isar 1.26.2__tar.gz → 1.26.3__tar.gz

{isar-1.26.2 → isar-1.26.3}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: isar
-Version: 1.26.2
+Version: 1.26.3
 Summary: Integration and Supervisory control of Autonomous Robots
 Author-email: Equinor ASA <fg_robots_dev@equinor.com>
 License: Eclipse Public License version 2.0
@@ -111,7 +111,7 @@ Requires-Dist: click
 Requires-Dist: dacite
 Requires-Dist: fastapi-azure-auth
 Requires-Dist: fastapi
-Requires-Dist: injector
+Requires-Dist: dependency-injector
 Requires-Dist: numpy
 Requires-Dist: opencensus-ext-azure
 Requires-Dist: opencensus-ext-logging

{isar-1.26.2 → isar-1.26.3}/pyproject.toml

@@ -34,7 +34,7 @@ dependencies = [
     "dacite",
     "fastapi-azure-auth",
     "fastapi",
-    "injector",
+    "dependency-injector",
     "numpy",
     "opencensus-ext-azure",
     "opencensus-ext-logging",

{isar-1.26.2 → isar-1.26.3}/requirements.txt

@@ -12,7 +12,7 @@ anyio==4.9.0
     # via
     #   httpx
     #   starlette
-azure-core==1.32.0
+azure-core==1.33.0
     # via
     #   azure-identity
     #   azure-keyvault-secrets
@@ -24,7 +24,7 @@ azure-identity==1.21.0
     #   opencensus-ext-azure
 azure-keyvault-secrets==4.9.0
     # via isar (pyproject.toml)
-azure-storage-blob==12.25.0
+azure-storage-blob==12.25.1
     # via isar (pyproject.toml)
 backoff==2.2.1
     # via isar (pyproject.toml)
@@ -62,15 +62,15 @@ fastapi-azure-auth==5.1.1
     # via isar (pyproject.toml)
 google-api-core==2.24.2
     # via opencensus
-google-auth==2.38.0
+google-auth==2.39.0
     # via google-api-core
-googleapis-common-protos==1.69.2
+googleapis-common-protos==1.70.0
     # via google-api-core
 h11==0.14.0
     # via
     #   httpcore
     #   uvicorn
-httpcore==1.0.7
+httpcore==1.0.8
     # via httpx
 httpx==0.28.1
     # via fastapi-azure-auth
@@ -91,7 +91,7 @@ msal==1.32.0
     #   msal-extensions
 msal-extensions==1.3.1
     # via azure-identity
-numpy==2.2.4
+numpy==2.2.5
     # via
     #   alitra
     #   isar (pyproject.toml)
@@ -113,7 +113,7 @@ paho-mqtt==2.1.0
     # via isar (pyproject.toml)
 proto-plus==1.26.1
     # via google-api-core
-protobuf==6.30.1
+protobuf==6.30.2
     # via
     #   google-api-core
     #   googleapis-common-protos
@@ -124,18 +124,18 @@ pyasn1==0.6.1
     # via
     #   pyasn1-modules
     #   rsa
-pyasn1-modules==0.4.1
+pyasn1-modules==0.4.2
     # via google-auth
 pycparser==2.22
     # via cffi
-pydantic==2.10.6
+pydantic==2.11.3
     # via
     #   fastapi
     #   isar (pyproject.toml)
     #   pydantic-settings
-pydantic-core==2.27.2
+pydantic-core==2.33.1
     # via pydantic
-pydantic-settings==2.8.1
+pydantic-settings==2.9.1
     # via isar (pyproject.toml)
 pyjwt[crypto]==2.10.1
     # via
@@ -159,7 +159,7 @@ requests==2.32.3
     #   requests-toolbelt
 requests-toolbelt==1.0.0
     # via isar (pyproject.toml)
-rsa==4.9
+rsa==4.9.1
     # via google-auth
 scipy==1.15.2
     # via alitra
@@ -170,11 +170,11 @@ six==1.17.0
     #   transitions
 sniffio==1.3.1
     # via anyio
-starlette==0.46.1
+starlette==0.46.2
     # via fastapi
 transitions==0.9.2
     # via isar (pyproject.toml)
-typing-extensions==4.12.2
+typing-extensions==4.13.2
     # via
     #   azure-core
     #   azure-identity
@@ -183,9 +183,14 @@ typing-extensions==4.12.2
     #   fastapi
     #   pydantic
     #   pydantic-core
-urllib3==2.3.0
+    #   typing-inspection
+typing-inspection==0.4.0
+    # via
+    #   pydantic
+    #   pydantic-settings
+urllib3==2.4.0
     # via requests
-uvicorn==0.34.0
+uvicorn==0.34.2
     # via isar (pyproject.toml)
 wrapt==1.17.2
     # via opencensus-ext-requests

{isar-1.26.2 → isar-1.26.3}/src/isar/apis/api.py

@@ -5,10 +5,10 @@ from typing import List, Union
 
 import click
 import uvicorn
+from dependency_injector.wiring import inject
 from fastapi import FastAPI, Request, Security
 from fastapi.middleware.cors import CORSMiddleware
 from fastapi.routing import APIRouter
-from injector import inject
 from opencensus.ext.azure.trace_exporter import AzureExporter
 from opencensus.trace.attributes_helper import COMMON_ATTRIBUTES
 from opencensus.trace.samplers import ProbabilitySampler
@@ -36,14 +36,14 @@ class API:
         authenticator: Authenticator,
         scheduling_controller: SchedulingController,
         robot_controller: RobotController,
-        keyvault_client: Keyvault,
+        keyvault: Keyvault,
         port: int = settings.API_PORT,
         azure_ai_logging_enabled: bool = settings.LOG_HANDLER_APPLICATION_INSIGHTS_ENABLED,
     ) -> None:
         self.authenticator: Authenticator = authenticator
         self.scheduling_controller: SchedulingController = scheduling_controller
         self.robot_controller: RobotController = robot_controller
-        self.keyvault_client: Keyvault = keyvault_client
+        self.keyvault: Keyvault = keyvault
         self.host: str = "0.0.0.0"  # Locking uvicorn to use 0.0.0.0
         self.port: int = port
         self.azure_ai_logging_enabled: bool = azure_ai_logging_enabled
@@ -295,7 +295,7 @@ class API:
     def _add_request_logging_middleware(self, app: FastAPI) -> None:
         connection_string: str
         try:
-            connection_string = self.keyvault_client.get_secret(
+            connection_string = self.keyvault.get_secret(
                 "application-insights-connection-string"
             ).value
         except KeyvaultError:

{isar-1.26.2 → isar-1.26.3}/src/isar/apis/robot_control/robot_controller.py

@@ -1,7 +1,7 @@
 import logging
 
+from dependency_injector.wiring import inject
 from fastapi import HTTPException
-from injector import inject
 
 from isar.apis.models.models import RobotInfoResponse
 from isar.config.settings import robot_settings, settings

{isar-1.26.2 → isar-1.26.3}/src/isar/apis/schedule/scheduling_controller.py

@@ -1,8 +1,8 @@
 import logging
 from http import HTTPStatus
 
+from dependency_injector.wiring import inject
 from fastapi import Body, HTTPException, Path
-from injector import inject
 
 from isar.apis.models.models import (
     ControlMissionResponse,

{isar-1.26.2 → isar-1.26.3}/src/isar/apis/security/authentication.py

@@ -3,7 +3,7 @@ import logging
 from fastapi import Depends
 from fastapi.security.base import SecurityBase
 from fastapi_azure_auth import SingleTenantAzureAuthorizationCodeBearer
-from fastapi_azure_auth.exceptions import InvalidAuth
+from fastapi_azure_auth.exceptions import InvalidAuthHttp
 from fastapi_azure_auth.user import User
 from pydantic import BaseModel
 
@@ -35,7 +35,7 @@ async def validate_has_role(user: User = Depends(azure_scheme)) -> None:
     Raises a 403 authorization error if not.
     """
     if settings.REQUIRED_ROLE not in user.roles:
-        raise InvalidAuth(
+        raise InvalidAuthHttp(
             "Current user does not possess the required role for this endpoint"
         )
 

{isar-1.26.2 → isar-1.26.3}/src/isar/config/log.py

@@ -56,7 +56,8 @@ def configure_azure_handler(log_config: dict, keyvault: Keyvault) -> logging.Han
         ).value
     except KeyvaultError:
         message: str = (
-            f"CRITICAL ERROR: Missing connection string for Application Insights in key vault '{keyvault.name}'."
+            "CRITICAL ERROR: Missing connection string for"
+            f" Application Insights in key vault '{keyvault.name}'."
         )
         print(f"\n{message} \n")
         raise ConfigurationError(message)

{isar-1.26.2 → isar-1.26.3}/src/isar/mission_planner/local_planner.py

@@ -2,7 +2,7 @@ import json
 import logging
 from pathlib import Path
 
-from injector import inject
+from dependency_injector.wiring import inject
 
 from isar.config.settings import settings
 from isar.mission_planner.mission_planner_interface import (

isar-1.26.3/src/isar/modules.py

@@ -0,0 +1,138 @@
+import os
+from importlib import import_module
+
+from dependency_injector import containers, providers
+
+from isar.apis.api import API
+from isar.apis.robot_control.robot_controller import RobotController
+from isar.apis.schedule.scheduling_controller import SchedulingController
+from isar.apis.security.authentication import Authenticator
+from isar.config.keyvault.keyvault_service import Keyvault
+from isar.config.settings import settings
+from isar.mission_planner.local_planner import LocalPlanner
+from isar.mission_planner.sequential_task_selector import SequentialTaskSelector
+from isar.mission_planner.task_selector_interface import TaskSelectorInterface
+from isar.models.communication.queues.events import Events, SharedState
+from isar.robot.robot import Robot
+from isar.services.service_connections.request_handler import RequestHandler
+from isar.services.utilities.robot_utilities import RobotUtilities
+from isar.services.utilities.scheduling_utilities import SchedulingUtilities
+from isar.state_machine.state_machine import StateMachine
+from isar.storage.blob_storage import BlobStorage
+from isar.storage.local_storage import LocalStorage
+from isar.storage.slimm_storage import SlimmStorage
+from isar.storage.uploader import Uploader
+from robot_interface.telemetry.mqtt_client import MqttPublisher
+
+
+class ApplicationContainer(containers.DeclarativeContainer):
+    config = providers.Configuration(pydantic_settings=[settings])
+
+    # Core services
+    keyvault = providers.Singleton(
+        Keyvault,
+        keyvault_name=settings.KEYVAULT_NAME,
+        client_id=settings.AZURE_CLIENT_ID,
+        client_secret=os.environ.get("AZURE_CLIENT_SECRET"),
+        tenant_id=settings.AZURE_TENANT_ID,
+    )
+
+    # Events and shared state
+    events = providers.Singleton(Events)
+    shared_state = providers.Singleton(SharedState)
+
+    # Robot-related services
+    robot_interface = providers.Singleton(
+        lambda: import_module(f"{settings.ROBOT_PACKAGE}.robotinterface").Robot()
+    )
+    robot_utilities = providers.Singleton(RobotUtilities, robot=robot_interface)
+
+    # API and controllers
+    authenticator = providers.Singleton(Authenticator)
+    scheduling_utilities = providers.Singleton(
+        SchedulingUtilities,
+        events=events,
+        shared_state=shared_state,
+        mission_planner=providers.Singleton(LocalPlanner),
+    )
+    scheduling_controller = providers.Singleton(
+        SchedulingController, scheduling_utilities=scheduling_utilities
+    )
+    robot_controller = providers.Singleton(
+        RobotController, robot_utilities=robot_utilities
+    )
+    api = providers.Singleton(
+        API,
+        authenticator=authenticator,
+        scheduling_controller=scheduling_controller,
+        robot_controller=robot_controller,
+        keyvault=keyvault,
+    )
+
+    # Storage
+    local_storage = providers.Singleton(LocalStorage)
+    blob_storage = providers.Singleton(BlobStorage, keyvault=keyvault)
+    slimm_storage = providers.Singleton(
+        SlimmStorage, request_handler=providers.Singleton(RequestHandler)
+    )
+    storage_handlers = providers.List(local_storage, blob_storage, slimm_storage)
+
+    # Mqtt client
+    mqtt_client = (
+        providers.Singleton(
+            MqttPublisher,
+            mqtt_queue=providers.Callable(events.provided.mqtt_queue),
+        )
+        if settings.MQTT_ENABLED
+        else None
+    )
+
+    # State machine
+    task_selector = providers.Singleton(
+        SequentialTaskSelector
+        if settings.TASK_SELECTOR == "sequential"
+        else TaskSelectorInterface
+    )
+
+    state_machine = providers.Singleton(
+        StateMachine,
+        events=events,
+        shared_state=shared_state,
+        robot=robot_interface,
+        mqtt_publisher=mqtt_client,
+        task_selector=task_selector,
+    )
+
+    # Robot
+    robot = providers.Singleton(
+        Robot, events=events, robot=robot_interface, shared_state=shared_state
+    )
+
+    # Uploader
+    uploader = providers.Singleton(
+        Uploader,
+        events=events,
+        storage_handlers=storage_handlers,
+        mqtt_publisher=mqtt_client,
+    )
+
+
+def get_injector() -> ApplicationContainer:
+    container = ApplicationContainer()
+    container.init_resources()
+    container.wire(modules=[__name__])
+    container.config.from_dict(
+        {
+            "KEYVAULT_NAME": settings.KEYVAULT_NAME,
+            "MQTT_ENABLED": settings.MQTT_ENABLED,
+            "TASK_SELECTOR": settings.TASK_SELECTOR,
+        }
+    )
+
+    print("Loaded the following module configurations:")
+    for provider_name, provider in container.providers.items():
+        provider_repr = repr(provider)
+        simplified_provider = provider_repr.split(".")[-1].split(">")[0]
+        print(f"    {provider_name:<20}: {simplified_provider}")
+
+    return container

{isar-1.26.2 → isar-1.26.3}/src/isar/robot/robot.py

@@ -3,7 +3,7 @@ from queue import Queue
 from threading import Event
 from typing import Optional
 
-from injector import inject
+from dependency_injector.wiring import inject
 
 from isar.models.communication.queues.events import (
     Events,
@@ -20,11 +20,10 @@ from robot_interface.robot_interface import RobotInterface
 
 
 class Robot(object):
-
     @inject
     def __init__(
         self, events: Events, robot: RobotInterface, shared_state: SharedState
-    ):
+    ) -> None:
         self.logger = logging.getLogger("robot")
         self.state_machine_events: StateMachineEvents = events.state_machine_events
         self.robot_service_events: RobotServiceEvents = events.robot_service_events
@@ -107,10 +106,7 @@ class Robot(object):
         )
         self.robot_status_thread.start()
 
-        while True:
-            if self.signal_thread_quitting.is_set():
-                break
-
+        while not self.signal_thread_quitting.wait(0):
             self._check_and_handle_start_mission(
                 self.state_machine_events.start_mission
             )

{isar-1.26.2 → isar-1.26.3}/src/isar/robot/robot_start_mission.py

@@ -17,7 +17,6 @@ from robot_interface.robot_interface import RobotInterface
 
 
 class RobotStartMissionThread(Thread):
-
     def __init__(
         self,
         robot_service_events: RobotServiceEvents,

{isar-1.26.2 → isar-1.26.3}/src/isar/robot/robot_status.py

@@ -9,7 +9,6 @@ from robot_interface.robot_interface import RobotInterface
 
 
 class RobotStatusThread(Thread):
-
     def __init__(
         self,
         robot: RobotInterface,
@@ -21,7 +20,7 @@ class RobotStatusThread(Thread):
         self.robot: RobotInterface = robot
         self.signal_thread_quitting: Event = signal_thread_quitting
         self.last_robot_status_poll_time: float = time.time()
-        Thread.__init__(self, name="Robot status thread", daemon=True)
+        Thread.__init__(self, name="Robot status thread")
 
     def stop(self) -> None:
         return
@@ -35,10 +34,10 @@ class RobotStatusThread(Thread):
         )
 
     def run(self):
-        while True:
-            if self.signal_thread_quitting.is_set():
-                break
+        if self.signal_thread_quitting.is_set():
+            return
 
+        while not self.signal_thread_quitting.wait(0.001):
             if not self._is_ready_to_poll_for_status():
                 continue
 

{isar-1.26.2 → isar-1.26.3}/src/isar/robot/robot_stop_mission.py

@@ -18,7 +18,6 @@ from robot_interface.robot_interface import RobotInterface
 
 
 class RobotStopMissionThread(Thread):
-
     def __init__(
         self,
         robot_service_events: RobotServiceEvents,

{isar-1.26.2 → isar-1.26.3}/src/isar/robot/robot_task_status.py

@@ -19,7 +19,6 @@ from robot_interface.robot_interface import RobotInterface
 
 
 class RobotTaskStatusThread(Thread):
-
     def __init__(
         self,
         robot_service_events: RobotServiceEvents,

{isar-1.26.2 → isar-1.26.3}/src/isar/script.py

@@ -5,15 +5,12 @@ from logging import Logger
 from threading import Thread
 from typing import Any, List, Tuple
 
-from injector import Injector
-
 import isar
 from isar.apis.api import API
-from isar.config.keyvault.keyvault_service import Keyvault
 from isar.config.log import setup_loggers
 from isar.config.settings import robot_settings, settings
 from isar.models.communication.queues.events import Events
-from isar.modules import get_injector
+from isar.modules import ApplicationContainer, get_injector
 from isar.robot.robot import Robot
 from isar.services.service_connections.mqtt.mqtt_client import MqttClient
 from isar.services.service_connections.mqtt.robot_heartbeat_publisher import (
@@ -83,19 +80,19 @@ def print_startup_info():
 
 
 def start() -> None:
-    injector: Injector = get_injector()
+    injector: ApplicationContainer = get_injector()
 
-    keyvault_client = injector.get(Keyvault)
-    setup_loggers(keyvault=keyvault_client)
+    keyvault = injector.keyvault()
+    setup_loggers(keyvault=keyvault)
     logger: Logger = logging.getLogger("main")
 
     print_startup_info()
 
-    state_machine: StateMachine = injector.get(StateMachine)
-    uploader: Uploader = injector.get(Uploader)
-    robot: RobotInterface = injector.get(RobotInterface)
-    events: Events = injector.get(Events)
-    robot_service: Robot = injector.get(Robot)
+    state_machine: StateMachine = injector.state_machine()
+    uploader: Uploader = injector.uploader()
+    robot_interface: RobotInterface = injector.robot_interface()
+    events: Events = injector.events()
+    robot: Robot = injector.robot()
 
     threads: List[Thread] = []
 
@@ -110,7 +107,7 @@ def start() -> None:
     threads.append(uploader_thread)
 
     robot_service_thread: Thread = Thread(
-        target=robot_service.run, name="Robot service", daemon=True
+        target=robot.run, name="Robot service", daemon=True
     )
     threads.append(robot_service_thread)
 
@@ -123,7 +120,7 @@ def start() -> None:
             )
             state_machine.events.upload_queue.put(message)
 
-        robot.register_inspection_callback(inspections_callback)
+        robot_interface.register_inspection_callback(inspections_callback)
 
     if settings.MQTT_ENABLED:
         mqtt_client: MqttClient = MqttClient(mqtt_queue=events.mqtt_queue)
@@ -154,7 +151,7 @@ def start() -> None:
         )
         threads.append(robot_heartbeat_thread)
 
-        publishers: List[Thread] = robot.get_telemetry_publishers(
+        publishers: List[Thread] = robot_interface.get_telemetry_publishers(
             queue=events.mqtt_queue,
             robot_name=settings.ROBOT_NAME,
             isar_id=settings.ISAR_ID,
@@ -163,7 +160,7 @@ def start() -> None:
         if publishers:
             threads.extend(publishers)
 
-    api: API = injector.get(API)
+    api: API = injector.api()
     api_thread: Thread = Thread(target=api.run_app, name="ISAR API", daemon=True)
     threads.append(api_thread)
 

{isar-1.26.2 → isar-1.26.3}/src/isar/services/utilities/robot_utilities.py

@@ -1,6 +1,6 @@
 import logging
 
-from injector import inject
+from dependency_injector.wiring import inject
 
 from robot_interface.models.robots.media import MediaConfig
 from robot_interface.robot_interface import RobotInterface

{isar-1.26.2 → isar-1.26.3}/src/isar/services/utilities/scheduling_utilities.py

@@ -4,8 +4,8 @@ from http import HTTPStatus
 from queue import Empty
 from typing import Any, List
 
+from dependency_injector.wiring import inject
 from fastapi import HTTPException
-from injector import inject
 from requests import HTTPError
 
 from isar.apis.models.models import ControlMissionResponse

{isar-1.26.2 → isar-1.26.3}/src/isar/state_machine/state_machine.py

@@ -2,9 +2,10 @@ import json
 import logging
 from collections import deque
 from datetime import datetime, timezone
+from threading import Event
 from typing import Deque, List, Optional
 
-from injector import inject
+from dependency_injector.wiring import inject
 from transitions import Machine
 from transitions.core import State
 
@@ -97,6 +98,8 @@ class StateMachine(object):
         self.mqtt_publisher: Optional[MqttClientInterface] = mqtt_publisher
         self.task_selector: TaskSelectorInterface = task_selector
 
+        self.signal_state_machine_to_stop: Event = Event()
+
         # List of states
         self.stop_state: State = Stop(self)
         self.paused_state: State = Paused(self)
@@ -237,6 +240,10 @@ class StateMachine(object):
         """Starts the state machine. Transitions into idle state."""
         self.to_idle()  # type: ignore
 
+    def terminate(self):
+        self.logger.info("Stopping state machine")
+        self.signal_state_machine_to_stop.set()
+
     def iterate_current_task(self):
         if self.current_task.is_finished():
             try:

{isar-1.26.2 → isar-1.26.3}/src/isar/state_machine/states/blocked_protective_stop.py

@@ -21,6 +21,7 @@ class BlockedProtectiveStop(State):
         self.logger = logging.getLogger("state_machine")
         self.robot_status_thread: Optional[ThreadedRequest] = None
         self.shared_state = self.state_machine.shared_state
+        self.signal_state_machine_to_stop = state_machine.signal_state_machine_to_stop
 
     def start(self) -> None:
         self.state_machine.update_state()
@@ -31,8 +32,15 @@ class BlockedProtectiveStop(State):
 
     def _run(self) -> None:
         while True:
-            robot_status = check_shared_state(self.shared_state.robot_status)
+            if self.signal_state_machine_to_stop.is_set():
+                self.logger.info(
+                    "Stopping state machine from %s state", self.__class__.__name__
+                )
+                break
 
+            robot_status: RobotStatus = check_shared_state(
+                self.shared_state.robot_status
+            )
             if robot_status == RobotStatus.Offline:
                 transition = self.state_machine.robot_turned_offline  # type: ignore
                 break

{isar-1.26.2 → isar-1.26.3}/src/isar/state_machine/states/idle.py

@@ -25,6 +25,7 @@ class Idle(State):
         self.last_robot_status_poll_time: float = time.time()
         self.events = self.state_machine.events
         self.shared_state = self.state_machine.shared_state
+        self.signal_state_machine_to_stop = state_machine.signal_state_machine_to_stop
 
     def start(self) -> None:
         self.state_machine.update_state()
@@ -63,6 +64,12 @@ class Idle(State):
 
     def _run(self) -> None:
         while True:
+            if self.signal_state_machine_to_stop.is_set():
+                self.logger.info(
+                    "Stopping state machine from %s state", self.__class__.__name__
+                )
+                break
+
             if self._check_and_handle_stop_mission_event(
                 self.events.api_requests.stop_mission.input
             ):