isar 1.23.0__tar.gz → 1.23.2__tar.gz

{isar-1.23.0 → isar-1.23.2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.23.0
+Version: 1.23.2
 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-1.23.0 → isar-1.23.2}/src/isar/apis/models/start_mission_definition.py

@@ -8,7 +8,6 @@ from pydantic import BaseModel, Field
 from isar.apis.models.models import InputPose, InputPosition
 from isar.config.settings import settings
 from isar.mission_planner.mission_planner_interface import MissionPlannerError
-from robot_interface.models.inspection.inspection import Inspection, InspectionMetadata
 from robot_interface.models.mission.mission import Mission
 from robot_interface.models.mission.task import (
     TASKS,
@@ -21,7 +20,6 @@ from robot_interface.models.mission.task import (
     TakeThermalVideo,
     TakeVideo,
 )
-from robot_interface.models.mission.task import Task
 
 
 class InspectionTypes(str, Enum):
@@ -51,7 +49,7 @@ class StartMissionInspectionDefinition(BaseModel):
 class StartMissionTaskDefinition(BaseModel):
     type: TaskType = Field(default=TaskType.Inspection)
     pose: InputPose
-    inspection: StartMissionInspectionDefinition
+    inspection: Optional[StartMissionInspectionDefinition] = None
     tag: Optional[str] = None
     id: Optional[str] = None
 

{isar-1.23.0 → isar-1.23.2}/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, DocumentInfo
+from robot_interface.telemetry.payloads import DocumentInfo, VideoStream
 
 
 class Settings(BaseSettings):
@@ -54,10 +54,10 @@ class Settings(BaseSettings):
     # Determines the number of state transitions that are kept in the log
     STATE_TRANSITIONS_LOG_LENGTH: int = Field(default=20)
 
-    # Number of attempts to initiate a step or mission before cancelling
+    # Number of attempts to initiate a task or mission before cancelling
     INITIATE_FAILURE_COUNTER_LIMIT: int = Field(default=10)
 
-    # Number of attempts to request a step status in monitor before cancelling
+    # Number of attempts to request a task status in monitor before cancelling
     REQUEST_STATUS_FAILURE_COUNTER_LIMIT: int = Field(default=3)
 
     # Number of attempts to stop the robot before giving up
@@ -236,7 +236,6 @@ class Settings(BaseSettings):
     TOPIC_ISAR_STATUS: str = Field(default="status", validate_default=True)
     TOPIC_ISAR_MISSION: str = Field(default="mission", validate_default=True)
     TOPIC_ISAR_TASK: str = Field(default="task", validate_default=True)
-    TOPIC_ISAR_STEP: str = Field(default="step", validate_default=True)
     TOPIC_ISAR_INSPECTION_RESULT: str = Field(
         default="inspection_result", validate_default=True
     )
@@ -290,7 +289,6 @@ class Settings(BaseSettings):
         "TOPIC_ISAR_STATUS",
         "TOPIC_ISAR_MISSION",
         "TOPIC_ISAR_TASK",
-        "TOPIC_ISAR_STEP",
         "TOPIC_ISAR_ROBOT_INFO",
         "TOPIC_ISAR_ROBOT_HEARTBEAT",
         "TOPIC_ISAR_INSPECTION_RESULT",

{isar-1.23.0 → isar-1.23.2}/src/isar/state_machine/states/monitor.py

@@ -16,15 +16,12 @@ from robot_interface.models.exceptions.robot_exceptions import (
     RobotCommunicationTimeoutException,
     RobotException,
     RobotRetrieveInspectionException,
-    RobotStepStatusException,
+    RobotTaskStatusException,
 )
 from robot_interface.models.inspection.inspection import Inspection
 from robot_interface.models.mission.mission import Mission
 from robot_interface.models.mission.status import TaskStatus
-from robot_interface.models.mission.task import Task
-from robot_interface.models.mission.task import (
-    InspectionTask,
-)
+from robot_interface.models.mission.task import InspectionTask, Task
 
 if TYPE_CHECKING:
     from isar.state_machine.state_machine import StateMachine
@@ -70,7 +67,7 @@ class Monitor(State):
                 self._run_get_status_thread(
                     status_function=self.state_machine.robot.task_status,
                     function_argument=self.state_machine.current_task.id,
-                    thread_name="State Machine Monitor Get Step Status",
+                    thread_name="State Machine Monitor Get Task Status",
                 )
             try:
                 status: TaskStatus = self.task_status_thread.get_output()
@@ -85,7 +82,7 @@ class Monitor(State):
                 else:
                     continue
 
-            except RobotStepStatusException as e:
+            except RobotTaskStatusException as e:
                 self.state_machine.current_task.error_message = ErrorMessage(
                     error_reason=e.error_reason, error_description=e.error_description
                 )
@@ -232,7 +229,7 @@ class Monitor(State):
                 error_description=e.error_description,
             )
             self.logger.error(
-                f"Step will be cancelled after failing to get task status "
+                f"Task will be cancelled after failing to get task status "
                 f"{self.request_status_failure_counter} times because: "
                 f"{e.error_description}"
             )

{isar-1.23.0 → isar-1.23.2}/src/isar.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.23.0
+Version: 1.23.2
 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-1.23.0 → isar-1.23.2}/src/robot_interface/models/exceptions/robot_exceptions.py

@@ -9,7 +9,7 @@ class ErrorReason(str, Enum):
     RobotInfeasibleTaskException: str = "robot_infeasible_step_exception"
     RobotInfeasibleMissionException: str = "robot_infeasible_mission_exception"
     RobotMissionStatusException: str = "robot_mission_status_exception"
-    RobotStepStatusException: str = "robot_step_status_exception"
+    RobotTaskStatusException: str = "robot_task_status_exception"
     RobotAPIException: str = "robot_api_exception"
     RobotActionException: str = "robot_action_exception"
     RobotInitializeException: str = "robot_initialize_exception"
@@ -66,7 +66,7 @@ class RobotCommunicationTimeoutException(RobotException):
 
 
 # An exception which should be thrown by the robot package if it is unable to start the
-# current step.
+# current task.
 class RobotInfeasibleTaskException(RobotException):
     def __init__(self, error_description: str) -> None:
         super().__init__(
@@ -102,11 +102,11 @@ class RobotMissionStatusException(RobotException):
 
 
 # An exception which should be thrown by the robot package if it is unable to collect
-# the status of the current step.
-class RobotStepStatusException(RobotException):
+# the status of the current task.
+class RobotTaskStatusException(RobotException):
     def __init__(self, error_description: str) -> None:
         super().__init__(
-            error_reason=ErrorReason.RobotStepStatusException,
+            error_reason=ErrorReason.RobotTaskStatusException,
             error_description=error_description,
         )
 
@@ -165,7 +165,7 @@ class RobotRetrieveDataException(RobotException):
 
 
 # An exception which should be thrown by the robot package if it is unable to collect
-# the inspections that were generated for the currently executing step or mission.
+# the inspections that were generated for the currently executing task or mission.
 class RobotRetrieveInspectionException(RobotException):
     def __init__(self, error_description: str) -> None:
         super().__init__(