isar 1.24.6__tar.gz → 1.25.0__tar.gz

{isar-1.24.6 → isar-1.25.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.24.6
+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-1.24.6 → isar-1.25.0}/requirements.txt

@@ -8,7 +8,7 @@ alitra==1.1.3
     # via isar (pyproject.toml)
 annotated-types==0.7.0
     # via pydantic
-anyio==4.6.2.post1
+anyio==4.7.0
     # via
     #   httpx
     #   starlette
@@ -43,7 +43,7 @@ click==8.1.7
     # via
     #   isar (pyproject.toml)
     #   uvicorn
-cryptography==43.0.3
+cryptography==44.0.0
     # via
     #   azure-identity
     #   azure-storage-blob
@@ -54,13 +54,13 @@ dacite==1.8.1
     # via
     #   alitra
     #   isar (pyproject.toml)
-fastapi==0.115.5
+fastapi==0.115.6
     # via
     #   fastapi-azure-auth
     #   isar (pyproject.toml)
 fastapi-azure-auth==5.0.1
     # via isar (pyproject.toml)
-google-api-core==2.23.0
+google-api-core==2.24.0
     # via opencensus
 google-auth==2.36.0
     # via google-api-core
@@ -72,7 +72,7 @@ h11==0.14.0
     #   uvicorn
 httpcore==1.0.7
     # via httpx
-httpx==0.27.2
+httpx==0.28.1
     # via fastapi-azure-auth
 idna==3.10
     # via
@@ -91,7 +91,7 @@ msal==1.31.1
     #   msal-extensions
 msal-extensions==1.2.0
     # via azure-identity
-numpy==2.1.3
+numpy==2.2.0
     # via
     #   alitra
     #   isar (pyproject.toml)
@@ -115,7 +115,7 @@ portalocker==2.10.1
     # via msal-extensions
 proto-plus==1.25.0
     # via google-api-core
-protobuf==5.28.3
+protobuf==5.29.1
     # via
     #   google-api-core
     #   googleapis-common-protos
@@ -130,7 +130,7 @@ pyasn1-modules==0.4.1
     # via google-auth
 pycparser==2.22
     # via cffi
-pydantic==2.10.1
+pydantic==2.10.3
     # via
     #   fastapi
     #   isar (pyproject.toml)
@@ -139,7 +139,7 @@ pydantic-core==2.27.1
     # via pydantic
 pydantic-settings==2.6.1
     # via isar (pyproject.toml)
-pyjwt[crypto]==2.10.0
+pyjwt[crypto]==2.10.1
     # via
     #   fastapi-azure-auth
     #   isar (pyproject.toml)
@@ -165,21 +165,20 @@ rsa==4.9
     # via google-auth
 scipy==1.14.1
     # via alitra
-six==1.16.0
+six==1.17.0
     # via
     #   azure-core
     #   opencensus
     #   transitions
 sniffio==1.3.1
-    # via
-    #   anyio
-    #   httpx
+    # via anyio
 starlette==0.41.3
     # via fastapi
 transitions==0.9.2
     # via isar (pyproject.toml)
 typing-extensions==4.12.2
     # via
+    #   anyio
     #   azure-core
     #   azure-identity
     #   azure-keyvault-secrets

{isar-1.24.6 → isar-1.25.0}/src/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-1.25.0/src/isar/apis/models/start_mission_definition.py

@@ -0,0 +1,181 @@
+import time
+from enum import Enum
+from typing import List, Optional
+
+from pydantic import BaseModel, Field
+
+from isar.apis.models.models import InputPose, InputPosition
+from isar.config.settings import settings
+from isar.mission_planner.mission_planner_interface import MissionPlannerError
+from robot_interface.models.mission.mission import Mission
+from robot_interface.models.mission.task import (
+    TASKS,
+    DockingProcedure,
+    Localize,
+    RecordAudio,
+    ReturnToHome,
+    TakeImage,
+    TakeThermalImage,
+    TakeThermalVideo,
+    TakeVideo,
+    ZoomDescription,
+)
+
+
+class InspectionTypes(str, Enum):
+    image: str = "Image"
+    thermal_image: str = "ThermalImage"
+    video: str = "Video"
+    thermal_video: str = "ThermalVideo"
+    audio: str = "Audio"
+
+
+class TaskType(str, Enum):
+    Inspection: str = "inspection"
+    Localization: str = "localization"
+    ReturnToHome: str = "return_to_home"
+    Dock: str = "dock"
+
+
+class StartMissionInspectionDefinition(BaseModel):
+    type: InspectionTypes = Field(default=InspectionTypes.image)
+    inspection_target: InputPosition
+    analysis_type: Optional[str] = None
+    duration: Optional[float] = None
+    metadata: Optional[dict] = None
+
+
+class StartMissionTaskDefinition(BaseModel):
+    type: TaskType = Field(default=TaskType.Inspection)
+    pose: InputPose
+    inspection: Optional[StartMissionInspectionDefinition] = None
+    tag: Optional[str] = None
+    zoom: Optional[ZoomDescription] = None
+
+
+class StartMissionDefinition(BaseModel):
+    tasks: List[StartMissionTaskDefinition]
+    name: Optional[str] = None
+    start_pose: Optional[InputPose] = None
+    dock: Optional[bool] = Field(default=False)
+    undock: Optional[bool] = Field(default=False)
+
+
+def to_isar_mission(
+    start_mission_definition: StartMissionDefinition,
+    return_pose: Optional[InputPose] = None,
+) -> Mission:
+    isar_tasks: List[TASKS] = []
+
+    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")
+
+    isar_mission_name: str
+    if start_mission_definition.name:
+        isar_mission_name = start_mission_definition.name
+    else:
+        isar_mission_name = _build_mission_name()
+
+    start_pose = None
+    if start_mission_definition.start_pose:
+        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 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: '{task_definition.type}' is not a valid"
+        )
+
+
+def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
+    inspection_definition = task_definition.inspection
+
+    if inspection_definition.type == InspectionTypes.image:
+        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:
+        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:
+        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:
+        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:
+        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 '{inspection_definition.type}' not supported"
+        )
+
+
+def to_localization_task(task_definition: StartMissionTaskDefinition) -> Localize:
+    return Localize(localization_pose=task_definition.pose.to_alitra_pose())
+
+
+def create_return_to_home_task(
+    task_definition: StartMissionTaskDefinition,
+) -> ReturnToHome:
+    return ReturnToHome(pose=task_definition.pose.to_alitra_pose())
+
+
+def create_dock_task() -> DockingProcedure:
+    return DockingProcedure(behavior="dock")
+
+
+def _build_mission_name() -> str:
+    return f"{settings.PLANT_SHORT_NAME}{settings.ROBOT_NAME}{int(time.time())}"

{isar-1.24.6 → isar-1.25.0}/src/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-1.24.6 → isar-1.25.0}/src/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-1.24.6 → isar-1.25.0}/src/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-1.24.6 → isar-1.25.0}/src/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-1.24.6 → isar-1.25.0}/src/isar/mission_planner/mission_planner_interface.py

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

{isar-1.24.6 → isar-1.25.0}/src/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-1.24.6 → isar-1.25.0}/src/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}")