isar 1.25.1__tar.gz → 1.25.3__tar.gz

{isar-1.25.1 → isar-1.25.3}/.github/workflows/pythonpackage.yml

@@ -48,3 +48,4 @@ jobs:
         run: |
           black --check .
           mypy .
+          ruff check .

{isar-1.25.1 → isar-1.25.3}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.25.1
+Version: 1.25.3
 Summary: Integration and Supervisory control of Autonomous Robots
 Author-email: Equinor ASA <fg_robots_dev@equinor.com>
 License: Eclipse Public License version 2.0
@@ -127,9 +127,7 @@ Requires-Dist: transitions
 Requires-Dist: uvicorn
 Provides-Extra: dev
 Requires-Dist: black; extra == "dev"
-Requires-Dist: flake8; extra == "dev"
 Requires-Dist: mypy; extra == "dev"
-Requires-Dist: myst-parser; extra == "dev"
 Requires-Dist: pip-tools; extra == "dev"
 Requires-Dist: pre-commit; extra == "dev"
 Requires-Dist: pytest-dotenv; extra == "dev"
@@ -137,7 +135,7 @@ Requires-Dist: pytest-mock; extra == "dev"
 Requires-Dist: pytest-xdist; extra == "dev"
 Requires-Dist: pytest; extra == "dev"
 Requires-Dist: requests-mock; extra == "dev"
-Requires-Dist: sphinx; extra == "dev"
+Requires-Dist: ruff; extra == "dev"
 
 # ISAR
 

{isar-1.25.1 → isar-1.25.3}/pyproject.toml

@@ -60,9 +60,7 @@ repository = "https://github.com/equinor/isar.git"
 [project.optional-dependencies]
 dev = [
     "black",
-    "flake8",
     "mypy",
-    "myst-parser",
     "pip-tools",
     "pre-commit",
     "pytest-dotenv",
@@ -70,7 +68,7 @@ dev = [
     "pytest-xdist",
     "pytest",
     "requests-mock",
-    "sphinx",
+    "ruff",
 ]
 
 [tool.setuptools_scm]

{isar-1.25.1 → isar-1.25.3}/src/isar/apis/robot_control/robot_controller.py

@@ -1,15 +1,10 @@
 import logging
-from typing import List
 
 from injector import inject
 
-from isar.apis.models.models import (
-    RobotInfoResponse,
-    TaskResponse,
-)
+from isar.apis.models.models import RobotInfoResponse
 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-1.25.1 → isar-1.25.3}/src/isar/apis/schedule/scheduling_controller.py

@@ -6,11 +6,11 @@ from alitra import Pose
 from fastapi import Body, HTTPException, Path
 from injector import inject
 
-from isar.apis.models import InputPose, StartMissionResponse
 from isar.apis.models.models import (
     ControlMissionResponse,
-    RobotInfoResponse,
     TaskResponse,
+    InputPose,
+    StartMissionResponse,
 )
 from isar.apis.models.start_mission_definition import (
     StartMissionDefinition,

{isar-1.25.1 → isar-1.25.3}/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-1.25.1 → isar-1.25.3}/src/isar/mission_planner/sequential_task_selector.py

@@ -4,7 +4,7 @@ from isar.mission_planner.task_selector_interface import (
     TaskSelectorInterface,
     TaskSelectorStop,
 )
-from robot_interface.models.mission.task import TASKS, Task
+from robot_interface.models.mission.task import TASKS
 
 
 class SequentialTaskSelector(TaskSelectorInterface):

{isar-1.25.1 → isar-1.25.3}/src/isar/mission_planner/task_selector_interface.py

@@ -1,7 +1,7 @@
 from abc import ABCMeta, abstractmethod
 from typing import List
 
-from robot_interface.models.mission.task import TASKS, Task
+from robot_interface.models.mission.task import TASKS
 
 
 class TaskSelectorInterface(metaclass=ABCMeta):

{isar-1.25.1 → isar-1.25.3}/src/isar/models/communication/queues/status_queue.py

@@ -11,8 +11,8 @@ class StatusQueue(Queue):
         if not self._qsize():
             raise Empty
         with self.mutex:
-            l = list(self.queue)
-            return l.pop()
+            queueList = list(self.queue)
+            return queueList.pop()
 
     def update(self, item: Any):
         with self.mutex:

{isar-1.25.1 → isar-1.25.3}/src/isar/modules.py

@@ -7,8 +7,8 @@ from typing import Dict, List, Tuple, Union
 from injector import Injector, Module, multiprovider, provider, singleton
 
 from isar.apis.api import API
-from isar.apis.schedule.scheduling_controller import SchedulingController
 from isar.apis.robot_control.robot_controller import RobotController
+from isar.apis.schedule.scheduling_controller import SchedulingController
 from isar.apis.security.authentication import Authenticator
 from isar.config.keyvault.keyvault_service import Keyvault
 from isar.config.settings import settings
@@ -18,8 +18,8 @@ from isar.mission_planner.sequential_task_selector import SequentialTaskSelector
 from isar.mission_planner.task_selector_interface import TaskSelectorInterface
 from isar.models.communication.queues.queues import Queues
 from isar.services.service_connections.request_handler import RequestHandler
-from isar.services.utilities.scheduling_utilities import SchedulingUtilities
 from isar.services.utilities.robot_utilities import RobotUtilities
+from isar.services.utilities.scheduling_utilities import SchedulingUtilities
 from isar.state_machine.state_machine import StateMachine
 from isar.storage.blob_storage import BlobStorage
 from isar.storage.local_storage import LocalStorage
@@ -70,9 +70,10 @@ class RobotModule(Module):
     @provider
     @singleton
     def provide_robot_interface(self) -> RobotInterface:
-        robot_package_name: str = settings.ROBOT_PACKAGE
-        robot: ModuleType = import_module(robot_package_name)
-        return robot.robotinterface.Robot()  # type: ignore
+        robot_interface: ModuleType = import_module(
+            f"{settings.ROBOT_PACKAGE}.robotinterface"
+        )
+        return robot_interface.Robot()  # type: ignore
 
 
 class QueuesModule(Module):

{isar-1.25.1 → isar-1.25.3}/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-1.25.1 → isar-1.25.3}/src/isar/services/utilities/scheduling_utilities.py

@@ -17,7 +17,11 @@ from isar.mission_planner.mission_planner_interface import (
     MissionPlannerInterface,
 )
 from isar.models.communication.message import StartMissionMessage
-from isar.models.communication.queues import QueueIO, Queues, QueueTimeoutError
+from isar.models.communication.queues.queue_io import QueueIO
+from isar.models.communication.queues.queues import Queues
+from isar.models.communication.queues.queue_timeout_error import (
+    QueueTimeoutError,
+)
 from isar.services.utilities.queue_utilities import QueueUtilities
 from isar.state_machine.states_enum import States
 from robot_interface.models.mission.mission import Mission
@@ -101,7 +105,7 @@ class SchedulingUtilities:
         is_capable: bool = True
         missing_capabilities: Set[str] = set()
         for task in mission.tasks:
-            if not task.type in robot_capabilities:
+            if task.type not in robot_capabilities:
                 is_capable = False
                 missing_capabilities.add(task.type)
 

{isar-1.25.1 → isar-1.25.3}/src/isar/state_machine/state_machine.py

@@ -18,16 +18,14 @@ from isar.mission_planner.task_selector_interface import (
 )
 from isar.models.communication.message import StartMissionMessage
 from isar.models.communication.queues.queues import Queues
-from isar.state_machine.states import (
-    Idle,
-    Initialize,
-    Initiate,
-    Monitor,
-    Off,
-    Offline,
-    Paused,
-    Stop,
-)
+from isar.state_machine.states.idle import Idle
+from isar.state_machine.states.initialize import Initialize
+from isar.state_machine.states.initiate import Initiate
+from isar.state_machine.states.monitor import Monitor
+from isar.state_machine.states.off import Off
+from isar.state_machine.states.offline import Offline
+from isar.state_machine.states.paused import Paused
+from isar.state_machine.states.stop import Stop
 from isar.state_machine.states_enum import States
 from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
 from robot_interface.models.initialize.initialize_params import InitializeParams

{isar-1.25.1 → isar-1.25.3}/src/isar/state_machine/states/monitor.py

@@ -110,7 +110,8 @@ class Monitor(State):
 
             if not isinstance(status, TaskStatus):
                 self.logger.error(
-                    f"Received an invalid status update when monitoring mission. Only TaskStatus is expected."
+                    f"Received an invalid status update {status} when monitoring mission. "
+                    "Only TaskStatus is expected."
                 )
                 break
 

{isar-1.25.1 → isar-1.25.3}/src/isar/storage/blob_storage.py

@@ -47,7 +47,7 @@ class BlobStorage(StorageInterface):
     def _upload_file(self, path: Path, data: bytes) -> Union[str, dict]:
         blob_client = self._get_blob_client(path)
         try:
-            blob_properties = blob_client.upload_blob(data=data)
+            blob_client.upload_blob(data=data)
         except ResourceExistsError as e:
             self.logger.error(
                 f"Blob {path.as_posix()} already exists in container. Error: {e}"

{isar-1.25.1 → isar-1.25.3}/src/isar/storage/uploader.py

@@ -8,7 +8,7 @@ from typing import List, Union
 from injector import inject
 
 from isar.config.settings import settings
-from isar.models.communication.queues import Queues
+from isar.models.communication.queues.queues import Queues
 from isar.storage.storage_interface import StorageException, StorageInterface
 from robot_interface.models.inspection.inspection import Inspection
 from robot_interface.models.mission.mission import Mission

{isar-1.25.1 → isar-1.25.3}/src/isar.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: isar
-Version: 1.25.1
+Version: 1.25.3
 Summary: Integration and Supervisory control of Autonomous Robots
 Author-email: Equinor ASA <fg_robots_dev@equinor.com>
 License: Eclipse Public License version 2.0
@@ -127,9 +127,7 @@ Requires-Dist: transitions
 Requires-Dist: uvicorn
 Provides-Extra: dev
 Requires-Dist: black; extra == "dev"
-Requires-Dist: flake8; extra == "dev"
 Requires-Dist: mypy; extra == "dev"
-Requires-Dist: myst-parser; extra == "dev"
 Requires-Dist: pip-tools; extra == "dev"
 Requires-Dist: pre-commit; extra == "dev"
 Requires-Dist: pytest-dotenv; extra == "dev"
@@ -137,7 +135,7 @@ Requires-Dist: pytest-mock; extra == "dev"
 Requires-Dist: pytest-xdist; extra == "dev"
 Requires-Dist: pytest; extra == "dev"
 Requires-Dist: requests-mock; extra == "dev"
-Requires-Dist: sphinx; extra == "dev"
+Requires-Dist: ruff; extra == "dev"
 
 # ISAR
 

{isar-1.25.1 → isar-1.25.3}/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-1.25.1 → isar-1.25.3}/src/isar.egg-info/requires.txt

@@ -25,9 +25,7 @@ uvicorn
 
 [dev]
 black
-flake8
 mypy
-myst-parser
 pip-tools
 pre-commit
 pytest-dotenv
@@ -35,4 +33,4 @@ pytest-mock
 pytest-xdist
 pytest
 requests-mock
-sphinx
+ruff

{isar-1.25.1 → isar-1.25.3}/src/robot_interface/models/mission/task.py

@@ -5,7 +5,7 @@ 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 (
+from robot_interface.models.inspection.inspection import (
     Audio,
     Image,
     Inspection,

isar-1.25.3/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-1.25.1 → isar-1.25.3}/src/robot_interface/robot_interface.py

@@ -3,7 +3,7 @@ from queue import Queue
 from threading import Thread
 from typing import Callable, List, Optional
 
-from robot_interface.models.initialize import InitializeParams
+from robot_interface.models.initialize.initialize_params 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

{isar-1.25.1 → isar-1.25.3}/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]

{isar-1.25.1 → isar-1.25.3}/tests/conftest.py

@@ -20,7 +20,9 @@ from isar.modules import (
 from isar.services.service_connections.request_handler import RequestHandler
 from isar.services.utilities.scheduling_utilities import SchedulingUtilities
 from isar.state_machine.state_machine import StateMachine
-from isar.state_machine.states import Idle, Initiate, Monitor
+from isar.state_machine.states.idle import Idle
+from isar.state_machine.states.initiate import Initiate
+from isar.state_machine.states.monitor import Monitor
 from robot_interface.telemetry.mqtt_client import MqttClientInterface
 from tests.mocks.robot_interface import MockRobot
 from tests.test_modules import (

{isar-1.25.1 → isar-1.25.3}/tests/isar/models/communication/test_queues.py

@@ -2,7 +2,7 @@ from queue import Empty
 
 import pytest
 
-from isar.models.communication.queues import Queues, StatusQueue
+from isar.models.communication.queues.queues import Queues, StatusQueue
 
 
 class TestQueues:

{isar-1.25.1 → isar-1.25.3}/tests/isar/services/utilities/test_scheduling_utilities.py

@@ -4,7 +4,8 @@ import pytest
 from fastapi import HTTPException
 from pytest_mock import MockerFixture
 
-from isar.models.communication.queues import QueueIO, QueueTimeoutError
+from isar.models.communication.queues.queues import QueueIO
+from isar.models.communication.queues.queue_timeout_error import QueueTimeoutError
 from isar.services.utilities.queue_utilities import QueueUtilities
 from isar.services.utilities.scheduling_utilities import SchedulingUtilities
 from isar.state_machine.states_enum import States

{isar-1.25.1 → isar-1.25.3}/tests/isar/state_machine/test_state_machine.py

@@ -1,6 +1,5 @@
 import time
 from collections import deque
-from pathlib import Path
 from threading import Thread
 from typing import List
 
@@ -8,8 +7,6 @@ import pytest
 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
@@ -32,7 +29,6 @@ from tests.mocks.task import MockTask
 
 class StateMachineThread(object):
     def __init__(self, injector) -> None:
-        # 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])

{isar-1.25.1 → isar-1.25.3}/tests/mocks/robot_interface.py

@@ -5,7 +5,7 @@ from typing import Callable, List
 
 from alitra import Frame, Orientation, Pose, Position
 
-from robot_interface.models.initialize import InitializeParams
+from robot_interface.models.initialize.initialize_params import InitializeParams
 from robot_interface.models.inspection.inspection import (
     Image,
     ImageMetadata,

isar-1.25.1/src/isar/apis/models/__init__.py

@@ -1 +0,0 @@
-from .models import InputPose, StartMissionResponse

isar-1.25.1/src/isar/models/communication/queues/__init__.py

@@ -1,4 +0,0 @@
-from .queue_io import QueueIO
-from .queue_timeout_error import QueueTimeoutError
-from .queues import Queues
-from .status_queue import StatusQueue

isar-1.25.1/src/isar/state_machine/states/__init__.py

@@ -1,8 +0,0 @@
-from .idle import Idle
-from .initialize import Initialize
-from .initiate import Initiate
-from .monitor import Monitor
-from .off import Off
-from .offline import Offline
-from .paused import Paused
-from .stop import Stop

isar-1.25.1/src/robot_interface/models/initialize/__init__.py

@@ -1 +0,0 @@
-from .initialize_params import InitializeParams

isar-1.25.1/src/robot_interface/models/inspection/__init__.py

@@ -1,13 +0,0 @@
-from .inspection import (
-    Audio,
-    Image,
-    ImageMetadata,
-    Inspection,
-    InspectionMetadata,
-    ThermalImage,
-    ThermalImageMetadata,
-    ThermalVideo,
-    ThermalVideoMetadata,
-    Video,
-    VideoMetadata,
-)