isar 1.25.7__py3-none-any.whl → 1.25.9__py3-none-any.whl

isar/apis/api.py

@@ -212,44 +212,6 @@ class API:
                 },
             },
         )
-        router.add_api_route(
-            path="/schedule/drive-to",
-            endpoint=self.scheduling_controller.drive_to,
-            methods=["POST"],
-            dependencies=[authentication_dependency],
-            summary="Drive to the provided pose",
-            deprecated=True,
-            responses={
-                HTTPStatus.OK.value: {
-                    "description": "Drive to succesfully started",
-                },
-                HTTPStatus.CONFLICT.value: {
-                    "description": "Conflict - Invalid command in the current state",
-                },
-                HTTPStatus.INTERNAL_SERVER_ERROR.value: {
-                    "description": "Internal Server Error - Current state of state machine unknown",
-                },
-            },
-        )
-        router.add_api_route(
-            path="/schedule/start-localization-mission",
-            endpoint=self.scheduling_controller.start_localization_mission,
-            methods=["POST"],
-            dependencies=[authentication_dependency],
-            summary="Localize at the provided pose",
-            deprecated=True,
-            responses={
-                HTTPStatus.OK.value: {
-                    "description": "Localization succesfully started",
-                },
-                HTTPStatus.CONFLICT.value: {
-                    "description": "Conflict - Invalid command in the current state",
-                },
-                HTTPStatus.INTERNAL_SERVER_ERROR.value: {
-                    "description": "Internal Server Error - Current state of state machine unknown",
-                },
-            },
-        )
         router.add_api_route(
             path="/schedule/move_arm/{arm_pose_literal}",
             endpoint=self.scheduling_controller.start_move_arm_mission,

isar/apis/models/start_mission_definition.py

@@ -10,8 +10,6 @@ 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,
@@ -34,9 +32,7 @@ class InspectionTypes(str, Enum):
 
 class TaskType(str, Enum):
     Inspection = "inspection"
-    Localization = "localization"
     ReturnToHome = "return_to_home"
-    Dock = "dock"
 
 
 class StartMissionInspectionDefinition(BaseModel):
@@ -60,8 +56,6 @@ 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(
@@ -94,20 +88,14 @@ def to_isar_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"
@@ -231,19 +219,11 @@ def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
         )
 
 
-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/apis/schedule/scheduling_controller.py

@@ -24,7 +24,6 @@ from robot_interface.models.mission.mission import Mission
 from robot_interface.models.mission.task import (
     TASKS,
     InspectionTask,
-    Localize,
     MoveArm,
     ReturnToHome,
 )
@@ -203,60 +202,6 @@ class SchedulingController:
         )
         return stop_mission_response
 
-    def drive_to(
-        self,
-        target_pose: InputPose = Body(
-            default=None,
-            title="Target Pose",
-            description="The target pose for the drive_to task",
-        ),
-    ) -> StartMissionResponse:
-        self.logger.info("Received request to start new drive-to mission")
-
-        state: States = self.scheduling_utilities.get_state()
-
-        self.scheduling_utilities.verify_state_machine_ready_to_receive_mission(state)
-
-        pose: Pose = target_pose.to_alitra_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}'"
-        )
-        self.scheduling_utilities.start_mission(mission=mission, initial_pose=None)
-        return self._api_response(mission)
-
-    def start_localization_mission(
-        self,
-        localization_pose: InputPose = Body(
-            default=None,
-            embed=True,
-            title="Localization Pose",
-            description="The current position of the robot",
-        ),
-    ) -> StartMissionResponse:
-        self.logger.info("Received request to start new localization mission")
-
-        state: States = self.scheduling_utilities.get_state()
-
-        self.scheduling_utilities.verify_state_machine_ready_to_receive_mission(state)
-
-        pose: Pose = localization_pose.to_alitra_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}'"
-        )
-        self.scheduling_utilities.start_mission(
-            mission=mission,
-            initial_pose=None,
-        )
-        return self._api_response(mission)
-
     def start_move_arm_mission(
         self,
         arm_pose_literal: str = Path(

isar/state_machine/state_machine.py

@@ -29,7 +29,6 @@ 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
 from robot_interface.models.mission.mission import Mission
 from robot_interface.models.mission.status import MissionStatus, RobotStatus, TaskStatus
 from robot_interface.models.mission.task import TASKS
@@ -389,9 +388,6 @@ class StateMachine(object):
 
         self.task_selector.initialize(tasks=self.current_mission.tasks)
 
-    def get_initialize_params(self):
-        return InitializeParams(initial_pose=self.initial_pose)
-
     def should_start_mission(self) -> Optional[StartMissionMessage]:
         try:
             return self.queues.start_mission.input.get(block=False)

isar/state_machine/states/initialize.py

@@ -45,8 +45,7 @@ class Initialize(State):
                     self.state_machine.robot.initialize
                 )
                 self.initialize_thread.start_thread(
-                    self.state_machine.get_initialize_params(),
-                    name="State Machine Initialize Robot",
+                    name="State Machine Initialize Robot"
                 )
 
             try:

{isar-1.25.7.dist-info → isar-1.25.9.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: isar
-Version: 1.25.7
+Version: 1.25.9
 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-1.25.7.dist-info → isar-1.25.9.dist-info}/RECORD

@@ -2,13 +2,13 @@ isar/__init__.py,sha256=cH8p8bVveu3FUL6kBhldcSlLaoHgD82Kd0-SwSNfGXw,87
 isar/modules.py,sha256=BeBg2kJi1q-7DzupOM3jFloeMScRk7qkNog9-yGwV5c,7355
 isar/script.py,sha256=AHt1azidHit-fX3NnoXxJ5Eas-c30J3hFFOGGVrg084,5916
 isar/apis/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/apis/api.py,sha256=OH-E2L8ykqbO1eDPFAgR7P-xJielhy9zKfrQs4Q85kE,14247
+isar/apis/api.py,sha256=ARf7-GsjTSqWj9UOSiEJ1YnSF-fH7Tr0-mkkfL10MZ4,12620
 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=QlL3iXnA1LyeyygA2yUw6FDxG9_30vPRVjTVwjcHyH4,9358
+isar/apis/models/start_mission_definition.py,sha256=g9sgXu4RntckDQ87hi-hDTpgzojhJyxAJJGjEvmfg1g,8636
 isar/apis/robot_control/robot_controller.py,sha256=o3WuEV30nduIiKF4pK6oNLUsmHyFal9--umjuDHx7h0,1150
 isar/apis/schedule/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/apis/schedule/scheduling_controller.py,sha256=9S7OtFCfO0hR9gWtj2u2oqa2Hxj9ynpcXxgqdk5liQ4,11328
+isar/apis/schedule/scheduling_controller.py,sha256=1ipvPxZWl32TDxFY65ldUdDCvJfhgYxFEQv4eWayFCg,9461
 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
@@ -65,12 +65,12 @@ 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=fv2IWDqWmlJyid6o2s_8sK3ADW7LZIWXs9HSc0WhmCA,20110
+isar/state_machine/state_machine.py,sha256=448eXXqgcFCVIRbWPQE615-0BF8SaPiRCBmsnwLr8f0,19927
 isar/state_machine/states_enum.py,sha256=GrX2dzVXsyI9vXxIgd7DpOP8V1nhXQS4Jym5z69acHY,332
 isar/state_machine/states/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 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/initialize.py,sha256=YFFA5D3IdhuMBjFYai5f-Z2DexyrFs9wg6AxjqHdu28,2294
 isar/state_machine/states/initiate.py,sha256=xtKopnU5Ug_0PAV3yFm0v8O7DCa5CwGE4vN_7qahA0A,4139
 isar/state_machine/states/monitor.py,sha256=5BpEO-yzVE_yJc6POdvcECOXyQDXMiijVry4C0s6tIw,9759
 isar/state_machine/states/off.py,sha256=jjqN_oJMpBtWuY7hP-c9f0w3p2CYCfe-NpmYHHPnmyI,544
@@ -85,19 +85,18 @@ isar/storage/storage_interface.py,sha256=DYDry4I7aZpDHJhsBF6s8zrgokFAc7fdKJKfA8A
 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=iNDjvmJALhffyMdxMKqmpIkfoVI_f5mauj9ghz-2Poc,8965
+robot_interface/robot_interface.py,sha256=Bkk-joyIzRHxv8iZt7FLPFnlE8chlJad9vgjwc-fDkw,8786
 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=DvhH0FxW_7HSLZc43rlF34_lZnb5AY8hx3k9ZkPq7WM,10432
+robot_interface/models/exceptions/robot_exceptions.py,sha256=u0vK1ny5UTX6767n0xeFLdLGL0ZbqiiBYuo6WgvVrnY,9436
 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=Q8vyiTMV2Ws1B4N10kQ3C1AZkck0Mh5pwOyWux7OQms,2318
 robot_interface/models/mission/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-robot_interface/models/mission/mission.py,sha256=QZBDQiOmpb4C7nNCf1PaCWwpvAc8jrhwHSznOe2YhX8,842
+robot_interface/models/mission/mission.py,sha256=GR_X9-dIf-15oogfv_c6JNIKnTIk5u80rWLNUk95xm0,738
 robot_interface/models/mission/status.py,sha256=48y8HEiT7QQbMLBUBYxXR92iZOrnBOukPZ7o09CCR1Q,686
-robot_interface/models/mission/task.py,sha256=8qyobH4DJRlqdwt4lwo1k6zGexh-ccJjF7106WwJsnI,5431
+robot_interface/models/mission/task.py,sha256=XDbckORORBLuokHm1OQlPPqB6vygsMZEuPTm0rYP9Js,4896
 robot_interface/models/robots/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/models/robots/battery_state.py,sha256=ktOtJ8ltdK0k_i7BoqYfhc5dbOzIG6Oo-uWC67fCWio,98
 robot_interface/models/robots/media.py,sha256=8A-CuuubfngzPprs6zWB9hSaqe3jzgsE8rcCzRX2Uto,227
@@ -108,9 +107,9 @@ robot_interface/telemetry/payloads.py,sha256=_Ph2f1M5f18fTJ7Jrd3JCeXhfZzg6i3THlF
 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-1.25.7.dist-info/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
-isar-1.25.7.dist-info/METADATA,sha256=ZiBfMORyNRsG_yt-gr4V0D_AmHOPksWV7LlNtRdKljY,30578
-isar-1.25.7.dist-info/WHEEL,sha256=In9FTNxeP60KnTkGw7wk6mJPYd_dQSjEZmXdBdMCI-8,91
-isar-1.25.7.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
-isar-1.25.7.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
-isar-1.25.7.dist-info/RECORD,,
+isar-1.25.9.dist-info/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
+isar-1.25.9.dist-info/METADATA,sha256=MCqYfN39-BbsF6lb9IGHXkQPX2gwf_CvIAh3rnHupjw,30578
+isar-1.25.9.dist-info/WHEEL,sha256=In9FTNxeP60KnTkGw7wk6mJPYd_dQSjEZmXdBdMCI-8,91
+isar-1.25.9.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.25.9.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.25.9.dist-info/RECORD,,

robot_interface/models/exceptions/robot_exceptions.py

@@ -22,8 +22,6 @@ class ErrorReason(str, Enum):
     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
@@ -259,25 +257,3 @@ class RobotDisconnectedException(RobotException):
         )
 
     pass
-
-
-# An exception which should be thrown by the robot package if the robot is given a mission type it cannot run, such as a localisation mission
-class RobotMissionNotSupportedException(RobotException):
-    def __init__(self, error_description: str) -> None:
-        super().__init__(
-            error_reason=ErrorReason.RobotMissionNotSupportedException,
-            error_description=error_description,
-        )
-
-    pass
-
-
-# An exception which should be thrown by the robot package if the mission is missing start pose and it needed it
-class RobotMissionMissingStartPoseException(RobotException):
-    def __init__(self, error_description: str) -> None:
-        super().__init__(
-            error_reason=ErrorReason.RobotMissionMissingStartPoseException,
-            error_description=error_description,
-        )
-
-    pass

robot_interface/models/mission/mission.py

@@ -14,7 +14,5 @@ class Mission(BaseModel):
     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)

robot_interface/models/mission/task.py

@@ -20,7 +20,6 @@ from robot_interface.utilities.uuid_string_factory import uuid4_string
 
 class TaskTypes(str, Enum):
     ReturnToHome = "return_to_home"
-    Localize = "localize"
     MoveArm = "move_arm"
     TakeImage = "take_image"
     TakeThermalImage = "take_thermal_image"
@@ -28,7 +27,6 @@ class TaskTypes(str, Enum):
     TakeThermalVideo = "take_thermal_video"
     TakeGasMeasurement = "take_gas_measurement"
     RecordAudio = "record_audio"
-    DockingProcedure = "docking_procedure"
 
 
 class ZoomDescription(BaseModel):
@@ -71,15 +69,6 @@ class InspectionTask(Task):
         return Inspection
 
 
-class DockingProcedure(Task):
-    """
-    Task which causes the robot to dock or undock
-    """
-
-    behavior: Literal["dock", "undock"] = Field(default=None)
-    type: Literal[TaskTypes.DockingProcedure] = TaskTypes.DockingProcedure
-
-
 class ReturnToHome(Task):
     """
     Task which cases the robot to return home
@@ -89,15 +78,6 @@ class ReturnToHome(Task):
     type: Literal[TaskTypes.ReturnToHome] = TaskTypes.ReturnToHome
 
 
-class Localize(Task):
-    """
-    Task which causes the robot to localize
-    """
-
-    localization_pose: Pose = Field(default=None)
-    type: Literal[TaskTypes.Localize] = TaskTypes.Localize
-
-
 class MoveArm(Task):
     """
     Task which causes the robot to move its arm
@@ -197,7 +177,6 @@ class TakeGasMeasurement(InspectionTask):
 
 TASKS = Union[
     ReturnToHome,
-    Localize,
     MoveArm,
     TakeImage,
     TakeThermalImage,
@@ -205,5 +184,4 @@ TASKS = Union[
     TakeThermalVideo,
     TakeGasMeasurement,
     RecordAudio,
-    DockingProcedure,
 ]

robot_interface/robot_interface.py

@@ -3,7 +3,6 @@ from queue import Queue
 from threading import Thread
 from typing import Callable, List, Optional
 
-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
@@ -186,15 +185,11 @@ class RobotInterface(metaclass=ABCMeta):
         raise NotImplementedError
 
     @abstractmethod
-    def initialize(self, params: InitializeParams) -> None:
+    def initialize(self) -> None:
         """Initializes the robot. The initialization needed is robot dependent and the
         function can be a simple return statement if no initialization is needed for the
         robot.
 
-        Parameters
-        ----------
-        params: InitializeParams
-
         Returns
         -------
         None

robot_interface/models/initialize/initialize_params.py

@@ -1,9 +0,0 @@
-from dataclasses import dataclass
-from typing import Optional
-
-from alitra import Pose
-
-
-@dataclass
-class InitializeParams:
-    initial_pose: Optional[Pose] = None