isar 1.21.0__py3-none-any.whl → 1.22.1__py3-none-any.whl

isar/apis/models/start_mission_definition.py

@@ -2,7 +2,7 @@ import time
 from enum import Enum
 from typing import Any, Dict, List, Optional, Union
 
-from alitra import Position, Pose, Orientation, Frame
+from alitra import Frame, Orientation, Pose, Position
 from pydantic import BaseModel, Field
 
 from isar.apis.models.models import InputPose, InputPosition
@@ -62,6 +62,8 @@ class StartMissionDefinition(BaseModel):
     id: Optional[str] = None
     name: Optional[str] = None
     start_pose: Optional[InputPose] = None
+    dock: Optional[bool] = None
+    undock: Optional[bool] = None
 
 
 def to_isar_mission(mission_definition: StartMissionDefinition) -> Mission:
@@ -85,6 +87,9 @@ def to_isar_mission(mission_definition: StartMissionDefinition) -> Mission:
 
     isar_mission: Mission = Mission(tasks=isar_tasks)
 
+    isar_mission.dock = mission_definition.dock
+    isar_mission.undock = mission_definition.undock
+
     if mission_definition.name:
         isar_mission.name = mission_definition.name
     else:
@@ -127,20 +132,21 @@ def check_for_duplicate_ids(items: Union[List[Task], List[STEPS]]):
 
 def generate_steps(task) -> List[STEPS]:
     steps: List[STEPS] = []
-    try:
-        match task.type:
-            case TaskType.Inspection:
-                steps.extend(generate_steps_for_inspection_task(task=task))
-            case TaskType.DriveTo:
-                steps.append(generate_steps_for_drive_to_task(task=task))
-            case TaskType.Localization:
-                steps.append(generate_steps_for_localization_task(task=task))
-            case TaskType.ReturnToHome:
-                steps.append(generate_steps_for_return_to_home_task(task=task))
-            case TaskType.Dock:
-                steps.append(generate_steps_for_dock_task())
-    except ValueError as e:
-        raise MissionPlannerError(f"Failed to create task: {str(e)}")
+
+    if task.type == TaskType.Inspection:
+        steps.extend(generate_steps_for_inspection_task(task=task))
+    elif task.type == TaskType.DriveTo:
+        steps.append(generate_steps_for_drive_to_task(task=task))
+    elif task.type == TaskType.Localization:
+        steps.append(generate_steps_for_localization_task(task=task))
+    elif task.type == TaskType.ReturnToHome:
+        steps.append(generate_steps_for_return_to_home_task(task=task))
+    elif task.type == TaskType.Dock:
+        steps.append(generate_steps_for_dock_task())
+    else:
+        raise MissionPlannerError(
+            f"Failed to create task: '{task.type}' is not a valid"
+        )
 
     return steps
 

isar/config/settings.py

@@ -8,7 +8,7 @@ from pydantic_settings import BaseSettings, SettingsConfigDict
 
 from isar.config import predefined_missions
 from robot_interface.models.robots.robot_model import RobotModel
-from robot_interface.telemetry.payloads import VideoStream
+from robot_interface.telemetry.payloads import VideoStream, DocumentInfo
 
 
 class Settings(BaseSettings):
@@ -190,6 +190,9 @@ class Settings(BaseSettings):
     # Serial number of the robot ISAR is connected to
     SERIAL_NUMBER: str = Field(default="0001")
 
+    # Info about robot documentation
+    DOCUMENTATION: List[DocumentInfo] = Field(default=[])
+
     # Endpoints to reach video streams for the robot
     VIDEO_STREAMS: List[VideoStream] = Field(
         default=[

isar/services/service_connections/mqtt/robot_heartbeat_publisher.py

@@ -1,6 +1,6 @@
 import json
 import time
-from datetime import UTC, datetime
+from datetime import datetime, timezone
 from queue import Queue
 
 from isar.config.settings import settings
@@ -18,7 +18,7 @@ class RobotHeartbeatPublisher:
             payload: RobotHeartbeatPayload = RobotHeartbeatPayload(
                 isar_id=settings.ISAR_ID,
                 robot_name=settings.ROBOT_NAME,
-                timestamp=datetime.now(UTC),
+                timestamp=datetime.now(timezone.utc),
             )
 
             self.mqtt_publisher.publish(

isar/services/service_connections/mqtt/robot_info_publisher.py

@@ -1,6 +1,6 @@
 import json
 import time
-from datetime import UTC, datetime
+from datetime import datetime, timezone
 from queue import Queue
 
 from isar.config.settings import robot_settings, settings
@@ -21,11 +21,12 @@ class RobotInfoPublisher:
                 robot_model=robot_settings.ROBOT_MODEL,  # type: ignore
                 robot_serial_number=settings.SERIAL_NUMBER,
                 robot_asset=settings.PLANT_SHORT_NAME,
+                documentation=settings.DOCUMENTATION,
                 video_streams=settings.VIDEO_STREAMS,
                 host=settings.API_HOST_VIEWED_EXTERNALLY,
                 port=settings.API_PORT,
                 capabilities=robot_settings.CAPABILITIES,
-                timestamp=datetime.now(UTC),
+                timestamp=datetime.now(timezone.utc),
             )
 
             self.mqtt_publisher.publish(

isar/state_machine/state_machine.py

@@ -2,7 +2,7 @@ import json
 import logging
 import queue
 from collections import deque
-from datetime import UTC, datetime
+from datetime import datetime, timezone
 from typing import Deque, List, Optional
 
 from alitra import Pose
@@ -292,7 +292,7 @@ class StateMachine(object):
         self.queues.resume_mission.output.put(resume_mission_response)
 
         self.current_task.reset_task()
-        self.update_current_step()
+        self.iterate_current_step()
 
         self.robot.resume()
 
@@ -337,12 +337,14 @@ class StateMachine(object):
         else:
             self.current_task.status = TaskStatus.InProgress
             self.publish_task_status(task=self.current_task)
-            self.update_current_step()
+            self.iterate_current_step()
 
     def _step_finished(self) -> None:
         self.publish_step_status(step=self.current_step)
-        self.update_current_task()
-        self.update_current_step()
+        self.current_task.update_task_status()
+        self.publish_task_status(task=self.current_task)
+        self.iterate_current_task()
+        self.iterate_current_step()
 
     def _full_mission_finished(self) -> None:
         self.current_task = None
@@ -379,8 +381,10 @@ class StateMachine(object):
         if self.stepwise_mission:
             self.current_step.status = StepStatus.Failed
             self.publish_step_status(step=self.current_step)
-            self.update_current_task()
-            self.update_current_step()
+            self.current_task.update_task_status()
+            self.publish_task_status(task=self.current_task)
+            self.iterate_current_task()
+            self.iterate_current_step()
 
     def _mission_stopped(self) -> None:
         self.current_mission.status = MissionStatus.Cancelled
@@ -427,10 +431,8 @@ class StateMachine(object):
         """
         self.to_idle()
 
-    def update_current_task(self):
+    def iterate_current_task(self):
         if self.current_task.is_finished():
-            self.current_task.update_task_status()
-            self.publish_task_status(task=self.current_task)
             try:
                 self.current_task = self.task_selector.next_task()
                 self.current_task.status = TaskStatus.InProgress
@@ -439,7 +441,7 @@ class StateMachine(object):
                 # Indicates that all tasks are finished
                 self.current_task = None
 
-    def update_current_step(self):
+    def iterate_current_step(self):
         if self.current_task != None:
             self.current_step = self.current_task.next_step()
 
@@ -524,7 +526,7 @@ class StateMachine(object):
                 "error_description": (
                     error_message.error_description if error_message else None
                 ),
-                "timestamp": datetime.now(UTC),
+                "timestamp": datetime.now(timezone.utc),
             },
             cls=EnhancedJSONEncoder,
         )
@@ -557,7 +559,7 @@ class StateMachine(object):
                 "error_description": (
                     error_message.error_description if error_message else None
                 ),
-                "timestamp": datetime.now(UTC),
+                "timestamp": datetime.now(timezone.utc),
             },
             cls=EnhancedJSONEncoder,
         )
@@ -592,7 +594,7 @@ class StateMachine(object):
                 "error_description": (
                     error_message.error_description if error_message else None
                 ),
-                "timestamp": datetime.now(UTC),
+                "timestamp": datetime.now(timezone.utc),
             },
             cls=EnhancedJSONEncoder,
         )
@@ -612,7 +614,7 @@ class StateMachine(object):
                 "isar_id": settings.ISAR_ID,
                 "robot_name": settings.ROBOT_NAME,
                 "status": self._current_status(),
-                "timestamp": datetime.now(UTC),
+                "timestamp": datetime.now(timezone.utc),
             },
             cls=EnhancedJSONEncoder,
         )

isar/state_machine/states/monitor.py

@@ -71,37 +71,14 @@ class Monitor(State):
                     thread_name="State Machine Monitor Get Step Status",
                 )
             try:
-                status: Union[StepStatus, MissionStatus] = (
-                    self.step_status_thread.get_output()
-                )
+                status: StepStatus = self.step_status_thread.get_output()
             except ThreadedRequestNotFinishedError:
                 time.sleep(self.state_machine.sleep_time)
                 continue
 
             except RobotCommunicationTimeoutException as e:
-                self.state_machine.current_mission.error_message = ErrorMessage(
-                    error_reason=e.error_reason, error_description=e.error_description
-                )
-                self.step_status_thread = None
-                self.request_status_failure_counter += 1
-                self.logger.warning(
-                    f"Monitoring step {self.state_machine.current_step.id} failed #: "
-                    f"{self.request_status_failure_counter} failed because: {e.error_description}"
-                )
-
-                if (
-                    self.request_status_failure_counter
-                    >= self.request_status_failure_counter_limit
-                ):
-                    self.state_machine.current_step.error_message = ErrorMessage(
-                        error_reason=e.error_reason,
-                        error_description=e.error_description,
-                    )
-                    self.logger.error(
-                        f"Step will be cancelled after failing to get step status "
-                        f"{self.request_status_failure_counter} times because: "
-                        f"{e.error_description}"
-                    )
+                step_failed: bool = self._handle_communication_timeout(e)
+                if step_failed:
                     status = StepStatus.Failed
                 else:
                     continue
@@ -116,16 +93,6 @@ class Monitor(State):
                 )
                 status = StepStatus.Failed
 
-            except RobotMissionStatusException as e:
-                self.state_machine.current_mission.error_message = ErrorMessage(
-                    error_reason=e.error_reason, error_description=e.error_description
-                )
-                self.logger.error(
-                    f"Monitoring mission {self.state_machine.current_mission.id} "
-                    f"failed because: {e.error_description}"
-                )
-                status = MissionStatus.Failed
-
             except RobotException as e:
                 self._set_error_message(e)
                 status = StepStatus.Failed
@@ -134,13 +101,18 @@ class Monitor(State):
                     f"Retrieving the status failed because: {e.error_description}"
                 )
 
-            if isinstance(status, StepStatus):
-                self.state_machine.current_step.status = status
-            elif isinstance(status, MissionStatus):
-                self.state_machine.current_mission.status = status
+            if not isinstance(status, StepStatus):
                 self.logger.error(
                     f"Received an invalid status update when monitoring mission. Only StepStatus is expected."
                 )
+                break
+
+            if self.state_machine.current_task == None:
+                self.state_machine.iterate_current_task()
+            if self.state_machine.current_step == None:
+                self.state_machine.iterate_current_step()
+
+            self.state_machine.current_step.status = status
 
             if self._should_upload_inspections():
                 get_inspections_thread = ThreadedRequest(
@@ -153,38 +125,37 @@ class Monitor(State):
                 )
 
             if self.state_machine.stepwise_mission:
-                if self._step_finished(self.state_machine.current_step):
+                if self._is_step_finished(self.state_machine.current_step):
+                    self._report_step_status(self.state_machine.current_step)
                     transition = self.state_machine.step_finished  # type: ignore
                     break
             else:
-                if isinstance(status, StepStatus):
-                    if self._step_finished(self.state_machine.current_step):
-                        self.state_machine.update_current_task()
+                if self._is_step_finished(self.state_machine.current_step):
+                    self._report_step_status(self.state_machine.current_step)
+
+                    if self.state_machine.current_task.is_finished():
+                        # Report and update finished task
+                        self.state_machine.current_task.update_task_status()  # Uses the updated step status to set the task status
+                        self.state_machine.publish_task_status(
+                            task=self.state_machine.current_task
+                        )
+
+                        self.state_machine.iterate_current_task()
+
                         if self.state_machine.current_task == None:
                             transition = self.state_machine.full_mission_finished  # type: ignore
                             break
-                        self.state_machine.update_current_step()
+
+                        # Report and update next task
                         self.state_machine.current_task.update_task_status()
-                    else:  # If not all steps are done
-                        self.state_machine.current_task.status = TaskStatus.InProgress
-
-                    self.state_machine.publish_task_status(
-                        self.state_machine.current_task
-                    )
-                    if self.state_machine.current_task.status == TaskStatus.Successful:
-                        try:
-                            self.state_machine.current_task = (
-                                self.state_machine.task_selector.next_task()
-                            )
-                        except TaskSelectorStop:
-                            # Indicates that all tasks are finished
-                            self.state_machine.current_task = None
-                            transition = self.state_machine.full_mission_finished  # type: ignore
-                            break
-                        self.state_machine.update_current_step()
-                elif self._mission_finished(self.state_machine.current_mission):
-                    transition = self.state_machine.full_mission_finished  # type: ignore
-                    break
+                        self.state_machine.publish_task_status(
+                            task=self.state_machine.current_task
+                        )
+
+                    self.state_machine.iterate_current_step()
+
+                else:  # If not all steps are done
+                    self.state_machine.current_task.status = TaskStatus.InProgress
 
             self.step_status_thread = None
             time.sleep(self.state_machine.sleep_time)
@@ -227,34 +198,28 @@ class Monitor(State):
             self.state_machine.queues.upload_queue.put(message)
             self.logger.info(f"Inspection: {str(inspection.id)[:8]} queued for upload")
 
-    def _step_finished(self, step: Step) -> bool:
+    def _is_step_finished(self, step: Step) -> bool:
         finished: bool = False
+        if step.status == StepStatus.Failed:
+            finished = True
+        elif step.status == StepStatus.Successful:
+            finished = True
+        return finished
+
+    def _report_step_status(self, step: Step) -> None:
         if step.status == StepStatus.Failed:
             self.logger.warning(
                 f"Step: {str(step.id)[:8]} was reported as failed by the robot"
             )
-            finished = True
         elif step.status == StepStatus.Successful:
             self.logger.info(
                 f"{type(step).__name__} step: {str(step.id)[:8]} completed"
             )
-            finished = True
-        return finished
-
-    @staticmethod
-    def _mission_finished(mission: Mission) -> bool:
-        if (
-            mission.status == MissionStatus.Successful
-            or mission.status == MissionStatus.PartiallySuccessful
-            or mission.status == MissionStatus.Failed
-        ):
-            return True
-        return False
 
     def _should_upload_inspections(self) -> bool:
         step: Step = self.state_machine.current_step
         return (
-            self._step_finished(step)
+            self._is_step_finished(step)
             and step.status == StepStatus.Successful
             and isinstance(step, InspectionStep)
         )
@@ -264,3 +229,33 @@ class Monitor(State):
             error_reason=e.error_reason, error_description=e.error_description
         )
         self.state_machine.current_step.error_message = error_message
+
+    def _handle_communication_timeout(
+        self, e: RobotCommunicationTimeoutException
+    ) -> bool:
+        self.state_machine.current_mission.error_message = ErrorMessage(
+            error_reason=e.error_reason, error_description=e.error_description
+        )
+        self.step_status_thread = None
+        self.request_status_failure_counter += 1
+        self.logger.warning(
+            f"Monitoring step {self.state_machine.current_step.id} failed #: "
+            f"{self.request_status_failure_counter} failed because: {e.error_description}"
+        )
+
+        if (
+            self.request_status_failure_counter
+            >= self.request_status_failure_counter_limit
+        ):
+            self.state_machine.current_step.error_message = ErrorMessage(
+                error_reason=e.error_reason,
+                error_description=e.error_description,
+            )
+            self.logger.error(
+                f"Step will be cancelled after failing to get step status "
+                f"{self.request_status_failure_counter} times because: "
+                f"{e.error_description}"
+            )
+            return True
+
+        return False

isar/storage/uploader.py

@@ -1,7 +1,7 @@
 import json
 import logging
 from dataclasses import dataclass
-from datetime import UTC, datetime, timedelta
+from datetime import datetime, timedelta, timezone
 from queue import Empty, Queue
 from typing import List, Union
 
@@ -22,12 +22,12 @@ class UploaderQueueItem:
     mission: Mission
     storage_handler: StorageInterface
     _retry_count: int
-    _next_retry_time: datetime = datetime.now(UTC)
+    _next_retry_time: datetime = datetime.now(timezone.utc)
 
     def increment_retry(self, max_wait_time: int) -> None:
         self._retry_count += 1
         seconds_until_retry: int = min(2**self._retry_count, max_wait_time)
-        self._next_retry_time = datetime.now(UTC) + timedelta(
+        self._next_retry_time = datetime.now(timezone.utc) + timedelta(
             seconds=seconds_until_retry
         )
 
@@ -35,10 +35,12 @@ class UploaderQueueItem:
         return self._retry_count
 
     def is_ready_for_upload(self) -> bool:
-        return datetime.now(UTC) >= self._next_retry_time
+        return datetime.now(timezone.utc) >= self._next_retry_time
 
     def seconds_until_retry(self) -> int:
-        return max(0, int((self._next_retry_time - datetime.now(UTC)).total_seconds()))
+        return max(
+            0, int((self._next_retry_time - datetime.now(timezone.utc)).total_seconds())
+        )
 
 
 class Uploader:
@@ -154,7 +156,7 @@ class Uploader:
                 "inspection_id": inspection.id,
                 "inspection_path": inspection_path,
                 "analysis_type": inspection.metadata.analysis_type,
-                "timestamp": datetime.now(UTC),
+                "timestamp": datetime.now(timezone.utc),
             },
             cls=EnhancedJSONEncoder,
         )

isar/storage/utilities.py

@@ -1,6 +1,6 @@
 import json
 import time
-from datetime import UTC, datetime
+from datetime import datetime, timezone
 from pathlib import Path
 from typing import Tuple
 
@@ -37,7 +37,7 @@ def construct_metadata_file(
             "mission_id": mission.id,
             "mission_name": mission.name,
             "plant_name": settings.PLANT_NAME,
-            "mission_date": datetime.now(UTC).date(),
+            "mission_date": datetime.now(timezone.utc).date(),
             "isar_id": settings.ISAR_ID,
             "robot_name": settings.ROBOT_NAME,
             "analysis_type": (
@@ -80,4 +80,4 @@ def get_filename(
 
 def get_foldername(mission: Mission) -> str:
     mission_name: str = mission.name.replace(" ", "-")
-    return f"{datetime.now(UTC).date()}__{settings.PLANT_SHORT_NAME}__{mission_name}__{mission.id}"
+    return f"{datetime.now(timezone.utc).date()}__{settings.PLANT_SHORT_NAME}__{mission_name}__{mission.id}"

{isar-1.21.0.dist-info → isar-1.22.1.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.21.0
+Version: 1.22.1
 Summary: Integration and Supervisory control of Autonomous Robots
 Author-email: Equinor ASA <fg_robots_dev@equinor.com>
 License: Eclipse Public License version 2.0
@@ -91,12 +91,14 @@ Classifier: Intended Audience :: Science/Research
 Classifier: License :: OSI Approved :: Eclipse Public License 2.0 (EPL-2.0)
 Classifier: Natural Language :: English
 Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.9
+Classifier: Programming Language :: Python :: 3.10
 Classifier: Programming Language :: Python :: 3.11
 Classifier: Programming Language :: Python :: 3.12
 Classifier: Topic :: Scientific/Engineering
 Classifier: Topic :: Scientific/Engineering :: Physics
 Classifier: Topic :: Software Development :: Libraries
-Requires-Python: >=3.11
+Requires-Python: >=3.9
 Description-Content-Type: text/markdown
 License-File: LICENSE
 Requires-Dist: alitra >=1.1.3

{isar-1.21.0.dist-info → isar-1.22.1.dist-info}/RECORD

@@ -5,7 +5,7 @@ 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
 isar/apis/models/models.py,sha256=BRm3Wl6TJHdHEKLRQ2SGDx6Y54qq8IesMbBuVO7RuxE,1757
-isar/apis/models/start_mission_definition.py,sha256=GuihnkVRXjzopMEiRQ4rOfeCGw98IFK9EYylB-5S0aI,7253
+isar/apis/models/start_mission_definition.py,sha256=Ch8625e-ZDWQv5L-cVlpotTHm1b42ZrDBx2recvTIjM,7394
 isar/apis/schedule/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/apis/schedule/scheduling_controller.py,sha256=w2F-6IKBgVN9HVopAOWBb3KUgPjhsnuPLQ3eqjDNfOg,11888
 isar/apis/security/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -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=yU1Zgc1Sbby3vHqv2JeIFAK8nXV_8ZAhuE7HzsZiqxc,13368
+isar/config/settings.py,sha256=RUsQr4ZFhsMGQRmBQFYxYZkowsP82UG2EDisenLQXes,13478
 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
@@ -59,21 +59,21 @@ isar/services/service_connections/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeR
 isar/services/service_connections/request_handler.py,sha256=0LxC0lu_HXeEf_xmJWjfEsh14oAUI97cpG1IWtBlcs4,4278
 isar/services/service_connections/mqtt/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/services/service_connections/mqtt/mqtt_client.py,sha256=Aib0lqaddxW9aVXXYD7wGL9jIpr2USCCH91SQgFdIG4,3548
-isar/services/service_connections/mqtt/robot_heartbeat_publisher.py,sha256=0Qjo2wRZZoooXG-UE4z8YJc9QCCz6v-9YAqHRJgx-kE,1005
-isar/services/service_connections/mqtt/robot_info_publisher.py,sha256=f1vhBNPlx6p3Au8l7OsWIJXRM_xjA8qcLHvnkwCtRBM,1388
+isar/services/service_connections/mqtt/robot_heartbeat_publisher.py,sha256=_bUOG7CfqBlCRvG4vh2XGoMXucBxsJarFIeXIKOH1aw,1019
+isar/services/service_connections/mqtt/robot_info_publisher.py,sha256=5G6ahslydhO2Z4Ug3abf5KVHeOiWdWBMxwraRbJZS_I,1456
 isar/services/service_connections/stid/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/services/utilities/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/services/utilities/queue_utilities.py,sha256=Pw3hehSwkXJNeDv-bDVDfs58VOwtt3i5hpiJ2ZpphuQ,1225
 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=UcCQEEscwrOgWqjWVhkeEqRGFm2pLEomud3ROl96qro,24204
+isar/state_machine/state_machine.py,sha256=JrVwo3tU5lzWKlUE5oMpoE8aEte3HcVOHbjCGMIdv_c,24357
 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=KdCPzE6JrnJg3wk936AxWFzp4IuR9a43Dq3-8mL0qAI,11043
+isar/state_machine/states/monitor.py,sha256=Jc1ZZ4mOJQU-VI5-UQJLbKNQGqHMBruvurHeJOlGnD0,10277
 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=qFSauRwalyws8K5bDZ5wkcRDVYyevTDVRtbXkiF9rZc,1174
@@ -83,34 +83,34 @@ isar/storage/blob_storage.py,sha256=oKdml1VVN8iTr-d_5H4Lz5E7zrhJRknCzOxHD-tO7m8,
 isar/storage/local_storage.py,sha256=Bnmoi5gyN8r-oRh0aHrOdGqaH3JqRScFKMRXYojW5kY,1855
 isar/storage/slimm_storage.py,sha256=Hp7ZIgZgIR4KAFjzxDKfgMZjPZwP2kmdc1gG8zVcsMk,8966
 isar/storage/storage_interface.py,sha256=DYDry4I7aZpDHJhsBF6s8zrgokFAc7fdKJKfA8AvL7o,828
-isar/storage/uploader.py,sha256=te3GyiSeu96MhbiqQ7ueIMUPLSKblx3UqYAshkxfVIE,6368
-isar/storage/utilities.py,sha256=eTyY56WCTda5YswE9znWNeNEoTbT3jokNbwcLVmmQjA,3113
+isar/storage/uploader.py,sha256=_f-uIiL5ye6GLc7nYQxHrqDXrIquoL_t5tt9SSaYoDA,6440
+isar/storage/utilities.py,sha256=AGqOzhnyPXSStpJjBstqQ4QgUoHJioQB2DJ1NqeWn_w,3136
 robot_interface/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 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
-robot_interface/models/exceptions/robot_exceptions.py,sha256=l1h62gq7lfLzWoHh2ytdEWgn_4lS4M-GPxHkjgAXcP4,9036
+robot_interface/models/exceptions/robot_exceptions.py,sha256=DNlecQm2m4ld5mLLFQl1EkQ4b9XgX9H7g-b5c1EuUf4,9549
 robot_interface/models/initialize/__init__.py,sha256=rz5neEDr59GDbzzI_FF0DId-C-I-50l113P-h-C_QBY,48
 robot_interface/models/initialize/initialize_params.py,sha256=2eG5Aq5bDKU6tVkaUMAoc46GERBgyaKkqv6yLupdRLc,164
 robot_interface/models/inspection/__init__.py,sha256=14wfuj4XZazrigKD7fL98khFKz-eckIpEgPcYRj40Kg,227
 robot_interface/models/inspection/inspection.py,sha256=TVqUl5o3d3fp8IravOMwJIuRoEU8y4BltFrF1IkwvTA,2176
 robot_interface/models/mission/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-robot_interface/models/mission/mission.py,sha256=xJ7i79TQkmO0Tv2IQeguhyliNP2J42ziS5iO-FyBpW0,839
+robot_interface/models/mission/mission.py,sha256=r_tYqhZeKASdJ_YIN0ZhCl6YdokuuDySI0o9IT2Qe7M,905
 robot_interface/models/mission/status.py,sha256=R5jLmmn6M7oNX907QvbrhoAqAo4C1zB653Ed1PcxAtg,922
 robot_interface/models/mission/step.py,sha256=DEzU-LD-i3RTAaXBy5KwJZ6OnN5S0F3wwDaqX2DZ72M,5587
-robot_interface/models/mission/task.py,sha256=JJ062AIdwVoj3PUkWYmJDvRl5B7Tcu9S11J2F_0tfjE,4695
+robot_interface/models/mission/task.py,sha256=Nup8e_M_KYhtEtGNeV4FzVzaRH4YpDWiKfMMkLJu0ms,4788
 robot_interface/models/robots/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/models/robots/robot_model.py,sha256=pZQsqhn9hh6XE3EjMZhWMzYqg5oJ4CJ4CXeOASKvEf8,452
 robot_interface/telemetry/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-robot_interface/telemetry/mqtt_client.py,sha256=AHBmOpVvoo6pY5uXwyBY7SooN_cnpuS0DMkfLUPwpl8,2743
-robot_interface/telemetry/payloads.py,sha256=eMK7mjZPsLY6yvu7AK-OcdvkeUpChzDrySDY7IjQ9RM,1464
+robot_interface/telemetry/mqtt_client.py,sha256=um7j7XDSAlY6-wWLpBl6ZYjmQ-G0lY7f2_NaZ3ciZ7U,2757
+robot_interface/telemetry/payloads.py,sha256=JM5E_IHkZpim_zdwc-w52D7dYFBeP4iO1-xupOkHcFQ,1562
 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-1.21.0.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,,
+isar-1.22.1.dist-info/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar-1.22.1.dist-info/METADATA,sha256=XlWkAOiQDpPAUiShyCpojSATloy3CHCj1xT78hP6dAk,30674
+isar-1.22.1.dist-info/WHEEL,sha256=5Mi1sN9lKoFv_gxcPtisEVrJZihrm_beibeg5R6xb4I,91
+isar-1.22.1.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.22.1.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.22.1.dist-info/RECORD,,

{isar-1.21.0.dist-info → isar-1.22.1.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: bdist_wheel (0.43.0)
+Generator: setuptools (75.0.0)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

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

robot_interface/models/mission/mission.py

@@ -15,6 +15,8 @@ class Mission:
     id: str = field(default_factory=uuid4_string, init=True)
     name: str = ""
     start_pose: Optional[Pose] = None
+    dock: Optional[bool] = None
+    undock: Optional[bool] = None
     status: MissionStatus = MissionStatus.NotStarted
     error_message: Optional[ErrorMessage] = field(default=None, init=False)
 

robot_interface/models/mission/task.py

@@ -22,11 +22,14 @@ class Task:
     id: str = field(default_factory=uuid4_string, init=True)
     _iterator: Iterator = None
 
-    def next_step(self) -> Step:
-        step: Step = next(self._iterator)
-        while step.status != StepStatus.NotStarted:
-            step = next(self._iterator)
-        return step
+    def next_step(self) -> Optional[Step]:
+        try:
+            step: Step = next(self._iterator)
+            while step.status != StepStatus.NotStarted:
+                step = next(self._iterator)
+            return step
+        except StopIteration:
+            return None
 
     def is_finished(self) -> bool:
         for step in self.steps:

robot_interface/telemetry/mqtt_client.py

@@ -1,7 +1,7 @@
 import json
 import time
 from abc import ABCMeta, abstractmethod
-from datetime import UTC, datetime
+from datetime import datetime, timezone
 from queue import Queue
 from typing import Callable, Tuple
 
@@ -73,7 +73,7 @@ class MqttTelemetryPublisher(MqttClientInterface):
                 topic = self.topic
             except RobotTelemetryException:
                 payload = json.dumps(
-                    CloudHealthPayload(isar_id, robot_name, datetime.now(UTC)),
+                    CloudHealthPayload(isar_id, robot_name, datetime.now(timezone.utc)),
                     cls=EnhancedJSONEncoder,
                 )
                 topic = self.cloud_healt_topic

robot_interface/telemetry/payloads.py

@@ -42,6 +42,12 @@ class TelemetryPressurePayload(TelemetryPayload):
     pressure_level: float
 
 
+@dataclass
+class DocumentInfo:
+    name: str
+    url: str
+
+
 @dataclass
 class VideoStream:
     name: str
@@ -69,6 +75,7 @@ class RobotInfoPayload:
     robot_model: str
     robot_serial_number: str
     robot_asset: str
+    documentation: List[DocumentInfo]
     video_streams: List[VideoStream]
     host: str
     port: int