isar 1.25.9__py3-none-any.whl → 1.26.1__py3-none-any.whl

isar/apis/models/start_mission_definition.py

@@ -12,13 +12,14 @@ from robot_interface.models.mission.task import (
     TASKS,
     RecordAudio,
     ReturnToHome,
+    TakeGasMeasurement,
     TakeImage,
     TakeThermalImage,
     TakeThermalVideo,
     TakeVideo,
-    TakeGasMeasurement,
     ZoomDescription,
 )
+from robot_interface.utilities.uuid_string_factory import uuid4_string
 
 
 class InspectionTypes(str, Enum):
@@ -60,7 +61,6 @@ class StartMissionDefinition(BaseModel):
 
 def to_isar_mission(
     start_mission_definition: StartMissionDefinition,
-    return_pose: Optional[InputPose] = None,
 ) -> Mission:
     isar_tasks: List[TASKS] = []
 
@@ -68,17 +68,14 @@ def to_isar_mission(
         task: TASKS = to_isar_task(task_definition)
         isar_tasks.append(task)
 
-    if return_pose:
-        isar_tasks.append(ReturnToHome(pose=return_pose.to_alitra_pose()))
-
     if not isar_tasks:
         raise MissionPlannerError("Mission does not contain any valid tasks")
 
-    isar_mission_name: str
-    if start_mission_definition.name:
-        isar_mission_name = start_mission_definition.name
-    else:
-        isar_mission_name = _build_mission_name()
+    isar_mission_name: str = (
+        start_mission_definition.name
+        if start_mission_definition.name
+        else _build_mission_name()
+    )
 
     start_pose = None
     if start_mission_definition.start_pose:
@@ -106,113 +103,59 @@ def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
     inspection_definition = task_definition.inspection
 
     if inspection_definition.type == InspectionTypes.image:
-        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,
-            )
+        return TakeImage(
+            id=task_definition.id if task_definition.id else uuid4_string(),
+            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:
-        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,
-            )
+        return TakeVideo(
+            id=task_definition.id if task_definition.id else uuid4_string(),
+            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:
-        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,
-            )
+        return TakeThermalImage(
+            id=task_definition.id if task_definition.id else uuid4_string(),
+            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:
-        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,
-            )
+        return TakeThermalVideo(
+            id=task_definition.id if task_definition.id else uuid4_string(),
+            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:
-        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,
-            )
-        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,
-            )
+        return RecordAudio(
+            id=task_definition.id if task_definition.id else uuid4_string(),
+            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,
+        )
     elif inspection_definition.type == InspectionTypes.gas_measurement:
-        if task_definition.id:
-            return TakeGasMeasurement(
-                id=task_definition.id,
-                robot_pose=task_definition.pose.to_alitra_pose(),
-                tag_id=task_definition.tag,
-                metadata=task_definition.inspection.metadata,
-            )
-        else:
-            return TakeGasMeasurement(
-                robot_pose=task_definition.pose.to_alitra_pose(),
-                tag_id=task_definition.tag,
-                metadata=task_definition.inspection.metadata,
-            )
+        return TakeGasMeasurement(
+            id=task_definition.id if task_definition.id else uuid4_string(),
+            robot_pose=task_definition.pose.to_alitra_pose(),
+            tag_id=task_definition.tag,
+            metadata=task_definition.inspection.metadata,
+        )
     else:
         raise ValueError(
             f"Inspection type '{inspection_definition.type}' not supported"

isar/apis/robot_control/robot_controller.py

@@ -1,11 +1,12 @@
 import logging
 
+from fastapi import HTTPException
 from injector import inject
 
 from isar.apis.models.models import RobotInfoResponse
 from isar.config.settings import robot_settings, settings
 from isar.services.utilities.robot_utilities import RobotUtilities
-from fastapi import HTTPException
+from robot_interface.models.robots.media import MediaConfig
 
 
 class RobotController:
@@ -17,8 +18,8 @@ class RobotController:
         self.robot_utilities: RobotUtilities = robot_utilities
         self.logger = logging.getLogger("api")
 
-    def generate_media_config(self):
-        media_config = self.robot_utilities.generate_media_config()
+    def generate_media_config(self) -> MediaConfig:
+        media_config: MediaConfig = self.robot_utilities.generate_media_config()
         if media_config is None:
             raise HTTPException(
                 status_code=204,
@@ -26,7 +27,7 @@ class RobotController:
             )
         return media_config
 
-    def get_info(self):
+    def get_info(self) -> RobotInfoResponse:
         return RobotInfoResponse(
             robot_package=settings.ROBOT_PACKAGE,
             isar_id=settings.ISAR_ID,

isar/apis/schedule/scheduling_controller.py

@@ -1,16 +1,13 @@
 import logging
 from http import HTTPStatus
-from typing import Optional
 
-from alitra import Pose
 from fastapi import Body, HTTPException, Path
 from injector import inject
 
 from isar.apis.models.models import (
     ControlMissionResponse,
-    TaskResponse,
-    InputPose,
     StartMissionResponse,
+    TaskResponse,
 )
 from isar.apis.models.start_mission_definition import (
     StartMissionDefinition,
@@ -21,12 +18,7 @@ from isar.mission_planner.mission_planner_interface import MissionPlannerError
 from isar.services.utilities.scheduling_utilities import SchedulingUtilities
 from isar.state_machine.states_enum import States
 from robot_interface.models.mission.mission import Mission
-from robot_interface.models.mission.task import (
-    TASKS,
-    InspectionTask,
-    MoveArm,
-    ReturnToHome,
-)
+from robot_interface.models.mission.task import TASKS, InspectionTask, MoveArm
 
 
 class SchedulingController:
@@ -45,18 +37,6 @@ class SchedulingController:
             title="Mission ID",
             description="ID-number for predefined mission",
         ),
-        initial_pose: Optional[InputPose] = Body(
-            default=None,
-            description="The starting point of the mission. Used for initial "
-            "localization of robot",
-            embed=True,
-        ),
-        return_pose: Optional[InputPose] = Body(
-            default=None,
-            description="End pose of the mission. The robot return to the specified "
-            "pose after finishing all inspections",
-            embed=True,
-        ),
     ) -> StartMissionResponse:
         self.logger.info(f"Received request to start mission with id {mission_id}")
 
@@ -64,23 +44,14 @@ class SchedulingController:
         self.scheduling_utilities.verify_state_machine_ready_to_receive_mission(state)
 
         mission: Mission = self.scheduling_utilities.get_mission(mission_id)
-        if return_pose:
-            pose: Pose = return_pose.to_alitra_pose()
-            mission.tasks.append(ReturnToHome(pose=pose))
 
         self.scheduling_utilities.verify_robot_capable_of_mission(
             mission=mission, robot_capabilities=robot_settings.CAPABILITIES
         )
 
-        initial_pose_alitra: Optional[Pose] = (
-            initial_pose.to_alitra_pose() if initial_pose else None
-        )
-
         self.logger.info(f"Starting mission with ISAR Mission ID: '{mission.id}'")
 
-        self.scheduling_utilities.start_mission(
-            mission=mission, initial_pose=initial_pose_alitra
-        )
+        self.scheduling_utilities.start_mission(mission=mission)
 
         return self._api_response(mission)
 
@@ -92,18 +63,6 @@ class SchedulingController:
             title="Mission Definition",
             description="Description of the mission in json format",
         ),
-        initial_pose: Optional[InputPose] = Body(
-            default=None,
-            description="The starting point of the mission. Used for initial "
-            "localization of robot",
-            embed=True,
-        ),
-        return_pose: Optional[InputPose] = Body(
-            default=None,
-            description="End pose of the mission. The robot return to the specified "
-            "pose after finishing all inspections",
-            embed=True,
-        ),
     ) -> StartMissionResponse:
         self.logger.info("Received request to start new mission")
 
@@ -121,7 +80,7 @@ class SchedulingController:
 
         try:
             mission: Mission = to_isar_mission(
-                start_mission_definition=mission_definition, return_pose=return_pose
+                start_mission_definition=mission_definition
             )
         except MissionPlannerError as e:
             error_message = f"Bad Request - Cannot create ISAR mission: {e}"
@@ -135,14 +94,8 @@ class SchedulingController:
             mission=mission, robot_capabilities=robot_settings.CAPABILITIES
         )
 
-        initial_pose_alitra: Optional[Pose] = (
-            initial_pose.to_alitra_pose() if initial_pose else None
-        )
-
         self.logger.info(f"Starting mission: {mission.id}")
-        self.scheduling_utilities.start_mission(
-            mission=mission, initial_pose=initial_pose_alitra
-        )
+        self.scheduling_utilities.start_mission(mission=mission)
         return self._api_response(mission)
 
     def pause_mission(self) -> ControlMissionResponse:
@@ -152,7 +105,6 @@ class SchedulingController:
 
         if state not in [
             States.Monitor,
-            States.Initiate,
         ]:
             error_message = (
                 f"Conflict - Pause command received in invalid state - State: {state}"
@@ -245,10 +197,7 @@ class SchedulingController:
         self.logger.info(
             f"Starting move arm mission with ISAR Mission ID: '{mission.id}'"
         )
-        self.scheduling_utilities.start_mission(
-            mission=mission,
-            initial_pose=None,
-        )
+        self.scheduling_utilities.start_mission(mission=mission)
         return self._api_response(mission)
 
     def _api_response(self, mission: Mission) -> StartMissionResponse:

isar/apis/security/authentication.py

@@ -50,7 +50,7 @@ class Authenticator:
         enabled_string = "enabled" if self.authentication_enabled else "disabled"
         self.logger.info(f"API authentication is {enabled_string}")
 
-    def should_authenticate(self):
+    def should_authenticate(self) -> bool:
         return self.authentication_enabled
 
     def get_scheme(self):
@@ -58,7 +58,7 @@ class Authenticator:
             return validate_has_role
         return NoSecurity
 
-    async def load_config(self):
+    async def load_config(self) -> None:
         """
         Load OpenID config on startup.
         """

isar/config/settings.env

@@ -1,7 +1,5 @@
 ISAR_ROBOT_PACKAGE = isar_robot
 
-ISAR_RUN_MISSION_BY_TASK = true
-
 ISAR_STORAGE_LOCAL_ENABLED = true
 ISAR_STORAGE_BLOB_ENABLED = false
 ISAR_STORAGE_SLIMM_ENABLED = false
@@ -12,7 +10,7 @@ ISAR_LOG_HANDLER_APPLICATION_INSIGHTS_ENABLED = false
 ISAR_MQTT_ENABLED = true
 ISAR_MQTT_SSL_ENABLED = true
 
-ISAR_AUTHENTICATION_ENABLED = false
+ISAR_AUTHENTICATION_ENABLED = true
 
 ISAR_PLANT_SHORT_NAME = HUA
 

isar/config/settings.py

@@ -51,7 +51,7 @@ class Settings(BaseSettings):
     # Determines the number of state transitions that are kept in the log
     STATE_TRANSITIONS_LOG_LENGTH: int = Field(default=20)
 
-    # Number of attempts to initiate a task or mission before cancelling
+    # Number of attempts to initiate a mission before cancelling
     INITIATE_FAILURE_COUNTER_LIMIT: int = Field(default=10)
 
     # Number of attempts to request a task status in monitor before cancelling
@@ -62,7 +62,7 @@ class Settings(BaseSettings):
     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)
+    STOP_ROBOT_ATTEMPTS_LIMIT: int = Field(default=3)
 
     # Number of attempts to stop the robot before giving up
     UPLOAD_FAILURE_ATTEMPTS_LIMIT: int = Field(default=10)
@@ -111,7 +111,7 @@ class Settings(BaseSettings):
     # Enabling this requires certain resources available for OAuth2 authentication
     # Currently supported authentication is Azure AD
     # (https://github.com/Intility/fastapi-azure-auth)
-    AUTHENTICATION_ENABLED: bool = Field(default=False)
+    AUTHENTICATION_ENABLED: bool = Field(default=True)
 
     # Tenant ID for the Azure tenant with your Azure Active Directory application
     AZURE_TENANT_ID: str = Field(default="3aa4a235-b6e2-48d5-9195-7fcf05b459b0")
@@ -169,13 +169,13 @@ class Settings(BaseSettings):
     # submitted with the results once they have been uploaded.
 
     # Four digit code indicating facility
-    PLANT_CODE: str = Field(default="1320")
+    PLANT_CODE: str = Field(default="1210")
 
     # Name of the facility the robot is operating in
-    PLANT_NAME: str = Field(default="Kårstø")
+    PLANT_NAME: str = Field(default="Huldra")
 
     # Shortname of the facility the robot is operating in
-    PLANT_SHORT_NAME: str = Field(default="KAA")
+    PLANT_SHORT_NAME: str = Field(default="HUA")
 
     # Country the robot is operating in
     COUNTRY: str = Field(default="Norway")

isar/models/communication/message.py

@@ -1,7 +1,4 @@
 from dataclasses import dataclass
-from typing import Optional
-
-from alitra import Pose
 
 from robot_interface.models.mission.mission import Mission
 
@@ -9,4 +6,3 @@ from robot_interface.models.mission.mission import Mission
 @dataclass
 class StartMissionMessage:
     mission: Mission
-    initial_pose: Optional[Pose]

isar/models/communication/queues/events.py

@@ -0,0 +1,57 @@
+from queue import Queue
+
+from transitions import State
+
+from isar.config.settings import settings
+from isar.models.communication.queues.queue_io import QueueIO
+from isar.models.communication.queues.status_queue import StatusQueue
+from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
+from robot_interface.models.mission.mission import Mission
+from robot_interface.models.mission.status import RobotStatus, TaskStatus
+from robot_interface.models.mission.task import TASKS
+
+
+class Events:
+    def __init__(self) -> None:
+        self.api_requests: APIRequests = APIRequests()
+        self.state_machine_events: StateMachineEvents = StateMachineEvents()
+        self.robot_service_events: RobotServiceEvents = RobotServiceEvents()
+
+        self.upload_queue: Queue = Queue(maxsize=10)
+
+        if settings.MQTT_ENABLED:
+            self.mqtt_queue: Queue = Queue()
+
+
+class APIRequests:
+    def __init__(self) -> None:
+        self.start_mission: QueueIO = QueueIO(input_size=1, output_size=1)
+        self.stop_mission: QueueIO = QueueIO(input_size=1, output_size=1)
+        self.pause_mission: QueueIO = QueueIO(input_size=1, output_size=1)
+        self.resume_mission: QueueIO = QueueIO(input_size=1, output_size=1)
+
+
+class StateMachineEvents:
+    def __init__(self) -> None:
+        self.start_mission: Queue[Mission] = Queue(maxsize=1)
+        self.stop_mission: Queue[bool] = Queue(maxsize=1)
+        self.pause_mission: Queue[bool] = Queue(maxsize=1)
+        self.task_status_request: Queue[str] = Queue(maxsize=1)
+
+
+class RobotServiceEvents:
+    def __init__(self) -> None:
+        self.task_status_updated: Queue[TaskStatus] = Queue(maxsize=1)
+        self.task_status_failed: Queue[ErrorMessage] = Queue(maxsize=1)
+        self.mission_started: Queue[bool] = Queue(maxsize=1)
+        self.mission_failed: Queue[ErrorMessage] = Queue(maxsize=1)
+        self.robot_status_changed: Queue[bool] = Queue(maxsize=1)
+        self.mission_failed_to_stop: Queue[ErrorMessage] = Queue(maxsize=1)
+        self.mission_successfully_stopped: Queue[bool] = Queue(maxsize=1)
+
+
+class SharedState:
+    def __init__(self) -> None:
+        self.state: StatusQueue[State] = StatusQueue()
+        self.robot_status: StatusQueue[RobotStatus] = StatusQueue()
+        self.state_machine_current_task: StatusQueue[TASKS] = StatusQueue()

isar/models/communication/queues/queue_utils.py

@@ -0,0 +1,32 @@
+from queue import Empty, Queue
+from typing import Optional, TypeVar
+
+from isar.models.communication.queues.status_queue import StatusQueue
+
+T = TypeVar("T")
+
+
+def trigger_event_without_data(queue: Queue[bool]) -> None:
+    queue.put(True)
+
+
+def trigger_event(queue: Queue[T], data: T) -> None:
+    queue.put(data)
+
+
+def check_shared_state(queue: StatusQueue[T]) -> Optional[T]:
+    try:
+        return queue.check()
+    except Empty:
+        return None
+
+
+def update_shared_state(queue: StatusQueue[T], data: T) -> None:
+    queue.update(data)
+
+
+def check_for_event(queue: Queue[T]) -> Optional[T]:
+    try:
+        return queue.get(block=False)
+    except Empty:
+        return None

isar/models/communication/queues/status_queue.py

@@ -1,20 +1,22 @@
 from collections import deque
 from queue import Empty, Queue
-from typing import Any
+from typing import TypeVar
 
+T = TypeVar("T")
 
-class StatusQueue(Queue):
+
+class StatusQueue(Queue[T]):
     def __init__(self) -> None:
         super().__init__()
 
-    def check(self) -> Any:
+    def check(self) -> T:
         if not self._qsize():
             raise Empty
         with self.mutex:
             queueList = list(self.queue)
             return queueList.pop()
 
-    def update(self, item: Any):
+    def update(self, item: T):
         with self.mutex:
-            self.queue = deque()
+            self.queue: deque[T] = deque()
             self.queue.append(item)