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

robot_interface/models/mission/task.py

@@ -1,8 +1,8 @@
-from dataclasses import dataclass, field
 from enum import Enum
-from typing import Iterator, Literal, Optional, Type, Union
+from typing import Literal, Optional, Type, Union
 
 from alitra import Pose, Position
+from pydantic import BaseModel, Field
 
 from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
 from robot_interface.models.inspection import (
@@ -29,18 +29,16 @@ class TaskTypes(str, Enum):
     DockingProcedure = "docking_procedure"
 
 
-@dataclass
-class ZoomDescription:
+class ZoomDescription(BaseModel):
     objectWidth: float
     objectHeight: float
 
 
-@dataclass
-class Task:
-    status: TaskStatus = field(default=TaskStatus.NotStarted, init=False)
-    error_message: Optional[ErrorMessage] = field(default=None, init=False)
-    tag_id: Optional[str] = field(default=None)
-    id: str = field(default_factory=uuid4_string, init=True)
+class Task(BaseModel):
+    status: TaskStatus = Field(default=TaskStatus.NotStarted)
+    error_message: Optional[ErrorMessage] = Field(default=None)
+    tag_id: Optional[str] = Field(default=None)
+    id: str = Field(default_factory=uuid4_string)
 
     def is_finished(self) -> bool:
         if (
@@ -56,69 +54,63 @@ class Task:
         return self.status
 
 
-@dataclass
 class InspectionTask(Task):
     """
     Base class for all inspection tasks which produce results to be uploaded.
     """
 
-    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)
+    inspection_id: str = Field(default_factory=uuid4_string)
+    robot_pose: Pose = Field(default=None, init=True)
+    metadata: Optional[dict] = Field(default_factory=dict)
+    zoom: Optional[ZoomDescription] = Field(default=None)
 
     @staticmethod
     def get_inspection_type() -> Type[Inspection]:
         return Inspection
 
 
-@dataclass
 class DockingProcedure(Task):
     """
     Task which causes the robot to dock or undock
     """
 
-    behavior: Literal["dock", "undock"] = field(default=None, init=True)
+    behavior: Literal["dock", "undock"] = Field(default=None)
     type: Literal[TaskTypes.DockingProcedure] = TaskTypes.DockingProcedure
 
 
-@dataclass
 class ReturnToHome(Task):
     """
     Task which cases the robot to return home
     """
 
-    pose: Pose = field(default=None, init=True)
+    pose: Pose = Field(default=None)
     type: Literal[TaskTypes.ReturnToHome] = TaskTypes.ReturnToHome
 
 
-@dataclass
 class Localize(Task):
     """
     Task which causes the robot to localize
     """
 
-    localization_pose: Pose = field(default=None, init=True)
+    localization_pose: Pose = Field(default=None)
     type: Literal[TaskTypes.Localize] = TaskTypes.Localize
 
 
-@dataclass
 class MoveArm(Task):
     """
     Task which causes the robot to move its arm
     """
 
-    arm_pose: str = field(default=None, init=True)
+    arm_pose: str = Field(default=None)
     type: Literal[TaskTypes.MoveArm] = TaskTypes.MoveArm
 
 
-@dataclass
 class TakeImage(InspectionTask):
     """
-    Task which causes the robot to take an image towards the given coordinate.
+    Task which causes the robot to take an image towards the given target.
     """
 
-    target: Position = field(default=None, init=True)
+    target: Position = Field(default=None)
     type: Literal[TaskTypes.TakeImage] = TaskTypes.TakeImage
 
     @staticmethod
@@ -126,13 +118,12 @@ class TakeImage(InspectionTask):
         return Image
 
 
-@dataclass
 class TakeThermalImage(InspectionTask):
     """
-    Task which causes the robot to take a thermal image towards the given coordinate.
+    Task which causes the robot to take a thermal image towards the given target.
     """
 
-    target: Position = field(default=None, init=True)
+    target: Position = Field(default=None)
     type: Literal[TaskTypes.TakeThermalImage] = TaskTypes.TakeThermalImage
 
     @staticmethod
@@ -140,16 +131,15 @@ class TakeThermalImage(InspectionTask):
         return ThermalImage
 
 
-@dataclass
 class TakeVideo(InspectionTask):
     """
-    Task which causes the robot to take a video towards the given coordinate.
+    Task which causes the robot to take a video towards the given target.
 
     Duration of video is given in seconds.
     """
 
-    target: Position = field(default=None, init=True)
-    duration: float = field(default=None, init=True)
+    target: Position = Field(default=None)
+    duration: float = Field(default=None)
     type: Literal[TaskTypes.TakeVideo] = TaskTypes.TakeVideo
 
     @staticmethod
@@ -157,16 +147,15 @@ class TakeVideo(InspectionTask):
         return Video
 
 
-@dataclass
 class TakeThermalVideo(InspectionTask):
     """
-    Task which causes the robot to record thermal video towards the given coordinate
+    Task which causes the robot to record thermal video towards the given target
 
     Duration of video is given in seconds.
     """
 
-    target: Position = field(default=None, init=True)
-    duration: float = field(default=None, init=True)
+    target: Position = Field(default=None)
+    duration: float = Field(default=None)
     type: Literal[TaskTypes.TakeThermalVideo] = TaskTypes.TakeThermalVideo
 
     @staticmethod
@@ -174,7 +163,6 @@ class TakeThermalVideo(InspectionTask):
         return ThermalVideo
 
 
-@dataclass
 class RecordAudio(InspectionTask):
     """
     Task which causes the robot to record a video at its position, facing the target.
@@ -182,8 +170,8 @@ class RecordAudio(InspectionTask):
     Duration of audio is given in seconds.
     """
 
-    target: Position = field(default=None, init=True)
-    duration: float = field(default=None, init=True)
+    target: Position = Field(default=None)
+    duration: float = Field(default=None)
     type: Literal[TaskTypes.RecordAudio] = TaskTypes.RecordAudio
 
     @staticmethod

robot_interface/robot_interface.py

@@ -1,14 +1,14 @@
 from abc import ABCMeta, abstractmethod
 from queue import Queue
 from threading import Thread
-from typing import Callable, List
+from typing import Callable, List, Optional
 
-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
 from robot_interface.models.mission.status import RobotStatus, TaskStatus
 from robot_interface.models.mission.task import InspectionTask, Task
+from robot_interface.models.robots.media import MediaConfig
 
 
 class RobotInterface(metaclass=ABCMeta):
@@ -166,8 +166,10 @@ class RobotInterface(metaclass=ABCMeta):
 
         Returns
         -------
-        Sequence[InspectionResult]
-            List containing all the inspection results connected to the given task
+        Sequence[Inspection]
+            List containing all the inspection connected to the given task.
+            get_inspection has responsibility to assign the inspection_id of the task
+            to the inspection that it returns.
 
         Raises
         ------
@@ -226,7 +228,7 @@ class RobotInterface(metaclass=ABCMeta):
         raise NotImplementedError
 
     @abstractmethod
-    def generate_media_config(self) -> MediaConfig:
+    def generate_media_config(self) -> Optional[MediaConfig]:
         """
         Generate a JSON containing the url and token needed to establish a media stream
         connection to a robot.

isar/services/readers/base_reader.py

@@ -1,37 +0,0 @@
-import json
-import logging
-from dataclasses import is_dataclass
-from logging import Logger
-from pathlib import Path
-from typing import Any, Optional
-
-from dacite import Config, from_dict
-
-logger: Logger = logging.getLogger("api")
-
-
-class BaseReader:
-    @staticmethod
-    def read_json(location: Path) -> dict:
-        with open(location) as json_file:
-            return json.load(json_file)
-
-    @staticmethod
-    def dict_to_dataclass(
-        dataclass_dict: dict,
-        target_dataclass: Any,
-        cast_config: list = [],
-        strict_config: bool = False,
-    ) -> Optional[Any]:
-        if not is_dataclass(target_dataclass):
-            raise BaseReaderError("{target_dataclass} is not a dataclass")
-        generated_dataclass = from_dict(
-            data_class=target_dataclass,
-            data=dataclass_dict,
-            config=Config(cast=cast_config, strict=strict_config),
-        )
-        return generated_dataclass
-
-
-class BaseReaderError(Exception):
-    pass