isar 1.24.2__tar.gz → 1.24.4__tar.gz

{isar-1.24.2 → isar-1.24.4}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.24.2
+Version: 1.24.4
 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-1.24.2 → isar-1.24.4}/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-1.24.2 → isar-1.24.4}/src/isar/apis/models/start_mission_definition.py

@@ -1,6 +1,6 @@
 import time
 from enum import Enum
-from typing import Any, Dict, List, Optional
+from typing import List, Optional
 
 from alitra import Frame, Orientation, Pose, Position
 from pydantic import BaseModel, Field

isar-1.24.4/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-1.24.2 → isar-1.24.4}/src/isar/apis/schedule/scheduling_controller.py

@@ -295,16 +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-1.24.2 → isar-1.24.4}/src/isar/config/keyvault/keyvault_service.py

@@ -65,7 +65,7 @@ class Keyvault:
             raise KeyvaultError  # type: ignore
 
     def get_secret_client(self) -> SecretClient:
-        if self.client == None:
+        if self.client is None:
             try:
                 credential: Union[ClientSecretCredential, DefaultAzureCredential]
                 if self.client_id and self.client_secret and self.tenant_id:

{isar-1.24.2 → isar-1.24.4}/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-1.24.4/src/isar/services/utilities/robot_utilities.py

@@ -0,0 +1,23 @@
+import logging
+
+from injector import inject
+
+from robot_interface.models.robots.media 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-1.24.2 → isar-1.24.4}/src/isar/state_machine/state_machine.py

@@ -237,8 +237,6 @@ class StateMachine(object):
 
         self.current_state: State = States(self.state)  # type: ignore
 
-        self.predefined_mission_id: Optional[int] = None
-
         self.transitions_log_length: int = transitions_log_length
         self.transitions_list: Deque[States] = deque([], self.transitions_log_length)
 

{isar-1.24.2 → isar-1.24.4}/src/isar/state_machine/states/monitor.py

@@ -1,7 +1,7 @@
 import logging
 import time
 from copy import deepcopy
-from typing import TYPE_CHECKING, Callable, Optional, Sequence, Tuple, Union
+from typing import TYPE_CHECKING, Callable, Optional, Tuple, Union
 
 from injector import inject
 from transitions import State

{isar-1.24.2 → isar-1.24.4}/src/isar.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.24.2
+Version: 1.24.4
 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-1.24.2 → isar-1.24.4}/src/isar.egg-info/SOURCES.txt

@@ -42,6 +42,7 @@ src/isar/apis/api.py
 src/isar/apis/models/__init__.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
@@ -70,8 +71,6 @@ src/isar/config/predefined_mission_definition/default_turtlebot.json
 src/isar/config/predefined_missions/__init__.py
 src/isar/config/predefined_missions/default.json
 src/isar/config/predefined_missions/default_turtlebot.json
-src/isar/config/predefined_poses/__init__.py
-src/isar/config/predefined_poses/predefined_poses.py
 src/isar/mission_planner/__init__.py
 src/isar/mission_planner/local_planner.py
 src/isar/mission_planner/mission_planner_interface.py
@@ -100,6 +99,7 @@ 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
@@ -136,9 +136,9 @@ src/robot_interface/models/mission/mission.py
 src/robot_interface/models/mission/status.py
 src/robot_interface/models/mission/task.py
 src/robot_interface/models/robots/__init__.py
+src/robot_interface/models/robots/media.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-1.24.4/src/robot_interface/models/robots/media.py

@@ -0,0 +1,13 @@
+from dataclasses import dataclass
+from enum import Enum
+
+
+class MediaConnectionType(str, Enum):
+    LiveKit: str = "LiveKit"
+
+
+@dataclass
+class MediaConfig:
+    url: str
+    token: str
+    media_connection_type: MediaConnectionType

{isar-1.24.2 → isar-1.24.4}/src/robot_interface/robot_interface.py

@@ -3,6 +3,7 @@ from queue import Queue
 from threading import Thread
 from typing import Callable, List
 
+from robot_interface.models.robots.media 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-1.24.2 → isar-1.24.4}/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-1.24.2 → isar-1.24.4}/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-1.24.2 → isar-1.24.4}/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-1.24.2 → isar-1.24.4}/tests/mocks/robot_interface.py

@@ -6,6 +6,8 @@ from typing import Callable, List, Sequence
 
 from alitra import Frame, Orientation, Pose, Position
 
+from robot_interface.models.robots.media import MediaConnectionType
+from robot_interface.models.robots.media import MediaConfig
 from robot_interface.models.initialize import InitializeParams
 from robot_interface.models.inspection.inspection import (
     Image,
@@ -20,7 +22,6 @@ from robot_interface.robot_interface import RobotInterface
 
 
 class MockRobot(RobotInterface):
-
     def __init__(
         self,
         mission_status: MissionStatus = MissionStatus.Successful,
@@ -62,6 +63,13 @@ 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: