isar 1.25.3__py3-none-any.whl → 1.25.5__py3-none-any.whl

isar/apis/models/start_mission_definition.py

@@ -23,18 +23,18 @@ from robot_interface.models.mission.task import (
 
 
 class InspectionTypes(str, Enum):
-    image: str = "Image"
-    thermal_image: str = "ThermalImage"
-    video: str = "Video"
-    thermal_video: str = "ThermalVideo"
-    audio: str = "Audio"
+    image = "Image"
+    thermal_image = "ThermalImage"
+    video = "Video"
+    thermal_video = "ThermalVideo"
+    audio = "Audio"
 
 
 class TaskType(str, Enum):
-    Inspection: str = "inspection"
-    Localization: str = "localization"
-    ReturnToHome: str = "return_to_home"
-    Dock: str = "dock"
+    Inspection = "inspection"
+    Localization = "localization"
+    ReturnToHome = "return_to_home"
+    Dock = "dock"
 
 
 class StartMissionInspectionDefinition(BaseModel):

isar/config/settings.py

@@ -60,6 +60,10 @@ class Settings(BaseSettings):
     # Number of attempts to request a task status in monitor before cancelling
     REQUEST_STATUS_FAILURE_COUNTER_LIMIT: int = Field(default=3)
 
+    # Time allocated to reconnect when failing to retrieve status due to communication
+    # issues
+    REQUEST_STATUS_COMMUNICATION_RECONNECT_DELAY: float = Field(default=10)
+
     # Number of attempts to stop the robot before giving up
     STOP_ROBOT_ATTEMPTS_LIMIT: int = Field(default=10)
 

isar/script.py

@@ -66,7 +66,7 @@ def print_startup_info():
     print_setting(fillchar="-")
     print_setting("Robot package", settings.ROBOT_PACKAGE)
     print_setting("Robot name", settings.ROBOT_NAME)
-    print_setting("Run mission stepwise", settings.RUN_MISSION_BY_TASK)
+    print_setting("Run mission taskwise", settings.RUN_MISSION_BY_TASK)
     print_setting("Running on port", settings.API_PORT)
     print_setting("Mission planner", settings.MISSION_PLANNER)
     print_setting("Using local storage", settings.STORAGE_LOCAL_ENABLED)

isar/state_machine/state_machine.py

@@ -24,6 +24,7 @@ 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.blocked_protective_stop import BlockedProtectiveStop
 from isar.state_machine.states.paused import Paused
 from isar.state_machine.states.stop import Stop
 from isar.state_machine.states_enum import States
@@ -34,6 +35,11 @@ from robot_interface.models.mission.status import MissionStatus, RobotStatus, Ta
 from robot_interface.models.mission.task import TASKS
 from robot_interface.robot_interface import RobotInterface
 from robot_interface.telemetry.mqtt_client import MqttClientInterface
+from robot_interface.telemetry.payloads import (
+    RobotStatusPayload,
+    MissionPayload,
+    TaskPayload,
+)
 from robot_interface.utilities.json_service import EnhancedJSONEncoder
 
 
@@ -87,6 +93,7 @@ class StateMachine(object):
         self.initiate_state: State = Initiate(self)
         self.off_state: State = Off(self)
         self.offline_state: State = Offline(self)
+        self.blocked_protective_stop: State = BlockedProtectiveStop(self)
 
         self.states: List[State] = [
             self.off_state,
@@ -97,6 +104,7 @@ class StateMachine(object):
             self.stop_state,
             self.paused_state,
             self.offline_state,
+            self.blocked_protective_stop,
         ]
 
         self.machine = Machine(self, states=self.states, initial="off", queued=True)
@@ -222,6 +230,18 @@ class StateMachine(object):
                     "dest": self.idle_state,
                     "before": self._online,
                 },
+                {
+                    "trigger": "robot_protective_stop_engaged",
+                    "source": [self.idle_state],
+                    "dest": self.blocked_protective_stop,
+                    "before": self._protective_stop_engaged,
+                },
+                {
+                    "trigger": "robot_protective_stop_disengaged",
+                    "source": self.blocked_protective_stop,
+                    "dest": self.idle_state,
+                    "before": self._protective_stop_disengaged,
+                },
             ]
         )
 
@@ -270,6 +290,12 @@ class StateMachine(object):
     def _online(self) -> None:
         return
 
+    def _protective_stop_engaged(self) -> None:
+        return
+
+    def _protective_stop_disengaged(self) -> None:
+        return
+
     def _resume(self) -> None:
         self.logger.info(f"Resuming mission: {self.current_mission.id}")
         self.current_mission.status = MissionStatus.InProgress
@@ -482,24 +508,22 @@ class StateMachine(object):
         if self.current_mission:
             if self.current_mission.error_message:
                 error_message = self.current_mission.error_message
-        payload: str = json.dumps(
-            {
-                "isar_id": settings.ISAR_ID,
-                "robot_name": settings.ROBOT_NAME,
-                "mission_id": self.current_mission.id if self.current_mission else None,
-                "status": self.current_mission.status if self.current_mission else None,
-                "error_reason": error_message.error_reason if error_message else None,
-                "error_description": (
-                    error_message.error_description if error_message else None
-                ),
-                "timestamp": datetime.now(timezone.utc),
-            },
-            cls=EnhancedJSONEncoder,
+
+        payload: MissionPayload = MissionPayload(
+            isar_id=settings.ISAR_ID,
+            robot_name=settings.ROBOT_NAME,
+            mission_id=self.current_mission.id if self.current_mission else None,
+            status=self.current_mission.status if self.current_mission else None,
+            error_reason=error_message.error_reason if error_message else None,
+            error_description=(
+                error_message.error_description if error_message else None
+            ),
+            timestamp=datetime.now(timezone.utc),
         )
 
         self.mqtt_publisher.publish(
             topic=settings.TOPIC_ISAR_MISSION,
-            payload=payload,
+            payload=json.dumps(payload, cls=EnhancedJSONEncoder),
             qos=1,
             retain=True,
         )
@@ -514,26 +538,23 @@ class StateMachine(object):
             if task.error_message:
                 error_message = task.error_message
 
-        payload: str = json.dumps(
-            {
-                "isar_id": settings.ISAR_ID,
-                "robot_name": settings.ROBOT_NAME,
-                "mission_id": self.current_mission.id if self.current_mission else None,
-                "task_id": task.id if task else None,
-                "status": task.status if task else None,
-                "task_type": task.type,
-                "error_reason": error_message.error_reason if error_message else None,
-                "error_description": (
-                    error_message.error_description if error_message else None
-                ),
-                "timestamp": datetime.now(timezone.utc),
-            },
-            cls=EnhancedJSONEncoder,
+        payload: TaskPayload = TaskPayload(
+            isar_id=settings.ISAR_ID,
+            robot_name=settings.ROBOT_NAME,
+            mission_id=self.current_mission.id if self.current_mission else None,
+            task_id=task.id if task else None,
+            status=task.status if task else None,
+            task_type=task.type if task else None,
+            error_reason=error_message.error_reason if error_message else None,
+            error_description=(
+                error_message.error_description if error_message else None
+            ),
+            timestamp=datetime.now(timezone.utc),
         )
 
         self.mqtt_publisher.publish(
             topic=settings.TOPIC_ISAR_TASK,
-            payload=payload,
+            payload=json.dumps(payload, cls=EnhancedJSONEncoder),
             qos=1,
             retain=True,
         )
@@ -541,19 +562,17 @@ class StateMachine(object):
     def publish_status(self) -> None:
         if not self.mqtt_publisher:
             return
-        payload: str = json.dumps(
-            {
-                "isar_id": settings.ISAR_ID,
-                "robot_name": settings.ROBOT_NAME,
-                "status": self._current_status(),
-                "timestamp": datetime.now(timezone.utc),
-            },
-            cls=EnhancedJSONEncoder,
+
+        payload: RobotStatusPayload = RobotStatusPayload(
+            isar_id=settings.ISAR_ID,
+            robot_name=settings.ROBOT_NAME,
+            status=self._current_status(),
+            timestamp=datetime.now(timezone.utc),
         )
 
         self.mqtt_publisher.publish(
             topic=settings.TOPIC_ISAR_STATUS,
-            payload=payload,
+            payload=json.dumps(payload, cls=EnhancedJSONEncoder),
             qos=1,
             retain=True,
         )
@@ -563,6 +582,8 @@ class StateMachine(object):
             return RobotStatus.Available
         elif self.current_state == States.Offline:
             return RobotStatus.Offline
+        elif self.current_state == States.BlockedProtectiveStop:
+            return RobotStatus.BlockedProtectiveStop
         else:
             return RobotStatus.Busy
 

isar/state_machine/states/blocked_protective_stop.py

@@ -0,0 +1,65 @@
+import logging
+import time
+from typing import TYPE_CHECKING, Optional
+
+from transitions import State
+
+from isar.config.settings import settings
+from isar.services.utilities.threaded_request import (
+    ThreadedRequest,
+    ThreadedRequestNotFinishedError,
+)
+from robot_interface.models.exceptions.robot_exceptions import RobotException
+from robot_interface.models.mission.status import RobotStatus
+
+if TYPE_CHECKING:
+    from isar.state_machine.state_machine import StateMachine
+
+
+class BlockedProtectiveStop(State):
+    def __init__(self, state_machine: "StateMachine") -> None:
+        super().__init__(
+            name="blocked_protective_stop", on_enter=self.start, on_exit=self.stop
+        )
+        self.state_machine: "StateMachine" = state_machine
+        self.logger = logging.getLogger("state_machine")
+        self.robot_status_thread: Optional[ThreadedRequest] = None
+
+    def start(self) -> None:
+        self.state_machine.update_state()
+        self._run()
+
+    def stop(self) -> None:
+        if self.robot_status_thread:
+            self.robot_status_thread.wait_for_thread()
+        self.robot_status_thread = None
+
+    def _run(self) -> None:
+        while True:
+            if not self.robot_status_thread:
+                self.robot_status_thread = ThreadedRequest(
+                    request_func=self.state_machine.robot.robot_status
+                )
+                self.robot_status_thread.start_thread(
+                    name="State Machine BlockedProtectiveStop Get Robot Status"
+                )
+
+            try:
+                robot_status: RobotStatus = self.robot_status_thread.get_output()
+            except ThreadedRequestNotFinishedError:
+                time.sleep(self.state_machine.sleep_time)
+                continue
+
+            except RobotException as e:
+                self.logger.error(
+                    f"Failed to get robot status because: {e.error_description}"
+                )
+
+            if robot_status != RobotStatus.BlockedProtectiveStop:
+                transition = self.state_machine.robot_protective_stop_disengaged  # type: ignore
+                break
+
+            self.robot_status_thread = None
+            time.sleep(settings.ROBOT_API_STATUS_POLL_INTERVAL)
+
+        transition()

isar/state_machine/states/idle.py

@@ -24,6 +24,7 @@ class Idle(State):
         self.logger = logging.getLogger("state_machine")
         self.robot_status_thread: Optional[ThreadedRequest] = None
         self.last_robot_status_poll_time: float = time.time()
+        self.status_checked_at_least_once: bool = False
 
     def start(self) -> None:
         self.state_machine.update_state()
@@ -33,8 +34,12 @@ class Idle(State):
         if self.robot_status_thread:
             self.robot_status_thread.wait_for_thread()
         self.robot_status_thread = None
+        self.status_checked_at_least_once = False
 
     def _is_ready_to_poll_for_status(self) -> bool:
+        if not self.status_checked_at_least_once:
+            return True
+
         time_since_last_robot_status_poll = (
             time.time() - self.last_robot_status_poll_time
         )
@@ -47,17 +52,19 @@ class Idle(State):
             if self.state_machine.should_stop_mission():
                 transition = self.state_machine.stop  # type: ignore
                 break
-            start_mission: Optional[StartMissionMessage] = (
-                self.state_machine.should_start_mission()
-            )
-            if start_mission:
-                self.state_machine.start_mission(
-                    mission=start_mission.mission,
-                    initial_pose=start_mission.initial_pose,
+
+            if self.status_checked_at_least_once:
+                start_mission: Optional[StartMissionMessage] = (
+                    self.state_machine.should_start_mission()
                 )
-                transition = self.state_machine.mission_started  # type: ignore
-                break
-            time.sleep(self.state_machine.sleep_time)
+                if start_mission:
+                    self.state_machine.start_mission(
+                        mission=start_mission.mission,
+                        initial_pose=start_mission.initial_pose,
+                    )
+                    transition = self.state_machine.mission_started  # type: ignore
+                    break
+                time.sleep(self.state_machine.sleep_time)
 
             if not self._is_ready_to_poll_for_status():
                 continue
@@ -72,6 +79,7 @@ class Idle(State):
 
             try:
                 robot_status: RobotStatus = self.robot_status_thread.get_output()
+                self.status_checked_at_least_once = True
             except ThreadedRequestNotFinishedError:
                 time.sleep(self.state_machine.sleep_time)
                 continue
@@ -86,6 +94,9 @@ class Idle(State):
             if robot_status == RobotStatus.Offline:
                 transition = self.state_machine.robot_turned_offline  # type: ignore
                 break
+            elif robot_status == RobotStatus.BlockedProtectiveStop:
+                transition = self.state_machine.robot_protective_stop_engaged  # type: ignore
+                break
 
             self.robot_status_thread = None
 

isar/state_machine/states/monitor.py

@@ -87,7 +87,7 @@ class Monitor(State):
                     )
                     status = TaskStatus.Failed
                 else:
-                    time.sleep(self.state_machine.sleep_time)
+                    time.sleep(settings.REQUEST_STATUS_COMMUNICATION_RECONNECT_DELAY)
                     continue
 
             except RobotTaskStatusException as e:

isar/state_machine/states_enum.py

@@ -10,6 +10,7 @@ class States(str, Enum):
     Paused = "paused"
     Stop = "stop"
     Offline = "offline"
+    BlockedProtectiveStop = "blocked_protective_stop"
 
     def __repr__(self):
         return self.value

isar/storage/uploader.py

@@ -13,6 +13,7 @@ from isar.storage.storage_interface import StorageException, StorageInterface
 from robot_interface.models.inspection.inspection import Inspection
 from robot_interface.models.mission.mission import Mission
 from robot_interface.telemetry.mqtt_client import MqttClientInterface
+from robot_interface.telemetry.payloads import InspectionResultPayload
 from robot_interface.utilities.json_service import EnhancedJSONEncoder
 
 
@@ -149,21 +150,19 @@ class Uploader:
         """
         if not self.mqtt_publisher:
             return
-        payload: str = json.dumps(
-            {
-                "isar_id": settings.ISAR_ID,
-                "robot_name": settings.ROBOT_NAME,
-                "inspection_id": inspection.id,
-                "inspection_path": inspection_path,
-                "installation_code": settings.PLANT_SHORT_NAME,
-                "analysis_to_be_run": inspection.metadata.analysis_type,
-                "timestamp": datetime.now(timezone.utc),
-            },
-            cls=EnhancedJSONEncoder,
+
+        payload: InspectionResultPayload = InspectionResultPayload(
+            isar_id=settings.ISAR_ID,
+            robot_name=settings.ROBOT_NAME,
+            inspection_id=inspection.id,
+            inspection_path=inspection_path,
+            installation_code=settings.PLANT_SHORT_NAME,
+            analysis_to_be_run=inspection.metadata.analysis_type,
+            timestamp=datetime.now(timezone.utc),
         )
         self.mqtt_publisher.publish(
             topic=settings.TOPIC_ISAR_INSPECTION_RESULT,
-            payload=payload,
+            payload=json.dumps(payload, cls=EnhancedJSONEncoder),
             qos=1,
             retain=True,
         )

{isar-1.25.3.dist-info → isar-1.25.5.dist-info}/METADATA

@@ -1,6 +1,6 @@
-Metadata-Version: 2.1
+Metadata-Version: 2.2
 Name: isar
-Version: 1.25.3
+Version: 1.25.5
 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-1.25.3.dist-info → isar-1.25.5.dist-info}/RECORD

@@ -1,11 +1,11 @@
 isar/__init__.py,sha256=cH8p8bVveu3FUL6kBhldcSlLaoHgD82Kd0-SwSNfGXw,87
 isar/modules.py,sha256=BeBg2kJi1q-7DzupOM3jFloeMScRk7qkNog9-yGwV5c,7355
-isar/script.py,sha256=MRC_w1kzWuutE9C7QNVtPhKbsld-uWKiMrcUWufiNzQ,5988
+isar/script.py,sha256=C9u5jIYXpnH8JuEqTSPfbuvZiSi3O9SjnvzHV-AtDbM,5988
 isar/apis/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/apis/api.py,sha256=vUy7QbHrKcTHjh2rkU7lqQPkCasI6umha8r6H88JiXE,13942
 isar/apis/models/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/apis/models/models.py,sha256=HzLaWhjAv0uJRBWipIgYg_F75eaQ5jl9Pi4UnYbDJ-M,1749
-isar/apis/models/start_mission_definition.py,sha256=yaWICdWJrCYFIm5Aq1K3BVxD9oyVuXYaaY9hJG2aoVY,8820
+isar/apis/models/start_mission_definition.py,sha256=kctM1kaK3a8z3Sd307QPZO9T_0OpDGQeGQVjOo49pCc,8775
 isar/apis/robot_control/robot_controller.py,sha256=w0giQf8k1TCL_J_kAcBB8Tgk02laWDCiDiFE8E5sPrg,915
 isar/apis/schedule/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/apis/schedule/scheduling_controller.py,sha256=9S7OtFCfO0hR9gWtj2u2oqa2Hxj9ynpcXxgqdk5liQ4,11328
@@ -16,7 +16,7 @@ isar/config/configuration_error.py,sha256=rO6WOhafX6xvVib8WxV-eY483Z0PpN-9PxGsq5
 isar/config/log.py,sha256=zHFLmGWQRn8TrcsxUS6KHpJt2JE86kYazU7b-bkcN9o,2285
 isar/config/logging.conf,sha256=mYO1xf27gAopEMHhGzY7-mwyfN16rwRLkPNMvy3zn2g,1127
 isar/config/settings.env,sha256=hJFfyl4S84nmcyf70Pz8nbGlPf4KTVx0UkgP3uf6T8E,534
-isar/config/settings.py,sha256=NdFZSRTEeULulvU8tX904YblUFxZPwQpLu1opA5hbNE,12998
+isar/config/settings.py,sha256=1yKab8R_3x-fd296_GolULsQBcarWdvO2gdMnZChr-s,13175
 isar/config/certs/ca-cert.pem,sha256=qoNljfad_qcMxhXJIUMLd7nT-Qwf_d4dYSdoOFEOE8I,2179
 isar/config/keyvault/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/config/keyvault/keyvault_error.py,sha256=zvPCsZLjboxsxthYkxpRERCTFxYV8R5WmACewAUQLwk,41
@@ -65,13 +65,14 @@ isar/services/utilities/robot_utilities.py,sha256=4-ob4kcIiRN_GXFDBMwBadfbwpYqKE
 isar/services/utilities/scheduling_utilities.py,sha256=xQ1UqxxTRk2VpTVj7mL_ux9xqoaiSd45W7VAPmpXSfU,8509
 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=xACcd64parrom84vqZvofNdGoPWRi6drHxI3CIxQHrY,22067
-isar/state_machine/states_enum.py,sha256=BlrUcBWkM5K6D_UZXRwTaUgGpAagWmVZH6HhDBGzVU4,278
+isar/state_machine/state_machine.py,sha256=hZCxG6WuZYtgErohRWIamebEoqAczcOacCqqVyUWy8E,22994
+isar/state_machine/states_enum.py,sha256=GrX2dzVXsyI9vXxIgd7DpOP8V1nhXQS4Jym5z69acHY,332
 isar/state_machine/states/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/state_machine/states/idle.py,sha256=YKTOPVJUTGp-XR3N8FSm1s5ol3zoTmGs0THUMiO5h6A,3298
+isar/state_machine/states/blocked_protective_stop.py,sha256=FNOarwHzkUfRllyxltXSu7W_nXAxpqDhz9PIo6wxE1o,2259
+isar/state_machine/states/idle.py,sha256=96CZCpBBPAZE_szF0UoPh6tBRsDn3FYII8bZ_cBFGuw,3815
 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=03h8OHFQ00_BuR_M7FOVeA4h_lJE2L1x37t0SyGZoX8,10285
+isar/state_machine/states/monitor.py,sha256=yQORqROd8jt86T2gPXzw1hGLwhO6IQBRuzf7DzPhVU4,10309
 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
@@ -81,35 +82,35 @@ isar/storage/blob_storage.py,sha256=L885tgwHeeIp8raIz20Hhbc1IMsQP0wK6HOX9I4sZlw,
 isar/storage/local_storage.py,sha256=Bnmoi5gyN8r-oRh0aHrOdGqaH3JqRScFKMRXYojW5kY,1855
 isar/storage/slimm_storage.py,sha256=iVtc7w_VPFoe0fWyPpI9kjau3C1rn7w2n5EJaqloFIU,8991
 isar/storage/storage_interface.py,sha256=DYDry4I7aZpDHJhsBF6s8zrgokFAc7fdKJKfA8AvL7o,828
-isar/storage/uploader.py,sha256=ztcxDFCUxGu2mkRasB_3mxG-CNBp2RfGqczEEYR4gks,6516
+isar/storage/uploader.py,sha256=LrbGlAGoqspWtSjmZcfvbRL3_khCnLWwa64XhqUrsr4,6543
 isar/storage/utilities.py,sha256=fitsdQ1ox5gr9fk9VuSk_iTBiEAIS8NZAnHabUZORh0,3173
 robot_interface/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/robot_interface.py,sha256=UEhzAj1kXOdyYiWjz8zxEo5BHMHRE-ZHalPFfv-qBfw,9697
 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
-robot_interface/models/exceptions/robot_exceptions.py,sha256=7s9X7GaQVhQiTnXLi-a51qRUX9CU7F4rEUMoRBiWF_I,10548
+robot_interface/models/exceptions/robot_exceptions.py,sha256=DvhH0FxW_7HSLZc43rlF34_lZnb5AY8hx3k9ZkPq7WM,10432
 robot_interface/models/initialize/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/models/initialize/initialize_params.py,sha256=2eG5Aq5bDKU6tVkaUMAoc46GERBgyaKkqv6yLupdRLc,164
 robot_interface/models/inspection/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 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=QZBDQiOmpb4C7nNCf1PaCWwpvAc8jrhwHSznOe2YhX8,842
-robot_interface/models/mission/status.py,sha256=C_viZWNTYOncWCdurx7Pko_D9d595QmHuJZBT8YMHUg,724
+robot_interface/models/mission/status.py,sha256=48y8HEiT7QQbMLBUBYxXR92iZOrnBOukPZ7o09CCR1Q,686
 robot_interface/models/mission/task.py,sha256=dk_CYaABD9WxQswd1xX3D5AHpcXwREwnloREEg1JbI0,4980
 robot_interface/models/robots/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-robot_interface/models/robots/battery_state.py,sha256=BuZcgC3NaHDU-2WrjZBER2Ps96CnLy3vE2P4v4NajN4,108
-robot_interface/models/robots/media.py,sha256=Bo6XisTND9MOsxvJe6mWtKumFCpX6pbEBzEnAKpoIpU,232
-robot_interface/models/robots/robot_model.py,sha256=pZQsqhn9hh6XE3EjMZhWMzYqg5oJ4CJ4CXeOASKvEf8,452
+robot_interface/models/robots/battery_state.py,sha256=ktOtJ8ltdK0k_i7BoqYfhc5dbOzIG6Oo-uWC67fCWio,98
+robot_interface/models/robots/media.py,sha256=8A-CuuubfngzPprs6zWB9hSaqe3jzgsE8rcCzRX2Uto,227
+robot_interface/models/robots/robot_model.py,sha256=-0jNKWPcEgtF_2klb1It3u0SCoAR0hSW9nce58Zq0Co,417
 robot_interface/telemetry/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/telemetry/mqtt_client.py,sha256=DkzYZNWFaJkG3AVc0dM4Bj52hZEQj-14Q75zqzQcv9A,2988
-robot_interface/telemetry/payloads.py,sha256=WMR4VtL-K0JmUA22OcCaZ_RJwT5X2UfcLuwSNg9Skno,1580
+robot_interface/telemetry/payloads.py,sha256=_Ph2f1M5f18fTJ7Jrd3JCeXhfZzg6i3THlFrbAt2DJA,2329
 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-1.25.3.dist-info/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
-isar-1.25.3.dist-info/METADATA,sha256=vr0jDbMJpedOe28_CMWh5-5aEPkbjEKhBQh61sdPFa0,30578
-isar-1.25.3.dist-info/WHEEL,sha256=PZUExdf71Ui_so67QXpySuHtCi3-J3wvF4ORK6k_S8U,91
-isar-1.25.3.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
-isar-1.25.3.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
-isar-1.25.3.dist-info/RECORD,,
+isar-1.25.5.dist-info/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar-1.25.5.dist-info/METADATA,sha256=I23_1dDDBsHf1UegjEmUQCvU8oAWjFloe5eXWVDZndU,30578
+isar-1.25.5.dist-info/WHEEL,sha256=In9FTNxeP60KnTkGw7wk6mJPYd_dQSjEZmXdBdMCI-8,91
+isar-1.25.5.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.25.5.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.25.5.dist-info/RECORD,,

{isar-1.25.3.dist-info → isar-1.25.5.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (75.6.0)
+Generator: setuptools (75.8.0)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

robot_interface/models/exceptions/robot_exceptions.py

@@ -4,28 +4,26 @@ from typing import Optional
 
 
 class ErrorReason(str, Enum):
-    RobotCommunicationException: str = "robot_communication_exception"
-    RobotCommunicationTimeoutException: str = "robot_communication_timeout_exception"
-    RobotInfeasibleTaskException: str = "robot_infeasible_step_exception"
-    RobotInfeasibleMissionException: str = "robot_infeasible_mission_exception"
-    RobotMissionStatusException: str = "robot_mission_status_exception"
-    RobotTaskStatusException: str = "robot_task_status_exception"
-    RobotAPIException: str = "robot_api_exception"
-    RobotActionException: str = "robot_action_exception"
-    RobotInitializeException: str = "robot_initialize_exception"
-    RobotRetrieveDataException: str = "robot_retrieve_data_exception"
-    RobotRetrieveInspectionException: str = "robot_retrieve_inspection_exception"
-    RobotTelemetryException: str = "robot_telemetry_exception"
-    RobotTelemetryNoUpdateException: str = "robot_telemetry_no_update_exception"
-    RobotTelemetryPoseException: str = "robot_telemetry_pose_exception"
-    RobotMapException: str = "robot_map_exception"
-    RobotTransformException: str = "robot_transform_exception"
-    RobotUnknownErrorException: str = "robot_unknown_error_exception"
-    RobotDisconnectedException: str = "robot_disconnected_exception"
-    RobotMissionNotSupportedException: str = "robot_mission_not_supported_exception"
-    RobotMissionMissingStartPoseException: str = (
-        "robot_mission_missing_start_pose_exception"
-    )
+    RobotCommunicationException = "robot_communication_exception"
+    RobotCommunicationTimeoutException = "robot_communication_timeout_exception"
+    RobotInfeasibleTaskException = "robot_infeasible_task_exception"
+    RobotInfeasibleMissionException = "robot_infeasible_mission_exception"
+    RobotMissionStatusException = "robot_mission_status_exception"
+    RobotTaskStatusException = "robot_task_status_exception"
+    RobotAPIException = "robot_api_exception"
+    RobotActionException = "robot_action_exception"
+    RobotInitializeException = "robot_initialize_exception"
+    RobotRetrieveDataException = "robot_retrieve_data_exception"
+    RobotRetrieveInspectionException = "robot_retrieve_inspection_exception"
+    RobotTelemetryException = "robot_telemetry_exception"
+    RobotTelemetryNoUpdateException = "robot_telemetry_no_update_exception"
+    RobotTelemetryPoseException = "robot_telemetry_pose_exception"
+    RobotMapException = "robot_map_exception"
+    RobotTransformException = "robot_transform_exception"
+    RobotUnknownErrorException = "robot_unknown_error_exception"
+    RobotDisconnectedException = "robot_disconnected_exception"
+    RobotMissionNotSupportedException = "robot_mission_not_supported_exception"
+    RobotMissionMissingStartPoseException = "robot_mission_missing_start_pose_exception"
 
 
 @dataclass

robot_interface/models/mission/status.py

@@ -2,27 +2,28 @@ from enum import Enum
 
 
 class MissionStatus(str, Enum):
-    NotStarted: str = "not_started"
-    InProgress: str = "in_progress"
-    Paused: str = "paused"
-    Failed: str = "failed"
-    Cancelled: str = "cancelled"
-    Successful: str = "successful"
-    PartiallySuccessful: str = "partially_successful"
+    NotStarted = "not_started"
+    InProgress = "in_progress"
+    Paused = "paused"
+    Failed = "failed"
+    Cancelled = "cancelled"
+    Successful = "successful"
+    PartiallySuccessful = "partially_successful"
 
 
 class TaskStatus(str, Enum):
-    NotStarted: str = "not_started"
-    InProgress: str = "in_progress"
-    Paused: str = "paused"
-    Failed: str = "failed"
-    Cancelled: str = "cancelled"
-    Successful: str = "successful"
-    PartiallySuccessful: str = "partially_successful"
+    NotStarted = "not_started"
+    InProgress = "in_progress"
+    Paused = "paused"
+    Failed = "failed"
+    Cancelled = "cancelled"
+    Successful = "successful"
+    PartiallySuccessful = "partially_successful"
 
 
 class RobotStatus(Enum):
-    Available: str = "available"
-    Busy: str = "busy"
-    Offline: str = "offline"
-    Blocked: str = "blocked"
+    Available = "available"
+    Busy = "busy"
+    Offline = "offline"
+    Blocked = "blocked"
+    BlockedProtectiveStop = "blockedprotectivestop"

robot_interface/models/robots/battery_state.py

@@ -2,5 +2,5 @@ from enum import Enum
 
 
 class BatteryState(Enum):
-    Normal: str = "Normal"
-    Charging: str = "Charging"
+    Normal = "Normal"
+    Charging = "Charging"

robot_interface/models/robots/media.py

@@ -3,7 +3,7 @@ from enum import Enum
 
 
 class MediaConnectionType(str, Enum):
-    LiveKit: str = "LiveKit"
+    LiveKit = "LiveKit"
 
 
 @dataclass

robot_interface/models/robots/robot_model.py

@@ -4,10 +4,10 @@ from enum import Enum
 # Did you write your own isar-robot package and would like to have it included here?
 # Open a pull request to the ISAR repository!
 class RobotModel(Enum):
-    TaurobInspector: str = "TaurobInspector"
-    TaurobOperator: str = "TaurobOperator"
-    ExR2: str = "ExR2"
-    Robot: str = "Robot"  # This corresponds to the mock in isar_robot
-    Turtlebot: str = "Turtlebot"
-    AnymalX: str = "AnymalX"
-    AnymalD: str = "AnymalD"
+    TaurobInspector = "TaurobInspector"
+    TaurobOperator = "TaurobOperator"
+    ExR2 = "ExR2"
+    Robot = "Robot"  # This corresponds to the mock in isar_robot
+    Turtlebot = "Turtlebot"
+    AnymalX = "AnymalX"
+    AnymalD = "AnymalD"

robot_interface/telemetry/payloads.py

@@ -1,12 +1,13 @@
 from dataclasses import dataclass
 from datetime import datetime
-from typing import List, Optional
+from typing import List, Optional, Union
 
 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
+from robot_interface.models.mission.status import RobotStatus, MissionStatus, TaskStatus
+from robot_interface.models.mission.task import TaskTypes
+from robot_interface.models.exceptions.robot_exceptions import ErrorReason
 
 
 @dataclass
@@ -54,12 +55,7 @@ class DocumentInfo:
 class RobotStatusPayload:
     isar_id: str
     robot_name: str
-    robot_status: RobotStatus
-    previous_robot_status: RobotStatus
-    current_isar_state: State
-    current_mission_id: str
-    current_task_id: str
-    current_step_id: str
+    status: RobotStatus
     timestamp: datetime
 
 
@@ -82,3 +78,38 @@ class RobotHeartbeatPayload:
     isar_id: str
     robot_name: str
     timestamp: datetime
+
+
+@dataclass
+class MissionPayload:
+    isar_id: str
+    robot_name: str
+    mission_id: Optional[str]
+    status: Optional[MissionStatus]
+    error_reason: Optional[ErrorReason]
+    error_description: Optional[str]
+    timestamp: datetime
+
+
+@dataclass
+class TaskPayload:
+    isar_id: str
+    robot_name: str
+    mission_id: Optional[str]
+    task_id: Optional[str]
+    status: Optional[TaskStatus]
+    task_type: Optional[TaskTypes]
+    error_reason: Optional[ErrorReason]
+    error_description: Optional[str]
+    timestamp: datetime
+
+
+@dataclass
+class InspectionResultPayload:
+    isar_id: str
+    robot_name: str
+    inspection_id: str
+    inspection_path: Union[str, dict]
+    installation_code: str
+    analysis_to_be_run: Optional[str]
+    timestamp: datetime