isar 1.24.5__py3-none-any.whl → 1.25.0__py3-none-any.whl

isar/apis/models/models.py

@@ -9,6 +9,7 @@ from robot_interface.models.mission.task import TaskTypes
 class TaskResponse(BaseModel):
     id: str
     tag_id: Optional[str] = None
+    inspection_id: Optional[str] = None
     type: TaskTypes
 
 

isar/apis/models/start_mission_definition.py

@@ -2,7 +2,6 @@ import time
 from enum import Enum
 from typing import List, Optional
 
-from alitra import Frame, Orientation, Pose, Position
 from pydantic import BaseModel, Field
 
 from isar.apis.models.models import InputPose, InputPosition
@@ -44,7 +43,6 @@ class StartMissionInspectionDefinition(BaseModel):
     analysis_type: Optional[str] = None
     duration: Optional[float] = None
     metadata: Optional[dict] = None
-    id: Optional[str] = None
 
 
 class StartMissionTaskDefinition(BaseModel):
@@ -52,180 +50,132 @@ class StartMissionTaskDefinition(BaseModel):
     pose: InputPose
     inspection: Optional[StartMissionInspectionDefinition] = None
     tag: Optional[str] = None
-    id: Optional[str] = None
     zoom: Optional[ZoomDescription] = None
 
 
 class StartMissionDefinition(BaseModel):
     tasks: List[StartMissionTaskDefinition]
-    id: Optional[str] = None
     name: Optional[str] = None
     start_pose: Optional[InputPose] = None
-    dock: Optional[bool] = None
-    undock: Optional[bool] = None
+    dock: Optional[bool] = Field(default=False)
+    undock: Optional[bool] = Field(default=False)
 
 
-def to_isar_mission(start_mission_definition: StartMissionDefinition) -> Mission:
+def to_isar_mission(
+    start_mission_definition: StartMissionDefinition,
+    return_pose: Optional[InputPose] = None,
+) -> Mission:
     isar_tasks: List[TASKS] = []
 
-    for start_mission_task_definition in start_mission_definition.tasks:
-        task: TASKS = create_isar_task(start_mission_task_definition)
-        if start_mission_task_definition.id:
-            task.id = start_mission_task_definition.id
+    for task_definition in start_mission_definition.tasks:
+        task: TASKS = to_isar_task(task_definition)
         isar_tasks.append(task)
 
+    if return_pose:
+        isar_tasks.append(ReturnToHome(pose=return_pose.to_alitra_pose()))
+
     if not isar_tasks:
         raise MissionPlannerError("Mission does not contain any valid tasks")
 
-    check_for_duplicate_ids(isar_tasks)
-
-    isar_mission: Mission = Mission(tasks=isar_tasks)
-
-    isar_mission.dock = start_mission_definition.dock
-    isar_mission.undock = start_mission_definition.undock
-
+    isar_mission_name: str
     if start_mission_definition.name:
-        isar_mission.name = start_mission_definition.name
+        isar_mission_name = start_mission_definition.name
     else:
-        isar_mission.name = _build_mission_name()
-
-    if start_mission_definition.id:
-        isar_mission.id = start_mission_definition.id
+        isar_mission_name = _build_mission_name()
 
+    start_pose = None
     if start_mission_definition.start_pose:
-        input_pose: InputPose = start_mission_definition.start_pose
-        input_frame: Frame = Frame(name=input_pose.frame_name)
-        input_position: Position = Position(
-            input_pose.position.x,
-            input_pose.position.y,
-            input_pose.position.z,
-            input_frame,
-        )
-        input_orientation: Orientation = Orientation(
-            input_pose.orientation.x,
-            input_pose.orientation.y,
-            input_pose.orientation.z,
-            input_pose.orientation.w,
-            input_frame,
-        )
-        isar_mission.start_pose = Pose(
-            position=input_position, orientation=input_orientation, frame=input_frame
-        )
-
-    return isar_mission
-
-
-def check_for_duplicate_ids(items: List[TASKS]):
-    duplicate_ids = get_duplicate_ids(items=items)
-    if len(duplicate_ids) > 0:
-        raise MissionPlannerError(
-            f"Failed to create as there were duplicate IDs which is not allowed "
-            f"({duplicate_ids})"
-        )
-
+        start_pose = start_mission_definition.start_pose.to_alitra_pose()
+
+    return Mission(
+        tasks=isar_tasks,
+        name=isar_mission_name,
+        start_pose=start_pose,
+        dock=start_mission_definition.dock,
+        undock=start_mission_definition.undock,
+    )
 
-def create_isar_task(start_mission_task_definition) -> TASKS:
 
-    if start_mission_task_definition.type == TaskType.Inspection:
-        return create_inspection_task(start_mission_task_definition)
-    elif start_mission_task_definition.type == TaskType.Localization:
-        return create_localization_task(start_mission_task_definition)
-    elif start_mission_task_definition.type == TaskType.ReturnToHome:
-        return create_return_to_home_task(start_mission_task_definition)
-    elif start_mission_task_definition.type == TaskType.Dock:
+def to_isar_task(task_definition: StartMissionTaskDefinition) -> TASKS:
+    if task_definition.type == TaskType.Inspection:
+        return to_inspection_task(task_definition)
+    elif task_definition.type == TaskType.Localization:
+        return to_localization_task(task_definition)
+    elif task_definition.type == TaskType.ReturnToHome:
+        return create_return_to_home_task(task_definition)
+    elif task_definition.type == TaskType.Dock:
         return create_dock_task()
     else:
         raise MissionPlannerError(
-            f"Failed to create task: '{start_mission_task_definition.type}' is not a valid"
+            f"Failed to create task: '{task_definition.type}' is not a valid"
         )
 
 
-def create_inspection_task(
-    start_mission_task_definition: StartMissionTaskDefinition,
-) -> TASKS:
+def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
+    inspection_definition = task_definition.inspection
 
-    if start_mission_task_definition.inspection.type == InspectionTypes.image:
+    if inspection_definition.type == InspectionTypes.image:
         return TakeImage(
-            target=start_mission_task_definition.inspection.inspection_target.to_alitra_position(),
-            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,
+            robot_pose=task_definition.pose.to_alitra_pose(),
+            tag_id=task_definition.tag,
+            target=task_definition.inspection.inspection_target.to_alitra_position(),
+            metadata=task_definition.inspection.metadata,
+            zoom=task_definition.zoom,
         )
-    elif start_mission_task_definition.inspection.type == InspectionTypes.video:
+    elif inspection_definition.type == InspectionTypes.video:
         return TakeVideo(
-            target=start_mission_task_definition.inspection.inspection_target.to_alitra_position(),
-            duration=start_mission_task_definition.inspection.duration,
-            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,
+            robot_pose=task_definition.pose.to_alitra_pose(),
+            tag_id=task_definition.tag,
+            target=task_definition.inspection.inspection_target.to_alitra_position(),
+            duration=inspection_definition.duration,
+            metadata=task_definition.inspection.metadata,
+            zoom=task_definition.zoom,
         )
-
-    elif start_mission_task_definition.inspection.type == InspectionTypes.thermal_image:
+    elif inspection_definition.type == InspectionTypes.thermal_image:
         return TakeThermalImage(
-            target=start_mission_task_definition.inspection.inspection_target.to_alitra_position(),
-            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,
+            robot_pose=task_definition.pose.to_alitra_pose(),
+            tag_id=task_definition.tag,
+            target=task_definition.inspection.inspection_target.to_alitra_position(),
+            metadata=task_definition.inspection.metadata,
+            zoom=task_definition.zoom,
         )
-
-    elif start_mission_task_definition.inspection.type == InspectionTypes.thermal_video:
+    elif inspection_definition.type == InspectionTypes.thermal_video:
         return TakeThermalVideo(
-            target=start_mission_task_definition.inspection.inspection_target.to_alitra_position(),
-            duration=start_mission_task_definition.inspection.duration,
-            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,
+            robot_pose=task_definition.pose.to_alitra_pose(),
+            tag_id=task_definition.tag,
+            target=task_definition.inspection.inspection_target.to_alitra_position(),
+            duration=inspection_definition.duration,
+            metadata=task_definition.inspection.metadata,
+            zoom=task_definition.zoom,
         )
-
-    elif start_mission_task_definition.inspection.type == InspectionTypes.audio:
+    elif inspection_definition.type == InspectionTypes.audio:
         return RecordAudio(
-            target=start_mission_task_definition.inspection.inspection_target.to_alitra_position(),
-            duration=start_mission_task_definition.inspection.duration,
-            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,
+            robot_pose=task_definition.pose.to_alitra_pose(),
+            tag_id=task_definition.tag,
+            target=task_definition.inspection.inspection_target.to_alitra_position(),
+            duration=inspection_definition.duration,
+            metadata=task_definition.inspection.metadata,
+            zoom=task_definition.zoom,
         )
     else:
         raise ValueError(
-            f"Inspection type '{start_mission_task_definition.inspection.type}' not supported"
+            f"Inspection type '{inspection_definition.type}' not supported"
         )
 
 
-def create_localization_task(
-    start_mission_task_definition: StartMissionTaskDefinition,
-) -> Localize:
-    return Localize(
-        localization_pose=start_mission_task_definition.pose.to_alitra_pose()
-    )
+def to_localization_task(task_definition: StartMissionTaskDefinition) -> Localize:
+    return Localize(localization_pose=task_definition.pose.to_alitra_pose())
 
 
 def create_return_to_home_task(
-    start_mission_task_definition: StartMissionTaskDefinition,
+    task_definition: StartMissionTaskDefinition,
 ) -> ReturnToHome:
-    return ReturnToHome(pose=start_mission_task_definition.pose.to_alitra_pose())
+    return ReturnToHome(pose=task_definition.pose.to_alitra_pose())
 
 
 def create_dock_task() -> DockingProcedure:
     return DockingProcedure(behavior="dock")
 
 
-def get_duplicate_ids(items: List[TASKS]) -> List[str]:
-    unique_ids: List[str] = []
-    duplicate_ids: List[str] = []
-    for item in items:
-        id: str = item.id
-        if id not in unique_ids:
-            unique_ids.append(id)
-        else:
-            duplicate_ids.append(id)
-
-    return duplicate_ids
-
-
 def _build_mission_name() -> str:
     return f"{settings.PLANT_SHORT_NAME}{settings.ROBOT_NAME}{int(time.time())}"

isar/apis/schedule/scheduling_controller.py

@@ -21,7 +21,13 @@ 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 (
+    TASKS,
+    InspectionTask,
+    Localize,
+    MoveArm,
+    ReturnToHome,
+)
 
 
 class SchedulingController:
@@ -115,7 +121,9 @@ class SchedulingController:
         self.scheduling_utilities.verify_state_machine_ready_to_receive_mission(state)
 
         try:
-            mission: Mission = to_isar_mission(mission_definition)
+            mission: Mission = to_isar_mission(
+                start_mission_definition=mission_definition, return_pose=return_pose
+            )
         except MissionPlannerError as e:
             error_message = f"Bad Request - Cannot create ISAR mission: {e}"
             self.logger.warning(error_message)
@@ -127,9 +135,6 @@ class SchedulingController:
         self.scheduling_utilities.verify_robot_capable_of_mission(
             mission=mission, robot_capabilities=robot_settings.CAPABILITIES
         )
-        if return_pose:
-            pose: Pose = return_pose.to_alitra_pose()
-            mission.tasks.append(ReturnToHome(pose=pose))
 
         initial_pose_alitra: Optional[Pose] = (
             initial_pose.to_alitra_pose() if initial_pose else None
@@ -213,7 +218,9 @@ class SchedulingController:
         self.scheduling_utilities.verify_state_machine_ready_to_receive_mission(state)
 
         pose: Pose = target_pose.to_alitra_pose()
-        mission: Mission = Mission(tasks=[ReturnToHome(pose=pose)])
+        mission: Mission = Mission(
+            name="Drive to pose", tasks=[ReturnToHome(pose=pose)]
+        )
 
         self.logger.info(
             f"Starting drive to mission with ISAR Mission ID: '{mission.id}'"
@@ -237,7 +244,9 @@ class SchedulingController:
         self.scheduling_utilities.verify_state_machine_ready_to_receive_mission(state)
 
         pose: Pose = localization_pose.to_alitra_pose()
-        mission: Mission = Mission(tasks=[Localize(localization_pose=pose)])
+        mission: Mission = Mission(
+            name="Localization mission", tasks=[Localize(localization_pose=pose)]
+        )
 
         self.logger.info(
             f"Starting localization mission with ISAR Mission ID: '{mission.id}'"
@@ -284,7 +293,9 @@ class SchedulingController:
 
         self.scheduling_utilities.verify_state_machine_ready_to_receive_mission(state)
 
-        mission: Mission = Mission(tasks=[MoveArm(arm_pose=arm_pose_literal)])
+        mission: Mission = Mission(
+            name="Move arm mission", tasks=[MoveArm(arm_pose=arm_pose_literal)]
+        )
 
         self.logger.info(
             f"Starting move arm mission with ISAR Mission ID: '{mission.id}'"
@@ -302,4 +313,11 @@ class SchedulingController:
         )
 
     def _task_api_response(self, task: TASKS) -> TaskResponse:
-        return TaskResponse(id=task.id, tag_id=task.tag_id, type=task.type)
+        if isinstance(task, InspectionTask):
+            inspection_id = task.inspection_id
+        else:
+            inspection_id = None
+
+        return TaskResponse(
+            id=task.id, tag_id=task.tag_id, inspection_id=inspection_id, type=task.type
+        )

isar/config/certs/ca-cert.pem

@@ -1,35 +1,35 @@
 -----BEGIN CERTIFICATE-----
-MIIGGzCCBAOgAwIBAgIUSYiMjuwMgyqwMJ50grQRj92s7tEwDQYJKoZIhvcNAQEL
+MIIGGzCCBAOgAwIBAgIUCVuS8tL7R2bdjRJznkk1NN0oUa8wDQYJKoZIhvcNAQEL
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 -----END CERTIFICATE-----

isar/config/predefined_missions/default.json

@@ -1,5 +1,6 @@
 {
   "id": "1",
+  "name": "Default mission",
   "tasks": [
     {
       "type": "take_image",
@@ -8,22 +9,22 @@
           "x": -2,
           "y": -2,
           "z": 0,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
         "orientation": {
           "x": 0,
           "y": 0,
           "z": 0.4794255,
           "w": 0.8775826,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
-        "frame": "asset"
+        "frame": {"name": "asset"}
       },
       "target": {
         "x": 2,
         "y": 2,
         "z": 0,
-        "frame": "robot"
+        "frame": {"name": "asset"}
       }
     },
     {
@@ -33,22 +34,22 @@
           "x": -2,
           "y": 2,
           "z": 0,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
         "orientation": {
           "x": 0,
           "y": 0,
           "z": 0.4794255,
           "w": 0.8775826,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
-        "frame": "asset"
+        "frame": {"name": "asset"}
       },
       "target": {
         "x": 2,
         "y": 2,
         "z": 0,
-        "frame": "robot"
+        "frame": {"name": "asset"}
       }
     },
     {
@@ -58,16 +59,16 @@
           "x": 2,
           "y": 2,
           "z": 0,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
         "orientation": {
           "x": 0,
           "y": 0,
           "z": 0.4794255,
           "w": 0.8775826,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
-        "frame": "asset"
+        "frame": {"name": "asset"}
       }
     }
   ]

isar/config/predefined_missions/default_turtlebot.json

@@ -1,5 +1,6 @@
 {
   "id": "2",
+  "name": "Default mission Turtlebot",
   "tasks": [
     {
       "type": "take_image",
@@ -8,22 +9,22 @@
           "x": -3.6,
           "y": 4,
           "z": 0,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
         "orientation": {
           "x": 0,
           "y": 0,
           "z": -0.7286672256879113,
           "w": -0.6848660759820616,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
-        "frame": "asset"
+        "frame": {"name": "asset"}
       },
       "target": {
         "x": -4.7,
         "y": 4.9,
         "z": 0,
-        "frame": "robot"
+        "frame": {"name": "asset"}
       }
     },
 
@@ -34,22 +35,22 @@
           "x": 4.7,
           "y": 3,
           "z": 0,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
         "orientation": {
           "x": 0,
           "y": 0,
           "z": 0.5769585,
           "w": 0.8167734,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
-        "frame": "asset"
+        "frame": {"name": "asset"}
       },
       "target": {
         "x": 5.6,
         "y": 5.2,
         "z": 0,
-        "frame": "robot"
+        "frame": {"name": "asset"}
       }
     },
     {
@@ -59,22 +60,22 @@
           "x": 4.7,
           "y": 3,
           "z": 0,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
         "orientation": {
           "x": 0,
           "y": 0,
           "z": 0.5769585,
           "w": 0.8167734,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
-        "frame": "asset"
+        "frame": {"name": "asset"}
       },
       "target": {
         "x": 3.1,
         "y": 5.2,
         "z": 0,
-        "frame": "robot"
+        "frame": {"name": "asset"}
       }
     },
     {
@@ -84,22 +85,22 @@
           "x": 0.95,
           "y": 2.6,
           "z": 0,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
         "orientation": {
           "x": 0,
           "y": 0,
           "z": -0.6992469,
           "w": 0.7148802,
-          "frame": "asset"
+          "frame": {"name": "asset"}
         },
-        "frame": "asset"
+        "frame": {"name": "asset"}
       },
       "target": {
         "x": 1.9,
         "y": 1.9,
         "z": 0,
-        "frame": "robot"
+        "frame": {"name": "asset"}
       }
     }
   ]