isar 1.24.1__tar.gz → 1.24.3__tar.gz

{isar-1.24.1 → isar-1.24.3}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.24.1
+Version: 1.24.3
 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-1.24.1 → isar-1.24.3}/src/isar/apis/api.py

@@ -17,6 +17,7 @@ from opencensus.trace.tracer import Tracer
 from pydantic import AnyHttpUrl
 
 from isar.apis.models.models import ControlMissionResponse, StartMissionResponse
+from isar.apis.robot_control.robot_controller import RobotController
 from isar.apis.schedule.scheduling_controller import SchedulingController
 from isar.apis.security.authentication import Authenticator
 from isar.config.configuration_error import ConfigurationError
@@ -34,12 +35,14 @@ class API:
         self,
         authenticator: Authenticator,
         scheduling_controller: SchedulingController,
+        robot_controller: RobotController,
         keyvault_client: Keyvault,
         port: int = settings.API_PORT,
         azure_ai_logging_enabled: bool = settings.LOG_HANDLER_APPLICATION_INSIGHTS_ENABLED,
     ) -> None:
         self.authenticator: Authenticator = authenticator
         self.scheduling_controller: SchedulingController = scheduling_controller
+        self.robot_controller: RobotController = robot_controller
         self.keyvault_client: Keyvault = keyvault_client
         self.host: str = "0.0.0.0"  # Locking uvicorn to use 0.0.0.0
         self.port: int = port
@@ -98,6 +101,8 @@ class API:
 
         app.include_router(router=self._create_info_router())
 
+        app.include_router(router=self._create_media_control_router())
+
         return app
 
     def _create_scheduler_router(self) -> APIRouter:
@@ -277,7 +282,7 @@ class API:
 
         router.add_api_route(
             path="/info/robot-settings",
-            endpoint=self.scheduling_controller.get_info,
+            endpoint=self.robot_controller.get_info,
             methods=["GET"],
             dependencies=[authentication_dependency],
             summary="Information about the robot-settings",
@@ -285,6 +290,21 @@ class API:
 
         return router
 
+    def _create_media_control_router(self) -> APIRouter:
+        router: APIRouter = APIRouter(tags=["Media"])
+
+        authentication_dependency: Security = Security(self.authenticator.get_scheme())
+
+        router.add_api_route(
+            path="/media/media-stream-config",
+            endpoint=self.robot_controller.generate_media_config,
+            methods=["GET"],
+            dependencies=[authentication_dependency],
+            summary="Generates a media stream connection config",
+        )
+
+        return router
+
     def _log_startup_message(self) -> None:
         address_format = "%s://%s:%d/docs"
         message = f"Uvicorn running on {address_format} (Press CTRL+C to quit)"

{isar-1.24.1 → isar-1.24.3}/src/isar/apis/models/models.py

@@ -1,6 +1,8 @@
+from dataclasses import dataclass
 from typing import List, Optional
 
 from alitra import Frame, Orientation, Pose, Position
+from isar.apis.models.media_connection_type import MediaConnectionType
 from pydantic import BaseModel, Field
 
 from robot_interface.models.mission.task import TaskTypes
@@ -33,6 +35,13 @@ class RobotInfoResponse(BaseModel):
     plant_short_name: str
 
 
+@dataclass
+class MediaConfig:
+    url: str
+    token: str
+    media_connection_type: MediaConnectionType
+
+
 class InputOrientation(BaseModel):
     x: float
     y: float

isar-1.24.3/src/isar/apis/robot_control/robot_controller.py

@@ -0,0 +1,35 @@
+import logging
+from typing import List
+
+from injector import inject
+
+from isar.apis.models.models import (
+    RobotInfoResponse,
+    TaskResponse,
+)
+from isar.config.settings import robot_settings, settings
+from isar.services.utilities.robot_utilities import RobotUtilities
+from robot_interface.models.mission.task import Task
+
+
+class RobotController:
+    @inject
+    def __init__(
+        self,
+        robot_utilities: RobotUtilities,
+    ):
+        self.robot_utilities: RobotUtilities = robot_utilities
+        self.logger = logging.getLogger("api")
+
+    def generate_media_config(self):
+        return self.robot_utilities.generate_media_config()
+
+    def get_info(self):
+        return RobotInfoResponse(
+            robot_package=settings.ROBOT_PACKAGE,
+            isar_id=settings.ISAR_ID,
+            robot_name=settings.ROBOT_NAME,
+            robot_capabilities=robot_settings.CAPABILITIES,
+            robot_map_name=settings.DEFAULT_MAP,
+            plant_short_name=settings.PLANT_SHORT_NAME,
+        )

{isar-1.24.1 → isar-1.24.3}/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}"
             )
@@ -301,16 +295,6 @@ class SchedulingController:
         )
         return self._api_response(mission)
 
-    def get_info(self):
-        return RobotInfoResponse(
-            robot_package=settings.ROBOT_PACKAGE,
-            isar_id=settings.ISAR_ID,
-            robot_name=settings.ROBOT_NAME,
-            robot_capabilities=robot_settings.CAPABILITIES,
-            robot_map_name=settings.DEFAULT_MAP,
-            plant_short_name=settings.PLANT_SHORT_NAME,
-        )
-
     def _api_response(self, mission: Mission) -> StartMissionResponse:
         return StartMissionResponse(
             id=mission.id,

{isar-1.24.1 → isar-1.24.3}/src/isar/modules.py

@@ -8,6 +8,7 @@ from injector import Injector, Module, multiprovider, provider, singleton
 
 from isar.apis.api import API
 from isar.apis.schedule.scheduling_controller import SchedulingController
+from isar.apis.robot_control.robot_controller import RobotController
 from isar.apis.security.authentication import Authenticator
 from isar.config.keyvault.keyvault_service import Keyvault
 from isar.config.settings import settings
@@ -18,6 +19,7 @@ from isar.mission_planner.task_selector_interface import TaskSelectorInterface
 from isar.models.communication.queues.queues import Queues
 from isar.services.service_connections.request_handler import RequestHandler
 from isar.services.utilities.scheduling_utilities import SchedulingUtilities
+from isar.services.utilities.robot_utilities import RobotUtilities
 from isar.state_machine.state_machine import StateMachine
 from isar.storage.blob_storage import BlobStorage
 from isar.storage.local_storage import LocalStorage
@@ -35,9 +37,10 @@ class APIModule(Module):
         self,
         authenticator: Authenticator,
         scheduling_controller: SchedulingController,
+        robot_controller: RobotController,
         keyvault: Keyvault,
     ) -> API:
-        return API(authenticator, scheduling_controller, keyvault)
+        return API(authenticator, scheduling_controller, robot_controller, keyvault)
 
     @provider
     @singleton
@@ -47,6 +50,14 @@ class APIModule(Module):
     ) -> SchedulingController:
         return SchedulingController(scheduling_utilities)
 
+    @provider
+    @singleton
+    def provide_robot_controller(
+        self,
+        robot_utilities: RobotUtilities,
+    ) -> RobotController:
+        return RobotController(robot_utilities)
+
 
 class AuthenticationModule(Module):
     @provider
@@ -142,7 +153,7 @@ class UploaderModule(Module):
         )
 
 
-class UtilitiesModule(Module):
+class SchedulingUtilitiesModule(Module):
     @provider
     @singleton
     def provide_scheduling_utilities(
@@ -151,6 +162,13 @@ class UtilitiesModule(Module):
         return SchedulingUtilities(queues, mission_planner)
 
 
+class RobotUtilitiesModule(Module):
+    @provider
+    @singleton
+    def provide_robot_utilities(self, robot: RobotInterface) -> RobotUtilities:
+        return RobotUtilities(robot)
+
+
 class ServiceModule(Module):
     @provider
     @singleton
@@ -193,7 +211,8 @@ modules: Dict[str, Tuple[Module, Union[str, bool]]] = {
     "storage_blob": (BlobStorageModule, settings.STORAGE_BLOB_ENABLED),
     "storage_slimm": (SlimmStorageModule, settings.STORAGE_SLIMM_ENABLED),
     "mqtt": (MqttModule, "required"),
-    "utilities": (UtilitiesModule, "required"),
+    "utilities": (SchedulingUtilitiesModule, "required"),
+    "robot_utilities": (RobotUtilitiesModule, "required"),
 }
 
 

isar-1.24.3/src/isar/services/utilities/robot_utilities.py

@@ -0,0 +1,23 @@
+import logging
+
+from injector import inject
+
+from isar.apis.models.models import MediaConfig
+from robot_interface.robot_interface import RobotInterface
+
+
+class RobotUtilities:
+    """
+    Contains utility functions for getting robot information from the API.
+    """
+
+    @inject
+    def __init__(
+        self,
+        robot: RobotInterface,
+    ):
+        self.robot: RobotInterface = robot
+        self.logger = logging.getLogger("api")
+
+    def generate_media_config(self) -> MediaConfig:
+        return self.robot.generate_media_config()

{isar-1.24.1 → isar-1.24.3}/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-1.24.3}/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-1.24.3}/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-1.24.3}/src/isar.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.24.1
+Version: 1.24.3
 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-1.24.1 → isar-1.24.3}/src/isar.egg-info/SOURCES.txt

@@ -40,8 +40,10 @@ src/isar.egg-info/top_level.txt
 src/isar/apis/__init__.py
 src/isar/apis/api.py
 src/isar/apis/models/__init__.py
+src/isar/apis/models/media_connection_type.py
 src/isar/apis/models/models.py
 src/isar/apis/models/start_mission_definition.py
+src/isar/apis/robot_control/robot_controller.py
 src/isar/apis/schedule/__init__.py
 src/isar/apis/schedule/scheduling_controller.py
 src/isar/apis/security/__init__.py
@@ -100,6 +102,7 @@ src/isar/services/service_connections/mqtt/robot_info_publisher.py
 src/isar/services/service_connections/stid/__init__.py
 src/isar/services/utilities/__init__.py
 src/isar/services/utilities/queue_utilities.py
+src/isar/services/utilities/robot_utilities.py
 src/isar/services/utilities/scheduling_utilities.py
 src/isar/services/utilities/threaded_request.py
 src/isar/state_machine/__init__.py
@@ -138,7 +141,6 @@ src/robot_interface/models/mission/task.py
 src/robot_interface/models/robots/__init__.py
 src/robot_interface/models/robots/robot_model.py
 src/robot_interface/telemetry/__init__.py
-src/robot_interface/telemetry/media_connection_type.py
 src/robot_interface/telemetry/mqtt_client.py
 src/robot_interface/telemetry/payloads.py
 src/robot_interface/utilities/__init__.py

{isar-1.24.1 → isar-1.24.3}/src/robot_interface/robot_interface.py

@@ -3,6 +3,7 @@ from queue import Queue
 from threading import Thread
 from typing import Callable, List
 
+from isar.apis.models.models import MediaConfig
 from robot_interface.models.initialize import InitializeParams
 from robot_interface.models.inspection.inspection import Inspection
 from robot_interface.models.mission.mission import Mission
@@ -224,6 +225,19 @@ class RobotInterface(metaclass=ABCMeta):
         """
         raise NotImplementedError
 
+    @abstractmethod
+    def generate_media_config(self) -> MediaConfig:
+        """
+        Generate a JSON containing the url and token needed to establish a media stream
+        connection to a robot.
+
+        Returns
+        -------
+        MediaConfig
+            An object containing the connection information for a media stream connection
+        """
+        raise NotImplementedError
+
     @abstractmethod
     def get_telemetry_publishers(
         self, queue: Queue, isar_id: str, robot_name: str

{isar-1.24.1 → isar-1.24.3}/src/robot_interface/telemetry/payloads.py

@@ -6,7 +6,6 @@ from alitra import Pose
 from transitions import State
 
 from robot_interface.models.mission.status import RobotStatus
-from robot_interface.telemetry.media_connection_type import MediaConnectionType
 
 
 @dataclass
@@ -56,13 +55,6 @@ class VideoStream:
     type: str
 
 
-@dataclass
-class MediaConfig(TelemetryPayload):
-    url: str
-    token: str
-    media_connection_type: MediaConnectionType
-
-
 @dataclass
 class RobotStatusPayload:
     isar_id: str

{isar-1.24.1 → isar-1.24.3}/tests/conftest.py

@@ -15,7 +15,7 @@ from isar.modules import (
     SequentialTaskSelectorModule,
     ServiceModule,
     StateMachineModule,
-    UtilitiesModule,
+    SchedulingUtilitiesModule,
 )
 from isar.services.service_connections.request_handler import RequestHandler
 from isar.services.utilities.scheduling_utilities import SchedulingUtilities
@@ -47,7 +47,7 @@ def injector():
             ServiceModule,
             StateMachineModule,
             SequentialTaskSelectorModule,
-            UtilitiesModule,
+            SchedulingUtilitiesModule,
         ]
     )
 
@@ -66,7 +66,7 @@ def injector_auth():
             RequestHandlerModule,
             ServiceModule,
             StateMachineModule,
-            UtilitiesModule,
+            SchedulingUtilitiesModule,
         ]
     )
 

{isar-1.24.1 → isar-1.24.3}/tests/integration/turtlebot/test_successful_mission.py

@@ -23,7 +23,7 @@ from isar.modules import (
     RobotModule,
     ServiceModule,
     StateMachineModule,
-    UtilitiesModule,
+    SchedulingUtilitiesModule,
 )
 from isar.services.readers.base_reader import BaseReader
 from isar.state_machine.states_enum import States
@@ -57,7 +57,7 @@ def injector_turtlebot():
             StateMachineModule,
             LocalPlannerModule,
             LocalStorageModule,
-            UtilitiesModule,
+            SchedulingUtilitiesModule,
             MockMqttModule,
         ]
     )

{isar-1.24.1 → isar-1.24.3}/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

{isar-1.24.1 → isar-1.24.3}/tests/mocks/robot_interface.py

@@ -6,6 +6,8 @@ from typing import Callable, List, Sequence
 
 from alitra import Frame, Orientation, Pose, Position
 
+from isar.apis.models.media_connection_type import MediaConnectionType
+from isar.apis.models.models import MediaConfig
 from robot_interface.models.initialize import InitializeParams
 from robot_interface.models.inspection.inspection import (
     Image,
@@ -62,6 +64,13 @@ class MockRobot(RobotInterface):
         image.data = b"Some binary image data"
         return image
 
+    def generate_media_config(self) -> MediaConfig:
+        return MediaConfig(
+            url="mockURL",
+            token="mockToken",
+            media_connection_type=MediaConnectionType.LiveKit,
+        )
+
     def register_inspection_callback(
         self, callback_function: Callable[[Inspection, Mission], None]
     ) -> None: