isar 1.23.1__tar.gz → 1.23.3__tar.gz

{isar-1.23.1 → isar-1.23.3}/PKG-INFO

@@ -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 → isar-1.23.3}/requirements.txt

@@ -8,7 +8,7 @@ alitra==1.1.3
     # via isar (pyproject.toml)
 annotated-types==0.7.0
     # via pydantic
-anyio==4.6.0
+anyio==4.6.2.post1
     # via
     #   httpx
     #   starlette
@@ -18,7 +18,7 @@ azure-core==1.31.0
     #   azure-keyvault-secrets
     #   azure-storage-blob
     #   opencensus-ext-azure
-azure-identity==1.18.0
+azure-identity==1.19.0
     # via
     #   isar (pyproject.toml)
     #   opencensus-ext-azure
@@ -37,7 +37,7 @@ certifi==2024.8.30
     #   requests
 cffi==1.17.1
     # via cryptography
-charset-normalizer==3.3.2
+charset-normalizer==3.4.0
     # via requests
 click==8.1.7
     # via
@@ -54,13 +54,13 @@ dacite==1.8.1
     # via
     #   alitra
     #   isar (pyproject.toml)
-fastapi==0.115.0
+fastapi==0.115.2
     # via
     #   fastapi-azure-auth
     #   isar (pyproject.toml)
 fastapi-azure-auth==5.0.1
     # via isar (pyproject.toml)
-google-api-core==2.20.0
+google-api-core==2.21.0
     # via opencensus
 google-auth==2.35.0
     # via google-api-core
@@ -81,7 +81,7 @@ idna==3.10
     #   requests
 injector==0.22.0
     # via isar (pyproject.toml)
-isodate==0.7.0
+isodate==0.7.2
     # via
     #   azure-keyvault-secrets
     #   azure-storage-blob
@@ -174,7 +174,7 @@ sniffio==1.3.1
     # via
     #   anyio
     #   httpx
-starlette==0.38.6
+starlette==0.40.0
     # via fastapi
 transitions==0.9.2
     # via isar (pyproject.toml)
@@ -189,7 +189,7 @@ typing-extensions==4.12.2
     #   pydantic-core
 urllib3==2.2.3
     # via requests
-uvicorn==0.31.0
+uvicorn==0.31.1
     # via isar (pyproject.toml)
 wrapt==1.16.0
     # via opencensus-ext-requests

{isar-1.23.1 → isar-1.23.3}/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-1.23.1 → isar-1.23.3}/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-1.23.1 → isar-1.23.3}/src/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-1.23.1 → isar-1.23.3}/src/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 → isar-1.23.3}/src/isar.egg-info/PKG-INFO

@@ -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 → isar-1.23.3}/src/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

{isar-1.23.1 → isar-1.23.3}/src/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)