isar 1.24.5__tar.gz → 1.24.6__tar.gz

{isar-1.24.5 → isar-1.24.6}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.24.5
+Version: 1.24.6
 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-1.24.6/src/isar/config/certs/ca-cert.pem

@@ -0,0 +1,35 @@
+-----BEGIN CERTIFICATE-----
+MIIGGzCCBAOgAwIBAgIUCVuS8tL7R2bdjRJznkk1NN0oUa8wDQYJKoZIhvcNAQEL
+BQAwgZwxCzAJBgNVBAYTAk5PMQ8wDQYDVQQIDAZCZXJnZW4xDzANBgNVBAcMBkJl
+cmdlbjEUMBIGA1UECgwLRXFfUm9ib3RpY3MxETAPBgNVBAsMCFJvYm90aWNzMRww
+GgYDVQQDDBNSb2JvdGljc19TZWxmU2lnbmVkMSQwIgYJKoZIhvcNAQkBFhVmZ19y
+b2JvdHNAZXF1aW5vci5jb20wHhcNMjQxMjExMDczNzAzWhcNMjUxMjExMDczNzAz
+WjCBnDELMAkGA1UEBhMCTk8xDzANBgNVBAgMBkJlcmdlbjEPMA0GA1UEBwwGQmVy
+Z2VuMRQwEgYDVQQKDAtFcV9Sb2JvdGljczERMA8GA1UECwwIUm9ib3RpY3MxHDAa
+BgNVBAMME1JvYm90aWNzX1NlbGZTaWduZWQxJDAiBgkqhkiG9w0BCQEWFWZnX3Jv
+Ym90c0BlcXVpbm9yLmNvbTCCAiIwDQYJKoZIhvcNAQEBBQADggIPADCCAgoCggIB
+ALVlT8EjA8UpXdARJM6YfhH+9DEyytb0SJYOEm9jWL7X0G5eMbNfKtfFj/BLQBBw
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+rZL4ZQODnvDZ/nwAYwEh9O2sbRr73aiHFcbxNAU2XxtT5UwbZMHom2Xic2Dmubqn
+cWFU+C4upEqPvgYU/hxia/rkhHyicXmdXT6IzjVxPbrlPBHoKVodJOCQ3UoBQl5X
+caHCluKOblA/yX+vEhv2h/m8XOtWiq0Jxnx+6D7B1piZfQnnNVSBT0bOYASb2cpn
+8rJE3RBdBwiqjKTotVTZ8PAS/GY0Gz3GoMAUCvIGA02+/cO9ENls9D79/86lgiCQ
+UqyteNNmo+oMqKHBw9Jmeejw1kbpnJN1abc270+qCT17aeX8yiMza5CyUTQTtgFI
+62xIYaHWhN7GrxOvoMU8X0G1HINwjS5heIhu5bND/26dLZqV3aBUWwb4ql5QIce2
+q5BQKmMqQLZF6J0aFL9dKJv5u3ioPFmiYPsPiRlwusPOoOFCiMt2kqZE3h3wxu6V
+cXWdj0sH+dgxuGYTxrLuoSru4Xv/HPXh15mVY0/eI+u/AgMBAAGjUzBRMB0GA1Ud
+DgQWBBQW2Ms6M3iadKVLOnraMlx6Exm8KjAfBgNVHSMEGDAWgBQW2Ms6M3iadKVL
+OnraMlx6Exm8KjAPBgNVHRMBAf8EBTADAQH/MA0GCSqGSIb3DQEBCwUAA4ICAQB0
+XorfCLmVUN3aQWBouwG0fXHBqi3d4RA0vPsi8w+R/dOuHnLBLlHAiOkCMqW23bLs
+ir2UVqpGXcp5keKGeCTj+bmdqhnS/B9eoaeA8np/zDPH834v+Qv7JA5ch50gYrL7
+llF/02e5m0egP2xx9V7k90Du8OBm7xQgfbyrUcB2laC+loPyQiHMF24CU4ESfC4K
+DBXOZm8Kd6+fvzEs8XDLKwjNb9MocHIJikysZTncxfhgVPaU5KCqF3afHkCkZGzn
+Z+yMBfWbZ2WtM3lfwmM7z5NCTSqSFucW5+kw/OnzS3nQLyz2Q4nh4ApojsI3v+FH
+xz8aCITPbVwKAHGYO9jbk9x8LlkzDPCCzBH7dGKLKaQSCoD+IOwig1cI7pM77WeI
+BNC0g2ZCuLdb7c37/kT/1xGrIGUrpDsO34ZWW7E2X8kQPkAgqMNp0uXcnvIoNHO1
+eVL08Om+7WbwK7wS3te5IWDq4rRWVW4Jv709w8z6porr3W8ipdtUoYqbgZI8jOiW
+osY4UVcRwQ4S1oF5pNRzXlZAPwAnaDipglxHBiy9/ARS6HKpOCbmUHbj+goXYNyZ
+ps8TcYc9LFOq4HBE4KKbV971jf/wQy1nVcm2qSbOJ9MPHM5BG22m1iVhSYbLPgE2
+SBZvCS+voD8MqpBB1tPcvVqlPb1pFxf1lOc5QV3uOA==
+-----END CERTIFICATE-----

{isar-1.24.5 → isar-1.24.6}/src/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
 
 
@@ -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-1.24.5 → isar-1.24.6}/src/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

{isar-1.24.5 → isar-1.24.6}/src/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-1.24.5 → isar-1.24.6}/src/isar.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.24.5
+Version: 1.24.6
 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 → isar-1.24.6}/src/isar.egg-info/SOURCES.txt

@@ -194,7 +194,6 @@ tests/mocks/robot_interface.py
 tests/mocks/status.py
 tests/mocks/task.py
 tests/mocks/token.py
-tests/test_data/test_json_file.json
 tests/test_data/test_mission_not_working.json
 tests/test_data/test_mission_working.json
 tests/test_data/test_mission_working_no_tasks.json

{isar-1.24.5 → isar-1.24.6}/tests/isar/state_machine/test_state_machine.py

@@ -9,11 +9,11 @@ from injector import Injector
 from pytest_mock import MockerFixture
 
 from isar.config.settings import settings
-
 from isar.mission_planner.local_planner import LocalPlanner
 from isar.models.communication.queues.queues import Queues
 from isar.services.utilities.scheduling_utilities import SchedulingUtilities
 from isar.state_machine.state_machine import StateMachine, main
+from isar.state_machine.states.idle import Idle
 from isar.state_machine.states_enum import States
 from isar.storage.storage_interface import StorageInterface
 from isar.storage.uploader import Uploader
@@ -23,8 +23,7 @@ from robot_interface.models.exceptions.robot_exceptions import (
 )
 from robot_interface.models.mission.mission import Mission
 from robot_interface.models.mission.status import TaskStatus
-from robot_interface.models.mission.task import ReturnToHome, TakeImage
-from robot_interface.models.mission.task import Task
+from robot_interface.models.mission.task import ReturnToHome, TakeImage, Task
 from robot_interface.telemetry.mqtt_client import MqttClientInterface
 from tests.mocks.pose import MockPose
 from tests.mocks.robot_interface import MockRobot, MockRobotIdleToOfflineToIdleTest
@@ -33,7 +32,7 @@ from tests.mocks.task import MockTask
 
 class StateMachineThread(object):
     def __init__(self, injector) -> None:
-        settings.UPLOAD_INSPECTIONS_ASYNC = False
+        # settings.UPLOAD_INSPECTIONS_ASYNC = False
         self.injector: Injector = injector
         self.state_machine: StateMachine = injector.get(StateMachine)
         self._thread: Thread = Thread(target=main, args=[self.state_machine])
@@ -45,7 +44,6 @@ class StateMachineThread(object):
 
 class UploaderThread(object):
     def __init__(self, injector) -> None:
-        settings.UPLOAD_INSPECTIONS_ASYNC = False
         self.injector: Injector = injector
         self.uploader: Uploader = Uploader(
             queues=self.injector.get(Queues),
@@ -67,14 +65,6 @@ def uploader_thread(injector) -> UploaderThread:
     return UploaderThread(injector=injector)
 
 
-def get_mission() -> Mission:
-    mission_reader: LocalPlanner = LocalPlanner()
-    mission: Mission = mission_reader.read_mission_from_file(
-        Path("./tests/test_data/test_mission_working.json")
-    )
-    return mission
-
-
 def test_initial_off(state_machine) -> None:
     assert state_machine.state == "off"
 
@@ -92,18 +82,8 @@ def test_reset_state_machine(state_machine) -> None:
     assert state_machine.current_mission is None
 
 
-empty_mission: Mission = Mission([], None)
-
-
-@pytest.mark.parametrize(
-    "should_run_by_task",
-    [
-        (True),
-        (False),
-    ],
-)
-def test_state_machine_transitions(
-    injector, state_machine_thread, should_run_by_task
+def test_state_machine_transitions_when_running_mission_by_task(
+    injector, state_machine_thread
 ) -> None:
     task_1: Task = TakeImage(
         target=MockPose.default_pose().position, robot_pose=MockPose.default_pose()
@@ -111,39 +91,24 @@ def test_state_machine_transitions(
     task_2: Task = ReturnToHome(pose=MockPose.default_pose())
     mission: Mission = Mission(tasks=[task_1, task_2])  # type: ignore
 
-    state_machine_thread.state_machine.run_mission_by_task = should_run_by_task
+    state_machine_thread.state_machine.run_mission_by_task = True
     state_machine_thread.start()
 
     scheduling_utilities: SchedulingUtilities = injector.get(SchedulingUtilities)
     scheduling_utilities.start_mission(mission=mission, initial_pose=None)
+    time.sleep(0.01)
 
-    time.sleep(3)
-    if should_run_by_task:
-        expected_transitions_list = deque(
-            [
-                States.Idle,
-                States.Initialize,
-                States.Initiate,
-                States.Monitor,
-                States.Initiate,
-                States.Monitor,
-                States.Initiate,
-                States.Idle,
-            ]
-        )
-    else:
-        expected_transitions_list = deque(
-            [
-                States.Idle,
-                States.Initialize,
-                States.Initiate,
-                States.Monitor,
-                States.Initiate,
-                States.Idle,
-            ]
-        )
-    assert (
-        state_machine_thread.state_machine.transitions_list == expected_transitions_list
+    assert state_machine_thread.state_machine.transitions_list == deque(
+        [
+            States.Idle,
+            States.Initialize,
+            States.Initiate,
+            States.Monitor,
+            States.Initiate,
+            States.Monitor,
+            States.Initiate,
+            States.Idle,
+        ]
     )
 
 
@@ -161,9 +126,9 @@ def test_state_machine_transitions_when_running_full_mission(
 
     scheduling_utilities: SchedulingUtilities = injector.get(SchedulingUtilities)
     scheduling_utilities.start_mission(mission=mission, initial_pose=None)
+    time.sleep(0.11)  # Slightly more than the StateMachine sleep time
 
-    time.sleep(3)
-    expected_transitions_list = deque(
+    assert state_machine_thread.state_machine.transitions_list == deque(
         [
             States.Idle,
             States.Initialize,
@@ -173,9 +138,6 @@ def test_state_machine_transitions_when_running_full_mission(
             States.Idle,
         ]
     )
-    assert (
-        state_machine_thread.state_machine.transitions_list == expected_transitions_list
-    )
 
 
 def test_state_machine_failed_dependency(
@@ -195,9 +157,9 @@ def test_state_machine_failed_dependency(
 
     scheduling_utilities: SchedulingUtilities = injector.get(SchedulingUtilities)
     scheduling_utilities.start_mission(mission=mission, initial_pose=None)
+    time.sleep(0.01)
 
-    time.sleep(3)
-    expected_transitions_list = deque(
+    assert state_machine_thread.state_machine.transitions_list == deque(
         [
             States.Idle,
             States.Initialize,
@@ -209,9 +171,6 @@ def test_state_machine_failed_dependency(
             States.Idle,
         ]
     )
-    assert (
-        state_machine_thread.state_machine.transitions_list == expected_transitions_list
-    )
 
 
 def test_state_machine_with_successful_collection(
@@ -225,8 +184,11 @@ def test_state_machine_with_successful_collection(
     scheduling_utilities: SchedulingUtilities = injector.get(SchedulingUtilities)
 
     scheduling_utilities.start_mission(mission=mission, initial_pose=None)
-    time.sleep(3)
-    expected_transitions_list = deque(
+    time.sleep(0.11)  # Slightly more than the StateMachine sleep time
+
+    expected_stored_items = 1
+    assert len(storage_mock.stored_inspections) == expected_stored_items  # type: ignore
+    assert state_machine_thread.state_machine.transitions_list == deque(
         [
             States.Idle,
             States.Initialize,
@@ -236,11 +198,6 @@ def test_state_machine_with_successful_collection(
             States.Idle,
         ]
     )
-    expected_stored_items = 1
-    assert len(storage_mock.stored_inspections) == expected_stored_items  # type: ignore
-    assert (
-        state_machine_thread.state_machine.transitions_list == expected_transitions_list
-    )
 
 
 def test_state_machine_with_unsuccessful_collection(
@@ -256,8 +213,12 @@ def test_state_machine_with_unsuccessful_collection(
     scheduling_utilities: SchedulingUtilities = injector.get(SchedulingUtilities)
 
     scheduling_utilities.start_mission(mission=mission, initial_pose=None)
-    time.sleep(3)
-    expected_transitions_list = deque(
+    time.sleep(0.11)  # Slightly more than the StateMachine sleep time
+
+    expected_stored_items = 0
+    assert len(storage_mock.stored_inspections) == expected_stored_items  # type: ignore
+
+    assert state_machine_thread.state_machine.transitions_list == deque(
         [
             States.Idle,
             States.Initialize,
@@ -267,18 +228,11 @@ def test_state_machine_with_unsuccessful_collection(
             States.Idle,
         ]
     )
-    expected_stored_items = 0
-    assert len(storage_mock.stored_inspections) == expected_stored_items  # type: ignore
-    print(state_machine_thread.state_machine.transitions_list)
-    assert (
-        state_machine_thread.state_machine.transitions_list == expected_transitions_list
-    )
 
 
 def test_state_machine_with_successful_mission_stop(
     injector: Injector,
     state_machine_thread: StateMachineThread,
-    caplog: pytest.LogCaptureFixture,
 ) -> None:
     state_machine_thread.start()
 
@@ -287,16 +241,10 @@ def test_state_machine_with_successful_mission_stop(
     scheduling_utilities: SchedulingUtilities = injector.get(SchedulingUtilities)
     scheduling_utilities.start_mission(mission=mission, initial_pose=None)
     scheduling_utilities.stop_mission()
-    time.sleep(3)
 
-    actual = state_machine_thread.state_machine.transitions_list
-    unexpected_log = (
-        "Could not communicate request: Reached limit for stop attempts. "
-        "Cancelled mission and transitioned to idle."
+    assert state_machine_thread.state_machine.transitions_list == deque(
+        [States.Idle, States.Initialize, States.Initiate, States.Stop, States.Idle]
     )
-    assert unexpected_log not in caplog.text
-    assert States.Idle == actual.pop()
-    assert States.Stop == actual.pop()
 
 
 def test_state_machine_with_unsuccessful_mission_stop(
@@ -316,37 +264,30 @@ def test_state_machine_with_unsuccessful_mission_stop(
     state_machine_thread.start()
 
     scheduling_utilities.start_mission(mission=mission, initial_pose=None)
-
     scheduling_utilities.stop_mission()
 
-    expected = deque(
-        [
-            States.Idle,
-            States.Initialize,
-            States.Initiate,
-            States.Stop,
-            States.Idle,
-        ]
-    )
-    actual = state_machine_thread.state_machine.transitions_list
     expected_log = (
         "Be aware that the robot may still be "
         "moving even though a stop has been attempted"
     )
     assert expected_log in caplog.text
-    assert expected == actual
+    assert state_machine_thread.state_machine.transitions_list == deque(
+        [States.Idle, States.Initialize, States.Initiate, States.Stop, States.Idle]
+    )
 
 
-def test_state_machine_idle_to_offline_to_idle(state_machine_thread) -> None:
-    state_machine_thread.state_machine.robot = MockRobotIdleToOfflineToIdleTest()
+def test_state_machine_idle_to_offline_to_idle(mocker, state_machine_thread) -> None:
+
+    # Robot status check happens every 5 seconds by default, so we mock the behavior
+    # to poll for status imediately
+    mocker.patch.object(Idle, "_is_ready_to_poll_for_status", return_value=True)
 
+    state_machine_thread.state_machine.robot = MockRobotIdleToOfflineToIdleTest()
     state_machine_thread.start()
-    # Robot status check happens every 5 seconds by default
-    time.sleep(13)  # Ensure that robot_status have been called again in Idle
+    time.sleep(0.11)  # Slightly more than the StateMachine sleep time
 
-    expected_transitions_list = deque([States.Idle, States.Offline, States.Idle])
-    assert (
-        state_machine_thread.state_machine.transitions_list == expected_transitions_list
+    assert state_machine_thread.state_machine.transitions_list == deque(
+        [States.Idle, States.Offline, States.Idle]
     )
 
 

{isar-1.24.5 → isar-1.24.6}/tests/isar/storage/test_uploader.py

@@ -5,7 +5,6 @@ from typing import List, Tuple
 
 import pytest
 from alitra import Frame, Orientation, Pose, Position
-from injector import Injector
 
 from isar.models.communication.queues.queues import Queues
 from isar.storage.storage_interface import StorageInterface
@@ -24,28 +23,25 @@ ARBITRARY_IMAGE_METADATA = ImageMetadata(
     ),
     file_type="jpg",
 )
-DATA_BYTES: bytes = b"Lets say this is some image data"
 
 
-class UploaderThread(object):
-    def __init__(self, injector) -> None:
-        self.injector: Injector = injector
-        self.uploader: Uploader = Uploader(
-            queues=self.injector.get(Queues),
-            storage_handlers=injector.get(List[StorageInterface]),
-            mqtt_publisher=injector.get(MqttClientInterface),
-        )
-        self._thread: Thread = Thread(target=self.uploader.run)
-        self._thread.daemon = True
-        self._thread.start()
+@pytest.fixture
+def uploader(injector) -> Uploader:
+    uploader: Uploader = Uploader(
+        queues=injector.get(Queues),
+        storage_handlers=injector.get(List[StorageInterface]),
+        mqtt_publisher=injector.get(MqttClientInterface),
+    )
 
+    # The thread is deliberately started but not joined so that it runs in the
+    # background and stops when the test ends
+    thread = Thread(target=uploader.run, daemon=True)
+    thread.start()
 
-@pytest.fixture
-def uploader_thread(injector) -> UploaderThread:
-    return UploaderThread(injector=injector)
+    return uploader
 
 
-def test_should_upload_from_queue(uploader_thread) -> None:
+def test_should_upload_from_queue(uploader) -> None:
     mission: Mission = Mission([])
     inspection: Inspection = Inspection(metadata=ARBITRARY_IMAGE_METADATA)
 
@@ -54,12 +50,12 @@ def test_should_upload_from_queue(uploader_thread) -> None:
         mission,
     )
 
-    uploader_thread.uploader.upload_queue.put(message)
-    time.sleep(1)
-    assert uploader_thread.uploader.storage_handlers[0].blob_exists(inspection)
+    uploader.upload_queue.put(message)
+    time.sleep(0.0001)
+    assert uploader.storage_handlers[0].blob_exists(inspection)
 
 
-def test_should_retry_failed_upload_from_queue(uploader_thread, mocker) -> None:
+def test_should_retry_failed_upload_from_queue(uploader) -> None:
     mission: Mission = Mission([])
     inspection: Inspection = Inspection(metadata=ARBITRARY_IMAGE_METADATA)
 
@@ -69,14 +65,14 @@ def test_should_retry_failed_upload_from_queue(uploader_thread, mocker) -> None:
     )
 
     # Need it to fail so that it retries
-    uploader_thread.uploader.storage_handlers[0].will_fail = True
-    uploader_thread.uploader.upload_queue.put(message)
-    time.sleep(1)
+    uploader.storage_handlers[0].will_fail = True
+    uploader.upload_queue.put(message)
+    time.sleep(0.0001)
 
     # Should not upload, instead raise StorageException
-    assert not uploader_thread.uploader.storage_handlers[0].blob_exists(inspection)
-    uploader_thread.uploader.storage_handlers[0].will_fail = False
+    assert not uploader.storage_handlers[0].blob_exists(inspection)
+    uploader.storage_handlers[0].will_fail = False
     time.sleep(3)
 
     # After 3 seconds, it should have retried and now it should be successful
-    assert uploader_thread.uploader.storage_handlers[0].blob_exists(inspection)
+    assert uploader.storage_handlers[0].blob_exists(inspection)

{isar-1.24.5 → isar-1.24.6}/tests/mocks/robot_interface.py

@@ -15,7 +15,6 @@ from robot_interface.models.inspection.inspection import (
     Inspection,
 )
 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 InspectionTask, Task
 from robot_interface.robot_interface import RobotInterface

isar-1.24.5/src/isar/config/certs/ca-cert.pem

@@ -1,35 +0,0 @@
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------END CERTIFICATE-----