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

isar/state_machine/states/stop.py

@@ -1,18 +1,13 @@
 import logging
 import time
-from typing import TYPE_CHECKING, Callable, Optional
+from queue import Queue
+from typing import TYPE_CHECKING, Optional
 
 from transitions import State
 
-from isar.services.utilities.threaded_request import (
-    ThreadedRequest,
-    ThreadedRequestNotFinishedError,
-)
-from robot_interface.models.exceptions.robot_exceptions import (
-    ErrorMessage,
-    RobotActionException,
-    RobotException,
-)
+from isar.models.communication.queues.queue_utils import check_for_event
+from isar.services.utilities.threaded_request import ThreadedRequest
+from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
 
 if TYPE_CHECKING:
     from isar.state_machine.state_machine import StateMachine
@@ -23,6 +18,7 @@ class Stop(State):
         super().__init__(name="stop", on_enter=self.start, on_exit=self.stop)
         self.state_machine: "StateMachine" = state_machine
         self.logger = logging.getLogger("state_machine")
+        self.events = self.state_machine.events
         self.stop_thread: Optional[ThreadedRequest] = None
         self._count_number_retries: int = 0
 
@@ -36,56 +32,31 @@ class Stop(State):
         self.stop_thread = None
         self._count_number_retries = 0
 
-    def _run(self) -> None:
-        transition: Callable
-        while True:
-            if not self.stop_thread:
-                self.stop_thread = ThreadedRequest(self.state_machine.robot.stop)
-                self.stop_thread.start_thread(name="State Machine Stop Robot")
-
-            try:
-                self.stop_thread.get_output()
-            except ThreadedRequestNotFinishedError:
-                time.sleep(self.state_machine.sleep_time)
-                continue
-
-            except (RobotActionException, RobotException) as e:
-                if self.handle_stop_fail(
-                    retry_limit=self.state_machine.stop_robot_attempts_limit,
-                    error_message=ErrorMessage(
-                        error_reason=e.error_reason,
-                        error_description=e.error_description,
-                    ),
-                ):
-                    transition = self.state_machine.mission_stopped  # type: ignore
-                    break
-
-                self.logger.warning(
-                    f"\nFailed to stop robot because: {e.error_description}"
-                    f"\nAttempting to stop the robot again"
-                )
-
-                self.stop_thread = None
-                continue
-
-            transition = self.state_machine.mission_stopped  # type: ignore
+    def _check_and_handle_failed_stop(self, event: Queue[ErrorMessage]) -> bool:
+        error_message: Optional[ErrorMessage] = check_for_event(event)
+        if error_message is not None:
+            self.logger.warning(error_message.error_description)
+            self.state_machine.mission_stopped()  # type: ignore
+            return True
+        return False
 
-            break
+    def _check_and_handle_successful_stop(self, event: Queue[bool]) -> bool:
+        if check_for_event(event):
+            self.state_machine.mission_stopped()  # type: ignore
+            return True
+        return False
 
-        transition()
+    def _run(self) -> None:
+        while True:
 
-    def handle_stop_fail(self, retry_limit: int, error_message: ErrorMessage) -> bool:
-        self._count_number_retries += 1
-        if self._count_number_retries > retry_limit:
-            self.state_machine.current_task.error_message = error_message
+            if self._check_and_handle_failed_stop(
+                self.events.robot_service_events.mission_failed_to_stop
+            ):
+                break
 
-            self.logger.error(
-                f"\nFailed to stop the robot after {retry_limit} attempts because: "
-                f"{error_message.error_description}"
-                f"\nBe aware that the robot may still be moving even though a stop has "
-                "been attempted"
-            )
+            if self._check_and_handle_successful_stop(
+                self.events.robot_service_events.mission_successfully_stopped
+            ):
+                break
 
-            return True
-        time.sleep(self.state_machine.sleep_time)
-        return False
+            time.sleep(self.state_machine.sleep_time)

isar/state_machine/states_enum.py

@@ -4,8 +4,6 @@ from enum import Enum
 class States(str, Enum):
     Off = "off"
     Idle = "idle"
-    Initiate = "initiate"
-    Initialize = "initialize"
     Monitor = "monitor"
     Paused = "paused"
     Stop = "stop"

isar/state_machine/transitions/fail_mission.py

@@ -0,0 +1,13 @@
+from typing import TYPE_CHECKING
+
+if TYPE_CHECKING:
+    from isar.state_machine.state_machine import StateMachine
+
+from robot_interface.models.mission.status import MissionStatus, TaskStatus
+
+
+def report_failed_mission_and_finalize(state_machine: "StateMachine") -> None:
+    state_machine.current_task.status = TaskStatus.Failed
+    state_machine.current_mission.status = MissionStatus.Failed
+    state_machine.publish_task_status(task=state_machine.current_task)
+    state_machine._finalize()

isar/state_machine/transitions/finish_mission.py

@@ -0,0 +1,39 @@
+from typing import TYPE_CHECKING, List
+
+if TYPE_CHECKING:
+    from isar.state_machine.state_machine import StateMachine
+
+from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
+from robot_interface.models.mission.status import MissionStatus, TaskStatus
+
+
+def finish_mission(state_machine: "StateMachine") -> bool:
+    fail_statuses: List[TaskStatus] = [
+        TaskStatus.Cancelled,
+        TaskStatus.Failed,
+    ]
+    partially_fail_statuses = fail_statuses + [TaskStatus.PartiallySuccessful]
+
+    if len(state_machine.current_mission.tasks) == 0:
+        state_machine.current_mission.status = MissionStatus.Successful
+    elif all(
+        task.status in fail_statuses for task in state_machine.current_mission.tasks
+    ):
+        state_machine.current_mission.error_message = ErrorMessage(
+            error_reason=None,
+            error_description="The mission failed because all tasks in the mission "
+            "failed",
+        )
+        state_machine.current_mission.status = MissionStatus.Failed
+    elif any(
+        task.status in partially_fail_statuses
+        for task in state_machine.current_mission.tasks
+    ):
+        state_machine.current_mission.status = MissionStatus.PartiallySuccessful
+    else:
+        state_machine.current_mission.status = MissionStatus.Successful
+    state_machine._finalize()
+
+    state_machine.current_task = None
+    state_machine.send_task_status()
+    return True

isar/state_machine/transitions/pause.py

@@ -0,0 +1,24 @@
+from typing import TYPE_CHECKING
+
+if TYPE_CHECKING:
+    from isar.state_machine.state_machine import StateMachine
+
+from isar.apis.models.models import ControlMissionResponse
+from robot_interface.models.mission.status import MissionStatus, TaskStatus
+
+
+def pause_mission(state_machine: "StateMachine") -> bool:
+    state_machine.logger.info(f"Pausing mission: {state_machine.current_mission.id}")
+    state_machine.current_mission.status = MissionStatus.Paused
+    state_machine.current_task.status = TaskStatus.Paused
+
+    paused_mission_response: ControlMissionResponse = (
+        state_machine._make_control_mission_response()
+    )
+    state_machine.events.api_requests.pause_mission.output.put(paused_mission_response)
+
+    state_machine.publish_mission_status()
+    state_machine.publish_task_status(task=state_machine.current_task)
+
+    state_machine.robot.pause()
+    return True

isar/state_machine/transitions/resume.py

@@ -0,0 +1,27 @@
+from typing import TYPE_CHECKING
+
+if TYPE_CHECKING:
+    from isar.state_machine.state_machine import StateMachine
+
+from isar.apis.models.models import ControlMissionResponse
+from robot_interface.models.mission.status import MissionStatus, TaskStatus
+
+
+def resume_mission(state_machine: "StateMachine") -> bool:
+    state_machine.logger.info(f"Resuming mission: {state_machine.current_mission.id}")
+    state_machine.current_mission.status = MissionStatus.InProgress
+    state_machine.current_mission.error_message = None
+    state_machine.current_task.status = TaskStatus.InProgress
+
+    state_machine.mission_ongoing = True
+
+    state_machine.publish_mission_status()
+    state_machine.publish_task_status(task=state_machine.current_task)
+
+    resume_mission_response: ControlMissionResponse = (
+        state_machine._make_control_mission_response()
+    )
+    state_machine.events.api_requests.resume_mission.output.put(resume_mission_response)
+
+    state_machine.robot.resume()
+    return True

isar/state_machine/transitions/start_mission.py

@@ -0,0 +1,73 @@
+from typing import TYPE_CHECKING
+
+if TYPE_CHECKING:
+    from isar.state_machine.state_machine import StateMachine
+
+from robot_interface.models.exceptions.robot_exceptions import (
+    ErrorMessage,
+    RobotException,
+    RobotInitializeException,
+)
+from robot_interface.models.mission.status import MissionStatus, TaskStatus
+
+
+def put_start_mission_on_queue(state_machine: "StateMachine") -> bool:
+    state_machine.events.api_requests.start_mission.output.put(True)
+    return True
+
+
+def initiate_mission(state_machine: "StateMachine") -> bool:
+    state_machine.logger.info(
+        f"Initialization successful. Starting new mission: "
+        f"{state_machine.current_mission.id}"
+    )
+    state_machine.log_mission_overview(mission=state_machine.current_mission)
+
+    state_machine.current_mission.status = MissionStatus.InProgress
+    state_machine.publish_mission_status()
+    state_machine.current_task = state_machine.task_selector.next_task()
+    state_machine.send_task_status()
+    if state_machine.current_task is None:
+        return False
+
+    state_machine.current_task.status = TaskStatus.InProgress
+    state_machine.publish_task_status(task=state_machine.current_task)
+    return True
+
+
+def initialize_robot(state_machine: "StateMachine") -> bool:
+    try:
+        state_machine.robot.initialize()
+    except (RobotInitializeException, RobotException) as e:
+        state_machine.current_task.error_message = ErrorMessage(
+            error_reason=e.error_reason, error_description=e.error_description
+        )
+        state_machine.logger.error(
+            f"Failed to initialize robot because: {e.error_description}"
+        )
+        _initialization_failed(state_machine)
+        return False
+    return True
+
+
+def set_mission_to_in_progress(state_machine: "StateMachine") -> bool:
+    state_machine.current_mission.status = MissionStatus.InProgress
+    state_machine.publish_task_status(task=state_machine.current_task)
+    state_machine.logger.info(
+        f"Successfully initiated "
+        f"{type(state_machine.current_task).__name__} "
+        f"task: {str(state_machine.current_task.id)[:8]}"
+    )
+    return True
+
+
+def trigger_start_mission_or_task_event(state_machine: "StateMachine") -> bool:
+    state_machine.events.state_machine_events.start_mission.put(
+        state_machine.current_mission
+    )
+    return True
+
+
+def _initialization_failed(state_machine: "StateMachine") -> None:
+    state_machine.events.api_requests.start_mission.output.put(False)
+    state_machine._finalize()

isar/state_machine/transitions/stop.py

@@ -0,0 +1,40 @@
+from typing import TYPE_CHECKING
+
+from isar.models.communication.queues.queue_utils import trigger_event_without_data
+
+if TYPE_CHECKING:
+    from isar.state_machine.state_machine import StateMachine
+
+from isar.apis.models.models import ControlMissionResponse
+from robot_interface.models.mission.status import MissionStatus, TaskStatus
+
+
+def trigger_stop_mission_event(state_machine: "StateMachine") -> bool:
+    trigger_event_without_data(state_machine.events.state_machine_events.stop_mission)
+    return True
+
+
+def stop_mission_cleanup(state_machine: "StateMachine") -> bool:
+    if state_machine.current_mission is None:
+        state_machine._queue_empty_response()
+        state_machine.reset_state_machine()
+        return True
+
+    state_machine.current_mission.status = MissionStatus.Cancelled
+
+    for task in state_machine.current_mission.tasks:
+        if task.status in [
+            TaskStatus.NotStarted,
+            TaskStatus.InProgress,
+            TaskStatus.Paused,
+        ]:
+            task.status = TaskStatus.Cancelled
+
+    stopped_mission_response: ControlMissionResponse = (
+        state_machine._make_control_mission_response()
+    )
+    state_machine.events.api_requests.stop_mission.output.put(stopped_mission_response)
+
+    state_machine.publish_task_status(task=state_machine.current_task)
+    state_machine._finalize()
+    return True

isar/state_machine/transitions/utils.py

@@ -0,0 +1,10 @@
+from typing import TYPE_CHECKING, Callable
+
+if TYPE_CHECKING:
+    from isar.state_machine.state_machine import StateMachine
+
+
+def def_transition(
+    state_machine: "StateMachine", transition_function: Callable[["StateMachine"], bool]
+) -> Callable[[], bool]:
+    return lambda: transition_function(state_machine)

isar/storage/slimm_storage.py

@@ -100,7 +100,7 @@ class SlimmStorage(StorageInterface):
     @staticmethod
     def _construct_multiform_request_image(
         filename: str, inspection: Inspection, mission: Mission
-    ):
+    ) -> MultipartEncoder:
         array_of_orientation = (
             inspection.metadata.pose.orientation.to_quat_array().tolist()
         )
@@ -148,7 +148,7 @@ class SlimmStorage(StorageInterface):
         filename: str,
         inspection: Inspection,
         mission: Mission,
-    ):
+    ) -> MultipartEncoder:
         array_of_orientation = (
             inspection.metadata.pose.orientation.to_quat_array().tolist()
         )

isar/storage/uploader.py

@@ -8,7 +8,7 @@ from typing import List, Union
 from injector import inject
 
 from isar.config.settings import settings
-from isar.models.communication.queues.queues import Queues
+from isar.models.communication.queues.events import Events
 from isar.storage.storage_interface import StorageException, StorageInterface
 from robot_interface.models.inspection.inspection import Inspection
 from robot_interface.models.mission.mission import Mission
@@ -48,7 +48,7 @@ class Uploader:
     @inject
     def __init__(
         self,
-        queues: Queues,
+        events: Events,
         storage_handlers: List[StorageInterface],
         mqtt_publisher: MqttClientInterface,
         max_wait_time: int = settings.UPLOAD_FAILURE_MAX_WAIT,
@@ -58,8 +58,8 @@ class Uploader:
 
         Parameters
         ----------
-        queues : Queues
-            Queues used for cross-thread communication.
+        events : Events
+            Events used for cross-thread communication.
         storage_handlers : List[StorageInterface]
             List of handlers for different upload options
         max_wait_time : float
@@ -67,7 +67,7 @@ class Uploader:
         max_retry_attempts : int
             Maximum attempts to retry an upload when it fails
         """
-        self.upload_queue: Queue = queues.upload_queue
+        self.upload_queue: Queue = events.upload_queue
         self.storage_handlers: List[StorageInterface] = storage_handlers
         self.mqtt_publisher = mqtt_publisher
 

{isar-1.25.9.dist-info → isar-1.26.1.dist-info}/METADATA

@@ -1,6 +1,6 @@
-Metadata-Version: 2.2
+Metadata-Version: 2.4
 Name: isar
-Version: 1.25.9
+Version: 1.26.1
 Summary: Integration and Supervisory control of Autonomous Robots
 Author-email: Equinor ASA <fg_robots_dev@equinor.com>
 License: Eclipse Public License version 2.0
@@ -95,6 +95,7 @@ Classifier: Programming Language :: Python :: 3.9
 Classifier: Programming Language :: Python :: 3.10
 Classifier: Programming Language :: Python :: 3.11
 Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
 Classifier: Topic :: Scientific/Engineering
 Classifier: Topic :: Scientific/Engineering :: Physics
 Classifier: Topic :: Software Development :: Libraries
@@ -127,6 +128,7 @@ Requires-Dist: transitions
 Requires-Dist: uvicorn
 Provides-Extra: dev
 Requires-Dist: black; extra == "dev"
+Requires-Dist: isort; extra == "dev"
 Requires-Dist: mypy; extra == "dev"
 Requires-Dist: pip-tools; extra == "dev"
 Requires-Dist: pre-commit; extra == "dev"
@@ -136,6 +138,7 @@ Requires-Dist: pytest-xdist; extra == "dev"
 Requires-Dist: pytest; extra == "dev"
 Requires-Dist: requests-mock; extra == "dev"
 Requires-Dist: ruff; extra == "dev"
+Dynamic: license-file
 
 # ISAR
 
@@ -253,21 +256,6 @@ In [this](./src/isar/config/predefined_missions) folder there are predefined def
 corresponding to `mission_id=1`. A new mission may be added by adding a new json-file with a mission description. Note,
 the mission IDs must be unique.
 
-### Running with docker-compose
-
-ISAR may be started with an instance of the [isar-robot](https://github.com/equinor/isar-robot) package by
-
-```shell
-docker-compose up --build
-```
-
-Provided that the simulator from [isar-turtlebot](https://github.com/equinor/isar-turtlebot) is running ISAR may be
-started with the turtlebot by
-
-```shell
-docker-compose -f docker-compose-turtlebot.yml up --build
-```
-
 ### Configuration
 
 The system consists of many configuration variables which may alter the functionality. As an example, it is possible to
@@ -350,8 +338,6 @@ In general the states
 
 ```
 States.Off,
-States.Initialize,
-States.Initiate,
 States.Stop,
 States.Monitor,
 States.Paused,

{isar-1.25.9.dist-info → isar-1.26.1.dist-info}/RECORD

@@ -1,22 +1,22 @@
 isar/__init__.py,sha256=cH8p8bVveu3FUL6kBhldcSlLaoHgD82Kd0-SwSNfGXw,87
-isar/modules.py,sha256=BeBg2kJi1q-7DzupOM3jFloeMScRk7qkNog9-yGwV5c,7355
-isar/script.py,sha256=AHt1azidHit-fX3NnoXxJ5Eas-c30J3hFFOGGVrg084,5916
+isar/modules.py,sha256=X0olcDdnqyKE2w5_54qQhD7Ewpdw-pLULBsg7NtSf0k,7705
+isar/script.py,sha256=DA_rpQyvo1GM8fhOAC8iuZVsQRLtIZ-Q3VF2XivMWyQ,6157
 isar/apis/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 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=g9sgXu4RntckDQ87hi-hDTpgzojhJyxAJJGjEvmfg1g,8636
-isar/apis/robot_control/robot_controller.py,sha256=o3WuEV30nduIiKF4pK6oNLUsmHyFal9--umjuDHx7h0,1150
+isar/apis/models/start_mission_definition.py,sha256=rGpdb51LIrGRE5RjBONWflumow4ev8oTbDTx5Ph2_Pc,6210
+isar/apis/robot_control/robot_controller.py,sha256=D8LVMU8TRLohn1nlw2NQXjOxYmzjsOwjm_kr6f-h2VY,1259
 isar/apis/schedule/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/apis/schedule/scheduling_controller.py,sha256=1ipvPxZWl32TDxFY65ldUdDCvJfhgYxFEQv4eWayFCg,9461
+isar/apis/schedule/scheduling_controller.py,sha256=aKfISl781FTByZMkRYvLhWzbhUDJmUqpAtDUvhMyc3U,7799
 isar/apis/security/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/apis/security/authentication.py,sha256=TI8U9Y_L6ihHLMeM50ZONd5EPfuHdw_XMU_Q987W4AY,1975
+isar/apis/security/authentication.py,sha256=kGveLAKqEwpP7eNNRbBUv7R1PHFJRWgh4uDujEPhcmo,1991
 isar/config/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/config/configuration_error.py,sha256=rO6WOhafX6xvVib8WxV-eY483Z0PpN-9PxGsq5ATfKc,46
 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=JJS4W45cGcNFXBl5cT1_hK6qaWXfsx3w6a3TvmOiqgk,12871
+isar/config/settings.env,sha256=cLIlcXTM8x0N-6XjXmC0Qclx5dfDC6myqa25tvVwmRw,500
+isar/config/settings.py,sha256=cFKINb2VRBrLLCzSK0zmRny2fu7S3sGKbDCBv28DxHI,12859
 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
@@ -42,13 +42,19 @@ isar/mission_planner/sequential_task_selector.py,sha256=66agRPHuJnEa1vArPyty4muT
 isar/mission_planner/task_selector_interface.py,sha256=pnLeaGPIuyXThcflZ_A7YL2b2xQjFT88hAZidkMomxU,707
 isar/models/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/models/communication/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-isar/models/communication/message.py,sha256=yN4SXYM-W_6u3Cf9yuAE3jy4e6mMrL3yUr-iVV4r55E,241
+isar/models/communication/message.py,sha256=ge2EdUXRnYkiEu5TIAYJFQET_5w-N8MRgc2Y31vetno,155
 isar/models/communication/queues/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+isar/models/communication/queues/events.py,sha256=2UjFWmjQeYavRzF336H4rqe20gjMoShlX3-BXyb1W4w,2340
 isar/models/communication/queues/queue_io.py,sha256=AnHWUCkZ0tunkxKKeBarq-OUkRM97IaMfA-a1pmf1cQ,394
 isar/models/communication/queues/queue_timeout_error.py,sha256=rF8TlNF7RHS_ueTZ5mp7aFkhLY1j0dcwMwH-Ba6lVpE,45
-isar/models/communication/queues/queues.py,sha256=FzoqlT4AQ4Q5Jufh6yRPV2uq5iUZd1odrpjBl77yU5o,803
-isar/models/communication/queues/status_queue.py,sha256=-6MDxrZ9dUIJgOMAluSJDyaM50xE1ylhoJZOnPIw8hs,483
+isar/models/communication/queues/queue_utils.py,sha256=BGydIndLOFbj_Hyd2RiAlwdm7rWrem9BzoAnXH-ulxo,684
+isar/models/communication/queues/status_queue.py,sha256=on8kvlNsG6MJjEVsyqtBswIpmOdOggQiKr7F5x0T3jw,514
 isar/models/mission_metadata/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+isar/robot/robot.py,sha256=t7spWRnZwMVkohs6trrnZjTCxarOH1cPU8iy9vaYTiM,4699
+isar/robot/robot_start_mission.py,sha256=pppndYWPmg-GxU69RglB-4L4MlgXdLcsd0S5gFtfM3o,2767
+isar/robot/robot_status.py,sha256=l7tS-Rl-Xj0f8TgdCuZrhvi4Ubckw92u1VfBOoAFbUM,1605
+isar/robot/robot_stop_mission.py,sha256=V7hSfjeoprqkCwbLoDEHeIELPLRR0HvYH7Uc-_Wa8dM,2443
+isar/robot/robot_task_status.py,sha256=iSSfxn8uu40-qouT0sgPwIcB8h-2Bm3m3_tlXTuLoKk,3306
 isar/services/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/services/auth/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/services/auth/azure_credentials.py,sha256=9PlwGe5FrPRbW2dp0go7LMp8_l_FRvL8xOXotXwzRDo,364
@@ -62,28 +68,34 @@ isar/services/service_connections/stid/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JC
 isar/services/utilities/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/services/utilities/queue_utilities.py,sha256=Pw3hehSwkXJNeDv-bDVDfs58VOwtt3i5hpiJ2ZpphuQ,1225
 isar/services/utilities/robot_utilities.py,sha256=4-ob4kcIiRN_GXFDBMwBadfbwpYqKEkyzyC40wzvmko,555
-isar/services/utilities/scheduling_utilities.py,sha256=xQ1UqxxTRk2VpTVj7mL_ux9xqoaiSd45W7VAPmpXSfU,8509
+isar/services/utilities/scheduling_utilities.py,sha256=WaQXEK_cmPM9KNP3aBZGVnZCi97kR-M_rJWyWIGWZa4,8238
 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=448eXXqgcFCVIRbWPQE615-0BF8SaPiRCBmsnwLr8f0,19927
-isar/state_machine/states_enum.py,sha256=GrX2dzVXsyI9vXxIgd7DpOP8V1nhXQS4Jym5z69acHY,332
+isar/state_machine/state_machine.py,sha256=2Ibgb7NXpMv3tbKQlm8eZp-4esOWbrHerCT2RGq6o_0,15245
+isar/state_machine/states_enum.py,sha256=uqa3VD2Ig0PR5xG7s4-q5OLWiGdvEn-KYClv3KpRJ68,276
 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=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/blocked_protective_stop.py,sha256=_InOhfCwCshrdUOquDy-js0cMrk8ddgPsHbHMLJzlNU,1540
+isar/state_machine/states/idle.py,sha256=0E9vFMXVJ7u2det3aN17KaNIBosA0zHr5mHIZqPL7dU,2771
+isar/state_machine/states/monitor.py,sha256=v-gPPjxmhNDpA2IKa7X1rm_xZC84pqHmgfSqCodz8PY,9153
 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=pA7POYiCeprqTk0ktvGWJ9bElZKKYBXmupoiFYrfA5E,993
-isar/state_machine/states/stop.py,sha256=LRhqhqHuElrsrwJJnxI9gLqSGuzuik8BT2V2GO4fvOs,3098
+isar/state_machine/states/offline.py,sha256=-4PgEm52rnOXqhFYy0phXfPaNq99xkeBm_ylla-jPeU,1380
+isar/state_machine/states/paused.py,sha256=r0jXxlTIwsVw8eR3vNRPMjz-rzKepyaCrzquKLd0E9o,1156
+isar/state_machine/states/stop.py,sha256=bGtukno8n_f6nHqW6Zow4e21TYA72Vvmhj8coUFBLYM,2147
+isar/state_machine/transitions/fail_mission.py,sha256=_6HqBMALDinFZ4yh5GMpeqqgV5tw5i8OVMj5UDdqesg,495
+isar/state_machine/transitions/finish_mission.py,sha256=TRQrk7HdllmAkwsp25HRZAFAk46Y1hLx3jmkIAKrHDI,1442
+isar/state_machine/transitions/pause.py,sha256=LbSNXDKjWzaoYATwu4ZgvWLd6rDXgwrV-ioweirqhvA,888
+isar/state_machine/transitions/resume.py,sha256=q_3rstGmlQpEOA_I0m9q7N8N6MhpVRMnFTiUdlNXDwI,997
+isar/state_machine/transitions/start_mission.py,sha256=BJdJvk0O5kq2DZkRHroVtkBziMivNTsZVX3KLJ-m7YQ,2524
+isar/state_machine/transitions/stop.py,sha256=NzPvr6C1tmDqji5XJf5vw9up_Ow7ApuhjAzDVlJLZPw,1368
+isar/state_machine/transitions/utils.py,sha256=Wa72Ocq4QT1E6qkpEJZQ3h5o33pGvx7Tlkt2JZ2Grbk,314
 isar/storage/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 isar/storage/blob_storage.py,sha256=L885tgwHeeIp8raIz20Hhbc1IMsQP0wK6HOX9I4sZlw,3199
 isar/storage/local_storage.py,sha256=Bnmoi5gyN8r-oRh0aHrOdGqaH3JqRScFKMRXYojW5kY,1855
-isar/storage/slimm_storage.py,sha256=iVtc7w_VPFoe0fWyPpI9kjau3C1rn7w2n5EJaqloFIU,8991
+isar/storage/slimm_storage.py,sha256=4UON1tcrP-p1w1atDqtdCmKwmfj9dwwuCIt18d8adZk,9031
 isar/storage/storage_interface.py,sha256=DYDry4I7aZpDHJhsBF6s8zrgokFAc7fdKJKfA8AvL7o,828
-isar/storage/uploader.py,sha256=LrbGlAGoqspWtSjmZcfvbRL3_khCnLWwa64XhqUrsr4,6543
+isar/storage/uploader.py,sha256=mJ-ax_6SvNpM2fG8WdyOUVKSB_J_nedJlCTJ_Xg2E4c,6543
 isar/storage/utilities.py,sha256=fitsdQ1ox5gr9fk9VuSk_iTBiEAIS8NZAnHabUZORh0,3173
+isar-1.26.1.dist-info/licenses/LICENSE,sha256=3fc2-ebLwHWwzfQbulGNRdcNob3SBQeCfEVUDYxsuqw,14058
 robot_interface/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robot_interface/robot_interface.py,sha256=Bkk-joyIzRHxv8iZt7FLPFnlE8chlJad9vgjwc-fDkw,8786
 robot_interface/test_robot_interface.py,sha256=FV1urn7SbsMyWBIcTKjsBwAG4IsXeZ6pLHE0mA9EGGs,692
@@ -96,20 +108,19 @@ robot_interface/models/inspection/inspection.py,sha256=Q8vyiTMV2Ws1B4N10kQ3C1AZk
 robot_interface/models/mission/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 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=XDbckORORBLuokHm1OQlPPqB6vygsMZEuPTm0rYP9Js,4896
+robot_interface/models/mission/task.py,sha256=0yDg940gOTTxbpFeh9K5iIbBSf10v16PPTy-iOBJvDQ,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
 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=_Ph2f1M5f18fTJ7Jrd3JCeXhfZzg6i3THlFrbAt2DJA,2329
+robot_interface/telemetry/mqtt_client.py,sha256=ueXdtIFNCwciTj4spvdJj9emd-IOmUuJjpsXQSSWZPY,2987
+robot_interface/telemetry/payloads.py,sha256=m55aFrIczI-PDwQXvsFA6M7YNCTy83w7Ff-HIaZNbwI,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/json_service.py,sha256=qkzVkb60Gi_pto-b5n1vNzCrQze2yqgIJqSLNLYj1Fg,1034
 robot_interface/utilities/uuid_string_factory.py,sha256=_NQIbBQ56w0qqO0MUDP6aPpHbxW7ATRhK8HnQiBSLkc,76
-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,,
+isar-1.26.1.dist-info/METADATA,sha256=zTnCz5U-ERt19jVM93rwhD03eiZI0q_GXPgyt3xeliw,30252
+isar-1.26.1.dist-info/WHEEL,sha256=DK49LOLCYiurdXXOXwGJm6U4DkHkg4lcxjhqwRa0CP4,91
+isar-1.26.1.dist-info/entry_points.txt,sha256=TFam7uNNw7J0iiDYzsH2gfG0u1eV1wh3JTw_HkhgKLk,49
+isar-1.26.1.dist-info/top_level.txt,sha256=UwIML2RtuQKCyJJkatcSnyp6-ldDjboB9k9JgKipO-U,21
+isar-1.26.1.dist-info/RECORD,,

{isar-1.25.9.dist-info → isar-1.26.1.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (75.8.0)
+Generator: setuptools (78.0.2)
 Root-Is-Purelib: true
 Tag: py3-none-any
 

robot_interface/models/mission/task.py

@@ -7,11 +7,11 @@ from pydantic import BaseModel, Field
 from robot_interface.models.exceptions.robot_exceptions import ErrorMessage
 from robot_interface.models.inspection.inspection import (
     Audio,
+    GasMeasurement,
     Image,
     Inspection,
     ThermalImage,
     ThermalVideo,
-    GasMeasurement,
     Video,
 )
 from robot_interface.models.mission.status import TaskStatus

robot_interface/telemetry/mqtt_client.py

@@ -33,7 +33,6 @@ class MqttClientInterface(metaclass=ABCMeta):
 
         Returns
         -------
-
         """
         pass