isar 1.24.3__tar.gz → 1.24.5__tar.gz

{isar-1.24.3 → isar-1.24.5}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.24.3
+Version: 1.24.5
 Summary: Integration and Supervisory control of Autonomous Robots
 Author-email: Equinor ASA <fg_robots_dev@equinor.com>
 License: Eclipse Public License version 2.0

{isar-1.24.3 → isar-1.24.5}/src/isar/apis/models/models.py

@@ -1,8 +1,6 @@
-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
@@ -35,13 +33,6 @@ 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 → isar-1.24.5}/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
@@ -19,6 +19,7 @@ from robot_interface.models.mission.task import (
     TakeThermalImage,
     TakeThermalVideo,
     TakeVideo,
+    ZoomDescription,
 )
 
 
@@ -52,6 +53,7 @@ class StartMissionTaskDefinition(BaseModel):
     inspection: Optional[StartMissionInspectionDefinition] = None
     tag: Optional[str] = None
     id: Optional[str] = None
+    zoom: Optional[ZoomDescription] = None
 
 
 class StartMissionDefinition(BaseModel):
@@ -148,6 +150,7 @@ def create_inspection_task(
             tag_id=start_mission_task_definition.tag,
             robot_pose=start_mission_task_definition.pose.to_alitra_pose(),
             metadata=start_mission_task_definition.inspection.metadata,
+            zoom=start_mission_task_definition.zoom,
         )
     elif start_mission_task_definition.inspection.type == InspectionTypes.video:
         return TakeVideo(
@@ -156,6 +159,7 @@ def create_inspection_task(
             tag_id=start_mission_task_definition.tag,
             robot_pose=start_mission_task_definition.pose.to_alitra_pose(),
             metadata=start_mission_task_definition.inspection.metadata,
+            zoom=start_mission_task_definition.zoom,
         )
 
     elif start_mission_task_definition.inspection.type == InspectionTypes.thermal_image:
@@ -164,6 +168,7 @@ def create_inspection_task(
             tag_id=start_mission_task_definition.tag,
             robot_pose=start_mission_task_definition.pose.to_alitra_pose(),
             metadata=start_mission_task_definition.inspection.metadata,
+            zoom=start_mission_task_definition.zoom,
         )
 
     elif start_mission_task_definition.inspection.type == InspectionTypes.thermal_video:
@@ -173,6 +178,7 @@ def create_inspection_task(
             tag_id=start_mission_task_definition.tag,
             robot_pose=start_mission_task_definition.pose.to_alitra_pose(),
             metadata=start_mission_task_definition.inspection.metadata,
+            zoom=start_mission_task_definition.zoom,
         )
 
     elif start_mission_task_definition.inspection.type == InspectionTypes.audio:
@@ -182,6 +188,7 @@ def create_inspection_task(
             tag_id=start_mission_task_definition.tag,
             robot_pose=start_mission_task_definition.pose.to_alitra_pose(),
             metadata=start_mission_task_definition.inspection.metadata,
+            zoom=start_mission_task_definition.zoom,
         )
     else:
         raise ValueError(

{isar-1.24.3 → isar-1.24.5}/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-1.24.3 → isar-1.24.5}/src/isar/services/utilities/robot_utilities.py

@@ -2,7 +2,7 @@ import logging
 
 from injector import inject
 
-from isar.apis.models.models import MediaConfig
+from robot_interface.models.robots.media import MediaConfig
 from robot_interface.robot_interface import RobotInterface
 
 

{isar-1.24.3 → isar-1.24.5}/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-1.24.3 → isar-1.24.5}/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-1.24.3 → isar-1.24.5}/src/isar.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.24.3
+Version: 1.24.5
 Summary: Integration and Supervisory control of Autonomous Robots
 Author-email: Equinor ASA <fg_robots_dev@equinor.com>
 License: Eclipse Public License version 2.0

{isar-1.24.3 → isar-1.24.5}/src/isar.egg-info/SOURCES.txt

@@ -40,7 +40,6 @@ 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
@@ -72,8 +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
@@ -139,6 +136,7 @@ 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/mqtt_client.py

{isar-1.24.3 → isar-1.24.5}/src/robot_interface/models/mission/task.py

@@ -29,6 +29,12 @@ class TaskTypes(str, Enum):
     DockingProcedure = "docking_procedure"
 
 
+@dataclass
+class ZoomDescription:
+    objectWidth: float
+    objectHeight: float
+
+
 @dataclass
 class Task:
     status: TaskStatus = field(default=TaskStatus.NotStarted, init=False)
@@ -59,6 +65,7 @@ class InspectionTask(Task):
     inspection: Inspection = field(default=None, init=True)
     robot_pose: Pose = field(default=None, init=True)
     metadata: Optional[dict] = field(default_factory=dict, init=True)
+    zoom: Optional[ZoomDescription] = field(default=None)
 
     @staticmethod
     def get_inspection_type() -> Type[Inspection]:

isar-1.24.5/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-1.24.3 → isar-1.24.5}/src/robot_interface/robot_interface.py

@@ -3,7 +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.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

{isar-1.24.3 → isar-1.24.5}/tests/mocks/robot_interface.py

@@ -6,8 +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.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,
@@ -22,7 +22,6 @@ from robot_interface.robot_interface import RobotInterface
 
 
 class MockRobot(RobotInterface):
-
     def __init__(
         self,
         mission_status: MissionStatus = MissionStatus.Successful,

isar-1.24.3/src/isar/apis/models/media_connection_type.py

@@ -1,5 +0,0 @@
-from enum import Enum
-
-
-class MediaConnectionType(str, Enum):
-    LiveKit: str = "LiveKit"