isar 1.24.1__tar.gz → 1.24.2__tar.gz

{isar-1.24.1 → isar-1.24.2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.24.1
+Version: 1.24.2
 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-1.24.1 → isar-1.24.2}/src/isar/apis/schedule/scheduling_controller.py

@@ -21,13 +21,7 @@ from isar.mission_planner.mission_planner_interface import MissionPlannerError
 from isar.services.utilities.scheduling_utilities import SchedulingUtilities
 from isar.state_machine.states_enum import States
 from robot_interface.models.mission.mission import Mission
-from robot_interface.models.mission.task import (
-    TASKS,
-    Localize,
-    MoveArm,
-    ReturnToHome,
-)
-from robot_interface.models.mission.task import Task
+from robot_interface.models.mission.task import TASKS, Localize, MoveArm, ReturnToHome
 
 
 class SchedulingController:
@@ -192,7 +186,7 @@ class SchedulingController:
 
         state: States = self.scheduling_utilities.get_state()
 
-        if state in [States.Off, States.Idle]:
+        if state == States.Off:
             error_message = (
                 f"Conflict - Stop command received in invalid state - State: {state}"
             )

{isar-1.24.1 → isar-1.24.2}/src/isar/state_machine/state_machine.py

@@ -32,11 +32,7 @@ from isar.state_machine.states_enum import States
 from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
 from robot_interface.models.initialize.initialize_params import InitializeParams
 from robot_interface.models.mission.mission import Mission
-from robot_interface.models.mission.status import (
-    MissionStatus,
-    RobotStatus,
-    TaskStatus,
-)
+from robot_interface.models.mission.status import MissionStatus, RobotStatus, TaskStatus
 from robot_interface.models.mission.task import TASKS, Task
 from robot_interface.robot_interface import RobotInterface
 from robot_interface.telemetry.mqtt_client import MqttClientInterface
@@ -134,7 +130,11 @@ class StateMachine(object):
                 },
                 {
                     "trigger": "stop",
-                    "source": [self.initiate_state, self.monitor_state],
+                    "source": [
+                        self.initiate_state,
+                        self.monitor_state,
+                        self.idle_state,
+                    ],
                     "dest": self.stop_state,
                     "before": self._stop,
                 },
@@ -371,6 +371,11 @@ class StateMachine(object):
             self.iterate_current_task()
 
     def _mission_stopped(self) -> None:
+        if self.current_mission is None:
+            self._queue_empty_response()
+            self.reset_state_machine()
+            return
+
         self.current_mission.status = MissionStatus.Cancelled
 
         for task in self.current_mission.tasks:
@@ -588,6 +593,16 @@ class StateMachine(object):
             task_status=self.current_task.status,
         )
 
+    def _queue_empty_response(self):
+        self.queues.stop_mission.output.put(
+            ControlMissionResponse(
+                mission_id="None",
+                mission_status="None",
+                task_id="None",
+                task_status="None",
+            )
+        )
+
 
 def main(state_machine: StateMachine):
     """Starts a state machine instance."""

{isar-1.24.1 → isar-1.24.2}/src/isar/state_machine/states/idle.py

@@ -36,6 +36,9 @@ class Idle(State):
 
     def _run(self) -> None:
         while True:
+            if self.state_machine.should_stop_mission():
+                transition = self.state_machine.stop  # type: ignore
+                break
             start_mission: Optional[StartMissionMessage] = (
                 self.state_machine.should_start_mission()
             )

{isar-1.24.1 → isar-1.24.2}/src/isar/state_machine/states/monitor.py

@@ -49,7 +49,6 @@ class Monitor(State):
         if self.task_status_thread:
             self.task_status_thread.wait_for_thread()
         self.task_status_thread = None
-        self.request_status_failure_counter = 0
 
     def _run(self) -> None:
         transition: Callable
@@ -76,15 +75,19 @@ class Monitor(State):
             except ThreadedRequestNotFinishedError:
                 time.sleep(self.state_machine.sleep_time)
                 continue
-
             except (
                 RobotCommunicationTimeoutException,
                 RobotCommunicationException,
             ) as e:
-                task_failed: bool = self._handle_communication_retry(e)
-                if task_failed:
+                retry_limit_exceeded: bool = self._check_if_exceeded_retry_limit(e)
+                if retry_limit_exceeded:
+                    self.logger.error(
+                        f"Monitoring task {self.state_machine.current_task.id[:8]} failed "
+                        f"because: {e.error_description}"
+                    )
                     status = TaskStatus.Failed
                 else:
+                    time.sleep(self.state_machine.sleep_time)
                     continue
 
             except RobotTaskStatusException as e:
@@ -111,7 +114,7 @@ class Monitor(State):
                 )
                 break
 
-            if self.state_machine.current_task == None:
+            if self.state_machine.current_task is None:
                 self.state_machine.iterate_current_task()
 
             self.state_machine.current_task.status = status
@@ -142,7 +145,7 @@ class Monitor(State):
                     )
 
                     self.state_machine.iterate_current_task()
-                    if self.state_machine.current_task == None:
+                    if self.state_machine.current_task is None:
                         transition = self.state_machine.full_mission_finished  # type: ignore
                         break
 
@@ -193,6 +196,7 @@ class Monitor(State):
         self.logger.info(f"Inspection: {str(inspection.id)[:8]} queued for upload")
 
     def _report_task_status(self, task: Task) -> None:
+        self.request_status_failure_counter = 0
         if task.status == TaskStatus.Failed:
             self.logger.warning(
                 f"Task: {str(task.id)[:8]} was reported as failed by the robot"
@@ -215,7 +219,7 @@ class Monitor(State):
         )
         self.state_machine.current_task.error_message = error_message
 
-    def _handle_communication_retry(
+    def _check_if_exceeded_retry_limit(
         self, e: Union[RobotCommunicationTimeoutException, RobotCommunicationException]
     ) -> bool:
         self.state_machine.current_mission.error_message = ErrorMessage(

{isar-1.24.1 → isar-1.24.2}/src/isar.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.24.1
+Version: 1.24.2
 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-1.24.1 → isar-1.24.2}/tests/isar/apis/scheduler/test_scheduler_router.py

@@ -269,6 +269,7 @@ class TestStopMission:
     valid_states = [
         States.Initiate,
         States.Initialize,
+        States.Idle,
         States.Monitor,
         States.Paused,
         States.Stop,
@@ -286,14 +287,6 @@ class TestStopMission:
         assert response.status_code == HTTPStatus.OK
         assert response.json() == jsonable_encoder(mock_control_mission_response)
 
-    @mock.patch.object(SchedulingUtilities, "get_state", mock_return_idle)
-    @mock.patch.object(
-        SchedulingUtilities, "stop_mission", mock_control_mission_response
-    )
-    def test_can_not_stop_mission_in_idle(self, client: TestClient):
-        response = client.post(url=self.schedule_stop_mission_path)
-        assert response.status_code == HTTPStatus.CONFLICT
-
     @mock.patch.object(SchedulingUtilities, "get_state", mock_return_off)
     @mock.patch.object(
         SchedulingUtilities, "stop_mission", mock_control_mission_response