine: "StateMachine",
+    event: Event[Mission],
+    response: Event[MissionStartResponse],
+) -> Optional[Callable]:
+    mission: Optional[Mission] = event.consume_event()
+    if not mission:
+        return None
+
+    if not state_machine.battery_level_is_above_mission_start_threshold():
+        response.trigger_event(
+            MissionStartResponse(
+                mission_id=mission.id,
+                mission_started=False,
+                mission_not_started_reason="Robot battery too low",
+            )
+        )
+        return None
+    state_machine.start_mission(mission=mission)
+    response.trigger_event(MissionStartResponse(mission_started=True))
+    return state_machine.start_mission_monitoring  # type: ignore
+
+
+def return_home_event_handler(
+    state_machine: "StateMachine", event: Event[bool]
+) -> Optional[Callable]:
+    if not event.consume_event():
+        return None
+
+    state_machine.events.api_requests.return_home.response.trigger_event(True)
+    state_machine.start_return_home_mission()
+    return state_machine.start_return_home_monitoring  # type: ignore
+
+
+def stop_mission_event_handler(
+    state_machine: "StateMachine", event: Event[str]
+) -> Optional[Callable]:
+    mission_id: str = event.consume_event()
+    if mission_id is None:
+        return None
+
+    if state_machine.shared_state.mission_id.check() == mission_id or mission_id == "":
+        state_machine.events.api_requests.stop_mission.response.trigger_event(
+            ControlMissionResponse(success=True)
+        )
+        state_machine.events.state_machine_events.stop_mission.trigger_event(True)
+        return state_machine.stop  # type: ignore
+    else:
+        state_machine.events.api_requests.stop_mission.response.trigger_event(
+            ControlMissionResponse(success=False, failure_reason="Mission not found")
+        )
+        return None
+
+
+def mission_started_event_handler(
+    state_machine: "StateMachine",
+    event: Event[bool],
+) -> Optional[Callable]:
+    if not event.consume_event():
+        return None
+
+    state_machine.logger.info("Received confirmation that mission has started")
+    return None
+
+
+def failed_stop_event_handler(
+    state_machine: "StateMachine",
+    event: Event[ErrorMessage],
+) -> Optional[Callable]:
+    error_message: Optional[ErrorMessage] = event.consume_event()
+    if error_message is None:
+        return None
+
+    stopped_mission_response: ControlMissionResponse = ControlMissionResponse(
+        success=False, failure_reason="ISAR failed to stop mission"
+    )
+    state_machine.events.api_requests.stop_mission.response.trigger_event(
+        stopped_mission_response
+    )
+    return state_machine.mission_stopping_failed  # type: ignore
+
+
+def successful_stop_event_handler(
+    state_machine: "StateMachine", event: Event[bool]
+) -> Optional[Callable]:
+    if not event.consume_event():
+        return None
+
+    state_machine.events.api_requests.stop_mission.response.trigger_event(
+        ControlMissionResponse(success=True)
+    )
+    state_machine.print_transitions()
+    if not state_machine.battery_level_is_above_mission_start_threshold():
+        state_machine.start_return_home_mission()
+        return state_machine.start_return_home_monitoring  # type: ignore
+    return state_machine.mission_stopped  # type: ignore
+
+
+def failed_stop_return_home_event_handler(
+    state_machine: "StateMachine", event: Event[ErrorMessage]
+) -> Optional[Callable]:
+    error_message: Optional[ErrorMessage] = event.consume_event()
+    if error_message is None:
+        return None
+
+    state_machine.logger.warning(
+        f"Failed to stop return home mission {error_message.error_description}"
+    )
+    return state_machine.return_home_mission_stopping_failed  # type: ignore
+
+
+def successful_stop_return_home_event_handler(
+    state_machine: "StateMachine", event: Event[bool], mission: Optional[Mission]
+) -> Optional[Callable]:
+    if not event.consume_event():
+        return None
+
+    if mission:
+        state_machine.start_mission(mission=mission)
+        state_machine.events.api_requests.start_mission.response.trigger_event(
+            MissionStartResponse(mission_started=True)
+        )
+        return state_machine.start_mission_monitoring  # type: ignore
+
+    state_machine.logger.error("Stopped return home without a new mission to start")
+    state_machine.start_return_home_mission()
+    return state_machine.start_return_home_monitoring  # type: ignore