isar 1.25.9__tar.gz → 1.26.1__tar.gz

{isar-1.25.9 → isar-1.26.1}/.github/workflows/compile_requirements.yml

@@ -26,7 +26,7 @@ jobs:
       - name: Set up Python
         uses: actions/setup-python@v5
         with:
-          python-version: "3.12"
+          python-version: "3.13"
 
       - name: Install pip-tools
         run: |

{isar-1.25.9 → isar-1.26.1}/.github/workflows/pythonpackage.yml

@@ -7,6 +7,7 @@ on:
   pull_request:
     branches:
       - main
+      - update-dependencies
 
 jobs:
   build:
@@ -14,7 +15,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python-version: ["3.9", "3.10", "3.11", "3.12"]
+        python-version: ["3.9", "3.10", "3.11", "3.12", "3.13"]
 
     steps:
       - uses: actions/checkout@v4
@@ -28,13 +29,13 @@ jobs:
         run: |
           python -m pip install --upgrade pip
 
-      - name: Install dependencies with the compiled requirements (for Python 3.12)
-        if: ${{matrix.python-version == '3.12'}}
+      - name: Install dependencies with the compiled requirements (for Python 3.13)
+        if: ${{matrix.python-version == '3.13'}}
         run: |
           pip install -r requirements.txt -e .[dev]
 
-      - name: Install dependencies based on the pyproject.toml file (for Python 3.9-3.11)
-        if: ${{matrix.python-version != '3.12'}}
+      - name: Install dependencies based on the pyproject.toml file (for Python 3.9-3.12)
+        if: ${{matrix.python-version != '3.13'}}
         run: |
           pip install -e .[dev]
 
@@ -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-1.26.1}/.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-1.26.1}/PKG-INFO

@@ -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 → isar-1.26.1}/README.md

@@ -114,21 +114,6 @@ 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
@@ -211,8 +196,6 @@ In general the states
 
 ```
 States.Off,
-States.Initialize,
-States.Initiate,
 States.Stop,
 States.Monitor,
 States.Paused,

{isar-1.25.9 → isar-1.26.1}/pyproject.toml

@@ -19,6 +19,7 @@ classifiers = [
     "Programming Language :: Python :: 3.10",
     "Programming Language :: Python :: 3.11",
     "Programming Language :: Python :: 3.12",
+    "Programming Language :: Python :: 3.13",
     "Topic :: Scientific/Engineering",
     "Topic :: Scientific/Engineering :: Physics",
     "Topic :: Software Development :: Libraries",
@@ -60,6 +61,7 @@ repository = "https://github.com/equinor/isar.git"
 [project.optional-dependencies]
 dev = [
     "black",
+    "isort",
     "mypy",
     "pip-tools",
     "pre-commit",

{isar-1.25.9 → isar-1.26.1}/requirements.txt

@@ -1,5 +1,5 @@
 #
-# This file is autogenerated by pip-compile with Python 3.12
+# This file is autogenerated by pip-compile with Python 3.13
 # by the following command:
 #
 #    pip-compile --output-file=requirements.txt pyproject.toml
@@ -8,7 +8,7 @@ alitra==1.1.3
     # via isar (pyproject.toml)
 annotated-types==0.7.0
     # via pydantic
-anyio==4.8.0
+anyio==4.9.0
     # via
     #   httpx
     #   starlette
@@ -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==1.21.0
     # 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==12.25.0
     # 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==44.0.2
     # 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==0.115.12
     # via
     #   fastapi-azure-auth
     #   isar (pyproject.toml)
-fastapi-azure-auth==5.0.1
+fastapi-azure-auth==5.1.1
     # via isar (pyproject.toml)
-google-api-core==2.24.0
+google-api-core==2.24.2
     # 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==1.69.2
     # via google-api-core
 h11==0.14.0
     # via
@@ -85,13 +85,13 @@ isodate==0.7.2
     # via
     #   azure-keyvault-secrets
     #   azure-storage-blob
-msal==1.31.1
+msal==1.32.0
     # via
     #   azure-identity
     #   msal-extensions
-msal-extensions==1.2.0
+msal-extensions==1.3.1
     # via azure-identity
-numpy==2.2.1
+numpy==2.2.4
     # via
     #   alitra
     #   isar (pyproject.toml)
@@ -111,16 +111,14 @@ opencensus-ext-requests==0.8.0
     # via isar (pyproject.toml)
 paho-mqtt==2.1.0
     # via isar (pyproject.toml)
-portalocker==2.10.1
-    # via msal-extensions
-proto-plus==1.25.0
+proto-plus==1.26.1
     # via google-api-core
-protobuf==5.29.3
+protobuf==6.30.1
     # 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
@@ -130,21 +128,21 @@ 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==2.8.1
     # via isar (pyproject.toml)
 pyjwt[crypto]==2.10.1
     # via
     #   fastapi-azure-auth
     #   isar (pyproject.toml)
     #   msal
-python-dotenv==1.0.1
+python-dotenv==1.1.0
     # via
     #   isar (pyproject.toml)
     #   pydantic-settings
@@ -163,7 +161,7 @@ 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
@@ -172,13 +170,12 @@ six==1.17.0
     #   transitions
 sniffio==1.3.1
     # via anyio
-starlette==0.41.3
+starlette==0.46.1
     # via fastapi
 transitions==0.9.2
     # via isar (pyproject.toml)
 typing-extensions==4.12.2
     # via
-    #   anyio
     #   azure-core
     #   azure-identity
     #   azure-keyvault-secrets
@@ -190,5 +187,5 @@ 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-1.26.1/src/isar/apis/models/start_mission_definition.py

@@ -0,0 +1,172 @@
+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,
+) -> 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 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-1.26.1}/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-1.26.1}/src/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: