isar 1.23.2__py3-none-any.whl → 1.23.4__py3-none-any.whl

isar/apis/api.py

@@ -232,6 +232,7 @@ class API:
             methods=["POST"],
             dependencies=[authentication_dependency],
             summary="Localize at the provided pose",
+            deprecated=True,
             responses={
                 HTTPStatus.OK.value: {
                     "description": "Localization succesfully started",

isar/config/settings.py

@@ -140,6 +140,9 @@ class Settings(BaseSettings):
     # Keyvault name
     KEYVAULT_NAME: str = Field(default="IsarDevKv")
 
+    # Determines whether inspections are uploaded asynchronously or get_inspections in robotinterface
+    UPLOAD_INSPECTIONS_ASYNC: bool = Field(default=False)
+
     # URL to storage account for Azure Blob Storage
     BLOB_STORAGE_ACCOUNT_URL: str = Field(
         default="https://eqrobotdevstorage.blob.core.windows.net"

isar/script.py

@@ -2,7 +2,7 @@ import logging
 import time
 from logging import Logger
 from threading import Thread
-from typing import Any, List
+from typing import Any, List, Tuple
 
 from injector import Injector
 
@@ -20,6 +20,8 @@ from isar.services.service_connections.mqtt.robot_heartbeat_publisher import (
 from isar.services.service_connections.mqtt.robot_info_publisher import (
     RobotInfoPublisher,
 )
+from robot_interface.models.inspection.inspection import Inspection
+from robot_interface.models.mission.mission import Mission
 from isar.state_machine.state_machine import StateMachine, main
 from isar.storage.uploader import Uploader
 from robot_interface.robot_interface import RobotInterface
@@ -69,6 +71,7 @@ def print_startup_info():
     print_setting("Using local storage", settings.STORAGE_LOCAL_ENABLED)
     print_setting("Using blob storage", settings.STORAGE_BLOB_ENABLED)
     print_setting("Using SLIMM storage", settings.STORAGE_SLIMM_ENABLED)
+    print_setting("Using async inspection uploading", settings.UPLOAD_INSPECTIONS_ASYNC)
     print_setting("Plant code", settings.PLANT_CODE)
     print_setting("Plant name", settings.PLANT_NAME)
     print_setting("Plant shortname", settings.PLANT_SHORT_NAME)
@@ -103,6 +106,18 @@ def start():
         target=uploader.run, name="ISAR Uploader", daemon=True
     )
     threads.append(uploader_thread)
+
+    if settings.UPLOAD_INSPECTIONS_ASYNC:
+
+        def inspections_callback(inspection: Inspection):
+            message: Tuple[Inspection, Mission] = (
+                inspection,
+                state_machine.current_mission,
+            )
+            state_machine.queues.upload_queue.put(message)
+
+        robot.register_inspection_callback(inspections_callback)
+
     if settings.MQTT_ENABLED:
         mqtt_client: MqttClient = MqttClient(mqtt_queue=queues.mqtt_queue)
 
@@ -137,6 +152,7 @@ def start():
             robot_name=settings.ROBOT_NAME,
             isar_id=settings.ISAR_ID,
         )
+
         if publishers:
             threads.extend(publishers)
 

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

@@ -17,6 +17,7 @@ from robot_interface.models.exceptions.robot_exceptions import (
     RobotException,
     RobotRetrieveInspectionException,
     RobotTaskStatusException,
+    RobotCommunicationException,
 )
 from robot_interface.models.inspection.inspection import Inspection
 from robot_interface.models.mission.mission import Mission
@@ -75,8 +76,11 @@ class Monitor(State):
                 time.sleep(self.state_machine.sleep_time)
                 continue
 
-            except RobotCommunicationTimeoutException as e:
-                task_failed: bool = self._handle_communication_timeout(e)
+            except (
+                RobotCommunicationTimeoutException,
+                RobotCommunicationException,
+            ) as e:
+                task_failed: bool = self._handle_communication_retry(e)
                 if task_failed:
                     status = TaskStatus.Failed
                 else:
@@ -111,7 +115,10 @@ class Monitor(State):
 
             self.state_machine.current_task.status = status
 
-            if self._should_upload_inspections():
+            if (
+                not settings.UPLOAD_INSPECTIONS_ASYNC
+                and self._should_upload_inspections()
+            ):
                 get_inspection_thread = ThreadedRequest(
                     self._queue_inspections_for_upload
                 )
@@ -207,8 +214,8 @@ class Monitor(State):
         )
         self.state_machine.current_task.error_message = error_message
 
-    def _handle_communication_timeout(
-        self, e: RobotCommunicationTimeoutException
+    def _handle_communication_retry(
+        self, e: Union[RobotCommunicationTimeoutException, RobotCommunicationException]
     ) -> bool:
         self.state_machine.current_mission.error_message = ErrorMessage(
             error_reason=e.error_reason, error_description=e.error_description

{isar-1.23.2.dist-info → isar-1.23.4.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.23.2
+Version: 1.23.4
 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-1.23.2.dist-info → isar-1.23.4.dist-info}/RECORD

@@ -1,8 +1,8 @@
 isar/__init__.py,sha256=cH8p8bVveu3FUL6kBhldcSlLaoHgD82Kd0-SwSNfGXw,87
 isar/modules.py,sha256=aO8bLSC4i_Qo4bOJ6aFfwAZRTJAw8o9SOOfkceUGCiU,6708
-isar/script.py,sha256=C6CTOZKjWu3JC-jOTN6QPd0Z6NxbydIcQcOM2tXMEXQ,5376
+isar/script.py,sha256=UT-JVu25vOiGaTjGR7hESlfBBITZF6dCy4frtMSUc6Y,5969
 isar/apis/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/apis/api.py,sha256=zrNdnMe5GS1xMtPLsF2Za0NKEyYNKMAVim4l027qQA4,13141
+isar/apis/api.py,sha256=PYJggz9Xh0alo2DWU3QD4lEBQY3PkEs335JE2qG87WQ,13170
 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=oY2CRKNkf4DQys0lbz-WTib1Ppw_OUwHqhBTrBhUJQk,8044
@@ -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=YCX8xV3nNCtEmFxh-kApZsl6hYprPzrQbLuc3c64e6c,13378
+isar/config/settings.py,sha256=0FA0hXqfcJHcfbCJVbbGvSUJGfFX5a0PGTTq8TI6hnw,13539
 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=BktuQm8YSAdxFlhaGGR02pSGsx2jJ2pZR6wQY3fEsEo,9297
+isar/state_machine/states/monitor.py,sha256=mQyJrmsjuMFwcit10SPmJFEbDAMRoSAtFUlooWb6vT0,9530
 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
@@ -86,11 +86,11 @@ isar/storage/storage_interface.py,sha256=DYDry4I7aZpDHJhsBF6s8zrgokFAc7fdKJKfA8A
 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=Jbfh1L7lPCjfHS6l3oQ_r0ACZw-KCazVc09PhxEIuao,8566
+robot_interface/robot_interface.py,sha256=H1hsuiFDcB5tTfan3VsXQyWy2jArWeBkMTr1VvZ4vIs,9061
 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=iRtN_JzwOSeuO0xBrGiWFtbIhWuajsw-Zg6Cz4y1hzk,9549
+robot_interface/models/exceptions/robot_exceptions.py,sha256=tL3Pf45Nuh9dc9QDRt43SF4qZT3f2NVaRpYj1POVjsA,10093
 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-1.23.2.dist-info/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
-isar-1.23.2.dist-info/METADATA,sha256=5AyHbYGvN3bT16Mw_aoA2arjS0fFk1QPRpWgc5MahFM,30674
-isar-1.23.2.dist-info/WHEEL,sha256=GV9aMThwP_4oNCtvEC2ec3qUYutgWeAzklro_0m4WJQ,91
-isar-1.23.2.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
-isar-1.23.2.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
-isar-1.23.2.dist-info/RECORD,,
+isar-1.23.4.dist-info/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar-1.23.4.dist-info/METADATA,sha256=QffW0qReds1tlXA-Zb7bzrWkezchNIx2IiK1rkXhz6s,30674
+isar-1.23.4.dist-info/WHEEL,sha256=P9jw-gEje8ByB7_hXoICnHtVCrEwMQh-630tKvQWehc,91
+isar-1.23.4.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.23.4.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.23.4.dist-info/RECORD,,

{isar-1.23.2.dist-info → isar-1.23.4.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (75.1.0)
+Generator: setuptools (75.3.0)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

robot_interface/models/exceptions/robot_exceptions.py

@@ -16,6 +16,7 @@ class ErrorReason(str, Enum):
     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"
@@ -42,7 +43,7 @@ class RobotException(Exception):
 
 
 # An exception which should be thrown by the robot package if it is unable to
-# communicate with the robot API.
+# communicate with the robot API. ISAR will retry the request.
 class RobotCommunicationException(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/robot_interface.py

@@ -1,7 +1,7 @@
 from abc import ABCMeta, abstractmethod
 from queue import Queue
 from threading import Thread
-from typing import List
+from typing import Callable, List
 
 from robot_interface.models.initialize import InitializeParams
 from robot_interface.models.inspection.inspection import Inspection
@@ -180,6 +180,24 @@ class RobotInterface(metaclass=ABCMeta):
         """
         raise NotImplementedError
 
+    @abstractmethod
+    def register_inspection_callback(
+        self, callback_function: Callable[[Inspection], None]
+    ) -> None:
+        """Register a function which should be run when inspection data is received
+        asynchronously. This function should expect to receive an Inspection from.
+
+        Parameters
+        ----------
+        callback_function : Callable[[Inspection]
+
+        Returns
+        -------
+        None
+
+        """
+        raise NotImplementedError
+
     @abstractmethod
     def initialize(self, params: InitializeParams) -> None:
         """Initializes the robot. The initialization needed is robot dependent and the

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)