isar 1.20.3__tar.gz → 1.22.0__tar.gz

{isar-1.20.3 → isar-1.22.0}/.github/workflows/pythonpackage.yml

@@ -27,15 +27,15 @@ jobs:
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install -e .[dev]
-
-      - name: Lint
-        run: |
-          black --check .
-          mypy .
+          pip install -r requirements.txt -e .[dev]
 
       - name: Test with pytest
         run: |
           pytest
         env:
           ENVIRONMENT: local
+
+      - name: Lint
+        run: |
+          black --check .
+          mypy .

{isar-1.20.3 → isar-1.22.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.20.3
+Version: 1.22.0
 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-1.20.3 → isar-1.22.0}/requirements.txt

@@ -13,13 +13,13 @@ anyio==4.4.0
     #   httpx
     #   starlette
     #   watchfiles
-azure-core==1.30.1
+azure-core==1.30.2
     # via
     #   azure-identity
     #   azure-keyvault-secrets
     #   azure-storage-blob
     #   opencensus-ext-azure
-azure-identity==1.16.0
+azure-identity==1.16.1
     # via
     #   isar (pyproject.toml)
     #   opencensus-ext-azure
@@ -58,7 +58,7 @@ dacite==1.8.1
     #   isar (pyproject.toml)
 dnspython==2.6.1
     # via email-validator
-email-validator==2.1.1
+email-validator==2.1.2
     # via fastapi
 fastapi==0.111.0
     # via
@@ -70,7 +70,7 @@ fastapi-cli==0.0.4
     # via fastapi
 google-api-core==2.19.0
     # via opencensus
-google-auth==2.29.0
+google-auth==2.30.0
     # via google-api-core
 googleapis-common-protos==1.63.1
     # via google-api-core
@@ -106,13 +106,13 @@ markupsafe==2.1.5
     # via jinja2
 mdurl==0.1.2
     # via markdown-it-py
-msal==1.28.0
+msal==1.28.1
     # via
     #   azure-identity
     #   msal-extensions
 msal-extensions==1.1.0
     # via azure-identity
-numpy==1.26.4
+numpy==2.0.0
     # via
     #   alitra
     #   isar (pyproject.toml)
@@ -130,9 +130,9 @@ opencensus-ext-logging==0.1.1
     # via isar (pyproject.toml)
 opencensus-ext-requests==0.8.0
     # via isar (pyproject.toml)
-orjson==3.10.3
+orjson==3.10.5
     # via fastapi
-packaging==24.0
+packaging==24.1
     # via msal-extensions
 paho-mqtt==2.1.0
     # via isar (pyproject.toml)
@@ -155,14 +155,14 @@ pyasn1-modules==0.4.0
     # via google-auth
 pycparser==2.22
     # via cffi
-pydantic==2.7.3
+pydantic==2.7.4
     # via
     #   fastapi
     #   isar (pyproject.toml)
     #   pydantic-settings
 pydantic-core==2.18.4
     # via pydantic
-pydantic-settings==2.3.1
+pydantic-settings==2.3.3
     # via isar (pyproject.toml)
 pygments==2.18.0
     # via rich
@@ -217,7 +217,7 @@ transitions==0.9.1
     # via isar (pyproject.toml)
 typer==0.12.3
     # via fastapi-cli
-typing-extensions==4.12.1
+typing-extensions==4.12.2
     # via
     #   azure-core
     #   azure-keyvault-secrets

{isar-1.20.3 → isar-1.22.0}/src/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-1.20.3 → isar-1.22.0}/src/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-1.20.3 → isar-1.22.0}/src/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-1.20.3 → isar-1.22.0}/src/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-1.20.3 → isar-1.22.0}/src/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-1.20.3 → isar-1.22.0}/src/isar.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.20.3
+Version: 1.22.0
 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-1.20.3 → isar-1.22.0}/src/robot_interface/models/exceptions/robot_exceptions.py

@@ -21,6 +21,9 @@ class ErrorReason(str, Enum):
     RobotUnknownErrorException: str = "robot_unknown_error_exception"
     RobotDisconnectedException: str = "robot_disconnected_exception"
     RobotMissionNotSupportedException: str = "robot_mission_not_supported_exception"
+    RobotMissionMissingStartPoseException: str = (
+        "robot_mission_missing_start_pose_exception"
+    )
 
 
 @dataclass
@@ -244,3 +247,14 @@ class RobotMissionNotSupportedException(RobotException):
         )
 
     pass
+
+
+# An exception which should be thrown by the robot package if the mission is missing start pose and it needed it
+class RobotMissionMissingStartPoseException(RobotException):
+    def __init__(self, error_description: str) -> None:
+        super().__init__(
+            error_reason=ErrorReason.RobotMissionMissingStartPoseException,
+            error_description=error_description,
+        )
+
+    pass

{isar-1.20.3 → isar-1.22.0}/src/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.

{isar-1.20.3 → isar-1.22.0}/tests/mocks/robot_interface.py

@@ -51,6 +51,12 @@ class MockRobot(RobotInterface):
     def stop(self) -> None:
         return
 
+    def pause(self) -> None:
+        return
+
+    def resume(self) -> None:
+        return
+
     def get_inspections(self, step: InspectionStep) -> Sequence[Inspection]:
         image: Image = Image(mock_image_metadata())
         image.data = b"Some binary image data"