isar 1.23.1__py3-none-any.whl → 1.23.3__py3-none-any.whl

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/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/services/utilities/scheduling_utilities.py

@@ -128,7 +128,7 @@ class SchedulingUtilities:
         """
         is_state_machine_ready_to_receive_mission = state == States.Idle
         if not is_state_machine_ready_to_receive_mission:
-            error_message = f"Conflict - Mission already in progress - State: {state}"
+            error_message = f"Conflict - Robot is not idle - State: {state}"
             self.logger.warning(error_message)
             raise HTTPException(status_code=HTTPStatus.CONFLICT, detail=error_message)
 

isar/state_machine/states/monitor.py

@@ -67,7 +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()
@@ -229,7 +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-1.23.1.dist-info → isar-1.23.3.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.23.1
+Version: 1.23.3
 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-1.23.1.dist-info → isar-1.23.3.dist-info}/RECORD

@@ -5,7 +5,7 @@ isar/apis/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/apis/api.py,sha256=zrNdnMe5GS1xMtPLsF2Za0NKEyYNKMAVim4l027qQA4,13141
 isar/apis/models/__init__.py,sha256=NI1BYyN__Ogr00Qqe0XJ-9gEVPva2brXo2RJsbrS4tM,52
 isar/apis/models/models.py,sha256=6E8VhGBti6EKJefYTDNVERxRu_g_omg4J2MriPUPkaw,1709
-isar/apis/models/start_mission_definition.py,sha256=EFYkKMQL2o4hqumU1Dq-lKHAS4ZzxlC15XD1AZLpULs,8168
+isar/apis/models/start_mission_definition.py,sha256=oY2CRKNkf4DQys0lbz-WTib1Ppw_OUwHqhBTrBhUJQk,8044
 isar/apis/schedule/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/apis/schedule/scheduling_controller.py,sha256=GXjvkF4OPRJTWzQEvvxbKc79x2X2uzqbl1ZOv_-9Fpw,11508
 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=hJFfyl4S84nmcyf70Pz8nbGlPf4KTVx0UkgP3uf6T8E,534
-isar/config/settings.py,sha256=NgL3UegkJwsRRkV6rgbig6Xi5k4eYlHpzheaEFavFPs,13477
+isar/config/settings.py,sha256=YCX8xV3nNCtEmFxh-kApZsl6hYprPzrQbLuc3c64e6c,13378
 isar/config/certs/ca-cert.pem,sha256=ijutWtGOAnKx3xPydNLOVoCLip3tGkNKUpr6pTPQfJA,2179
 isar/config/keyvault/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/config/keyvault/keyvault_error.py,sha256=zvPCsZLjboxsxthYkxpRERCTFxYV8R5WmACewAUQLwk,41
@@ -64,7 +64,7 @@ isar/services/service_connections/mqtt/robot_info_publisher.py,sha256=5G6ahslydh
 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=cLnB97EkoZM0GN6kG5ezpzxLzACSoHU_Mv86ncyHdfM,8386
+isar/services/utilities/scheduling_utilities.py,sha256=UUMxhudY2mQRG6Edjq6BG7oxwlqmcu5h6fMyw4Vhl_o,8376
 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=A7qAaXEnErmPQ7--sM7w9VabceS0qJOProlmwMb9iaU,21299
@@ -73,7 +73,7 @@ isar/state_machine/states/__init__.py,sha256=kErbKPDTwNfCLijvdyN6_AuOqDwR23nu9F0
 isar/state_machine/states/idle.py,sha256=iAKESjETKUt9x3inE7TAPIohVM1iRsYyJjOoBeB3sVw,3079
 isar/state_machine/states/initialize.py,sha256=TVXV5Ps3N4_flM88j9pQiX88kZgLzLwzlJy_6hPbgcA,2359
 isar/state_machine/states/initiate.py,sha256=j1wvSC3zVODgRkKOVsQROiuWkjihSBtwCs5GsoivLvc,5655
-isar/state_machine/states/monitor.py,sha256=Nts7S9BuKYmOj73cRrkEZHHWXP5kh-2BKfSBH14MFYQ,9297
+isar/state_machine/states/monitor.py,sha256=BktuQm8YSAdxFlhaGGR02pSGsx2jJ2pZR6wQY3fEsEo,9297
 isar/state_machine/states/off.py,sha256=jjqN_oJMpBtWuY7hP-c9f0w3p2CYCfe-NpmYHHPnmyI,544
 isar/state_machine/states/offline.py,sha256=ur5wDo4NWRLn7n-p5IUY6aSYcGApmqe_0IbRRywA6qA,2169
 isar/state_machine/states/paused.py,sha256=TIg1iJvAxGUIfzE_qWp0wrq4Ka0a3zEf3GNwIWLIK0M,1177
@@ -90,7 +90,7 @@ robot_interface/robot_interface.py,sha256=Jbfh1L7lPCjfHS6l3oQ_r0ACZw-KCazVc09Phx
 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=PnD5BvWHZfhxODv4abdmQ4PBLk41KcHcH-HYvOXUNNg,9549
+robot_interface/models/exceptions/robot_exceptions.py,sha256=dTNhFguaPumtreYH3rlL-xVDAZk7djZe2CcE1rP3CgE,10064
 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
@@ -103,14 +103,14 @@ robot_interface/models/robots/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5N
 robot_interface/models/robots/robot_model.py,sha256=pZQsqhn9hh6XE3EjMZhWMzYqg5oJ4CJ4CXeOASKvEf8,452
 robot_interface/telemetry/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/telemetry/media_connection_type.py,sha256=Z8Jayi5SjBJh_xEd5KdS__A6bM-nofbSAedc6u41iAY,91
-robot_interface/telemetry/mqtt_client.py,sha256=um7j7XDSAlY6-wWLpBl6ZYjmQ-G0lY7f2_NaZ3ciZ7U,2757
+robot_interface/telemetry/mqtt_client.py,sha256=RoXJFQ4YiaSQpHTlZ2LD-ICRPtfUhylEwgyt_3NE4xM,2916
 robot_interface/telemetry/payloads.py,sha256=FafpIwsOvcTNtaBZqyOX7r5EjG7nZ2uLNhyJo2l5GiI,1767
 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-1.23.1.dist-info/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
-isar-1.23.1.dist-info/METADATA,sha256=iXPUWr1_LQuzNQCRRch3MEfEvyK17NF-RMs8oIgxCaI,30674
-isar-1.23.1.dist-info/WHEEL,sha256=GV9aMThwP_4oNCtvEC2ec3qUYutgWeAzklro_0m4WJQ,91
-isar-1.23.1.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
-isar-1.23.1.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
-isar-1.23.1.dist-info/RECORD,,
+isar-1.23.3.dist-info/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar-1.23.3.dist-info/METADATA,sha256=4HTu_oT3RXkcLHUhACMaPw4AhMkC8eJb8Ffr9nwnYZ8,30674
+isar-1.23.3.dist-info/WHEEL,sha256=OVMc5UfuAQiSplgO0_WdW7vXVGAt9Hdd6qtN4HotdyA,91
+isar-1.23.3.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.23.3.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.23.3.dist-info/RECORD,,

{isar-1.23.1.dist-info → isar-1.23.3.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (75.1.0)
+Generator: setuptools (75.2.0)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

robot_interface/models/exceptions/robot_exceptions.py

@@ -9,13 +9,14 @@ 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"
     RobotRetrieveDataException: str = "robot_retrieve_data_exception"
     RobotRetrieveInspectionException: str = "robot_retrieve_inspection_exception"
     RobotTelemetryException: str = "robot_telemetry_exception"
+    RobotTelemetryPoseException: str = "robot_telemetry_pose_exception"
     RobotMapException: str = "robot_map_exception"
     RobotTransformException: str = "robot_transform_exception"
     RobotUnknownErrorException: str = "robot_unknown_error_exception"
@@ -66,7 +67,7 @@ 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 +103,11 @@ 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.
+# 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 +166,7 @@ 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__(
@@ -189,6 +190,18 @@ class RobotTelemetryException(RobotException):
     pass
 
 
+# An exception which should be thrown by the robot package if it is unable to retrieve
+# telemetry pose data. It should be used exclusively by the telemetry pose publisher.
+class RobotTelemetryPoseException(RobotException):
+    def __init__(self, error_description: str) -> None:
+        super().__init__(
+            error_reason=ErrorReason.RobotTelemetryPoseException,
+            error_description=error_description,
+        )
+
+    pass
+
+
 # An exception which should be thrown by the robot package if it is unable to load the
 # configuration for maps and transformations. This could be caused by faulty
 # configuration and this exception will cause ISAR to crash as further execution is not

robot_interface/telemetry/mqtt_client.py

@@ -5,7 +5,10 @@ from datetime import datetime, timezone
 from queue import Queue
 from typing import Callable, Tuple
 
-from robot_interface.models.exceptions.robot_exceptions import RobotTelemetryException
+from robot_interface.models.exceptions.robot_exceptions import (
+    RobotTelemetryException,
+    RobotTelemetryPoseException,
+)
 from robot_interface.telemetry.payloads import CloudHealthPayload
 from robot_interface.utilities.json_service import EnhancedJSONEncoder
 
@@ -63,7 +66,7 @@ class MqttTelemetryPublisher(MqttClientInterface):
         self.retain: bool = retain
 
     def run(self, isar_id: str, robot_name: str) -> None:
-        self.cloud_healt_topic: str = f"isar/{isar_id}/cloud_health"
+        self.cloud_health_topic: str = f"isar/{isar_id}/cloud_health"
         topic: str
         payload: str
 
@@ -71,12 +74,15 @@ class MqttTelemetryPublisher(MqttClientInterface):
             try:
                 payload = self.telemetry_method(isar_id=isar_id, robot_name=robot_name)
                 topic = self.topic
+            except RobotTelemetryPoseException:
+                time.sleep(self.interval)
+                continue
             except RobotTelemetryException:
                 payload = json.dumps(
                     CloudHealthPayload(isar_id, robot_name, datetime.now(timezone.utc)),
                     cls=EnhancedJSONEncoder,
                 )
-                topic = self.cloud_healt_topic
+                topic = self.cloud_health_topic
 
             self.publish(topic=topic, payload=payload, qos=self.qos, retain=self.retain)