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

isar/mission_planner/local_planner.py

@@ -1,8 +1,7 @@
+import json
 import logging
 from pathlib import Path
-from typing import List, Optional
 
-from alitra import Frame
 from injector import inject
 
 from isar.config.settings import settings
@@ -11,10 +10,8 @@ from isar.mission_planner.mission_planner_interface import (
     MissionPlannerError,
     MissionPlannerInterface,
 )
-from isar.services.readers.base_reader import BaseReader, BaseReaderError
 from robot_interface.models.mission.mission import Mission
 
-
 logger = logging.getLogger("api")
 
 
@@ -39,16 +36,10 @@ class LocalPlanner(MissionPlannerInterface):
 
     @staticmethod
     def read_mission_from_file(mission_path: Path) -> Mission:
-        mission_dict: dict = BaseReader.read_json(location=mission_path)
-
-        mission: Mission = BaseReader.dict_to_dataclass(
-            dataclass_dict=mission_dict,
-            target_dataclass=Mission,
-            cast_config=[Frame],
-            strict_config=True,
-        )
+        with open(mission_path) as json_file:
+            mission_dict = json.load(json_file)
 
-        return mission
+        return Mission(**mission_dict)
 
     def get_predefined_missions(self) -> dict:
         missions: dict = {}
@@ -57,13 +48,8 @@ class LocalPlanner(MissionPlannerInterface):
         for file in json_files:
             mission_name = file.stem
             path_to_file = self.predefined_mission_folder.joinpath(file.name)
-            try:
-                mission: Mission = self.read_mission_from_file(path_to_file)
-            except BaseReaderError as e:
-                logger.warning(
-                    f"Failed to read predefined mission {path_to_file} \n {e}"
-                )
-                continue
+
+            mission: Mission = self.read_mission_from_file(path_to_file)
             if mission.id in invalid_mission_ids:
                 logger.warning(
                     f"Duplicate mission id {mission.id} : {path_to_file.as_posix()}"

isar/mission_planner/mission_planner_interface.py

@@ -9,7 +9,7 @@ class MissionPlannerInterface(metaclass=ABCMeta):
         """
         Parameters
         ----------
-        mission_id : int
+        mission_id : str
 
         Returns
         -------

isar/script.py

@@ -1,4 +1,5 @@
 import logging
+import sys
 import time
 from logging import Logger
 from threading import Thread
@@ -20,10 +21,10 @@ from isar.services.service_connections.mqtt.robot_heartbeat_publisher import (
 from isar.services.service_connections.mqtt.robot_info_publisher import (
     RobotInfoPublisher,
 )
-from robot_interface.models.inspection.inspection import Inspection
-from robot_interface.models.mission.mission import Mission
 from isar.state_machine.state_machine import StateMachine, main
 from isar.storage.uploader import Uploader
+from robot_interface.models.inspection.inspection import Inspection
+from robot_interface.models.mission.mission import Mission
 from robot_interface.robot_interface import RobotInterface
 
 
@@ -81,7 +82,7 @@ def print_startup_info():
     print()
 
 
-def start():
+def start() -> None:
     injector: Injector = get_injector()
 
     keyvault_client = injector.get(Keyvault)
@@ -168,5 +169,5 @@ def start():
         for thread in threads:
             if not thread.is_alive():
                 logger.critical("Thread '%s' failed - ISAR shutting down", thread.name)
-                exit(1)
+                sys.exit(1)
         time.sleep(state_machine.sleep_time)

isar/state_machine/state_machine.py

@@ -33,7 +33,7 @@ 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.task import TASKS, Task
+from robot_interface.models.mission.task import TASKS
 from robot_interface.robot_interface import RobotInterface
 from robot_interface.telemetry.mqtt_client import MqttClientInterface
 from robot_interface.utilities.json_service import EnhancedJSONEncoder
@@ -324,7 +324,7 @@ class StateMachine(object):
         self.current_mission.status = MissionStatus.InProgress
         self.publish_mission_status()
         self.current_task = self.task_selector.next_task()
-        if self.current_task == None:
+        if self.current_task is None:
             self._mission_finished()
         else:
             self.current_task.status = TaskStatus.InProgress
@@ -412,7 +412,7 @@ class StateMachine(object):
         Transitions into idle state.
 
         """
-        self.to_idle()
+        self.to_idle()  # type: ignore
 
     def iterate_current_task(self):
         if self.current_task.is_finished():
@@ -426,7 +426,7 @@ class StateMachine(object):
 
     def update_state(self):
         """Updates the current state of the state machine."""
-        self.current_state = States(self.state)
+        self.current_state = States(self.state)  # type: ignore
         self.send_state_status()
         self._log_state_transition(self.current_state)
         self.logger.info(f"State: {self.current_state}")

isar/state_machine/states/idle.py

@@ -34,6 +34,14 @@ class Idle(State):
             self.robot_status_thread.wait_for_thread()
         self.robot_status_thread = None
 
+    def _is_ready_to_poll_for_status(self) -> bool:
+        time_since_last_robot_status_poll = (
+            time.time() - self.last_robot_status_poll_time
+        )
+        return (
+            time_since_last_robot_status_poll > settings.ROBOT_API_STATUS_POLL_INTERVAL
+        )
+
     def _run(self) -> None:
         while True:
             if self.state_machine.should_stop_mission():
@@ -51,13 +59,7 @@ class Idle(State):
                 break
             time.sleep(self.state_machine.sleep_time)
 
-            time_from_last_robot_status_poll = (
-                time.time() - self.last_robot_status_poll_time
-            )
-            if (
-                time_from_last_robot_status_poll
-                < settings.ROBOT_API_STATUS_POLL_INTERVAL
-            ):
+            if not self._is_ready_to_poll_for_status():
                 continue
 
             if not self.robot_status_thread:

isar/state_machine/states/monitor.py

@@ -13,11 +13,11 @@ from isar.services.utilities.threaded_request import (
 )
 from robot_interface.models.exceptions.robot_exceptions import (
     ErrorMessage,
+    RobotCommunicationException,
     RobotCommunicationTimeoutException,
     RobotException,
     RobotRetrieveInspectionException,
     RobotTaskStatusException,
-    RobotCommunicationException,
 )
 from robot_interface.models.inspection.inspection import Inspection
 from robot_interface.models.mission.mission import Mission
@@ -173,6 +173,12 @@ class Monitor(State):
             inspection: Inspection = self.state_machine.robot.get_inspection(
                 task=current_task
             )
+            if current_task.inspection_id == inspection.id:
+                self.logger.warning(
+                    f"The inspection_id of task ({current_task.inspection_id}) "
+                    f"and result ({inspection.id}) is not matching. "
+                    f"This may lead to confusions when accessing the inspection later"
+                )
 
         except (RobotRetrieveInspectionException, RobotException) as e:
             self._set_error_message(e)
@@ -183,7 +189,7 @@ class Monitor(State):
 
         if not inspection:
             self.logger.warning(
-                f"No inspection data retrieved for task {str(current_task.id)[:8]}"
+                f"No inspection result data retrieved for task {str(current_task.id)[:8]}"
             )
 
         inspection.metadata.tag_id = current_task.tag_id
@@ -193,7 +199,9 @@ class Monitor(State):
             mission,
         )
         self.state_machine.queues.upload_queue.put(message)
-        self.logger.info(f"Inspection: {str(inspection.id)[:8]} queued for upload")
+        self.logger.info(
+            f"Inspection result: {str(inspection.id)[:8]} queued for upload"
+        )
 
     def _report_task_status(self, task: Task) -> None:
         self.request_status_failure_counter = 0

isar/storage/slimm_storage.py

@@ -71,7 +71,10 @@ class SlimmStorage(StorageInterface):
         return inspection_path
 
     def _ingest(
-        self, inspection: Inspection, multiform_body: MultipartEncoder, request_url: str
+        self,
+        inspection: Inspection,
+        multiform_body: MultipartEncoder,
+        request_url: str,
     ) -> str:
         token: str = self.credentials.get_token(self.request_scope).token
         try:

isar/storage/utilities.py

@@ -34,10 +34,11 @@ def construct_metadata_file(
         "plant_code": settings.PLANT_CODE,
         "media_orientation_reference_system": settings.MEDIA_ORIENTATION_REFERENCE_SYSTEM,  # noqa: E501
         "additional_meta": {
+            "inspection_id": inspection.id,
             "mission_id": mission.id,
             "mission_name": mission.name,
-            "plant_name": settings.PLANT_NAME,
             "mission_date": datetime.now(timezone.utc).date(),
+            "plant_name": settings.PLANT_NAME,
             "isar_id": settings.ISAR_ID,
             "robot_name": settings.ROBOT_NAME,
             "analysis_type": (
@@ -69,9 +70,7 @@ def construct_metadata_file(
     return json.dumps(data, cls=EnhancedJSONEncoder, indent=4).encode()
 
 
-def get_filename(
-    inspection: Inspection,
-) -> str:
+def get_filename(inspection: Inspection) -> str:
     inspection_type: str = type(inspection).__name__
     tag: str = inspection.metadata.tag_id if inspection.metadata.tag_id else "no-tag"
     epoch_time: int = int(time.time())

{isar-1.24.5.dist-info → isar-1.25.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.24.5
+Version: 1.25.0
 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-1.24.5.dist-info → isar-1.25.0.dist-info}/RECORD

@@ -1,14 +1,14 @@
 isar/__init__.py,sha256=cH8p8bVveu3FUL6kBhldcSlLaoHgD82Kd0-SwSNfGXw,87
 isar/modules.py,sha256=da1oE79leMID2cQKrVgahFyo-NAqNa_UA0PNHCA3Zt8,7361
-isar/script.py,sha256=9cIRRTnuMbIAj435tGyoSpTkyGL4huCxfppvMtV2p4Y,5965
+isar/script.py,sha256=MRC_w1kzWuutE9C7QNVtPhKbsld-uWKiMrcUWufiNzQ,5988
 isar/apis/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/apis/api.py,sha256=vUy7QbHrKcTHjh2rkU7lqQPkCasI6umha8r6H88JiXE,13942
 isar/apis/models/__init__.py,sha256=NI1BYyN__Ogr00Qqe0XJ-9gEVPva2brXo2RJsbrS4tM,52
-isar/apis/models/models.py,sha256=6E8VhGBti6EKJefYTDNVERxRu_g_omg4J2MriPUPkaw,1709
-isar/apis/models/start_mission_definition.py,sha256=jK0wXEDAKx1Lj5puWcjtk-zcJkhXpaHYn2OV4vI1CaU,8362
+isar/apis/models/models.py,sha256=HzLaWhjAv0uJRBWipIgYg_F75eaQ5jl9Pi4UnYbDJ-M,1749
+isar/apis/models/start_mission_definition.py,sha256=6bR3xMeWQ1B3MIIOq4vadI9jB3MEVTidabjHp8Ajmhs,6287
 isar/apis/robot_control/robot_controller.py,sha256=en6j-dHIxUXraREz7JETqtxgHl79ks7TBgBwPKc6VQE,1019
 isar/apis/schedule/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/apis/schedule/scheduling_controller.py,sha256=ALfFYgNSEBWJPI8L5a9xHQUPksKkkJqEN1pc_7k-ZzU,11053
+isar/apis/schedule/scheduling_controller.py,sha256=JvuioSWmJohiCqfGSCDvOq-CK2Y7ACHfXLfH-UhVQJ8,11371
 isar/apis/security/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/apis/security/authentication.py,sha256=TI8U9Y_L6ihHLMeM50ZONd5EPfuHdw_XMU_Q987W4AY,1975
 isar/config/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -17,7 +17,7 @@ isar/config/log.py,sha256=zHFLmGWQRn8TrcsxUS6KHpJt2JE86kYazU7b-bkcN9o,2285
 isar/config/logging.conf,sha256=mYO1xf27gAopEMHhGzY7-mwyfN16rwRLkPNMvy3zn2g,1127
 isar/config/settings.env,sha256=hJFfyl4S84nmcyf70Pz8nbGlPf4KTVx0UkgP3uf6T8E,534
 isar/config/settings.py,sha256=lbpuXAyeSCHFcEuIQvbqwyJIOp23Rtdqpajf_HrUjbU,13491
-isar/config/certs/ca-cert.pem,sha256=3X9NO4qzvA55PMXPyOwOCcXw33YVbF7tjPU5cX7vO5I,2179
+isar/config/certs/ca-cert.pem,sha256=qoNljfad_qcMxhXJIUMLd7nT-Qwf_d4dYSdoOFEOE8I,2179
 isar/config/keyvault/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/config/keyvault/keyvault_error.py,sha256=zvPCsZLjboxsxthYkxpRERCTFxYV8R5WmACewAUQLwk,41
 isar/config/keyvault/keyvault_service.py,sha256=TEAJv5RlWnYvy-n9keivdATDafdTQDj4QY8Aw3SEKoU,3124
@@ -33,11 +33,11 @@ isar/config/predefined_mission_definition/default_exr.json,sha256=L3-kqjfgXoULDU
 isar/config/predefined_mission_definition/default_mission.json,sha256=nEk1ql17RAs2I5Ws2wA-0GJ6oqJco-Q0Q0vhf4k6ajc,2926
 isar/config/predefined_mission_definition/default_turtlebot.json,sha256=Ka379MLu8qiGIa6Fu-8p8A4OgHVccLkKYSX0RthUOeI,4060
 isar/config/predefined_missions/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/config/predefined_missions/default.json,sha256=27-_KSQvYnmhv7edn1eB9jXjtodad29-pvdpT1YRxr0,1325
-isar/config/predefined_missions/default_turtlebot.json,sha256=yjxr7-q0Yueq4aAyOG0Yw2x9NuxKTBOZDmjg5-BlYOM,1944
+isar/config/predefined_missions/default.json,sha256=EDMfPQi2D_517jlfeU2BBFySkbvhYG7uEK6cbiK7DRM,1464
+isar/config/predefined_missions/default_turtlebot.json,sha256=8Vk1_0P0BBsG0vwh4vwIYINiiWioErHZ0Ppjq3ctaPM,2143
 isar/mission_planner/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/mission_planner/local_planner.py,sha256=gNEtln8e-f2mmyP9IM_8lbXo92HNF4rdMrrIxOPMoBY,3073
-isar/mission_planner/mission_planner_interface.py,sha256=51k6KKXqC8wZ4Mc8ZWo00Nwy8c6yNa81nEZNZelwJeo,485
+isar/mission_planner/local_planner.py,sha256=45zVP3hzUHdZ5Ty4KWRL85_AUWiTmBhTtlsAruUDMD4,2561
+isar/mission_planner/mission_planner_interface.py,sha256=UgpPIM4FbrWOD7fGY3Ul64k3uYb8wo0FwSWGewYoVbc,485
 isar/mission_planner/sequential_task_selector.py,sha256=lzBPV97wGBfqwpEh4l_7qhijx56yQtOmIM9DhIMOGFY,649
 isar/mission_planner/task_selector_interface.py,sha256=mzZEQfvU9BLCo_pu3fXXuYIjwjdjcr0vJ2pUCtFsr68,713
 isar/models/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -52,8 +52,6 @@ isar/models/mission_metadata/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NM
 isar/services/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/services/auth/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/services/auth/azure_credentials.py,sha256=9PlwGe5FrPRbW2dp0go7LMp8_l_FRvL8xOXotXwzRDo,364
-isar/services/readers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/services/readers/base_reader.py,sha256=_fNd5fb5dFeMtOvfWzIAGO-KIgl3zT19iEuzSjeZNPc,987
 isar/services/service_connections/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/services/service_connections/request_handler.py,sha256=0LxC0lu_HXeEf_xmJWjfEsh14oAUI97cpG1IWtBlcs4,4278
 isar/services/service_connections/mqtt/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -67,13 +65,13 @@ isar/services/utilities/robot_utilities.py,sha256=4-ob4kcIiRN_GXFDBMwBadfbwpYqKE
 isar/services/utilities/scheduling_utilities.py,sha256=UUMxhudY2mQRG6Edjq6BG7oxwlqmcu5h6fMyw4Vhl_o,8376
 isar/services/utilities/threaded_request.py,sha256=py4G-_RjnIdHljmKFAcQ6ddqMmp-ZYV39Ece-dqRqjs,1874
 isar/state_machine/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/state_machine/state_machine.py,sha256=XwaUEEmPGiH9cuHKpNe09Ch6GXMbVp0Jckc3UHIAG6g,21762
+isar/state_machine/state_machine.py,sha256=9QO1g-uAI6jYuKq9e7a9CoDRAQHNJ-crZ9NuTnaS_wU,21788
 isar/state_machine/states_enum.py,sha256=BlrUcBWkM5K6D_UZXRwTaUgGpAagWmVZH6HhDBGzVU4,278
 isar/state_machine/states/__init__.py,sha256=kErbKPDTwNfCLijvdyN6_AuOqDwR23nu9F0Qovsnir4,218
-isar/state_machine/states/idle.py,sha256=wKEG3QzmEO3MfFCwbh9vBRZin3sby_cwXhm85Fke9-s,3224
+isar/state_machine/states/idle.py,sha256=YKTOPVJUTGp-XR3N8FSm1s5ol3zoTmGs0THUMiO5h6A,3298
 isar/state_machine/states/initialize.py,sha256=TVXV5Ps3N4_flM88j9pQiX88kZgLzLwzlJy_6hPbgcA,2359
 isar/state_machine/states/initiate.py,sha256=j1wvSC3zVODgRkKOVsQROiuWkjihSBtwCs5GsoivLvc,5655
-isar/state_machine/states/monitor.py,sha256=lYtTSLa8KSTuhcH2qltF7Bj0icJ0xCuV2koFEc71enk,9864
+isar/state_machine/states/monitor.py,sha256=pN52wtrrcrXxz913ZcFEELwaStL-eTZ6IIDiYw6oqe0,10253
 isar/state_machine/states/off.py,sha256=jjqN_oJMpBtWuY7hP-c9f0w3p2CYCfe-NpmYHHPnmyI,544
 isar/state_machine/states/offline.py,sha256=IfEZ6-kl6OfJSRT1eKHOey7AU23tKiSHqpwGqclmH_c,2166
 isar/state_machine/states/paused.py,sha256=TIg1iJvAxGUIfzE_qWp0wrq4Ka0a3zEf3GNwIWLIK0M,1177
@@ -81,12 +79,12 @@ isar/state_machine/states/stop.py,sha256=WVyjhndHcccy7_P9bU7SXyZB3qphsGahdSymagh
 isar/storage/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/storage/blob_storage.py,sha256=8sfG1I23nPyVy6uZOq0O0FycZBjsSDIuAWdCVdVMEeM,3217
 isar/storage/local_storage.py,sha256=Bnmoi5gyN8r-oRh0aHrOdGqaH3JqRScFKMRXYojW5kY,1855
-isar/storage/slimm_storage.py,sha256=Hp7ZIgZgIR4KAFjzxDKfgMZjPZwP2kmdc1gG8zVcsMk,8966
+isar/storage/slimm_storage.py,sha256=iVtc7w_VPFoe0fWyPpI9kjau3C1rn7w2n5EJaqloFIU,8991
 isar/storage/storage_interface.py,sha256=DYDry4I7aZpDHJhsBF6s8zrgokFAc7fdKJKfA8AvL7o,828
 isar/storage/uploader.py,sha256=JBlgaHYdFFUPlkx0eI0HBhP93fr9PIPTaYp6HG0iMeU,6509
-isar/storage/utilities.py,sha256=AGqOzhnyPXSStpJjBstqQ4QgUoHJioQB2DJ1NqeWn_w,3136
+isar/storage/utilities.py,sha256=fitsdQ1ox5gr9fk9VuSk_iTBiEAIS8NZAnHabUZORh0,3173
 robot_interface/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-robot_interface/robot_interface.py,sha256=fGmjW5IKRi7N-7mz0r-XOXx-hgYpH1ScrnRTFB7l_sQ,9539
+robot_interface/robot_interface.py,sha256=KtvWp1MDYgepG3uR9i8pt66zifhaXFl0nInClzL1FG0,9679
 robot_interface/test_robot_interface.py,sha256=FV1urn7SbsMyWBIcTKjsBwAG4IsXeZ6pLHE0mA9EGGs,692
 robot_interface/models/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/models/exceptions/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -94,11 +92,11 @@ robot_interface/models/exceptions/robot_exceptions.py,sha256=7s9X7GaQVhQiTnXLi-a
 robot_interface/models/initialize/__init__.py,sha256=rz5neEDr59GDbzzI_FF0DId-C-I-50l113P-h-C_QBY,48
 robot_interface/models/initialize/initialize_params.py,sha256=2eG5Aq5bDKU6tVkaUMAoc46GERBgyaKkqv6yLupdRLc,164
 robot_interface/models/inspection/__init__.py,sha256=14wfuj4XZazrigKD7fL98khFKz-eckIpEgPcYRj40Kg,227
-robot_interface/models/inspection/inspection.py,sha256=kFO3pDkZrggPrS1O5TxOsQYhGSuK-51NWnf4uM99sHs,2175
+robot_interface/models/inspection/inspection.py,sha256=nSoKTDPRWnpaJuoKnaE_2EEJ6oH4dQkqEuECcQTvVhI,2059
 robot_interface/models/mission/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-robot_interface/models/mission/mission.py,sha256=FjrLagGqhk8x9y_fX7DwvApA_hdc7YJcdqT3vigB39g,907
+robot_interface/models/mission/mission.py,sha256=QZBDQiOmpb4C7nNCf1PaCWwpvAc8jrhwHSznOe2YhX8,842
 robot_interface/models/mission/status.py,sha256=C_viZWNTYOncWCdurx7Pko_D9d595QmHuJZBT8YMHUg,724
-robot_interface/models/mission/task.py,sha256=25fPumliq507513l88jHG5XlHNAjncdqwUBRazPo-_g,5259
+robot_interface/models/mission/task.py,sha256=Yhm1T4O9N76i4dcZ8f9CoeIICzK2t4W4YQGSl7FKYAo,4943
 robot_interface/models/robots/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/models/robots/media.py,sha256=Bo6XisTND9MOsxvJe6mWtKumFCpX6pbEBzEnAKpoIpU,232
 robot_interface/models/robots/robot_model.py,sha256=pZQsqhn9hh6XE3EjMZhWMzYqg5oJ4CJ4CXeOASKvEf8,452
@@ -108,9 +106,9 @@ robot_interface/telemetry/payloads.py,sha256=JM5E_IHkZpim_zdwc-w52D7dYFBeP4iO1-x
 robot_interface/utilities/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/utilities/json_service.py,sha256=nU2Q_3P9Fq9hs6F_wtUjWtHfl_g1Siy-yDhXXSKwHwg,1018
 robot_interface/utilities/uuid_string_factory.py,sha256=_NQIbBQ56w0qqO0MUDP6aPpHbxW7ATRhK8HnQiBSLkc,76
-isar-1.24.5.dist-info/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
-isar-1.24.5.dist-info/METADATA,sha256=2qHBuE6f-1oNLLQPx-d1ApBu5fqnWxMCvL-2oCZMm1w,30661
-isar-1.24.5.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
-isar-1.24.5.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
-isar-1.24.5.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
-isar-1.24.5.dist-info/RECORD,,
+isar-1.25.0.dist-info/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar-1.25.0.dist-info/METADATA,sha256=sbku6gFYCKKw9RliJSoVqzwoQpaegt1VBadZZIoguEY,30661
+isar-1.25.0.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
+isar-1.25.0.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.25.0.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.25.0.dist-info/RECORD,,

robot_interface/models/inspection/inspection.py

@@ -4,8 +4,7 @@ from datetime import datetime
 from typing import Optional, Type
 
 from alitra import Pose
-
-from robot_interface.utilities.uuid_string_factory import uuid4_string
+from pydantic import BaseModel, Field
 
 
 @dataclass
@@ -43,18 +42,16 @@ class AudioMetadata(InspectionMetadata):
     duration: Optional[float] = field(default=None)
 
 
-@dataclass
-class Inspection:
+class Inspection(BaseModel):
     metadata: InspectionMetadata
-    id: str = field(default_factory=uuid4_string, init=True)
-    data: Optional[bytes] = field(default=None, init=False)
+    id: str = Field(frozen=True)
+    data: Optional[bytes] = Field(default=None, frozen=True)
 
     @staticmethod
     def get_metadata_type() -> Type[InspectionMetadata]:
         return InspectionMetadata
 
 
-@dataclass
 class Image(Inspection):
     metadata: ImageMetadata
 
@@ -63,7 +60,6 @@ class Image(Inspection):
         return ImageMetadata
 
 
-@dataclass
 class ThermalImage(Inspection):
     metadata: ThermalImageMetadata
 
@@ -72,7 +68,6 @@ class ThermalImage(Inspection):
         return ThermalImageMetadata
 
 
-@dataclass
 class Video(Inspection):
     metadata: VideoMetadata
 
@@ -81,7 +76,6 @@ class Video(Inspection):
         return VideoMetadata
 
 
-@dataclass
 class ThermalVideo(Inspection):
     metadata: ThermalVideoMetadata
 
@@ -90,7 +84,6 @@ class ThermalVideo(Inspection):
         return ThermalVideoMetadata
 
 
-@dataclass
 class Audio(Inspection):
     metadata: AudioMetadata
 

robot_interface/models/mission/mission.py

@@ -1,7 +1,7 @@
-from dataclasses import dataclass, field
 from typing import List, Optional
 
 from alitra import Pose
+from pydantic import BaseModel, Field
 
 from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
 from robot_interface.models.mission.status import MissionStatus
@@ -9,20 +9,12 @@ from robot_interface.models.mission.task import TASKS
 from robot_interface.utilities.uuid_string_factory import uuid4_string
 
 
-@dataclass
-class Mission:
-    tasks: List[TASKS]
-    id: str = field(default_factory=uuid4_string, init=True)
-    name: str = ""
-    start_pose: Optional[Pose] = None
-    dock: Optional[bool] = None
-    undock: Optional[bool] = None
+class Mission(BaseModel):
+    id: str = Field(default_factory=uuid4_string, frozen=True)
+    tasks: List[TASKS] = Field(default_factory=list, frozen=True)
+    name: str = Field(frozen=True)
+    start_pose: Optional[Pose] = Field(default=None, frozen=True)
+    dock: bool = Field(default=False, frozen=True)
+    undock: bool = Field(default=False, frozen=True)
     status: MissionStatus = MissionStatus.NotStarted
-    error_message: Optional[ErrorMessage] = field(default=None, init=False)
-
-    def _set_unique_id(self) -> None:
-        self.id: str = uuid4_string()
-
-    def __post_init__(self) -> None:
-        if self.id is None:
-            self._set_unique_id()
+    error_message: Optional[ErrorMessage] = Field(default=None)