isar 1.20.2__py3-none-any.whl → 1.34.9__py3-none-any.whl

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (124) hide show
  1. isar/apis/api.py +148 -76
  2. isar/apis/models/__init__.py +0 -1
  3. isar/apis/models/models.py +21 -11
  4. isar/apis/models/start_mission_definition.py +110 -168
  5. isar/apis/robot_control/robot_controller.py +41 -0
  6. isar/apis/schedule/scheduling_controller.py +124 -162
  7. isar/apis/security/authentication.py +5 -5
  8. isar/config/certs/ca-cert.pem +33 -31
  9. isar/config/keyvault/keyvault_service.py +1 -1
  10. isar/config/log.py +45 -40
  11. isar/config/logging.conf +16 -31
  12. isar/config/open_telemetry.py +102 -0
  13. isar/config/predefined_mission_definition/default_exr.json +0 -2
  14. isar/config/predefined_mission_definition/default_mission.json +1 -5
  15. isar/config/predefined_mission_definition/default_turtlebot.json +4 -11
  16. isar/config/predefined_missions/default.json +67 -87
  17. isar/config/predefined_missions/default_extra_capabilities.json +107 -0
  18. isar/config/settings.py +76 -111
  19. isar/eventhandlers/eventhandler.py +123 -0
  20. isar/mission_planner/local_planner.py +6 -20
  21. isar/mission_planner/mission_planner_interface.py +1 -1
  22. isar/models/events.py +184 -0
  23. isar/models/status.py +18 -0
  24. isar/modules.py +118 -199
  25. isar/robot/robot.py +377 -0
  26. isar/robot/robot_battery.py +60 -0
  27. isar/robot/robot_monitor_mission.py +357 -0
  28. isar/robot/robot_pause_mission.py +74 -0
  29. isar/robot/robot_resume_mission.py +67 -0
  30. isar/robot/robot_start_mission.py +66 -0
  31. isar/robot/robot_status.py +61 -0
  32. isar/robot/robot_stop_mission.py +68 -0
  33. isar/robot/robot_upload_inspection.py +75 -0
  34. isar/script.py +57 -40
  35. isar/services/service_connections/mqtt/mqtt_client.py +47 -11
  36. isar/services/service_connections/mqtt/robot_heartbeat_publisher.py +5 -2
  37. isar/services/service_connections/mqtt/robot_info_publisher.py +3 -3
  38. isar/services/service_connections/persistent_memory.py +69 -0
  39. isar/services/utilities/mqtt_utilities.py +93 -0
  40. isar/services/utilities/robot_utilities.py +20 -0
  41. isar/services/utilities/scheduling_utilities.py +393 -65
  42. isar/state_machine/state_machine.py +219 -538
  43. isar/state_machine/states/__init__.py +0 -8
  44. isar/state_machine/states/await_next_mission.py +114 -0
  45. isar/state_machine/states/blocked_protective_stop.py +60 -0
  46. isar/state_machine/states/going_to_lockdown.py +95 -0
  47. isar/state_machine/states/going_to_recharging.py +92 -0
  48. isar/state_machine/states/home.py +115 -0
  49. isar/state_machine/states/intervention_needed.py +77 -0
  50. isar/state_machine/states/lockdown.py +38 -0
  51. isar/state_machine/states/maintenance.py +36 -0
  52. isar/state_machine/states/monitor.py +137 -247
  53. isar/state_machine/states/offline.py +51 -53
  54. isar/state_machine/states/paused.py +92 -23
  55. isar/state_machine/states/pausing.py +48 -0
  56. isar/state_machine/states/pausing_return_home.py +48 -0
  57. isar/state_machine/states/recharging.py +80 -0
  58. isar/state_machine/states/resuming.py +57 -0
  59. isar/state_machine/states/resuming_return_home.py +64 -0
  60. isar/state_machine/states/return_home_paused.py +109 -0
  61. isar/state_machine/states/returning_home.py +217 -0
  62. isar/state_machine/states/stopping.py +61 -0
  63. isar/state_machine/states/stopping_due_to_maintenance.py +61 -0
  64. isar/state_machine/states/stopping_go_to_lockdown.py +60 -0
  65. isar/state_machine/states/stopping_go_to_recharge.py +51 -0
  66. isar/state_machine/states/stopping_return_home.py +77 -0
  67. isar/state_machine/states/unknown_status.py +72 -0
  68. isar/state_machine/states_enum.py +21 -5
  69. isar/state_machine/transitions/mission.py +192 -0
  70. isar/state_machine/transitions/return_home.py +106 -0
  71. isar/state_machine/transitions/robot_status.py +80 -0
  72. isar/state_machine/utils/common_event_handlers.py +73 -0
  73. isar/storage/blob_storage.py +70 -52
  74. isar/storage/local_storage.py +25 -12
  75. isar/storage/storage_interface.py +28 -7
  76. isar/storage/uploader.py +174 -55
  77. isar/storage/utilities.py +32 -29
  78. {isar-1.20.2.dist-info → isar-1.34.9.dist-info}/METADATA +73 -110
  79. isar-1.34.9.dist-info/RECORD +135 -0
  80. {isar-1.20.2.dist-info → isar-1.34.9.dist-info}/WHEEL +1 -1
  81. {isar-1.20.2.dist-info → isar-1.34.9.dist-info}/entry_points.txt +1 -0
  82. robot_interface/models/exceptions/robot_exceptions.py +91 -41
  83. robot_interface/models/initialize/__init__.py +0 -1
  84. robot_interface/models/inspection/__init__.py +0 -13
  85. robot_interface/models/inspection/inspection.py +42 -33
  86. robot_interface/models/mission/mission.py +14 -15
  87. robot_interface/models/mission/status.py +20 -26
  88. robot_interface/models/mission/task.py +154 -121
  89. robot_interface/models/robots/battery_state.py +6 -0
  90. robot_interface/models/robots/media.py +13 -0
  91. robot_interface/models/robots/robot_model.py +7 -7
  92. robot_interface/robot_interface.py +119 -84
  93. robot_interface/telemetry/mqtt_client.py +74 -12
  94. robot_interface/telemetry/payloads.py +91 -13
  95. robot_interface/utilities/json_service.py +7 -1
  96. isar/config/predefined_missions/default_turtlebot.json +0 -110
  97. isar/config/predefined_poses/__init__.py +0 -0
  98. isar/config/predefined_poses/predefined_poses.py +0 -616
  99. isar/config/settings.env +0 -25
  100. isar/mission_planner/sequential_task_selector.py +0 -23
  101. isar/mission_planner/task_selector_interface.py +0 -31
  102. isar/models/communication/__init__.py +0 -0
  103. isar/models/communication/message.py +0 -12
  104. isar/models/communication/queues/__init__.py +0 -4
  105. isar/models/communication/queues/queue_io.py +0 -12
  106. isar/models/communication/queues/queue_timeout_error.py +0 -2
  107. isar/models/communication/queues/queues.py +0 -19
  108. isar/models/communication/queues/status_queue.py +0 -20
  109. isar/models/mission_metadata/__init__.py +0 -0
  110. isar/services/readers/__init__.py +0 -0
  111. isar/services/readers/base_reader.py +0 -37
  112. isar/services/service_connections/stid/__init__.py +0 -0
  113. isar/services/utilities/queue_utilities.py +0 -39
  114. isar/state_machine/states/idle.py +0 -85
  115. isar/state_machine/states/initialize.py +0 -71
  116. isar/state_machine/states/initiate.py +0 -142
  117. isar/state_machine/states/off.py +0 -18
  118. isar/state_machine/states/stop.py +0 -95
  119. isar/storage/slimm_storage.py +0 -191
  120. isar-1.20.2.dist-info/RECORD +0 -116
  121. robot_interface/models/initialize/initialize_params.py +0 -9
  122. robot_interface/models/mission/step.py +0 -234
  123. {isar-1.20.2.dist-info → isar-1.34.9.dist-info/licenses}/LICENSE +0 -0
  124. {isar-1.20.2.dist-info → isar-1.34.9.dist-info}/top_level.txt +0 -0
isar/config/predefined_missions/default_turtlebot.json DELETED
@@ -1,110 +0,0 @@
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- {
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- "id": "2",
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- "tasks": [
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- {
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- "steps": [
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- {
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- "type": "drive_to_pose",
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- "pose": {
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- "position": {
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- "x": -3.6,
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- "y": 4,
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- "z": 0,
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- "frame": "asset"
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- },
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- "orientation": {
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- "x": 0,
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- "y": 0,
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- "z": -0.7286672256879113,
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- "w": -0.6848660759820616,
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- "frame": "asset"
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- },
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- "frame": "asset"
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- }
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- },
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- {
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- "type": "take_image",
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- "target": {
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- "x": -4.7,
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- "y": 4.9,
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- "z": 0,
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- "frame": "robot"
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- }
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- }
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- ]
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- },
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- {
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- "steps": [
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- {
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- "type": "drive_to_pose",
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- "pose": {
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- "position": {
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- "x": 4.7,
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- "y": 3,
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- "z": 0,
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- "frame": "asset"
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- },
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- "orientation": {
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- "x": 0,
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- "y": 0,
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- "z": 0.5769585,
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- "w": 0.8167734,
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- "frame": "asset"
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- },
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- "frame": "asset"
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- }
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- },
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- {
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- "type": "take_image",
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- "target": {
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- "x": 5.6,
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- "y": 5.2,
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- "z": 0,
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- "frame": "robot"
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- }
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- },
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- {
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- "type": "take_thermal_image",
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- "target": {
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- "x": 3.1,
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- "y": 5.2,
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- "z": 0,
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- "frame": "robot"
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- }
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- }
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- ]
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- },
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- {
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- "steps": [
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- {
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- "type": "drive_to_pose",
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- "pose": {
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- "position": {
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- "x": 0.95,
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- "y": 2.6,
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- "z": 0,
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- "frame": "asset"
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- },
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- "orientation": {
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- "x": 0,
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- "y": 0,
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- "z": -0.6992469,
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- "w": 0.7148802,
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- "frame": "asset"
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- },
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- "frame": "asset"
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- }
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- },
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- {
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- "type": "take_thermal_image",
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- "target": {
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- "x": 1.9,
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- "y": 1.9,
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- "z": 0,
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- "frame": "robot"
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- }
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- }
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- ]
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- }
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- ]
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- }
isar/config/predefined_poses/__init__.py DELETED
File without changes