isar 1.23.2__tar.gz → 1.34.5__tar.gz

isar-1.34.5/.env.test

@@ -0,0 +1,3 @@
+ISAR_MQTT_ENABLED=true
+ISAR_FSM_SLEEP_TIME=0.001
+ISAR_UPLOAD_FAILURE_MAX_WAIT=3

isar-1.34.5/.github/PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,11 @@
+## Ready for review checklist:
+- [ ] A self-review has been performed
+- [ ] All commits run individually
+- [ ] Temporary changes have been removed, like logging, TODO, etc.
+- [ ] The PR has been tested locally
+- [ ] A test has been written
+  - [ ] This change doesn't need a new test
+- [ ] Relevant issues are linked
+- [ ] Remaining work is documented in issues
+  - [ ] There is no remaining work from this PR that requires new issues
+- [ ] The changes do not introduce dead code as unused imports, functions etc.

{isar-1.23.2 → isar-1.34.5}/.github/workflows/compile_requirements.yml

@@ -26,7 +26,7 @@ jobs:
       - name: Set up Python
         uses: actions/setup-python@v5
         with:
-          python-version: "3.12"
+          python-version: "3.13"
 
       - name: Install pip-tools
         run: |
@@ -38,7 +38,7 @@ jobs:
           pip-compile --output-file=requirements.txt pyproject.toml --upgrade
 
       - name: Create Pull Request
-        uses: peter-evans/create-pull-request@v6
+        uses: peter-evans/create-pull-request@271a8d0340265f705b14b6d32b9829c1cb33d45e #v7
         with:
           commit-message: "GHA: Update dependencies"
           title: Update dependencies

isar-1.34.5/.github/workflows/execute_stale_labeler.yml

@@ -0,0 +1,17 @@
+name: Execute stale labeler
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: "35 6 * * *"
+
+permissions:
+  contents: read
+  actions: write
+  issues: write
+  pull-requests: write
+
+jobs:
+  labels:
+    uses: equinor/armada/.github/workflows/mark_issues_and_prs_as_stale.yml@main
+    secrets:
+      STALE_ISSUE_TOKEN: ${{ secrets.GITHUB_TOKEN }}

{isar-1.23.2 → isar-1.34.5}/.github/workflows/project_automations.yml

@@ -1,4 +1,10 @@
 name: Project automations
+
+permissions:
+  contents: read
+  issues: write
+  pull-requests: write
+
 on:
   issues:
     types:
@@ -19,7 +25,7 @@ jobs:
     if: github.event_name == 'issues' && github.event.action == 'opened' || github.event.action == 'reopened'
     steps:
       - name: 'Move issue to "Todo"'
-        uses: leonsteinhaeuser/project-beta-automations@v2.1.0
+        uses: leonsteinhaeuser/project-beta-automations@939000fb1900c9fc4f7b5058a09d9f833ebc6859 #Version 2.2.1
         with:
           gh_token: ${{ secrets.MY_GITHUB_TOKEN }}
           organization: equinor
@@ -32,7 +38,7 @@ jobs:
     if: github.event_name == 'issues' && github.event.action == 'closed'
     steps:
       - name: 'Moved issue to "Done"'
-        uses: leonsteinhaeuser/project-beta-automations@v2.1.0
+        uses: leonsteinhaeuser/project-beta-automations@939000fb1900c9fc4f7b5058a09d9f833ebc6859 #Version 2.2.1
         with:
           gh_token: ${{ secrets.MY_GITHUB_TOKEN }}
           organization: equinor
@@ -45,7 +51,7 @@ jobs:
     if: github.event_name == 'pull_request' && github.event.action == 'opened' || github.event.action == 'reopened' || github.event.action == 'review_requested'
     steps:
       - name: 'Move PR to "In Progress"'
-        uses: leonsteinhaeuser/project-beta-automations@v2.1.0
+        uses: leonsteinhaeuser/project-beta-automations@939000fb1900c9fc4f7b5058a09d9f833ebc6859 #Version 2.2.1
         with:
           gh_token: ${{ secrets.MY_GITHUB_TOKEN }}
           organization: equinor
@@ -58,7 +64,7 @@ jobs:
     if: github.event_name == 'pull_request' && github.event.action == 'ready_for_review'
     steps:
       - name: 'Move PR to "Review"'
-        uses: leonsteinhaeuser/project-beta-automations@v2.1.0
+        uses: leonsteinhaeuser/project-beta-automations@939000fb1900c9fc4f7b5058a09d9f833ebc6859 #Version 2.2.1
         with:
           gh_token: ${{ secrets.MY_GITHUB_TOKEN }}
           organization: equinor
@@ -71,7 +77,7 @@ jobs:
     if: github.event_name == 'pull_request' && github.event.action == 'closed'
     steps:
       - name: 'Move PR to "Done"'
-        uses: leonsteinhaeuser/project-beta-automations@v2.1.0
+        uses: leonsteinhaeuser/project-beta-automations@939000fb1900c9fc4f7b5058a09d9f833ebc6859 #Version 2.2.1
         with:
           gh_token: ${{ secrets.MY_GITHUB_TOKEN }}
           organization: equinor

{isar-1.23.2 → isar-1.34.5}/.github/workflows/pythonpackage.yml

@@ -1,5 +1,8 @@
 name: Python package
 
+permissions:
+  contents: read
+
 on:
   push:
     branches:
@@ -7,6 +10,7 @@ on:
   pull_request:
     branches:
       - main
+      - update-dependencies
 
 jobs:
   build:
@@ -14,7 +18,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python-version: ["3.9", "3.10", "3.11", "3.12"]
+        python-version: ["3.9", "3.10", "3.11", "3.12", "3.13"]
 
     steps:
       - uses: actions/checkout@v4
@@ -28,13 +32,13 @@ jobs:
         run: |
           python -m pip install --upgrade pip
 
-      - name: Install dependencies with the compiled requirements (for Python 3.12)
-        if: ${{matrix.python-version == '3.12'}}
+      - name: Install dependencies with the compiled requirements (for Python 3.13)
+        if: ${{matrix.python-version == '3.13'}}
         run: |
           pip install -r requirements.txt -e .[dev]
 
-      - name: Install dependencies based on the pyproject.toml file (for Python 3.9-3.11)
-        if: ${{matrix.python-version != '3.12'}}
+      - name: Install dependencies based on the pyproject.toml file (for Python 3.9-3.12)
+        if: ${{matrix.python-version != '3.13'}}
         run: |
           pip install -e .[dev]
 
@@ -43,8 +47,20 @@ jobs:
           pytest
         env:
           ENVIRONMENT: local
+          ISAR_ENV: test
 
-      - name: Lint
+      - name: Run black
         run: |
           black --check .
-          mypy .
+
+      - name: Run isort
+        run: |
+          isort --check .
+
+      - name: Run mypy
+        run: |
+          mypy --disable-error-code=import-untyped --check-untyped-defs .
+
+      - name: Run ruff
+        run: |
+          ruff check .

{isar-1.23.2 → isar-1.34.5}/.github/workflows/pythonpublish.yml

@@ -1,5 +1,8 @@
 name: Upload Python Package
 
+permissions:
+  contents: read
+
 on:
   release:
     types: [created]

{isar-1.23.2 → isar-1.34.5}/.github/workflows/stale.yml

@@ -22,11 +22,7 @@ jobs:
         uses: actions/stale@v9
         with:
           repo-token: ${{ secrets.STALE_ISSUE_TOKEN }}
-          stale-issue-message: "This issue has automatically been marked as stale as there has been no activity for 60 days."
-          stale-pr-message: "This pull request has automatically been marked as stale as there has been no activity for 30 days."
           stale-issue-label: "stale"
           stale-pr-label: "stale"
-          close-issue-message: "This issue has been closed automatically due to a lack of activity."
-          close-pr-message: "This pull request has been closed automatically due to a lack of activity."
           days-before-pr-stale: 30
           days-before-close: -1

isar-1.34.5/.github/workflows/synchronize_labels.yml

@@ -0,0 +1,13 @@
+name: Execute label synchronization
+on:
+  workflow_dispatch:
+
+permissions:
+  contents: read
+  issues: write
+
+jobs:
+  labels:
+    uses: equinor/armada/.github/workflows/synchronize_labels.yml@main
+    secrets:
+      LABEL_SYNC_TOKEN: ${{ secrets.GITHUB_TOKEN }}

isar-1.34.5/.github/workflows/trivy-config.yml

@@ -0,0 +1,43 @@
+# from https://github.com/equinor/appsec-ghas-examples/blob/main/.github/workflows/trivy-config.yml
+name: Trivy IaC & Dockerfile Scanning
+permissions: {}
+on:
+  push:
+    branches: [ "main" ]
+  pull_request:
+    branches: [ "main" ]
+  schedule:
+    - cron: '36 0 * * 3'
+
+jobs:
+  trivy-scan:
+    name: Scan on Main with Trivy
+    runs-on: ubuntu-latest
+    timeout-minutes: 30
+    permissions:
+      security-events: write 
+
+      contents: read
+      actions: read
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v5
+        with:
+          persist-credentials: false
+
+      - name: Run Trivy vulnerability Scanner
+        uses: aquasecurity/trivy-action@b6643a29fecd7f34b3597bc6acb0a98b03d33ff8
+        with:
+          scan-type: 'config'
+          severity: 'CRITICAL,HIGH'
+          limit-severities-for-sarif: true 
+          format: 'sarif'
+          output: 'trivy-results-iac.sarif'
+          exit-code: '0'
+
+      - name: Upload scan results to GitHub Security tab
+        uses: github/codeql-action/upload-sarif@v3
+        with:
+          sarif_file: 'trivy-results-iac.sarif'
+

{isar-1.23.2 → isar-1.34.5}/.gitignore

@@ -137,3 +137,6 @@ dmypy.json
 # Temporary result folders
 results
 temp_results
+
+# MacOs file system
+.DS_Store

isar-1.34.5/Makefile

@@ -0,0 +1,23 @@
+run:
+	isar-start
+
+test:
+	ENVIRONMENT=local ISAR_ENV=test pytest .
+
+format:
+	isort .
+	black .
+	ruff check . --fix
+
+check:
+	mypy .
+
+run-debug: # debug logs
+	API_LOG_LEVEL=DEBUG \
+	MAIN_LOG_LEVEL=DEBUG \
+	MQTT_LOG_LEVEL=DEBUG \
+	STATE_MACHINE_LOG_LEVEL=DEBUG \
+	UPLOADER_LOG_LEVEL=DEBUG \
+	CONSOLE_LOG_LEVEL=DEBUG \
+	ISAR_DEBUG_LOG_FORMATTER=True \
+	isar-start

{isar-1.23.2 → isar-1.34.5}/PKG-INFO

@@ -1,6 +1,6 @@
-Metadata-Version: 2.1
+Metadata-Version: 2.4
 Name: isar
-Version: 1.23.2
+Version: 1.34.5
 Summary: Integration and Supervisory control of Autonomous Robots
 Author-email: Equinor ASA <fg_robots_dev@equinor.com>
 License: Eclipse Public License version 2.0
@@ -95,6 +95,7 @@ Classifier: Programming Language :: Python :: 3.9
 Classifier: Programming Language :: Python :: 3.10
 Classifier: Programming Language :: Python :: 3.11
 Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
 Classifier: Topic :: Scientific/Engineering
 Classifier: Topic :: Scientific/Engineering :: Physics
 Classifier: Topic :: Software Development :: Libraries
@@ -109,12 +110,9 @@ Requires-Dist: backoff
 Requires-Dist: click
 Requires-Dist: dacite
 Requires-Dist: fastapi-azure-auth
-Requires-Dist: fastapi
-Requires-Dist: injector
+Requires-Dist: fastapi>=0.121.0
+Requires-Dist: dependency-injector
 Requires-Dist: numpy
-Requires-Dist: opencensus-ext-azure
-Requires-Dist: opencensus-ext-logging
-Requires-Dist: opencensus-ext-requests
 Requires-Dist: paho-mqtt
 Requires-Dist: pydantic_settings
 Requires-Dist: pydantic
@@ -123,21 +121,30 @@ Requires-Dist: python-dotenv
 Requires-Dist: PyYAML
 Requires-Dist: requests-toolbelt
 Requires-Dist: requests
+Requires-Dist: starlette>=0.49.1
 Requires-Dist: transitions
 Requires-Dist: uvicorn
+Requires-Dist: opentelemetry-api
+Requires-Dist: opentelemetry-sdk
+Requires-Dist: opentelemetry-exporter-otlp
+Requires-Dist: opentelemetry-instrumentation-fastapi
+Requires-Dist: azure-monitor-opentelemetry
+Requires-Dist: azure-monitor-opentelemetry-exporter>=1.0.0b38
+Requires-Dist: pymysql
+Requires-Dist: sqlalchemy
 Provides-Extra: dev
 Requires-Dist: black; extra == "dev"
-Requires-Dist: flake8; extra == "dev"
+Requires-Dist: isort; extra == "dev"
 Requires-Dist: mypy; extra == "dev"
-Requires-Dist: myst-parser; extra == "dev"
 Requires-Dist: pip-tools; extra == "dev"
 Requires-Dist: pre-commit; extra == "dev"
-Requires-Dist: pytest-dotenv; extra == "dev"
 Requires-Dist: pytest-mock; extra == "dev"
 Requires-Dist: pytest-xdist; extra == "dev"
 Requires-Dist: pytest; extra == "dev"
 Requires-Dist: requests-mock; extra == "dev"
-Requires-Dist: sphinx; extra == "dev"
+Requires-Dist: ruff; extra == "dev"
+Requires-Dist: testcontainers[mysql]; extra == "dev"
+Dynamic: license-file
 
 # ISAR
 
@@ -230,12 +237,21 @@ ISAR_ROBOT_PACKAGE = isar_turtlebot
 ISAR_DEFAULT_MAP = turtleworld
 ```
 
+### Run with make
+Common commands for the project are in [Makefile](./Makefile).
+This requires the CLI program `make`.
+
+Usage:
+```bash
+make <command-in-makefile> # for example: make run
+```
+
 ### Run ISAR server
 
 To run ISAR:
 
 ```bash
-python main.py
+isar-start
 ```
 
 Note, running the full system requires that an implementation of a robot has been installed. See
@@ -255,21 +271,6 @@ In [this](./src/isar/config/predefined_missions) folder there are predefined def
 corresponding to `mission_id=1`. A new mission may be added by adding a new json-file with a mission description. Note,
 the mission IDs must be unique.
 
-### Running with docker-compose
-
-ISAR may be started with an instance of the [isar-robot](https://github.com/equinor/isar-robot) package by
-
-```shell
-docker-compose up --build
-```
-
-Provided that the simulator from [isar-turtlebot](https://github.com/equinor/isar-turtlebot) is running ISAR may be
-started with the turtlebot by
-
-```shell
-docker-compose -f docker-compose-turtlebot.yml up --build
-```
-
 ### Configuration
 
 The system consists of many configuration variables which may alter the functionality. As an example, it is possible to
@@ -295,6 +296,20 @@ There are two methods of specifying configuration.
    By adding environment variables with the prefix `ISAR_` to the [settings.env](./src/isar/config/settings.env) file
    the configuration variables will be overwritten by the values in this file.
 
+### Setup for testing
+To be able to execute the tests you need to set the `ISAR_ENV` environment variable beforehand. Depending on your operating system and the command line you are using you can use one of the following commands:
+
+**Bash/Zsh**
+```bash
+export ISAR_ENV=test
+```
+**Windows Command prompt**
+```cmd
+set ISAR_ENV=test
+```
+
+Remember to set `ISAR_ENV` back to `None` when you want to run `isar-start` afterwards.
+
 ### Running tests
 
 After following the steps in [Development](#install), you can run the tests:
@@ -345,24 +360,29 @@ The system consists of two main components.
 The state machine handles interaction with the robots API and monitors the execution of missions. It also enables
 interacting with the robot before, during and after missions.
 
-The state machine is based on the [transitions](https://github.com/pytransitions/transitions) package for Python. An visualization of the state machine can be seen below:
-![State Machine](./docs/state_machine_diagram.png)
+The state machine is based on the [transitions](https://github.com/pytransitions/transitions) package for Python. The following are some visualizations of the state machine:
+
+Mission behavior without the robot status changed transition that enable the resting states to transition between each other if the robot status changes:
+![State Machine extended](./docs/extended_state_machine_diagram.png)
+
+Robot status changed transition:
+![State Machine robot status changed](./docs/robot_status_state_machine_diagram.png)
+
+Full state machine:
+![State Machine full](./docs/full_state_machine_diagram.png)
 
 In general the states
 
 ```
-States.Off,
-States.Initialize,
-States.Initiate,
-States.Stop,
+States.Stopping,
 States.Monitor,
 States.Paused,
 ```
 
-indicates that the state machine is already running. For running a mission the state machine need to be in the state
+indicates that the state machine is already running. For running a mission the state machine need to be in the states
 
 ```
-States.Idle
+States.Home, States.AwaitNextMission or States.ReturningHome
 ```
 
 ### FastAPI
@@ -384,10 +404,10 @@ overriding the configuration through an environment variable. It accepts a json
 in the list to retrieve the corresponding handler. The current options are
 
 ```
-ISAR_STORAGE = '["local", "blob", "slimm"]'
+ISAR_STORAGE = '["local", "blob"]'
 ```
 
-Note that the `blob` and `slimm` options require special configuration to authenticate to these endpoints.
+Note that the `blob` option requires special configuration to authenticate to these endpoints.
 
 ### Implement your own storage module
 
@@ -395,68 +415,6 @@ You can create your own storage module by implementing the [storage interface](.
 and adding your storage module to the selection [here](./src/isar/modules.py). Note that you must add your module as an
 option in the dictionary.
 
-## Task selection
-
-The tasks of a mission are selected based on a task selector module, defined by the `TASK_SELECTOR` configuration variable. The default task selector is `sequential`. When using the default module, tasks are executed in sequential order defined by the current input mission.
-
-### Implement you own task selector module
-
-Custom task selector modules may be added by implementing additional versions of the [task selector interface](./src/isar/mission_planner/task_selector_interface.py).
-
-For every custom module, the interface function `next_task()` must be implemented. All interface implementations by default have access to the list of tasks in the current mission through the member `self.tasks`, however additional variables may be supplied by adding arguments to `next_task()`. To comply with the interface definition, the function should return the next task upon every call, and raise the `TaskSelectorStop` exception when all tasks in the current mission have been completed:
-
-```python
-class CustomTaskSelector(TaskSelectorInterface):
-    ...
-    def next_task(...) -> Task:
-
-        # Add code here
-        ...
-
-        # Raise `TaskSelectorStop` when all tasks have been completed
-        ...
-```
-
-Optionally, the `initialize()` function may be extended by supplementing the parameter list or function body:
-
-```python
-class CustomTaskSelector(TaskSelectorInterface):
-    ...
-    def initialize(self, tasks: List[Task], ...) -> None:
-        super.initialize(tasks=tasks)
-
-        # Add supplementary code here
-        ...
-```
-
-A custom task selector may be made available during [module selection](./src/isar/modules.py) by adding it to the series of options in the dictionary of injector modules. It can then be activated by overriding the task selector configuration variable:
-
-```python
-# Add custom task selector module to `modules.py`
-
-class CustomTaskSelectorModule(Module):
-    @provider
-    @singleton
-    def provide_task_selector(self) -> TaskSelectorInterface:
-        return CustomTaskSelector()
-
-...
-
-# Make it available to select during injector instantiation
-
-modules: dict[str, tuple[Module, Union[str, bool]]] = {
-    ...
-    "task_selector": (
-        {
-            "sequential": SequentialTaskSelectorModule,
-            "custom": CustomTaskSelectorModule
-        }
-        ...
-    )
-    ...
-}
-```
-
 ## API authentication
 
 The API has an option to include user authentication. This can be enabled by setting the environment variable
@@ -473,6 +431,7 @@ Enabling API authentication also requires the same environment variables. The re
 AZURE_CLIENT_ID
 AZURE_TENANT_ID
 AZURE_CLIENT_SECRET
+ISAR_BLOB_STORAGE_ACCOUNT
 ```
 
 ## MQTT communication