isar 1.24.6__py3-none-any.whl → 1.25.1__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
@@ -44,188 +43,193 @@ class StartMissionInspectionDefinition(BaseModel):
     analysis_type: Optional[str] = None
     duration: Optional[float] = None
     metadata: Optional[dict] = None
-    id: Optional[str] = None
 
 
 class StartMissionTaskDefinition(BaseModel):
+    id: Optional[str] = None
     type: TaskType = Field(default=TaskType.Inspection)
     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:
-        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,
-        )
-    elif start_mission_task_definition.inspection.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,
-        )
-
-    elif start_mission_task_definition.inspection.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,
-        )
-
-    elif start_mission_task_definition.inspection.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,
-        )
-
-    elif start_mission_task_definition.inspection.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,
-        )
+    if inspection_definition.type == InspectionTypes.image:
+        if task_definition.id:
+            return TakeImage(
+                id=task_definition.id,
+                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,
+            )
+        else:
+            return TakeImage(
+                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 inspection_definition.type == InspectionTypes.video:
+        if task_definition.id:
+            return TakeVideo(
+                id=task_definition.id,
+                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:
+            return TakeVideo(
+                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 inspection_definition.type == InspectionTypes.thermal_image:
+        if task_definition.id:
+            return TakeThermalImage(
+                id=task_definition.id,
+                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,
+            )
+        else:
+            return TakeThermalImage(
+                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 inspection_definition.type == InspectionTypes.thermal_video:
+        if task_definition.id:
+            return TakeThermalVideo(
+                id=task_definition.id,
+                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:
+            return TakeThermalVideo(
+                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 inspection_definition.type == InspectionTypes.audio:
+        if task_definition.id:
+            return RecordAudio(
+                id=task_definition.id,
+                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:
+            return RecordAudio(
+                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/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"}
       }
     }
   ]

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

@@ -82,7 +82,7 @@ def print_startup_info():
     print()
 
 
-def start():
+def start() -> None:
     injector: Injector = get_injector()
 
     keyvault_client = injector.get(Keyvault)

isar/state_machine/state_machine.py

@@ -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/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-1.24.6.dist-info → isar-1.25.1.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.24.6
+Version: 1.25.1
 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.dist-info → isar-1.25.1.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=UWXRV6S7LTIWEt78YlYajIHG-stOqYDF3Th4UtvgtbE,5980
+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=yaWICdWJrCYFIm5Aq1K3BVxD9oyVuXYaaY9hJG2aoVY,8820
 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
@@ -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=vxjk2waZ79F86R1Z_S-lwtbfR8RlKaQ3CLl7yAUN2FY,21756
+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=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=boRigdjY9dvJzHYxAweqydRGt7CUyXFcCjMVw-lrwJM,4969
 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-1.24.6.dist-info/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
-isar-1.24.6.dist-info/METADATA,sha256=cE17j1NCTw5mGTOL4tEl_xNvKojh4IVgNU4fF-pA5pQ,30661
-isar-1.24.6.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
-isar-1.24.6.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
-isar-1.24.6.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
-isar-1.24.6.dist-info/RECORD,,
+isar-1.25.1.dist-info/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar-1.25.1.dist-info/METADATA,sha256=QvUtSw8nmGfn1MgIgqxHa9mzQNpH1hudpRrNwmodfwA,30661
+isar-1.25.1.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
+isar-1.25.1.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.25.1.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.25.1.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)

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, frozen=True)
 
     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, frozen=True)
+    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