isar 1.25.9__tar.gz → 1.26.0__tar.gz

{isar-1.25.9 → isar-1.26.0}/.github/workflows/pythonpackage.yml

@@ -7,6 +7,7 @@ on:
   pull_request:
     branches:
       - main
+      - update-dependencies
 
 jobs:
   build:
@@ -48,9 +49,13 @@ jobs:
         run: |
           black --check .
 
+      - name: Run isort
+        run: |
+          isort --check .
+
       - name: Run mypy
         run: |
-          mypy --disable-error-code=import-untyped .
+          mypy --disable-error-code=import-untyped --check-untyped-defs .
 
       - name: Run ruff
         run: |

{isar-1.25.9 → isar-1.26.0}/.github/workflows/stale.yml

@@ -22,11 +22,7 @@ jobs:
         uses: actions/stale@v9
         with:
           repo-token: ${{ secrets.STALE_ISSUE_TOKEN }}
-          stale-issue-message: "This issue has automatically been marked as stale as there has been no activity for 60 days."
-          stale-pr-message: "This pull request has automatically been marked as stale as there has been no activity for 30 days."
           stale-issue-label: "stale"
           stale-pr-label: "stale"
-          close-issue-message: "This issue has been closed automatically due to a lack of activity."
-          close-pr-message: "This pull request has been closed automatically due to a lack of activity."
           days-before-pr-stale: 30
           days-before-close: -1

{isar-1.25.9 → isar-1.26.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: isar
-Version: 1.25.9
+Version: 1.26.0
 Summary: Integration and Supervisory control of Autonomous Robots
 Author-email: Equinor ASA <fg_robots_dev@equinor.com>
 License: Eclipse Public License version 2.0
@@ -127,6 +127,7 @@ 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"
@@ -350,8 +351,6 @@ In general the states
 
 ```
 States.Off,
-States.Initialize,
-States.Initiate,
 States.Stop,
 States.Monitor,
 States.Paused,

{isar-1.25.9 → isar-1.26.0}/README.md

@@ -211,8 +211,6 @@ In general the states
 
 ```
 States.Off,
-States.Initialize,
-States.Initiate,
 States.Stop,
 States.Monitor,
 States.Paused,

{isar-1.25.9 → isar-1.26.0}/pyproject.toml

@@ -60,6 +60,7 @@ repository = "https://github.com/equinor/isar.git"
 [project.optional-dependencies]
 dev = [
     "black",
+    "isort",
     "mypy",
     "pip-tools",
     "pre-commit",

{isar-1.25.9 → isar-1.26.0}/requirements.txt

@@ -18,19 +18,19 @@ azure-core==1.32.0
     #   azure-keyvault-secrets
     #   azure-storage-blob
     #   opencensus-ext-azure
-azure-identity==1.19.0
+azure-identity==1.20.0
     # via
     #   isar (pyproject.toml)
     #   opencensus-ext-azure
 azure-keyvault-secrets==4.9.0
     # via isar (pyproject.toml)
-azure-storage-blob==12.24.0
+azure-storage-blob==12.24.1
     # via isar (pyproject.toml)
 backoff==2.2.1
     # via isar (pyproject.toml)
-cachetools==5.5.0
+cachetools==5.5.2
     # via google-auth
-certifi==2024.12.14
+certifi==2025.1.31
     # via
     #   httpcore
     #   httpx
@@ -43,28 +43,28 @@ click==8.1.8
     # via
     #   isar (pyproject.toml)
     #   uvicorn
-cryptography==44.0.0
+cryptography==44.0.1
     # via
     #   azure-identity
     #   azure-storage-blob
     #   fastapi-azure-auth
     #   msal
     #   pyjwt
-dacite==1.8.1
+dacite==1.9.2
     # via
     #   alitra
     #   isar (pyproject.toml)
-fastapi==0.115.6
+fastapi==0.115.8
     # via
     #   fastapi-azure-auth
     #   isar (pyproject.toml)
-fastapi-azure-auth==5.0.1
+fastapi-azure-auth==5.1.0
     # via isar (pyproject.toml)
-google-api-core==2.24.0
+google-api-core==2.24.1
     # via opencensus
-google-auth==2.37.0
+google-auth==2.38.0
     # via google-api-core
-googleapis-common-protos==1.66.0
+googleapis-common-protos==1.68.0
     # via google-api-core
 h11==0.14.0
     # via
@@ -91,7 +91,7 @@ msal==1.31.1
     #   msal-extensions
 msal-extensions==1.2.0
     # via azure-identity
-numpy==2.2.1
+numpy==2.2.3
     # via
     #   alitra
     #   isar (pyproject.toml)
@@ -113,14 +113,14 @@ paho-mqtt==2.1.0
     # via isar (pyproject.toml)
 portalocker==2.10.1
     # via msal-extensions
-proto-plus==1.25.0
+proto-plus==1.26.0
     # via google-api-core
 protobuf==5.29.3
     # via
     #   google-api-core
     #   googleapis-common-protos
     #   proto-plus
-psutil==6.1.1
+psutil==7.0.0
     # via opencensus-ext-azure
 pyasn1==0.6.1
     # via
@@ -130,14 +130,14 @@ pyasn1-modules==0.4.1
     # via google-auth
 pycparser==2.22
     # via cffi
-pydantic==2.10.5
+pydantic==2.10.6
     # via
     #   fastapi
     #   isar (pyproject.toml)
     #   pydantic-settings
 pydantic-core==2.27.2
     # via pydantic
-pydantic-settings==2.7.1
+pydantic-settings==2.8.0
     # via isar (pyproject.toml)
 pyjwt[crypto]==2.10.1
     # via
@@ -163,7 +163,7 @@ requests-toolbelt==1.0.0
     # via isar (pyproject.toml)
 rsa==4.9
     # via google-auth
-scipy==1.15.1
+scipy==1.15.2
     # via alitra
 six==1.17.0
     # via
@@ -172,7 +172,7 @@ six==1.17.0
     #   transitions
 sniffio==1.3.1
     # via anyio
-starlette==0.41.3
+starlette==0.45.3
     # via fastapi
 transitions==0.9.2
     # via isar (pyproject.toml)
@@ -190,5 +190,5 @@ urllib3==2.3.0
     # via requests
 uvicorn==0.34.0
     # via isar (pyproject.toml)
-wrapt==1.17.1
+wrapt==1.17.2
     # via opencensus-ext-requests

isar-1.26.0/src/isar/apis/models/start_mission_definition.py

@@ -0,0 +1,176 @@
+import time
+from enum import Enum
+from typing import List, Optional
+
+from pydantic import BaseModel, Field
+
+from isar.apis.models.models import InputPose, InputPosition
+from isar.config.settings import settings
+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,
+    RecordAudio,
+    ReturnToHome,
+    TakeGasMeasurement,
+    TakeImage,
+    TakeThermalImage,
+    TakeThermalVideo,
+    TakeVideo,
+    ZoomDescription,
+)
+from robot_interface.utilities.uuid_string_factory import uuid4_string
+
+
+class InspectionTypes(str, Enum):
+    image = "Image"
+    thermal_image = "ThermalImage"
+    video = "Video"
+    thermal_video = "ThermalVideo"
+    audio = "Audio"
+    gas_measurement = "GasMeasurement"
+
+
+class TaskType(str, Enum):
+    Inspection = "inspection"
+    ReturnToHome = "return_to_home"
+
+
+class StartMissionInspectionDefinition(BaseModel):
+    type: InspectionTypes = Field(default=InspectionTypes.image)
+    inspection_target: InputPosition
+    analysis_type: Optional[str] = None
+    duration: Optional[float] = None
+    metadata: Optional[dict] = None
+
+
+class StartMissionTaskDefinition(BaseModel):
+    id: Optional[str] = None
+    type: TaskType = Field(default=TaskType.Inspection)
+    pose: InputPose
+    inspection: Optional[StartMissionInspectionDefinition] = None
+    tag: Optional[str] = None
+    zoom: Optional[ZoomDescription] = None
+
+
+class StartMissionDefinition(BaseModel):
+    tasks: List[StartMissionTaskDefinition]
+    name: Optional[str] = None
+    start_pose: Optional[InputPose] = None
+
+
+def to_isar_mission(
+    start_mission_definition: StartMissionDefinition,
+    return_pose: Optional[InputPose] = None,
+) -> Mission:
+    isar_tasks: List[TASKS] = []
+
+    for task_definition in start_mission_definition.tasks:
+        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 = (
+        start_mission_definition.name
+        if start_mission_definition.name
+        else _build_mission_name()
+    )
+
+    start_pose = None
+    if start_mission_definition.start_pose:
+        start_pose = start_mission_definition.start_pose.to_alitra_pose()
+
+    return Mission(
+        tasks=isar_tasks,
+        name=isar_mission_name,
+        start_pose=start_pose,
+    )
+
+
+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.ReturnToHome:
+        return create_return_to_home_task(task_definition)
+    else:
+        raise MissionPlannerError(
+            f"Failed to create task: '{task_definition.type}' is not a valid"
+        )
+
+
+def to_inspection_task(task_definition: StartMissionTaskDefinition) -> TASKS:
+    inspection_definition = task_definition.inspection
+
+    if inspection_definition.type == InspectionTypes.image:
+        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:
+        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:
+        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:
+        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:
+        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:
+        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"
+        )
+
+
+def create_return_to_home_task(
+    task_definition: StartMissionTaskDefinition,
+) -> ReturnToHome:
+    return ReturnToHome(pose=task_definition.pose.to_alitra_pose())
+
+
+def _build_mission_name() -> str:
+    return f"{settings.PLANT_SHORT_NAME}{settings.ROBOT_NAME}{int(time.time())}"

{isar-1.25.9 → isar-1.26.0}/src/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-1.25.9 → isar-1.26.0}/src/isar/apis/schedule/scheduling_controller.py

@@ -8,9 +8,9 @@ from injector import inject
 
 from isar.apis.models.models import (
     ControlMissionResponse,
-    TaskResponse,
     InputPose,
     StartMissionResponse,
+    TaskResponse,
 )
 from isar.apis.models.start_mission_definition import (
     StartMissionDefinition,
@@ -45,12 +45,6 @@ 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 "
@@ -72,15 +66,9 @@ 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 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)
 
@@ -92,12 +80,6 @@ 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 "
@@ -135,14 +117,8 @@ 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 +128,6 @@ class SchedulingController:
 
         if state not in [
             States.Monitor,
-            States.Initiate,
         ]:
             error_message = (
                 f"Conflict - Pause command received in invalid state - State: {state}"
@@ -245,10 +220,7 @@ 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-1.25.9 → isar-1.26.0}/src/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-1.25.9 → isar-1.26.0}/src/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-1.25.9 → isar-1.26.0}/src/isar/config/settings.py

@@ -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-1.25.9 → isar-1.26.0}/src/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-1.26.0/src/isar/models/communication/queues/queue_utils.py

@@ -0,0 +1,27 @@
+import queue
+from typing import Any
+
+from isar.models.communication.queues.queue_io import QueueIO
+from isar.models.communication.queues.status_queue import StatusQueue
+
+
+def trigger_event(queueio: QueueIO, data: Any = None) -> None:
+    queueio.input.put(data if data is not None else True)
+
+
+def check_shared_state(queueio: StatusQueue) -> Any:
+    try:
+        return queueio.check()
+    except queue.Empty:
+        return None
+
+
+def update_shared_state(queueio: StatusQueue, data: Any = None) -> None:
+    queueio.update(data if data is not None else True)
+
+
+def check_for_event(queueio: QueueIO) -> Any:
+    try:
+        return queueio.input.get(block=False)
+    except queue.Empty:
+        return None

isar-1.26.0/src/isar/models/communication/queues/queues.py

@@ -0,0 +1,37 @@
+from queue import Queue
+
+from isar.config.settings import settings
+from isar.models.communication.queues.queue_io import QueueIO
+from isar.models.communication.queues.status_queue import StatusQueue
+
+
+class Queues:
+    def __init__(self) -> None:
+        self.api_start_mission: QueueIO = QueueIO(input_size=1, output_size=1)
+        self.api_stop_mission: QueueIO = QueueIO(input_size=1, output_size=1)
+        self.api_pause_mission: QueueIO = QueueIO(input_size=1, output_size=1)
+        self.api_resume_mission: QueueIO = QueueIO(input_size=1, output_size=1)
+
+        self.state_machine_start_mission: QueueIO = QueueIO(input_size=1, output_size=1)
+        self.state_machine_stop_mission: QueueIO = QueueIO(input_size=1, output_size=1)
+        self.state_machine_pause_mission: QueueIO = QueueIO(input_size=1, output_size=1)
+        self.state_machine_task_status_request: QueueIO = QueueIO(
+            input_size=1, output_size=1
+        )
+        self.state_machine_robot_status_request: QueueIO = QueueIO(
+            input_size=1, output_size=1
+        )
+        self.state_machine_current_task: StatusQueue = StatusQueue()
+
+        self.robot_task_status: QueueIO = QueueIO(input_size=1, output_size=1)
+        self.robot_task_status_failed: QueueIO = QueueIO(input_size=1, output_size=1)
+        self.robot_mission_started: QueueIO = QueueIO(input_size=1, output_size=1)
+        self.robot_mission_failed: QueueIO = QueueIO(input_size=1, output_size=1)
+        self.robot_status_changed: QueueIO = QueueIO(input_size=1, output_size=1)
+
+        self.upload_queue: Queue = Queue(maxsize=10)
+        self.state: StatusQueue = StatusQueue()
+        self.robot_status: StatusQueue = StatusQueue()
+
+        if settings.MQTT_ENABLED:
+            self.mqtt_queue: Queue = Queue()