isar 1.22.0__tar.gz → 1.22.1__tar.gz

{isar-1.22.0 → isar-1.22.1}/.github/workflows/pythonpackage.yml

@@ -14,7 +14,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python-version: ["3.11", "3.12"]
+        python-version: ["3.9", "3.10", "3.11", "3.12"]
 
     steps:
       - uses: actions/checkout@v4
@@ -24,11 +24,20 @@ jobs:
         with:
           python-version: ${{ matrix.python-version }}
 
-      - name: Install dependencies
+      - name: Upgrade pip
         run: |
           python -m pip install --upgrade pip
+
+      - name: Install dependencies with the compiled requirements (for Python 3.12)
+        if: ${{matrix.python-version == '3.12'}}
+        run: |
           pip install -r requirements.txt -e .[dev]
 
+      - name: Install dependencies based on the pyproject.toml file (for Python 3.9-3.11)
+        if: ${{matrix.python-version != '3.12'}}
+        run: |
+          pip install -e .[dev]
+
       - name: Test with pytest
         run: |
           pytest

{isar-1.22.0 → isar-1.22.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.22.0
+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-1.22.0 → isar-1.22.1}/pyproject.toml

@@ -7,7 +7,7 @@ name = "isar"
 authors = [{ name = "Equinor ASA", email = "fg_robots_dev@equinor.com" }]
 description = "Integration and Supervisory control of Autonomous Robots"
 readme = "README.md"
-requires-python = ">=3.11"
+requires-python = ">=3.9"
 license = { file = "LICENSE" }
 classifiers = [
     "Intended Audience :: Developers",
@@ -15,6 +15,8 @@ classifiers = [
     "License :: OSI Approved :: Eclipse Public License 2.0 (EPL-2.0)",
     "Natural Language :: English",
     "Programming Language :: Python :: 3",
+    "Programming Language :: Python :: 3.9",
+    "Programming Language :: Python :: 3.10",
     "Programming Language :: Python :: 3.11",
     "Programming Language :: Python :: 3.12",
     "Topic :: Scientific/Engineering",

{isar-1.22.0 → isar-1.22.1}/requirements.txt

@@ -12,40 +12,38 @@ anyio==4.4.0
     # via
     #   httpx
     #   starlette
-    #   watchfiles
 azure-core==1.30.2
     # via
     #   azure-identity
     #   azure-keyvault-secrets
     #   azure-storage-blob
     #   opencensus-ext-azure
-azure-identity==1.16.1
+azure-identity==1.17.1
     # via
     #   isar (pyproject.toml)
     #   opencensus-ext-azure
 azure-keyvault-secrets==4.8.0
     # via isar (pyproject.toml)
-azure-storage-blob==12.20.0
+azure-storage-blob==12.22.0
     # via isar (pyproject.toml)
 backoff==2.2.1
     # via isar (pyproject.toml)
-cachetools==5.3.3
+cachetools==5.5.0
     # via google-auth
-certifi==2024.6.2
+certifi==2024.8.30
     # via
     #   httpcore
     #   httpx
     #   requests
-cffi==1.16.0
+cffi==1.17.1
     # via cryptography
 charset-normalizer==3.3.2
     # via requests
 click==8.1.7
     # via
     #   isar (pyproject.toml)
-    #   typer
     #   uvicorn
-cryptography==42.0.8
+cryptography==43.0.1
     # via
     #   azure-identity
     #   azure-storage-blob
@@ -56,23 +54,17 @@ dacite==1.8.1
     # via
     #   alitra
     #   isar (pyproject.toml)
-dnspython==2.6.1
-    # via email-validator
-email-validator==2.1.2
-    # via fastapi
-fastapi==0.111.0
+fastapi==0.114.1
     # via
     #   fastapi-azure-auth
     #   isar (pyproject.toml)
-fastapi-azure-auth==4.4.0
+fastapi-azure-auth==5.0.1
     # via isar (pyproject.toml)
-fastapi-cli==0.0.4
-    # via fastapi
-google-api-core==2.19.0
+google-api-core==2.19.2
     # via opencensus
-google-auth==2.30.0
+google-auth==2.34.0
     # via google-api-core
-googleapis-common-protos==1.63.1
+googleapis-common-protos==1.65.0
     # via google-api-core
 h11==0.14.0
     # via
@@ -80,39 +72,26 @@ h11==0.14.0
     #   uvicorn
 httpcore==1.0.5
     # via httpx
-httptools==0.6.1
-    # via uvicorn
-httpx==0.27.0
-    # via
-    #   fastapi
-    #   fastapi-azure-auth
-idna==3.7
+httpx==0.27.2
+    # via fastapi-azure-auth
+idna==3.8
     # via
     #   anyio
-    #   email-validator
     #   httpx
     #   requests
-injector==0.21.0
+injector==0.22.0
     # via isar (pyproject.toml)
 isodate==0.6.1
     # via
     #   azure-keyvault-secrets
     #   azure-storage-blob
-jinja2==3.1.4
-    # via fastapi
-markdown-it-py==3.0.0
-    # via rich
-markupsafe==2.1.5
-    # via jinja2
-mdurl==0.1.2
-    # via markdown-it-py
-msal==1.28.1
+msal==1.31.0
     # via
     #   azure-identity
     #   msal-extensions
-msal-extensions==1.1.0
+msal-extensions==1.2.0
     # via azure-identity
-numpy==2.0.0
+numpy==2.1.1
     # via
     #   alitra
     #   isar (pyproject.toml)
@@ -130,43 +109,37 @@ opencensus-ext-logging==0.1.1
     # via isar (pyproject.toml)
 opencensus-ext-requests==0.8.0
     # via isar (pyproject.toml)
-orjson==3.10.5
-    # via fastapi
-packaging==24.1
-    # via msal-extensions
 paho-mqtt==2.1.0
     # via isar (pyproject.toml)
-portalocker==2.8.2
+portalocker==2.10.1
     # via msal-extensions
-proto-plus==1.23.0
+proto-plus==1.24.0
     # via google-api-core
-protobuf==4.25.3
+protobuf==5.28.1
     # via
     #   google-api-core
     #   googleapis-common-protos
     #   proto-plus
-psutil==5.9.8
+psutil==6.0.0
     # via opencensus-ext-azure
-pyasn1==0.6.0
+pyasn1==0.6.1
     # via
     #   pyasn1-modules
     #   rsa
-pyasn1-modules==0.4.0
+pyasn1-modules==0.4.1
     # via google-auth
 pycparser==2.22
     # via cffi
-pydantic==2.7.4
+pydantic==2.9.1
     # via
     #   fastapi
     #   isar (pyproject.toml)
     #   pydantic-settings
-pydantic-core==2.18.4
+pydantic-core==2.23.3
     # via pydantic
-pydantic-settings==2.3.3
+pydantic-settings==2.5.2
     # via isar (pyproject.toml)
-pygments==2.18.0
-    # via rich
-pyjwt[crypto]==2.8.0
+pyjwt[crypto]==2.9.0
     # via
     #   fastapi-azure-auth
     #   isar (pyproject.toml)
@@ -175,13 +148,8 @@ python-dotenv==1.0.1
     # via
     #   isar (pyproject.toml)
     #   pydantic-settings
-    #   uvicorn
-python-multipart==0.0.9
-    # via fastapi
-pyyaml==6.0.1
-    # via
-    #   isar (pyproject.toml)
-    #   uvicorn
+pyyaml==6.0.2
+    # via isar (pyproject.toml)
 requests==2.32.3
     # via
     #   azure-core
@@ -193,14 +161,10 @@ requests==2.32.3
     #   requests-toolbelt
 requests-toolbelt==1.0.0
     # via isar (pyproject.toml)
-rich==13.7.1
-    # via typer
 rsa==4.9
     # via google-auth
-scipy==1.13.1
+scipy==1.14.1
     # via alitra
-shellingham==1.5.4
-    # via typer
 six==1.16.0
     # via
     #   azure-core
@@ -211,34 +175,22 @@ sniffio==1.3.1
     # via
     #   anyio
     #   httpx
-starlette==0.37.2
+starlette==0.38.5
     # via fastapi
-transitions==0.9.1
+transitions==0.9.2
     # via isar (pyproject.toml)
-typer==0.12.3
-    # via fastapi-cli
 typing-extensions==4.12.2
     # via
     #   azure-core
+    #   azure-identity
     #   azure-keyvault-secrets
     #   azure-storage-blob
     #   fastapi
     #   pydantic
     #   pydantic-core
-    #   typer
-ujson==5.10.0
-    # via fastapi
-urllib3==2.2.1
+urllib3==2.2.2
     # via requests
-uvicorn[standard]==0.30.1
-    # via
-    #   fastapi
-    #   isar (pyproject.toml)
-uvloop==0.19.0
-    # via uvicorn
-watchfiles==0.22.0
-    # via uvicorn
-websockets==12.0
-    # via uvicorn
+uvicorn==0.30.6
+    # via isar (pyproject.toml)
 wrapt==1.16.0
     # via opencensus-ext-requests

{isar-1.22.0 → isar-1.22.1}/src/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-1.22.0 → isar-1.22.1}/src/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-1.22.0 → isar-1.22.1}/src/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-1.22.0 → isar-1.22.1}/src/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-1.22.0 → isar-1.22.1}/src/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,
         )