isar 1.25.7__tar.gz → 1.25.9__tar.gz

{isar-1.25.7 → isar-1.25.9}/PKG-INFO

@@ -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 → isar-1.25.9}/src/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-1.25.7 → isar-1.25.9}/src/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-1.25.7 → isar-1.25.9}/src/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-1.25.7 → isar-1.25.9}/src/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-1.25.7 → isar-1.25.9}/src/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 → isar-1.25.9}/src/isar.egg-info/PKG-INFO

@@ -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 → isar-1.25.9}/src/isar.egg-info/SOURCES.txt

@@ -128,7 +128,6 @@ src/robot_interface/models/__init__.py
 src/robot_interface/models/exceptions/__init__.py
 src/robot_interface/models/exceptions/robot_exceptions.py
 src/robot_interface/models/initialize/__init__.py
-src/robot_interface/models/initialize/initialize_params.py
 src/robot_interface/models/inspection/__init__.py
 src/robot_interface/models/inspection/inspection.py
 src/robot_interface/models/mission/__init__.py

{isar-1.25.7 → isar-1.25.9}/src/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

{isar-1.25.7 → isar-1.25.9}/src/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)

{isar-1.25.7 → isar-1.25.9}/src/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,
 ]

{isar-1.25.7 → isar-1.25.9}/src/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

{isar-1.25.7 → isar-1.25.9}/tests/isar/apis/scheduler/test_scheduler_router.py

@@ -1,4 +1,3 @@
-import json
 import re
 from http import HTTPStatus
 from unittest import mock
@@ -242,33 +241,6 @@ class TestStopMission:
         assert response.status_code == HTTPStatus.INTERNAL_SERVER_ERROR
 
 
-class TestDriveTo:
-    schedule_drive_to_path = "/schedule/drive-to"
-    mock_target_pose = MockMissionDefinition.mock_input_pose
-    mock_data: str = json.dumps(jsonable_encoder(mock_target_pose))
-
-    @mock.patch.object(SchedulingUtilities, "get_state", mock_return_idle)
-    @mock.patch.object(SchedulingUtilities, "_send_command", mock_void)
-    def test_drive_to(self, client: TestClient):
-        response = client.post(url=self.schedule_drive_to_path, data=self.mock_data)
-        assert response.status_code == HTTPStatus.OK
-
-    @mock.patch.object(SchedulingUtilities, "get_state", mock_return_idle)
-    @mock.patch.object(SchedulingUtilities, "_send_command", mock_queue_timeout_error)
-    def test_drive_to_timeout(self, client: TestClient):
-        response = client.post(url=self.schedule_drive_to_path, data=self.mock_data)
-        assert response.status_code == HTTPStatus.INTERNAL_SERVER_ERROR
-        assert response.json() == {
-            "detail": "Internal Server Error - Failed to start mission in ISAR"
-        }
-
-    @mock.patch.object(SchedulingUtilities, "get_state", mock_return_monitor)
-    @mock.patch.object(SchedulingUtilities, "_send_command", mock_void)
-    def test_state_machine_in_conflicting_state(self, client: TestClient):
-        response = client.post(url=self.schedule_drive_to_path, data=self.mock_data)
-        assert response.status_code == HTTPStatus.CONFLICT
-
-
 class TestInfoRobotSettings:
     def test_info_robot_settings(self, client: TestClient):
         response = client.get(url="/info/robot-settings")

{isar-1.25.7 → isar-1.25.9}/tests/isar/apis/security/test_authentication.py

@@ -33,12 +33,6 @@ class TestAuthentication:
                 {"detail": "Unable to verify token, no signing keys found"},
                 HTTPStatus.UNAUTHORIZED,
             ),
-            (
-                "drive-to?x-value=1&y-value=2&z-value=3&quaternion=0&quaternion=0&quaternion=0&quaternion=1",  # noqa: E501
-                mock_access_token(),
-                {"detail": "Unable to verify token, no signing keys found"},
-                HTTPStatus.UNAUTHORIZED,
-            ),
         ],
     )
     def test_authentication(

{isar-1.25.7 → isar-1.25.9}/tests/mocks/robot_interface.py

@@ -5,7 +5,6 @@ from typing import Callable, List
 
 from alitra import Frame, Orientation, Pose, Position
 
-from robot_interface.models.initialize.initialize_params import InitializeParams
 from robot_interface.models.inspection.inspection import (
     Image,
     ImageMetadata,
@@ -74,7 +73,7 @@ class MockRobot(RobotInterface):
     ) -> None:
         return
 
-    def initialize(self, params: InitializeParams) -> None:
+    def initialize(self) -> None:
         return
 
     def get_telemetry_publishers(

isar-1.25.7/src/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