isar 1.25.0__tar.gz → 1.25.2__tar.gz

{isar-1.25.0 → isar-1.25.2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.25.0
+Version: 1.25.2
 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-1.25.0 → isar-1.25.2}/src/isar/apis/models/start_mission_definition.py

@@ -46,6 +46,7 @@ class StartMissionInspectionDefinition(BaseModel):
 
 
 class StartMissionTaskDefinition(BaseModel):
+    id: Optional[str] = None
     type: TaskType = Field(default=TaskType.Inspection)
     pose: InputPose
     inspection: Optional[StartMissionInspectionDefinition] = None
@@ -115,48 +116,101 @@ 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,
-        )
+        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:
-        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,
-        )
+        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:
-        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,
-        )
+        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:
-        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,
-        )
+        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:
-        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,
-        )
+        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 '{inspection_definition.type}' not supported"

{isar-1.25.0 → isar-1.25.2}/src/isar/apis/robot_control/robot_controller.py

@@ -1,15 +1,12 @@
 import logging
-from typing import List
 
 from injector import inject
 
 from isar.apis.models.models import (
     RobotInfoResponse,
-    TaskResponse,
 )
 from isar.config.settings import robot_settings, settings
 from isar.services.utilities.robot_utilities import RobotUtilities
-from robot_interface.models.mission.task import Task
 
 
 class RobotController:

{isar-1.25.0 → isar-1.25.2}/src/isar/config/settings.py

@@ -8,7 +8,7 @@ from pydantic_settings import BaseSettings, SettingsConfigDict
 
 from isar.config import predefined_missions
 from robot_interface.models.robots.robot_model import RobotModel
-from robot_interface.telemetry.payloads import DocumentInfo, VideoStream
+from robot_interface.telemetry.payloads import DocumentInfo
 
 
 class Settings(BaseSettings):
@@ -194,22 +194,6 @@ class Settings(BaseSettings):
     # Info about robot documentation
     DOCUMENTATION: List[DocumentInfo] = Field(default=[])
 
-    # Endpoints to reach video streams for the robot
-    VIDEO_STREAMS: List[VideoStream] = Field(
-        default=[
-            VideoStream(
-                name="Front camera",
-                url="http://localhost:5000/videostream/front",
-                type="turtlebot",
-            ),
-            VideoStream(
-                name="Rear camera",
-                url="http://localhost:5000/videostream/rear",
-                type="turtlebot",
-            ),
-        ]
-    )
-
     # Data scheme the robot should adhere to
     # Options [DS0001]
     DATA_SCHEME: str = Field(default="DS0001")

{isar-1.25.0 → isar-1.25.2}/src/isar/services/service_connections/mqtt/robot_info_publisher.py

@@ -22,7 +22,6 @@ class RobotInfoPublisher:
                 robot_serial_number=settings.SERIAL_NUMBER,
                 robot_asset=settings.PLANT_SHORT_NAME,
                 documentation=settings.DOCUMENTATION,
-                video_streams=settings.VIDEO_STREAMS,
                 host=settings.API_HOST_VIEWED_EXTERNALLY,
                 port=settings.API_PORT,
                 capabilities=robot_settings.CAPABILITIES,

{isar-1.25.0 → isar-1.25.2}/src/isar.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.25.0
+Version: 1.25.2
 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-1.25.0 → isar-1.25.2}/src/isar.egg-info/SOURCES.txt

@@ -134,6 +134,7 @@ src/robot_interface/models/mission/mission.py
 src/robot_interface/models/mission/status.py
 src/robot_interface/models/mission/task.py
 src/robot_interface/models/robots/__init__.py
+src/robot_interface/models/robots/battery_state.py
 src/robot_interface/models/robots/media.py
 src/robot_interface/models/robots/robot_model.py
 src/robot_interface/telemetry/__init__.py

{isar-1.25.0 → isar-1.25.2}/src/robot_interface/models/mission/task.py

@@ -38,7 +38,7 @@ 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)
+    id: str = Field(default_factory=uuid4_string, frozen=True)
 
     def is_finished(self) -> bool:
         if (
@@ -59,7 +59,7 @@ class InspectionTask(Task):
     Base class for all inspection tasks which produce results to be uploaded.
     """
 
-    inspection_id: str = Field(default_factory=uuid4_string)
+    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)

isar-1.25.2/src/robot_interface/models/robots/battery_state.py

@@ -0,0 +1,6 @@
+from enum import Enum
+
+
+class BatteryState(Enum):
+    Normal: str = "Normal"
+    Charging: str = "Charging"

{isar-1.25.0 → isar-1.25.2}/src/robot_interface/telemetry/payloads.py

@@ -1,11 +1,12 @@
 from dataclasses import dataclass
 from datetime import datetime
-from typing import List
+from typing import List, Optional
 
 from alitra import Pose
 from transitions import State
 
 from robot_interface.models.mission.status import RobotStatus
+from robot_interface.models.robots.battery_state import BatteryState
 
 
 @dataclass
@@ -30,6 +31,7 @@ class TelemetryPosePayload(TelemetryPayload):
 @dataclass
 class TelemetryBatteryPayload(TelemetryPayload):
     battery_level: float
+    battery_state: Optional[BatteryState] = None
 
 
 @dataclass
@@ -48,13 +50,6 @@ class DocumentInfo:
     url: str
 
 
-@dataclass
-class VideoStream:
-    name: str
-    url: str
-    type: str
-
-
 @dataclass
 class RobotStatusPayload:
     isar_id: str
@@ -76,7 +71,6 @@ class RobotInfoPayload:
     robot_serial_number: str
     robot_asset: str
     documentation: List[DocumentInfo]
-    video_streams: List[VideoStream]
     host: str
     port: int
     capabilities: List[str]