isar 1.23.2__tar.gz → 1.23.4__tar.gz

{isar-1.23.2 → isar-1.23.4}/PKG-INFO

@@ -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 → isar-1.23.4}/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
@@ -18,11 +18,11 @@ 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
-azure-keyvault-secrets==4.8.0
+azure-keyvault-secrets==4.9.0
     # via isar (pyproject.toml)
 azure-storage-blob==12.23.1
     # via isar (pyproject.toml)
@@ -37,13 +37,13 @@ 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
     #   isar (pyproject.toml)
     #   uvicorn
-cryptography==43.0.1
+cryptography==43.0.3
     # via
     #   azure-identity
     #   azure-storage-blob
@@ -54,13 +54,13 @@ dacite==1.8.1
     # via
     #   alitra
     #   isar (pyproject.toml)
-fastapi==0.115.0
+fastapi==0.115.4
     # 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==2.22.0
     # 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
@@ -113,14 +113,14 @@ paho-mqtt==2.1.0
     # via isar (pyproject.toml)
 portalocker==2.10.1
     # via msal-extensions
-proto-plus==1.24.0
+proto-plus==1.25.0
     # via google-api-core
-protobuf==5.28.2
+protobuf==5.28.3
     # via
     #   google-api-core
     #   googleapis-common-protos
     #   proto-plus
-psutil==6.0.0
+psutil==6.1.0
     # via opencensus-ext-azure
 pyasn1==0.6.1
     # via
@@ -137,7 +137,7 @@ pydantic==2.9.2
     #   pydantic-settings
 pydantic-core==2.23.4
     # via pydantic
-pydantic-settings==2.5.2
+pydantic-settings==2.6.0
     # via isar (pyproject.toml)
 pyjwt[crypto]==2.9.0
     # via
@@ -174,7 +174,7 @@ sniffio==1.3.1
     # via
     #   anyio
     #   httpx
-starlette==0.38.6
+starlette==0.41.2
     # 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==0.32.0
     # via isar (pyproject.toml)
 wrapt==1.16.0
     # via opencensus-ext-requests

{isar-1.23.2 → isar-1.23.4}/src/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-1.23.2 → isar-1.23.4}/src/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-1.23.2 → isar-1.23.4}/src/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-1.23.2 → isar-1.23.4}/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-1.23.2 → isar-1.23.4}/src/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 → isar-1.23.4}/src/isar.egg-info/PKG-INFO

@@ -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 → isar-1.23.4}/src/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

{isar-1.23.2 → isar-1.23.4}/src/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

{isar-1.23.2 → isar-1.23.4}/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)
 

{isar-1.23.2 → isar-1.23.4}/tests/isar/state_machine/test_state_machine.py

@@ -8,6 +8,8 @@ import pytest
 from injector import Injector
 from pytest_mock import MockerFixture
 
+from isar.config.settings import settings
+
 from isar.mission_planner.local_planner import LocalPlanner
 from isar.models.communication.queues.queues import Queues
 from isar.services.utilities.scheduling_utilities import SchedulingUtilities
@@ -31,6 +33,7 @@ from tests.mocks.task import MockTask
 
 class StateMachineThread(object):
     def __init__(self, injector) -> None:
+        settings.UPLOAD_INSPECTIONS_ASYNC = False
         self.injector: Injector = injector
         self.state_machine: StateMachine = injector.get(StateMachine)
         self._thread: Thread = Thread(target=main, args=[self.state_machine])
@@ -42,6 +45,7 @@ class StateMachineThread(object):
 
 class UploaderThread(object):
     def __init__(self, injector) -> None:
+        settings.UPLOAD_INSPECTIONS_ASYNC = False
         self.injector: Injector = injector
         self.uploader: Uploader = Uploader(
             queues=self.injector.get(Queues),

{isar-1.23.2 → isar-1.23.4}/tests/mocks/robot_interface.py

@@ -2,7 +2,7 @@ from dataclasses import field
 from datetime import datetime
 from queue import Queue
 from threading import Thread
-from typing import List, Sequence
+from typing import Callable, List, Sequence
 
 from alitra import Frame, Orientation, Pose, Position
 
@@ -62,6 +62,11 @@ class MockRobot(RobotInterface):
         image.data = b"Some binary image data"
         return image
 
+    def register_inspection_callback(
+        self, callback_function: Callable[[Inspection], None]
+    ) -> None:
+        return
+
     def initialize(self, params: InitializeParams) -> None:
         return