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

isar/storage/slimm_storage.py

@@ -1,191 +0,0 @@
-import json
-import logging
-
-from azure.identity import DefaultAzureCredential
-from injector import inject
-from requests import HTTPError, RequestException
-from requests_toolbelt import MultipartEncoder
-
-from isar.config.settings import settings
-from isar.services.auth.azure_credentials import AzureCredentials
-from isar.services.service_connections.request_handler import RequestHandler
-from isar.storage.storage_interface import StorageException, StorageInterface
-from isar.storage.utilities import get_filename
-from robot_interface.models.inspection.inspection import Inspection, ThermalVideo, Video
-from robot_interface.models.mission.mission import Mission
-
-
-class SlimmStorage(StorageInterface):
-    @inject
-    def __init__(self, request_handler: RequestHandler) -> None:
-        self.request_handler: RequestHandler = request_handler
-        self.logger = logging.getLogger("uploader")
-
-        self.credentials: DefaultAzureCredential = (
-            AzureCredentials.get_azure_credentials()
-        )
-
-        client_id: str = settings.SLIMM_CLIENT_ID
-        scope: str = settings.SLIMM_APP_SCOPE
-        self.request_scope: str = f"{client_id}/{scope}"
-
-        self.url: str = settings.SLIMM_API_URL
-
-    def store(self, inspection: Inspection, mission: Mission) -> str:
-        filename: str = get_filename(
-            inspection=inspection,
-        )
-        filename = f"{filename}.{inspection.metadata.file_type}"
-        if type(inspection) in [Video, ThermalVideo]:
-            inspection_path = self._store_video(filename, inspection, mission)
-        else:
-            inspection_path = self._store_image(filename, inspection, mission)
-        return inspection_path
-
-    def _store_image(
-        self, filename: str, inspection: Inspection, mission: Mission
-    ) -> str:
-        multiform_body: MultipartEncoder = self._construct_multiform_request_image(
-            filename=filename, inspection=inspection, mission=mission
-        )
-        request_url: str = f"{self.url}/UploadSingleImage"
-        inspection_path = self._ingest(
-            inspection=inspection,
-            multiform_body=multiform_body,
-            request_url=request_url,
-        )
-        return inspection_path
-
-    def _store_video(
-        self, filename: str, inspection: Inspection, mission: Mission
-    ) -> str:
-        multiform_body: MultipartEncoder = self._construct_multiform_request_video(
-            filename=filename, inspection=inspection, mission=mission
-        )
-        request_url = f"{self.url}/UploadSingleVideo"
-        inspection_path = self._ingest(
-            inspection=inspection,
-            multiform_body=multiform_body,
-            request_url=request_url,
-        )
-        return inspection_path
-
-    def _ingest(
-        self, inspection: Inspection, multiform_body: MultipartEncoder, request_url: str
-    ) -> str:
-        token: str = self.credentials.get_token(self.request_scope).token
-        try:
-            response = self.request_handler.post(
-                url=request_url,
-                data=multiform_body,
-                headers={
-                    "Authorization": f"Bearer {token}",
-                    "Content-Type": multiform_body.content_type,
-                },
-            )
-            guid = json.loads(response.text)["guid"]
-            self.logger.info(f"SLIMM upload GUID: {guid}")
-        except (RequestException, HTTPError) as e:
-            self.logger.warning(
-                f"Failed to upload inspection: {inspection.id} to SLIMM due to a "
-                f"request exception"
-            )
-            raise StorageException from e
-        data = json.loads(response.content)
-        return data["guid"]
-
-    @staticmethod
-    def _construct_multiform_request_image(
-        filename: str, inspection: Inspection, mission: Mission
-    ):
-        array_of_orientation = (
-            inspection.metadata.pose.orientation.to_quat_array().tolist()
-        )
-        multiform_body: MultipartEncoder = MultipartEncoder(
-            fields={
-                "PlantFacilitySAPCode": settings.PLANT_CODE,
-                "InstCode": settings.PLANT_SHORT_NAME,
-                "InternalClassification": settings.DATA_CLASSIFICATION,
-                "IsoCountryCode": "NO",
-                "Geodetic.CoordinateReferenceSystemCode": settings.COORDINATE_REFERENCE_SYSTEM,  # noqa: E501
-                "Geodetic.VerticalCoordinateReferenceSystemCode": settings.VERTICAL_REFERENCE_SYSTEM,  # noqa: E501
-                "Geodetic.OrientationReferenceSystem": settings.MEDIA_ORIENTATION_REFERENCE_SYSTEM,  # noqa: E501
-                "SensorCarrier.SensorCarrierId": settings.ISAR_ID,
-                "SensorCarrier.ModelName": settings.ROBOT_TYPE,
-                "Mission.MissionId": mission.id,
-                "Mission.Client": "Equinor",
-                "ImageMetadata.Timestamp": inspection.metadata.start_time.isoformat(),  # noqa: E501
-                "ImageMetadata.X": str(inspection.metadata.pose.position.x),
-                "ImageMetadata.Y": str(inspection.metadata.pose.position.y),
-                "ImageMetadata.Z": str(inspection.metadata.pose.position.z),
-                "ImageMetadata.CameraOrientation1": str(array_of_orientation[0]),
-                "ImageMetadata.CameraOrientation2": str(array_of_orientation[1]),
-                "ImageMetadata.CameraOrientation3": str(array_of_orientation[2]),
-                "ImageMetadata.CameraOrientation4": str(array_of_orientation[3]),
-                "ImageMetadata.AnalysisMethods": (
-                    inspection.metadata.additional["analysis_type"]
-                    if inspection.metadata.additional
-                    and inspection.metadata.additional["analysis_type"]
-                    else "N/A"
-                ),
-                "ImageMetadata.Description": str(inspection.metadata.additional),
-                "ImageMetadata.FunctionalLocation": (
-                    inspection.metadata.tag_id  # noqa: E501
-                    if inspection.metadata.tag_id
-                    else "N/A"
-                ),
-                "Filename": filename,
-                "AttachedFile": (filename, inspection.data),
-            }
-        )
-        return multiform_body
-
-    @staticmethod
-    def _construct_multiform_request_video(
-        filename: str,
-        inspection: Inspection,
-        mission: Mission,
-    ):
-        array_of_orientation = (
-            inspection.metadata.pose.orientation.to_quat_array().tolist()
-        )
-        multiform_body: MultipartEncoder = MultipartEncoder(
-            fields={
-                "PlantFacilitySAPCode": settings.PLANT_CODE,
-                "InstCode": settings.PLANT_SHORT_NAME,
-                "InternalClassification": settings.DATA_CLASSIFICATION,
-                "IsoCountryCode": "NO",
-                "Geodetic.CoordinateReferenceSystemCode": settings.COORDINATE_REFERENCE_SYSTEM,  # noqa: E501
-                "Geodetic.VerticalCoordinateReferenceSystemCode": settings.VERTICAL_REFERENCE_SYSTEM,  # noqa: E501
-                "Geodetic.OrientationReferenceSystem": settings.MEDIA_ORIENTATION_REFERENCE_SYSTEM,  # noqa: E501
-                "SensorCarrier.SensorCarrierId": settings.ISAR_ID,
-                "SensorCarrier.ModelName": settings.ROBOT_TYPE,
-                "Mission.MissionId": mission.id,
-                "Mission.Client": "Equinor",
-                "VideoMetadata.Timestamp": inspection.metadata.start_time.isoformat(),  # noqa: E501
-                # Converting to int because SLIMM expects an int, while we use floats in operations.
-                "VideoMetadata.Duration": str(int(inspection.metadata.duration)),  # type: ignore
-                "VideoMetadata.X": str(inspection.metadata.pose.position.x),
-                "VideoMetadata.Y": str(inspection.metadata.pose.position.y),
-                "VideoMetadata.Z": str(inspection.metadata.pose.position.z),
-                "VideoMetadata.CameraOrientation1": str(array_of_orientation[0]),
-                "VideoMetadata.CameraOrientation2": str(array_of_orientation[1]),
-                "VideoMetadata.CameraOrientation3": str(array_of_orientation[2]),
-                "VideoMetadata.CameraOrientation4": str(array_of_orientation[3]),
-                "VideoMetadata.AnalysisMethods": (
-                    inspection.metadata.additional["analysis_type"]
-                    if inspection.metadata.additional
-                    and inspection.metadata.additional["analysis_type"]
-                    else "N/A"
-                ),
-                "VideoMetadata.Description": str(inspection.metadata.additional),
-                "VideoMetadata.FunctionalLocation": (
-                    inspection.metadata.tag_id  # noqa: E501
-                    if inspection.metadata.tag_id
-                    else "N/A"
-                ),
-                "Filename": filename,
-                "AttachedFile": (filename, inspection.data),
-            }
-        )
-        return multiform_body

isar-1.20.2.dist-info/RECORD

@@ -1,116 +0,0 @@
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robot_interface/models/initialize/initialize_params.py

@@ -1,9 +0,0 @@
-from dataclasses import dataclass
-from typing import Optional
-
-from alitra import Pose
-
-
-@dataclass
-class InitializeParams:
-    initial_pose: Optional[Pose] = None

robot_interface/models/mission/step.py

@@ -1,234 +0,0 @@
-from dataclasses import dataclass, field
-from typing import Any, List, Literal, Optional, Type, Union
-
-from alitra import Pose, Position
-
-from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
-from robot_interface.models.inspection import (
-    Audio,
-    Image,
-    Inspection,
-    ThermalImage,
-    ThermalVideo,
-    Video,
-)
-from robot_interface.models.mission.status import StepStatus
-from robot_interface.utilities.uuid_string_factory import uuid4_string
-
-
-@dataclass
-class Step:
-    """
-    Base class for all steps in a mission.
-    """
-
-    id: str = field(default_factory=uuid4_string, init=False)
-    status: StepStatus = field(default=StepStatus.NotStarted, init=False)
-    error_message: Optional[ErrorMessage] = field(default=None, init=False)
-
-    def __str__(self) -> str:
-        def add_indent(text: str) -> str:
-            return "".join("  " + line for line in text.splitlines(True))
-
-        def robot_class_to_pretty_string(obj: Step) -> str:
-            log_message: str = ""
-            for attr in dir(obj):
-                if callable(getattr(obj, attr)) or attr.startswith("__"):
-                    continue
-
-                value: Any = getattr(obj, attr)
-                try:
-                    package_name: Optional[str] = (
-                        str(value.__class__).split("'")[1].split(".")[0]
-                    )
-                except (AttributeError, IndexError):
-                    package_name = None
-
-                if package_name == "robot_interface":
-                    log_message += (
-                        "\n" + attr + ": " + robot_class_to_pretty_string(value)
-                    )
-                else:
-                    log_message += "\n" + str(attr) + ": " + str(value)
-
-            return add_indent(log_message)
-
-        class_name: str = type(self).__name__
-        return class_name + robot_class_to_pretty_string(self)
-
-
-@dataclass
-class InspectionStep(Step):
-    """
-    Base class for all inspection steps which produce results to be uploaded.
-    """
-
-    inspections: List[Inspection] = field(default_factory=list, init=False)
-    tag_id: Optional[str] = field(default=None, init=False)
-    type = "inspection_type"
-    metadata: Optional[dict] = field(default_factory=dict, init=False)
-
-    @staticmethod
-    def get_inspection_type() -> Type[Inspection]:
-        return Inspection
-
-
-@dataclass
-class MotionStep(Step):
-    """
-    Base class for all steps which should move the robot, but not return a result.
-    """
-
-    pass
-
-
-@dataclass
-class ContinousInspectionStep(Step):
-    """
-    Base class for all continous inspection steps which produce a result to be uploaded.
-    """
-
-    pass
-
-
-@dataclass
-class DriveToPose(MotionStep):
-    """
-    Step which causes the robot to move to the given pose.
-    """
-
-    pose: Pose
-    type: Literal["drive_to_pose"] = "drive_to_pose"
-
-
-@dataclass
-class DockingProcedure(MotionStep):
-    """
-    Step which causes the robot to dock or undock
-    """
-
-    behavior: Literal["dock", "undock"]
-    type: Literal["docking_procedure"] = "docking_procedure"
-
-
-@dataclass
-class ReturnToHome(MotionStep):
-    """
-    Step which cases the robot to return home
-    """
-
-    pose: Pose
-    type: Literal["return_to_home"] = "return_to_home"
-
-
-@dataclass
-class Localize(MotionStep):
-    """
-    Step which causes the robot to localize
-    """
-
-    localization_pose: Pose
-    type: Literal["localize"] = "localize"
-
-
-@dataclass
-class MoveArm(MotionStep):
-    """
-    Step which causes the robot to move its arm
-    """
-
-    arm_pose: str
-    type: Literal["move_arm"] = "move_arm"
-
-
-@dataclass
-class TakeImage(InspectionStep):
-    """
-    Step which causes the robot to take an image towards the given coordinate.
-    """
-
-    target: Position
-    type: Literal["take_image"] = "take_image"
-
-    @staticmethod
-    def get_inspection_type() -> Type[Inspection]:
-        return Image
-
-
-@dataclass
-class TakeThermalImage(InspectionStep):
-    """
-    Step which causes the robot to take a thermal image towards the given coordinate.
-    """
-
-    target: Position
-    type: Literal["take_thermal_image"] = "take_thermal_image"
-
-    @staticmethod
-    def get_inspection_type() -> Type[Inspection]:
-        return ThermalImage
-
-
-@dataclass
-class TakeVideo(InspectionStep):
-    """
-    Step which causes the robot to take a video towards the given coordinate.
-
-    Duration of video is given in seconds.
-    """
-
-    target: Position
-    duration: float
-    type: Literal["take_video"] = "take_video"
-
-    @staticmethod
-    def get_inspection_type() -> Type[Inspection]:
-        return Video
-
-
-@dataclass
-class TakeThermalVideo(InspectionStep):
-    """
-    Step which causes the robot to record thermal video towards the given coordinate
-
-    Duration of video is given in seconds.
-    """
-
-    target: Position
-    duration: float
-    type: Literal["take_thermal_video"] = "take_thermal_video"
-
-    @staticmethod
-    def get_inspection_type() -> Type[Inspection]:
-        return ThermalVideo
-
-
-@dataclass
-class RecordAudio(InspectionStep):
-    """
-    Step which causes the robot to record a video at its position, facing the target.
-
-    Duration of audio is given in seconds.
-    """
-
-    target: Position
-    duration: float
-    type: Literal["record_audio"] = "record_audio"
-
-    @staticmethod
-    def get_inspection_type() -> Type[Inspection]:
-        return Audio
-
-
-STEPS = Union[
-    DriveToPose,
-    DockingProcedure,
-    ReturnToHome,
-    Localize,
-    TakeImage,
-    TakeThermalImage,
-    TakeVideo,
-    TakeThermalVideo,
-    RecordAudio,
-    MoveArm,
-]